Shoot - TP

shoot.js

/* eslint-disable prefer-const */
/* eslint-disable no-case-declarations */
import { ActionSchema, Context, ServiceBroker } from 'moleculer'
import { MoveToPacket } from '@ssl/types/internal/control/packet'
import { Vector2D } from '@ssl/types/utils/math'
import Strategies from '@ssl/types/internal/task-manager/tasks/strategies'

import { state } from '../../models/GameState'

export default class Shoot extends Strategies {
    name = 'shoot';

    public constructor(public id: number) {
      super()
    }

    public static declaration: ActionSchema = {
      params: {
        id: {
          type: 'number', min: 0, max: 15,
        },
      },
      handler(ctx: Context<{ id: number }>): void {
        state.assign.register([ctx.params.id], new Shoot(ctx.params.id))
      },
    }

    public step = 1;

    compute(broker: ServiceBroker): boolean {
      const robot = state.data.robots.allies[this.id]
      const { ball } = state.data
      let target = ball.position
      let orientation = 0
      const goalCenter: Vector2D = { x: -(state.data.field.length / 2.0), y: 0 }
      const target2Ball: Vector2D = { x: ball.position.x - goalCenter.x, y: ball.position.y - goalCenter.y }
      const norm = Math.sqrt(target2Ball.x ** 2 + target2Ball.y ** 2)
      target2Ball.x /= norm
      target2Ball.y /= norm
      switch (this.step) {
        case 1:
          target.x += target2Ball.x * 0.5
          target.y += target2Ball.y * 0.5
          orientation = Math.atan2(-target2Ball.y, -target2Ball.x)
          const dist = Math.sqrt(((target.x - robot.position.x) ** 2 - (target.y - robot.position.y) ** 2))
          if (dist < 0.01) {
            this.step += 1
          }
          break
        case 2:
          orientation = Math.atan2(-target2Ball.y, -target2Ball.x)

          target.x -= 0.1 * target2Ball.x
          target.y -= 0.1 * target2Ball.y

          if (robot.status.infrared) {
            this.step += 1
          }
          break
        default:
          broker.logger.error('Not implemented')
      }

      void broker.call('bots-control.moveTo', {
        id: this.id,
        target,
        orientation,
        kick: this.step === 2,
        expectedReachTime: 1,
      } as MoveToPacket)

      return this.step === 3
    }
}