Merge pull request #30 from CLSFramework/develop

Develop

ChangeLog.md

@@ -1,18 +1,68 @@
 # ChangeLog
 
+## [1.0.4] - 2024-10-8
+
+### Added
+- self.effort and wm.see_time are added
+
+### Fixed
+-
+
+### Changed
+- 
+
+### Developer 
+- [SoroushMazloum](https://github.com/SoroushMazloum)
+
+
+## [1.0.3] - 2024-10-7
+
+### Added
+- penalty_kick_state has been added to the proxy in the WorldModel message.
+
+### Fixed
+-
+
+### Changed
+- 
+
+### Developer
+- [SadraKhanjari](https://github.com/SK2iP)
+- [SoroushMazloum](https://github.com/SoroushMazloum)
+
+
+## [1.0.2] - 2024-09-15
+
+### Added
+- ignore_doforcekick and ignore_doHeardPassRecieve has been added to the proxy in the actions message.
+- now users can decide to do the doForceKick and doHeardPassRecieve or not
+
+### Fixed
+- now state only generate once per cycle 
+
+### Changed
+- 
+
+### Developer
+- [NaderZare](https://github.com/naderzare)
+- [SadraKhanjari](https://github.com/SK2iP)
+
 ## [1.0.1] - 2024-09-15
 
 ### Added
 - catch_time has been added to the proxy in the self message.
+- kickable_opponent_existance and kickable_teammate_existance has been added to the proxy in the worldmodel message.
+- bhv_doforceKick action has been added as a message and to the actions message.
 
 ### Fixed
 - 
 
 ### Changed
 - 
 
-### Engineers
-- [SoroushMazloum](https://github.com/)
+### Developer
+- [SoroushMazloum](https://github.com/SoroushMazloum)
+- [SadraKhanjari](https://github.com/SK2iP)
 
 ## [1.0.0] - 2024-09-15
 
@@ -27,7 +77,7 @@
 ### Changed
 - changed chain_action messages name to planner
 
-### Engineers
+### Developer
 - [NaderZare](https://github.com/naderzare)
 - [SadraKhanjari](https://github.com/SK2iP)
 

idl/grpc/service.proto

@@ -1,4 +1,4 @@
-// version 1
+// version 1.4
 
 syntax = "proto3";
 
@@ -102,6 +102,16 @@ enum CardType {
   RED = 2;
 }
 
+message PenaltyKickState {
+  Side on_field_side = 1;
+  Side current_taker_side = 2;
+  int32 our_taker_counter = 3;
+  int32 their_taker_counter = 4;
+  int32 our_score = 5;
+  int32 their_score = 6;
+  bool is_kick_taker = 7;
+}
+
 message Player {
   RpcVector2D  position = 1;
   RpcVector2D  seen_position = 2;
@@ -175,6 +185,8 @@ message Self {
   float recovery = 37;
   float stamina_capacity = 38;
   CardType card = 39;
+  int32 catch_time = 40;
+  float effort = 41;
 }
 
 enum InterceptActionType {
@@ -282,6 +294,10 @@ message WorldModel {
   double their_defense_line_x = 33;
   double our_defense_player_line_x = 34;
   double their_defense_player_line_x = 35;
+  bool kickable_teammate_existance = 36;
+  bool kickable_opponent_existance = 37;
+  PenaltyKickState penalty_kick_state = 38;
+  int32 see_time = 39;
 }
 
 message State {
@@ -799,6 +815,10 @@ message HeliosPenalty {}
 
 message HeliosCommunicaion {}
 
+message bhv_doForceKick {}
+
+message bhv_doHeardPassRecieve {}
+
 message PlayerAction {
   oneof action {
       Dash dash = 1;
@@ -865,13 +885,17 @@ message PlayerAction {
       HeliosSetPlay helios_set_play = 62;
       HeliosPenalty helios_penalty = 63;
       HeliosCommunicaion helios_communication = 64;
+      bhv_doForceKick bhv_do_force_kick = 65;
+      bhv_doHeardPassRecieve bhv_do_heard_pass_recieve = 66;
 
   }
 }
 
 message PlayerActions {
   repeated PlayerAction actions = 1;
   bool ignore_preprocess = 2;
+  bool ignore_doforcekick = 3;
+  bool ignore_doHeardPassRecieve = 4;
 }
 
 message ChangePlayerType {
@@ -1299,4 +1323,4 @@ service Game {
   rpc Register(RegisterRequest) returns (RegisterResponse) {}
   rpc SendByeCommand(RegisterResponse) returns (Empty) {}
   rpc GetBestPlannerAction(BestPlannerActionRequest) returns (BestPlannerActionResponse) {}
-}
+}

idl/thrift/soccer_service.thrift

@@ -1,4 +1,4 @@
-// version 1
+// version 1.4
 
 namespace cpp soccer
 namespace py soccer
@@ -105,6 +105,16 @@ enum CardType {
   RED = 2
 }
 
+struct PenaltyKickState {
+  1: Side on_field_side,
+  2: Side current_taker_side,
+  3: i32 our_taker_counter,
+  4: i32 their_taker_counter,
+  5: i32 our_score,
+  6: i32 their_score,
+  7: bool is_kick_taker
+}
+
 struct Player {
   1: RpcVector2D position,
   2: RpcVector2D seen_position,
@@ -177,7 +187,9 @@ struct Self {
   36: double kick_rate,
   37: double recovery,
   38: double stamina_capacity,
-  39: CardType card
+  39: CardType card,
+  40: i32 catch_time,
+  41: double effort
 }
 
 enum InterceptActionType {
@@ -284,7 +296,11 @@ struct WorldModel {
   32: double our_defense_line_x,
   33: double their_defense_line_x,
   34: double our_defense_player_line_x,
-  35: double their_defense_player_line_x
+  35: double their_defense_player_line_x,
+  36: bool kickable_teammate_existance,
+  37: bool kickable_opponent_existance,
+  38: PenaltyKickState penalty_kick_state,
+  39: i32 see_time
 }
 
 struct State {
@@ -765,6 +781,10 @@ struct HeliosPenalty {}
 
 struct HeliosCommunicaion {}
 
+struct bhv_doForceKick {}
+
+struct bhv_doHeardPassRecieve {}
+
 struct PlayerAction {
   1: optional Dash dash,
   2: optional Turn turn,
@@ -829,12 +849,16 @@ struct PlayerAction {
   61: optional HeliosBasicMove helios_basic_move,
   62: optional HeliosSetPlay helios_set_play,
   63: optional HeliosPenalty helios_penalty,
-  64: optional HeliosCommunicaion helios_communication
+  64: optional HeliosCommunicaion helios_communication,
+  65: optional bhv_doForceKick bhv_do_force_kick,
+  66: optional bhv_doHeardPassRecieve bhv_do_heard_pass_recieve
 }
 
 struct PlayerActions {
   1: list<PlayerAction> actions,
-  2: bool ignore_preprocess
+  2: bool ignore_preprocess,
+  3: bool ignore_doforcekick,
+  4: bool ignore_doHeardPassRecieve
 }
 
 struct ChangePlayerType {

src/grpc-client/grpc_client_player.cpp

@@ -109,6 +109,8 @@ void GrpcClientPlayer::getActions()
 {
     auto agent = M_agent;
     bool pre_process = checkPreprocess(agent);
+    bool do_forceKick = checkdoForceKick(agent);
+    bool do_heardPassReceive = checkdoHeardPassReceive(agent);
     State state = generateState();
     state.set_need_preprocess(pre_process);
     protos::RegisterResponse* response = new protos::RegisterResponse(*M_register_response);
@@ -134,6 +136,26 @@ void GrpcClientPlayer::getActions()
         }
     }
 
+    if (do_forceKick && !actions.ignore_doforcekick())
+    {
+        if (doForceKick(agent))
+        {
+            rcsc::dlog.addText( rcsc::Logger::TEAM,
+                      __FILE__": doForceKick done" );
+            return;
+        }
+    }
+
+    if (do_heardPassReceive && !actions.ignore_doheardpassrecieve())
+    {
+        if (doHeardPassReceive(agent))
+        {
+            rcsc::dlog.addText( rcsc::Logger::TEAM,
+                      __FILE__": doHeardPassReceive done" );
+            return;
+        }
+    }
+
     for (int i = 0; i < actions.actions_size(); i++)
     {
         auto action = actions.actions(i);
@@ -376,6 +398,10 @@ void GrpcClientPlayer::getActions()
                     .execute(agent);
                 agent->debugClient().addMessage("Neck_TurnToBallAndPlayer");
             }
+            else 
+            {
+                agent->debugClient().addMessage("Neck_TurnToBallAndPlayer null player");
+            }
         }
         else if (action.action_case() == PlayerAction::kNeckTurnToBallOrScan) {
             const auto &neckTurnToBallOrScan = action.neck_turn_to_ball_or_scan();
@@ -416,6 +442,10 @@ void GrpcClientPlayer::getActions()
                     .execute(agent);
                 agent->debugClient().addMessage("Neck_TurnToPlayerOrScan");
             }
+            else 
+            {
+                agent->debugClient().addMessage("Neck_TurnToPlayerOrScan null player");
+            }
         }
         else if (action.action_case() == PlayerAction::kNeckTurnToPoint) {
             const auto &neckTurnToPoint = action.neck_turn_to_point();
@@ -490,6 +520,28 @@ void GrpcClientPlayer::getActions()
                 sample_communication->execute(agent);
                 agent->debugClient().addMessage("sample_communication - execute");
         }
+        else if (action.action_case() == PlayerAction::kBhvDoForceKick)
+        {
+            if(doForceKick(agent))
+            {
+                agent->debugClient().addMessage("doForceKick");
+            }
+            else
+            {
+                agent->debugClient().addMessage("doForceKick - false");
+            }
+        }
+        else if (action.action_case() == PlayerAction::kBhvDoHeardPassRecieve)
+        {
+            if(doHeardPassReceive(agent))
+            {
+                agent->debugClient().addMessage("doHeardPassReceive");
+            }
+            else
+            {
+                agent->debugClient().addMessage("doHeardPassReceive - false");
+            }
+        }
         else if (action.action_case() == PlayerAction::kHeliosOffensivePlanner) {
             FieldEvaluator::ConstPtr field_evaluator = FieldEvaluator::ConstPtr(new SampleFieldEvaluator);
             CompositeActionGenerator *g = new CompositeActionGenerator();
@@ -785,14 +837,20 @@ void GrpcClientPlayer::addSayMessage(protos::Say sayMessage) const
     }
 }
 
-State GrpcClientPlayer::generateState() const
+protos::State GrpcClientPlayer::generateState() 
 {
     const rcsc::WorldModel &wm = M_agent->world();
+    if (M_state_update_time == wm.time())
+    {
+        return M_state;
+    }
+    M_state_update_time = wm.time();
     WorldModel *worldModel = StateGenerator::convertWorldModel(wm);
     addHomePosition(worldModel);
-    State state;
+    protos::State state;
     state.set_allocated_world_model(worldModel);
-    return state;
+    M_state = state;
+    return M_state;
 }
 
 void GrpcClientPlayer::addHomePosition(protos::WorldModel *res) const

src/grpc-client/grpc_client_player.h

@@ -20,6 +20,9 @@ class GrpcClientPlayer : public GrpcClient, public RpcPlayerClient
     bool GetBestPlannerAction();
     void convertResultPairToRpcActionStatePair( google::protobuf::Map<int32_t, protos::RpcActionState> * map);
     void addSayMessage(protos::Say sayMessage) const;
-    State generateState() const;
+    State generateState();
     void addHomePosition(protos::WorldModel *world_model) const;
+private:
+    rcsc::GameTime M_state_update_time;
+    protos::State M_state;
 };