Develop

.gitignore

@@ -4,4 +4,7 @@ scripts/rcssserver
 logs/
 __pycache__/
 utils/__pycache__/
-scripts/binary/
+scripts/binary/
+service_pb2_grpc.py
+service_pb2.py
+service_pb2.pyi

src/behaviors/bhv_block.py

@@ -4,8 +4,10 @@
 from pyrusgeom.geom_2d import *
 from pyrusgeom.soccer_math import *
 from service_pb2 import *
+from src.interfaces.IBehavior import IBehavior
 
-class Bhv_Block:
+
+class Bhv_Block(IBehavior):
     """
     Bhv_Block is a behavior class that determines whether an agent should block the ball based on the predicted future positions of the ball and the players.
     Methods

src/behaviors/bhv_kick_planner.py

@@ -0,0 +1,87 @@
+from src.interfaces.IBehavior import IBehavior
+from src.interfaces.IAgent import IAgent
+from pyrusgeom.soccer_math import *
+from pyrusgeom.geom_2d import *
+from service_pb2 import *
+
+
+class BhvKickPlanner(IBehavior):
+    """
+    Decision maker class for an agent with the ball.
+
+    Methods
+    -------
+    __init__():
+        Initializes the WithBallDecisionMaker instance.
+
+    execute(agent: IAgent):
+        Makes a decision for the agent when it has the ball.
+
+    _get_helios_offensive_planner():
+        Returns an instance of HeliosOffensivePlanner.
+
+    _get_planner_evaluation(agent: IAgent):
+        Returns an instance of PlannerEvaluation.
+
+    _get_planner_evaluation_effector(agent: IAgent):
+        Returns an instance of PlannerEvaluationEffector.
+
+    _get_opponent_effector(agent: IAgent):
+        Determines the opponent effector based on the agent's world model.
+    """
+
+    def __init__(self):
+        pass
+
+    def execute(self, agent: IAgent):
+        agent.logger.debug("--- WithBallDecisionMaker ---")
+        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
+        assert isinstance(agent, SamplePlayerAgent)
+
+        agent.add_action(
+            PlayerAction(helios_offensive_planner=self._get_helios_offensive_planner(agent))
+        )
+
+    def _get_helios_offensive_planner(self, agent):
+        """ Summary
+        In this function you can create an instance of HeliosOffensivePlanner and set its attributes.
+        The HeliosOffensivePlanner is a message that ask proxy to create a tree and find the best chain of actions and execute the first action of the chain.
+
+        Returns:
+            _type_: HeliosOffensivePlanner
+        """
+        res = HeliosOffensivePlanner(evaluation=self._get_planner_evaluation(agent))
+        res.lead_pass = True
+        res.direct_pass = True
+        res.through_pass = True
+        res.simple_pass = True
+        res.short_dribble = True
+        res.long_dribble = True
+        res.simple_shoot = True
+        res.simple_dribble = True
+        res.cross = True
+
+        return res
+
+    def _get_planner_evaluation(self, agent: IAgent):
+        return PlannerEvaluation(
+            effectors=self._get_planner_evaluation_effector(agent),
+        )
+
+    def _get_planner_evaluation_effector(self, agent: IAgent):
+        return PlannerEvaluationEffector(
+            opponent_effector=self._get_opponent_effector(agent),
+        )
+
+    def _get_opponent_effector(self, agent: IAgent):
+        wm = agent.wm
+
+        if wm.ball.position.x > 30:
+            negetive_effect_by_distance = [-5, -4, -3, -2, -1]
+        else:
+            negetive_effect_by_distance = [-30, -25, -20, -15, -10, -4, -3, -2, -1]
+
+        return OpponentEffector(
+            negetive_effect_by_distance=negetive_effect_by_distance,
+            negetive_effect_by_distance_based_on_first_layer=False,
+        )

src/behaviors/bhv_penalty.py

@@ -0,0 +1,18 @@
+
+from src.interfaces.IAgent import IAgent
+from src.utils.convertor import Convertor
+from pyrusgeom.geom_2d import *
+from pyrusgeom.soccer_math import *
+from service_pb2 import *
+from src.interfaces.IBehavior import IBehavior
+
+
+class BhvPenalty(IBehavior):
+    def __init__(self):
+        pass
+
+    def execute(self, agent: IAgent) -> bool:
+        agent.logger.debug("BhvPenalty.execute")
+        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
+        assert isinstance(agent, SamplePlayerAgent)
+        agent.add_action(PlayerAction(helios_penalty=HeliosPenalty()))

src/behaviors/bhv_setplay.py

@@ -0,0 +1,18 @@
+
+from src.interfaces.IAgent import IAgent
+from src.utils.convertor import Convertor
+from pyrusgeom.geom_2d import *
+from pyrusgeom.soccer_math import *
+from service_pb2 import *
+from src.interfaces.IBehavior import IBehavior
+
+
+class BhvSetPlay(IBehavior):
+    def __init__(self):
+        pass
+
+    def execute(self, agent: IAgent) -> bool:
+        agent.logger.debug("BhvSetPlay.execute")
+        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
+        assert isinstance(agent, SamplePlayerAgent)
+        agent.add_action(PlayerAction(helios_set_play=HeliosSetPlay()))

src/behaviors/bhv_starter_kick_planner.py

@@ -0,0 +1,16 @@
+from src.interfaces.IBehavior import IBehavior
+from src.interfaces.IAgent import IAgent
+from pyrusgeom.soccer_math import *
+from pyrusgeom.geom_2d import *
+from service_pb2 import *
+
+
+class BhvStarterKickPlanner(IBehavior):
+    def __init__(self):
+        pass
+
+    def execute(self, agent: IAgent):
+        agent.logger.debug("BhvStarterKickPlanner.execute")
+        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
+        assert isinstance(agent, SamplePlayerAgent)
+        raise NotImplementedError("BhvStarterKickPlanner.execute not implemented")

src/behaviors/bhv_starter_penalty.py

@@ -0,0 +1,18 @@
+
+from src.interfaces.IAgent import IAgent
+from src.utils.convertor import Convertor
+from pyrusgeom.geom_2d import *
+from pyrusgeom.soccer_math import *
+from service_pb2 import *
+from src.interfaces.IBehavior import IBehavior
+
+
+class BhvStarterPenalty(IBehavior):
+    def __init__(self):
+        pass
+
+    def execute(self, agent: IAgent) -> bool:
+        agent.logger.debug("BhvStarterPenalty.execute")
+        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
+        assert isinstance(agent, SamplePlayerAgent)
+        raise NotImplementedError("BhvStarterPenalty.execute not implemented")

src/behaviors/bhv_starter_setplay.py

@@ -0,0 +1,18 @@
+
+from src.interfaces.IAgent import IAgent
+from src.utils.convertor import Convertor
+from pyrusgeom.geom_2d import *
+from pyrusgeom.soccer_math import *
+from service_pb2 import *
+from src.interfaces.IBehavior import IBehavior
+
+
+class BhvStarterSetPlay(IBehavior):
+    def __init__(self):
+        pass
+
+    def execute(self, agent: IAgent) -> bool:
+        agent.logger.debug("BhvSetPlay.execute")
+        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
+        assert isinstance(agent, SamplePlayerAgent)
+        raise NotImplementedError("BhvStarterSetPlay.execute not implemented")

src/behaviors/bhv_starter_tackle.py

@@ -0,0 +1,18 @@
+
+from src.interfaces.IAgent import IAgent
+from src.utils.convertor import Convertor
+from pyrusgeom.geom_2d import *
+from pyrusgeom.soccer_math import *
+from service_pb2 import *
+from src.interfaces.IBehavior import IBehavior
+
+
+class BhvStarterTackle(IBehavior):
+    def __init__(self):
+        pass
+
+    def execute(self, agent: IAgent) -> bool:
+        agent.logger.debug("BhvStarterTackle.execute")
+        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
+        assert isinstance(agent, SamplePlayerAgent)
+        raise NotImplementedError("BhvStarterTackle.execute not implemented")

src/behaviors/bhv_tackle.py

@@ -0,0 +1,18 @@
+
+from src.interfaces.IAgent import IAgent
+from src.utils.convertor import Convertor
+from pyrusgeom.geom_2d import *
+from pyrusgeom.soccer_math import *
+from service_pb2 import *
+from src.interfaces.IBehavior import IBehavior
+
+
+class BhvTackle(IBehavior):
+    def __init__(self):
+        pass
+
+    def execute(self, agent: IAgent) -> bool:
+        agent.logger.debug("BhvTackle.execute")
+        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
+        assert isinstance(agent, SamplePlayerAgent)
+        agent.add_action(PlayerAction(helios_basic_tackle=HeliosBasicTackle(min_prob=0.8, body_thr=100.0)))

src/decision_makers/kick_decision_maker.py

@@ -3,83 +3,17 @@
 from pyrusgeom.soccer_math import *
 from pyrusgeom.geom_2d import *
 from service_pb2 import *
+from src.behaviors.bhv_kick_planner import BhvKickPlanner
+from src.behaviors.bhv_starter_kick_planner import BhvStarterKickPlanner
 
 
 class KickDecisionMaker(IDecisionMaker):
-    """
-    Decision maker class for an agent with the ball.
-
-    Methods
-    -------
-    __init__():
-        Initializes the WithBallDecisionMaker instance.
-
-    make_decision(agent: IAgent):
-        Makes a decision for the agent when it has the ball.
-
-    _get_helios_offensive_planner():
-        Returns an instance of HeliosOffensivePlanner.
-
-    _get_planner_evaluation(agent: IAgent):
-        Returns an instance of PlannerEvaluation.
-
-    _get_planner_evaluation_effector(agent: IAgent):
-        Returns an instance of PlannerEvaluationEffector.
-
-    _get_opponent_effector(agent: IAgent):
-        Determines the opponent effector based on the agent's world model.
-    """
-
     def __init__(self):
-        pass
+        self.bhv_kick_planner = BhvKickPlanner()
+        # self.bhv_kick_planner = BhvStarterKickPlanner()
 
     def make_decision(self, agent: IAgent):
         agent.logger.debug("--- WithBallDecisionMaker ---")
-
-        agent.add_action(
-            PlayerAction(helios_offensive_planner=self._get_helios_offensive_planner(agent))
-        )
-
-    def _get_helios_offensive_planner(self, agent):
-        """ Summary
-        In this function you can create an instance of HeliosOffensivePlanner and set its attributes.
-        The HeliosOffensivePlanner is a message that ask proxy to create a tree and find the best chain of actions and execute the first action of the chain.
-
-        Returns:
-            _type_: HeliosOffensivePlanner
-        """
-        res = HeliosOffensivePlanner(evaluation=self._get_planner_evaluation(agent))
-        res.lead_pass = True
-        res.direct_pass = True
-        res.through_pass = True
-        res.simple_pass = True
-        res.short_dribble = True
-        res.long_dribble = True
-        res.simple_shoot = True
-        res.simple_dribble = True
-        res.cross = True
-
-        return res
-
-    def _get_planner_evaluation(self, agent: IAgent):
-        return PlannerEvaluation(
-            effectors=self._get_planner_evaluation_effector(agent),
-        )
-
-    def _get_planner_evaluation_effector(self, agent: IAgent):
-        return PlannerEvaluationEffector(
-            opponent_effector=self._get_opponent_effector(agent),
-        )
-
-    def _get_opponent_effector(self, agent: IAgent):
-        wm = agent.wm
-
-        if wm.ball.position.x > 30:
-            negetive_effect_by_distance = [-5, -4, -3, -2, -1]
-        else:
-            negetive_effect_by_distance = [-30, -25, -20, -15, -10, -4, -3, -2, -1]
-
-        return OpponentEffector(
-            negetive_effect_by_distance=negetive_effect_by_distance,
-            negetive_effect_by_distance_based_on_first_layer=False,
-        )
+        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
+        assert isinstance(agent, SamplePlayerAgent)
+        self.bhv_kick_planner.execute(agent)