Develop serversideplanner

idl/service.proto

@@ -1,3 +1,5 @@
+// version 0
+
 syntax = "proto3";
 
 package protos;
@@ -758,6 +760,7 @@ message HeliosChainAction {
   bool simple_pass = 7;
   bool simple_dribble = 8;
   bool simple_shoot = 9;
+  bool server_side_decision = 10;
 }
 
 message HeliosBasicOffensive {}
@@ -836,6 +839,7 @@ message PlayerAction {
       HeliosSetPlay helios_set_play = 62;
       HeliosPenalty helios_penalty = 63;
       HeliosCommunicaion helios_communication = 64;
+
   }
 }
 
@@ -1202,6 +1206,59 @@ message PlayerType {
   float player_speed_max = 34;
 }
 
+enum RpcActionCategory {
+  AC_Hold = 0;
+  AC_Dribble = 1;
+  AC_Pass = 2;
+  AC_Shoot = 3;
+  AC_Clear = 4;
+  AC_Move = 5;
+  AC_NoAction = 6;
+}
+message RpcCooperativeAction {
+  RpcActionCategory category = 1;
+  int32 index = 2;
+  int32 sender_unum = 3;
+  int32 target_unum = 4;
+  RpcVector2D target_point = 5;
+  double first_ball_speed = 6;
+  double first_turn_moment = 7;
+  double first_dash_power = 8;
+  double first_dash_angle_relative = 9;
+  int32 duration_step = 10;
+  int32 kick_count = 11;
+  int32 turn_count = 12;
+  int32 dash_count = 13;
+  bool final_action = 14;
+  string description = 15;
+  int32 parent_index = 16;
+}
+
+message RpcPredictState {
+  int32 spend_time = 1;
+  int32 ball_holder_unum = 2;
+  RpcVector2D ball_position = 3;
+  RpcVector2D ball_velocity = 4;
+  double our_defense_line_x = 5;
+  double our_offense_line_x = 6;
+}
+
+message RpcActionState {
+  RpcCooperativeAction action = 1;
+  RpcPredictState predict_state = 2;
+  double evaluation = 3;
+}
+
+message BestPlannerActionRequest {
+  RegisterResponse register_response = 1;
+  map<int32, RpcActionState> pairs = 2;
+  State state = 3;
+}
+
+message BestPlannerActionResponse {
+  int32 index = 1;
+}
+
 message Empty {
 }
 
@@ -1215,4 +1272,5 @@ service Game {
   rpc SendPlayerType(PlayerType) returns (Empty) {} //should be PlayerTypes
   rpc Register(RegisterRequest) returns (RegisterResponse) {}
   rpc SendByeCommand(RegisterResponse) returns (Empty) {}
+  rpc GetBestPlannerAction(BestPlannerActionRequest) returns (BestPlannerActionResponse) {}
 }

server.py

@@ -11,7 +11,6 @@
 
 logging.basicConfig(level=logging.DEBUG)
 
-
 class GrpcAgent:
     def __init__(self, agent_type, uniform_number) -> None:
         self.agent_type: pb2.AgentType = agent_type
@@ -43,7 +42,9 @@ def GetPlayerActions(self, state: pb2.State):
                                                                                   long_dribble=True,
                                                                                   simple_shoot=True,
                                                                                   simple_dribble=True,
-                                                                                  cross=True)))
+                                                                                  cross=True,
+                                                                                  server_side_decision=False
+                                                                                  )))
             else:
                 actions.append(pb2.PlayerAction(helios_basic_move=pb2.HeliosBasicMove()))
         else:
@@ -125,15 +126,15 @@ def Register(self, register_request: pb2.RegisterRequest, context):
                       f"agent_type: {register_request.agent_type}")
         with self.shared_lock:
             self.shared_number_of_connections.value += 1
-        logging.debug(f"Number of connections {self.shared_number_of_connections.value}")
-        team_name = register_request.team_name
-        uniform_number = register_request.uniform_number
-        agent_type = register_request.agent_type
-        self.agents[self.shared_number_of_connections.value] = GrpcAgent(agent_type, uniform_number)
-        res = pb2.RegisterResponse(client_id=self.shared_number_of_connections.value,
-                                team_name=team_name,
-                                uniform_number=uniform_number,
-                                agent_type=agent_type)
+            logging.debug(f"Number of connections {self.shared_number_of_connections.value}")
+            team_name = register_request.team_name
+            uniform_number = register_request.uniform_number
+            agent_type = register_request.agent_type
+            self.agents[self.shared_number_of_connections.value] = GrpcAgent(agent_type, uniform_number)
+            res = pb2.RegisterResponse(client_id=self.shared_number_of_connections.value,
+                                    team_name=team_name,
+                                    uniform_number=uniform_number,
+                                    agent_type=agent_type)
         return res
 
     def SendByeCommand(self, register_response: pb2.RegisterResponse, context):
@@ -143,6 +144,15 @@ def SendByeCommand(self, register_response: pb2.RegisterResponse, context):
 
         res = pb2.Empty()
         return res
+
+    def GetBestPlannerAction(self, pairs: pb2.BestPlannerActionRequest, context):
+        logging.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.state.register_response.uniform_number}")
+        pairs_list: list[int, pb2.RpcActionState] = [(k, v) for k, v in pairs.pairs.items()]
+        pairs_list.sort(key=lambda x: x[0])
+        best_action = max(pairs_list, key=lambda x: -1000 if x[1].action.parent_index != -1 else x[1].predict_state.ball_position.x)
+        logging.debug(f"Best action: {best_action[0]} {best_action[1].action.description} to {best_action[1].action.target_unum} in ({round(best_action[1].action.target_point.x, 2)},{round(best_action[1].action.target_point.y, 2)}) e:{round(best_action[1].evaluation,2)}")
+        res = pb2.BestPlannerActionResponse(index=best_action[0])
+        return res
 
 def serve(port, shared_lock, shared_number_of_connections):
     server = grpc.server(futures.ThreadPoolExecutor(max_workers=22))

service_pb2.pyi

@@ -91,6 +91,16 @@ class AgentType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
     PlayerT: _ClassVar[AgentType]
     CoachT: _ClassVar[AgentType]
     TrainerT: _ClassVar[AgentType]
+
+class RpcActionCategory(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    AC_Hold: _ClassVar[RpcActionCategory]
+    AC_Dribble: _ClassVar[RpcActionCategory]
+    AC_Pass: _ClassVar[RpcActionCategory]
+    AC_Shoot: _ClassVar[RpcActionCategory]
+    AC_Clear: _ClassVar[RpcActionCategory]
+    AC_Move: _ClassVar[RpcActionCategory]
+    AC_NoAction: _ClassVar[RpcActionCategory]
 NARROW: ViewWidth
 NORMAL: ViewWidth
 WIDE: ViewWidth
@@ -159,6 +169,13 @@ MODE_MAX: GameModeType
 PlayerT: AgentType
 CoachT: AgentType
 TrainerT: AgentType
+AC_Hold: RpcActionCategory
+AC_Dribble: RpcActionCategory
+AC_Pass: RpcActionCategory
+AC_Shoot: RpcActionCategory
+AC_Clear: RpcActionCategory
+AC_Move: RpcActionCategory
+AC_NoAction: RpcActionCategory
 
 class RpcVector2D(_message.Message):
     __slots__ = ("x", "y", "dist", "angle")
@@ -1280,7 +1297,7 @@ class HeliosShoot(_message.Message):
     def __init__(self) -> None: ...
 
 class HeliosChainAction(_message.Message):
-    __slots__ = ("direct_pass", "lead_pass", "through_pass", "short_dribble", "long_dribble", "cross", "simple_pass", "simple_dribble", "simple_shoot")
+    __slots__ = ("direct_pass", "lead_pass", "through_pass", "short_dribble", "long_dribble", "cross", "simple_pass", "simple_dribble", "simple_shoot", "server_side_decision")
     DIRECT_PASS_FIELD_NUMBER: _ClassVar[int]
     LEAD_PASS_FIELD_NUMBER: _ClassVar[int]
     THROUGH_PASS_FIELD_NUMBER: _ClassVar[int]
@@ -1290,6 +1307,7 @@ class HeliosChainAction(_message.Message):
     SIMPLE_PASS_FIELD_NUMBER: _ClassVar[int]
     SIMPLE_DRIBBLE_FIELD_NUMBER: _ClassVar[int]
     SIMPLE_SHOOT_FIELD_NUMBER: _ClassVar[int]
+    SERVER_SIDE_DECISION_FIELD_NUMBER: _ClassVar[int]
     direct_pass: bool
     lead_pass: bool
     through_pass: bool
@@ -1299,7 +1317,8 @@ class HeliosChainAction(_message.Message):
     simple_pass: bool
     simple_dribble: bool
     simple_shoot: bool
-    def __init__(self, direct_pass: bool = ..., lead_pass: bool = ..., through_pass: bool = ..., short_dribble: bool = ..., long_dribble: bool = ..., cross: bool = ..., simple_pass: bool = ..., simple_dribble: bool = ..., simple_shoot: bool = ...) -> None: ...
+    server_side_decision: bool
+    def __init__(self, direct_pass: bool = ..., lead_pass: bool = ..., through_pass: bool = ..., short_dribble: bool = ..., long_dribble: bool = ..., cross: bool = ..., simple_pass: bool = ..., simple_dribble: bool = ..., simple_shoot: bool = ..., server_side_decision: bool = ...) -> None: ...
 
 class HeliosBasicOffensive(_message.Message):
     __slots__ = ()
@@ -2145,6 +2164,91 @@ class PlayerType(_message.Message):
     player_speed_max: float
     def __init__(self, register_response: _Optional[_Union[RegisterResponse, _Mapping]] = ..., id: _Optional[int] = ..., stamina_inc_max: _Optional[float] = ..., player_decay: _Optional[float] = ..., inertia_moment: _Optional[float] = ..., dash_power_rate: _Optional[float] = ..., player_size: _Optional[float] = ..., kickable_margin: _Optional[float] = ..., kick_rand: _Optional[float] = ..., extra_stamina: _Optional[float] = ..., effort_max: _Optional[float] = ..., effort_min: _Optional[float] = ..., kick_power_rate: _Optional[float] = ..., foul_detect_probability: _Optional[float] = ..., catchable_area_l_stretch: _Optional[float] = ..., unum_far_length: _Optional[float] = ..., unum_too_far_length: _Optional[float] = ..., team_far_length: _Optional[float] = ..., team_too_far_length: _Optional[float] = ..., player_max_observation_length: _Optional[float] = ..., ball_vel_far_length: _Optional[float] = ..., ball_vel_too_far_length: _Optional[float] = ..., ball_max_observation_length: _Optional[float] = ..., flag_chg_far_length: _Optional[float] = ..., flag_chg_too_far_length: _Optional[float] = ..., flag_max_observation_length: _Optional[float] = ..., kickable_area: _Optional[float] = ..., reliable_catchable_dist: _Optional[float] = ..., max_catchable_dist: _Optional[float] = ..., real_speed_max: _Optional[float] = ..., player_speed_max2: _Optional[float] = ..., real_speed_max2: _Optional[float] = ..., cycles_to_reach_max_speed: _Optional[int] = ..., player_speed_max: _Optional[float] = ...) -> None: ...
 
+class RpcCooperativeAction(_message.Message):
+    __slots__ = ("category", "index", "sender_unum", "target_unum", "target_point", "first_ball_speed", "first_turn_moment", "first_dash_power", "first_dash_angle_relative", "duration_step", "kick_count", "turn_count", "dash_count", "final_action", "description", "parent_index")
+    CATEGORY_FIELD_NUMBER: _ClassVar[int]
+    INDEX_FIELD_NUMBER: _ClassVar[int]
+    SENDER_UNUM_FIELD_NUMBER: _ClassVar[int]
+    TARGET_UNUM_FIELD_NUMBER: _ClassVar[int]
+    TARGET_POINT_FIELD_NUMBER: _ClassVar[int]
+    FIRST_BALL_SPEED_FIELD_NUMBER: _ClassVar[int]
+    FIRST_TURN_MOMENT_FIELD_NUMBER: _ClassVar[int]
+    FIRST_DASH_POWER_FIELD_NUMBER: _ClassVar[int]
+    FIRST_DASH_ANGLE_RELATIVE_FIELD_NUMBER: _ClassVar[int]
+    DURATION_STEP_FIELD_NUMBER: _ClassVar[int]
+    KICK_COUNT_FIELD_NUMBER: _ClassVar[int]
+    TURN_COUNT_FIELD_NUMBER: _ClassVar[int]
+    DASH_COUNT_FIELD_NUMBER: _ClassVar[int]
+    FINAL_ACTION_FIELD_NUMBER: _ClassVar[int]
+    DESCRIPTION_FIELD_NUMBER: _ClassVar[int]
+    PARENT_INDEX_FIELD_NUMBER: _ClassVar[int]
+    category: RpcActionCategory
+    index: int
+    sender_unum: int
+    target_unum: int
+    target_point: RpcVector2D
+    first_ball_speed: float
+    first_turn_moment: float
+    first_dash_power: float
+    first_dash_angle_relative: float
+    duration_step: int
+    kick_count: int
+    turn_count: int
+    dash_count: int
+    final_action: bool
+    description: str
+    parent_index: int
+    def __init__(self, category: _Optional[_Union[RpcActionCategory, str]] = ..., index: _Optional[int] = ..., sender_unum: _Optional[int] = ..., target_unum: _Optional[int] = ..., target_point: _Optional[_Union[RpcVector2D, _Mapping]] = ..., first_ball_speed: _Optional[float] = ..., first_turn_moment: _Optional[float] = ..., first_dash_power: _Optional[float] = ..., first_dash_angle_relative: _Optional[float] = ..., duration_step: _Optional[int] = ..., kick_count: _Optional[int] = ..., turn_count: _Optional[int] = ..., dash_count: _Optional[int] = ..., final_action: bool = ..., description: _Optional[str] = ..., parent_index: _Optional[int] = ...) -> None: ...
+
+class RpcPredictState(_message.Message):
+    __slots__ = ("spend_time", "ball_holder_unum", "ball_position", "ball_velocity", "our_defense_line_x", "our_offense_line_x")
+    SPEND_TIME_FIELD_NUMBER: _ClassVar[int]
+    BALL_HOLDER_UNUM_FIELD_NUMBER: _ClassVar[int]
+    BALL_POSITION_FIELD_NUMBER: _ClassVar[int]
+    BALL_VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    OUR_DEFENSE_LINE_X_FIELD_NUMBER: _ClassVar[int]
+    OUR_OFFENSE_LINE_X_FIELD_NUMBER: _ClassVar[int]
+    spend_time: int
+    ball_holder_unum: int
+    ball_position: RpcVector2D
+    ball_velocity: RpcVector2D
+    our_defense_line_x: float
+    our_offense_line_x: float
+    def __init__(self, spend_time: _Optional[int] = ..., ball_holder_unum: _Optional[int] = ..., ball_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., ball_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., our_defense_line_x: _Optional[float] = ..., our_offense_line_x: _Optional[float] = ...) -> None: ...
+
+class RpcActionState(_message.Message):
+    __slots__ = ("action", "predict_state", "evaluation")
+    ACTION_FIELD_NUMBER: _ClassVar[int]
+    PREDICT_STATE_FIELD_NUMBER: _ClassVar[int]
+    EVALUATION_FIELD_NUMBER: _ClassVar[int]
+    action: RpcCooperativeAction
+    predict_state: RpcPredictState
+    evaluation: float
+    def __init__(self, action: _Optional[_Union[RpcCooperativeAction, _Mapping]] = ..., predict_state: _Optional[_Union[RpcPredictState, _Mapping]] = ..., evaluation: _Optional[float] = ...) -> None: ...
+
+class BestPlannerActionRequest(_message.Message):
+    __slots__ = ("register_response", "pairs", "state")
+    class PairsEntry(_message.Message):
+        __slots__ = ("key", "value")
+        KEY_FIELD_NUMBER: _ClassVar[int]
+        VALUE_FIELD_NUMBER: _ClassVar[int]
+        key: int
+        value: RpcActionState
+        def __init__(self, key: _Optional[int] = ..., value: _Optional[_Union[RpcActionState, _Mapping]] = ...) -> None: ...
+    REGISTER_RESPONSE_FIELD_NUMBER: _ClassVar[int]
+    PAIRS_FIELD_NUMBER: _ClassVar[int]
+    STATE_FIELD_NUMBER: _ClassVar[int]
+    register_response: RegisterResponse
+    pairs: _containers.MessageMap[int, RpcActionState]
+    state: State
+    def __init__(self, register_response: _Optional[_Union[RegisterResponse, _Mapping]] = ..., pairs: _Optional[_Mapping[int, RpcActionState]] = ..., state: _Optional[_Union[State, _Mapping]] = ...) -> None: ...
+
+class BestPlannerActionResponse(_message.Message):
+    __slots__ = ("index",)
+    INDEX_FIELD_NUMBER: _ClassVar[int]
+    index: int
+    def __init__(self, index: _Optional[int] = ...) -> None: ...
+
 class Empty(_message.Message):
     __slots__ = ()
     def __init__(self) -> None: ...

service_pb2_grpc.py

@@ -84,6 +84,11 @@ def __init__(self, channel):
                 request_serializer=service__pb2.RegisterResponse.SerializeToString,
                 response_deserializer=service__pb2.Empty.FromString,
                 _registered_method=True)
+        self.GetBestPlannerAction = channel.unary_unary(
+                '/protos.Game/GetBestPlannerAction',
+                request_serializer=service__pb2.BestPlannerActionRequest.SerializeToString,
+                response_deserializer=service__pb2.BestPlannerActionResponse.FromString,
+                _registered_method=True)
 
 
 class GameServicer(object):
@@ -143,6 +148,12 @@ def SendByeCommand(self, request, context):
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def GetBestPlannerAction(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
 
 def add_GameServicer_to_server(servicer, server):
     rpc_method_handlers = {
@@ -191,6 +202,11 @@ def add_GameServicer_to_server(servicer, server):
                     request_deserializer=service__pb2.RegisterResponse.FromString,
                     response_serializer=service__pb2.Empty.SerializeToString,
             ),
+            'GetBestPlannerAction': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetBestPlannerAction,
+                    request_deserializer=service__pb2.BestPlannerActionRequest.FromString,
+                    response_serializer=service__pb2.BestPlannerActionResponse.SerializeToString,
+            ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
             'protos.Game', rpc_method_handlers)
@@ -444,3 +460,30 @@ def SendByeCommand(request,
             timeout,
             metadata,
             _registered_method=True)
+
+    @staticmethod
+    def GetBestPlannerAction(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/protos.Game/GetBestPlannerAction',
+            service__pb2.BestPlannerActionRequest.SerializeToString,
+            service__pb2.BestPlannerActionResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)