New params

ChangeLog.md

@@ -1,5 +1,23 @@
 # ChangeLog
 
+## [1.0.5] - 2024-10-16
+
+### Added
+- wm.time_stopped, wm.set_play_count, serverParams.goal_area_width/length
+
+### Fixed
+-
+
+### Changed
+- 
+
+### Engineers
+- [NaderZare](https://github.com/naderzare)
+- [SadraKhanjari](https://github.com/SK2iP)
+- [SoroushMazloum](https://github.com/SoroushMazloum)
+
+=======
+
 ## [1.0.4] - 2024-10-8
 
 ### Added

idl/grpc/service.proto

@@ -1,4 +1,4 @@
-// version 1.4
+// version 1.5
 
 syntax = "proto3";
 
@@ -298,6 +298,8 @@ message WorldModel {
   bool kickable_opponent_existance = 37;
   PenaltyKickState penalty_kick_state = 38;
   int32 see_time = 39;
+  int32 time_stopped = 40;
+  int32 set_play_count = 41;
 }
 
 message State {
@@ -1184,6 +1186,8 @@ message ServerParam {
   float penalty_area_half_width = 220;
   float penalty_area_length = 221;
   float goal_width = 222;
+  float goal_area_width = 223;
+  float goal_area_length = 224;
 }
 
 message PlayerParam {

idl/thrift/soccer_service.thrift

@@ -1,4 +1,4 @@
-// version 1.4
+// version 1.5
 
 namespace cpp soccer
 namespace py soccer
@@ -300,7 +300,9 @@ struct WorldModel {
   36: bool kickable_teammate_existance,
   37: bool kickable_opponent_existance,
   38: PenaltyKickState penalty_kick_state,
-  39: i32 see_time
+  39: i32 see_time,
+  40: i32 time_stopped,
+  41: i32 set_play_count
 }
 
 struct State {
@@ -1142,7 +1144,9 @@ struct ServerParam {
   219: double their_penalty_area_line_x,
   220: double penalty_area_half_width,
   221: double penalty_area_length,
-  222: double goal_width
+  222: double goal_width,
+  223: double goal_area_width,
+  224: double goal_area_length
 }
 
 struct PlayerParam {

src/grpc-client/grpc_client.cpp

@@ -277,6 +277,8 @@ void GrpcClient::sendServerParam() const
     serverParam.set_their_penalty_area_line_x(SP.theirPenaltyAreaLineX());
     serverParam.set_penalty_area_half_width(SP.penaltyAreaHalfWidth());
     serverParam.set_penalty_area_length(SP.penaltyAreaLength());
+    serverParam.set_goal_area_width(SP.goalAreaWidth());
+    serverParam.set_goal_area_length(SP.goalAreaLength());
 
     ClientContext context;
     protos::Empty empty;

src/grpc-client/state_generator.cpp

@@ -533,6 +533,8 @@ protos::WorldModel *StateGenerator::convertWorldModel(const rcsc::WorldModel &wm
         res->set_allocated_penalty_kick_state(convertPenaltyKickState(wm, wm.penaltyKickState()));
     }
     res->set_see_time(wm.seeTime().cycle());
+    res->set_time_stopped(wm.time().stopped());
+    res->set_set_play_count(wm.getSetPlayCount());
     return res;
 }
 

src/thrift-client/thrift_client.cpp

@@ -258,6 +258,8 @@ void ThriftAgent::sendServerParam() const
     serverParam.their_penalty_area_line_x = SP.theirPenaltyAreaLineX();
     serverParam.penalty_area_half_width = SP.penaltyAreaHalfWidth();
     serverParam.penalty_area_length = SP.penaltyAreaLength();
+    serverParam.goal_area_width = SP.goalAreaWidth();
+    serverParam.goal_area_length = SP.goalAreaLength();
 
     try{
         soccer::Empty empty;

src/thrift-client/thrift_state_generator.cpp

@@ -561,6 +561,8 @@ soccer::WorldModel ThriftStateGenerator::convertWorldModel(const rcsc::WorldMode
         res.penalty_kick_state = convertPenaltyKickState(wm, wm.penaltyKickState());
     }
     res.see_time = wm.seeTime().cycle();
+    res.time_stopped = wm.time().stopped();
+    res.set_play_count = wm.getSetPlayCount();
     return res;
 }