Readd ball placement ball avoiders

RoboTeamTwente · May 8, 2024 · cd2fc29 · cd2fc29
1 parent 2b80f60
commit cd2fc29
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/roboteam_ai/src/stp/skills/GoToPos.cpp b/roboteam_ai/src/stp/skills/GoToPos.cpp
@@ -21,7 +21,9 @@ Status GoToPos::onUpdate(const StpInfo &info) noexcept {
         targetPos = PositionComputations::calculateAvoidRobotsPosition(targetPos, info.getCurrentWorld(), robot->getId(), avoidObj, field);
     }
 
-    if (avoidObj.shouldAvoidBall) {
+    RefCommand currentGameState = GameStateManager::getCurrentGameState().getCommandId();
+
+    if (roleName != "ball_placer" && (avoidObj.shouldAvoidBall || currentGameState == RefCommand::BALL_PLACEMENT_US || currentGameState == RefCommand::BALL_PLACEMENT_THEM || currentGameState == RefCommand::BALL_PLACEMENT_US_DIRECT)) {
         targetPos = PositionComputations::calculateAvoidBallPosition(targetPos, ballLocation, field);
     }
 

diff --git a/roboteam_ai/src/utilities/GameStateManager.cpp b/roboteam_ai/src/utilities/GameStateManager.cpp
@@ -116,9 +116,9 @@ void GameStateManager::updateInterfaceGameState(const char* name) {
     static const std::map<std::string, std::pair<RefCommand, rtt::ai::RuleSet>> nameToGameState = {
         {"Stop Formation", {RefCommand::STOP, Constants::RULESET_STOP()}},
         {"Prepare Forced Start", {RefCommand::STOP, Constants::RULESET_STOP()}},
-        {"Ball Placement Us Free Kick", {RefCommand::BALL_PLACEMENT_US_DIRECT, Constants::RULESET_STOP()}},
-        {"Ball Placement Us Force Start", {RefCommand::BALL_PLACEMENT_US, Constants::RULESET_STOP()}},
-        {"Ball Placement Them", {RefCommand::BALL_PLACEMENT_THEM, Constants::RULESET_STOP()}},
+        {"Ball Placement Us Free Kick", {RefCommand::BALL_PLACEMENT_US_DIRECT, Constants::RULESET_DEFAULT()}},
+        {"Ball Placement Us Force Start", {RefCommand::BALL_PLACEMENT_US, Constants::RULESET_DEFAULT()}},
+        {"Ball Placement Them", {RefCommand::BALL_PLACEMENT_THEM, Constants::RULESET_DEFAULT()}},
         {"Halt", {RefCommand::HALT, Constants::RULESET_HALT()}},
         {"Free Kick Them", {RefCommand::DIRECT_FREE_THEM, Constants::RULESET_DEFAULT()}},
         {"Free Kick Us At Goal", {RefCommand::DIRECT_FREE_US, Constants::RULESET_DEFAULT()}},