Improve FreeKickPlay behaviour and convert it to use FSMs #2953
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…rav_banna/pass_speed_cost � Conflicts: � src/software/thunderscope/thunderscope.py
…rav_banna/pass_speed_cost
…rav_banna/pass_speed_cost
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Chip pass example (0.5 speed simulation). |
…/new_free_kick # Conflicts: # src/software/ai/hl/stp/play/BUILD # src/software/ai/hl/stp/play/free_kick_play.cpp # src/software/ai/hl/stp/play/free_kick_play.h
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| void FreeKickPlay::updateTactics(const PlayUpdate &play_update) | ||
| { | ||
| fsm.process_event(FreeKickPlayFSM::Update(control_params, play_update)); |
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FreeKickPlayFSM shouldn't be in control of all the robots and do its own defense behavior. Delegate some of the robots to DefensePlay and remove defensive behaviors from FreeKickPlayFSM
Take a look at offense_play.cpp for an example
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Good call! I've updated it.
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I've made this PR a draft until #3200 is merged (more details in the PR description). However, the play/FSM have been updated and are good to be reviewed again. |
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I've added some basic validations for the friendly freekick simulated tests. The tests show how the receivers position themselves and the best passes/shots which are selected. I'm not sure if I will have the time to add more complex validations. |
| LOG(INFO) << "Pass Score: " << best_pass_and_score_so_far.rating | ||
| << " Score threshold: " << min_score; |
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remember to remove this log, it's a bit spammy
| LOG(INFO) << "Found pass with score: " << best_pass_and_score_so_far.rating | ||
| << ". Passing..."; |
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bit spammy, remember to remove
| if (shoot_tactic->done()) | ||
| { | ||
| LOG(INFO) << "Finished shot."; | ||
| } |
| if (receiver_tactic->done()) | ||
| { | ||
| LOG(INFO) << "Finished pass."; | ||
| } |
| if (chip_tactic->done()) | ||
| { | ||
| LOG(INFO) << "Finished chip."; | ||
| } |
Description
❗ This PR is dependent on the changes from #3200, as such, it's in a draft state until that is merged. Please comment any passing/receiving related suggestions in that PR and for the time being only focus on suggestions around the changes listed below in this PR.
Improved FreeKickPlay:
Reimplemented it using FSMs
Used KickTactic instead of AttackerTactic to ensure that we do not dribble
Deleted
CornerKickPlayUpdate
KickFSMandChipFSMto make sure that the robot is aligned to the kick/chip direction of the latest control params. Also update how far we drive into the ball.Update
GetBehindBallFSM's guard to be more strict on the robot's alignment with the ball. The width of the region has been updated to have the same tolerance that the ball has to be within for it to not hit the side of the dribbler.Old region that the robot had to be within to be counted as "behind ball":
Updated region:
Update some of the constants related to the robots based on the most up to date CAD.
Todo:
Testing Done
Tried free kicks in AI vs AI.
Resolved Issues
resolves #2950, resolves #3205
Length Justification and Key Files to Review
free_kick_play_fsm.handfree_kick_play_fsm.cpp.Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue