Improve FreeKickPlay behaviour and convert it to use FSMs #2953
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,58 @@ | ||
| package(default_visibility = ["//visibility:public"]) | ||
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| load("@simulated_tests_deps//:requirements.bzl", "requirement") | ||
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| cc_library( | ||
| name = "free_kick_play", | ||
| srcs = [ | ||
| "free_kick_play.cpp", | ||
| "free_kick_play_fsm.cpp", | ||
| ], | ||
| hdrs = [ | ||
| "free_kick_play.h", | ||
| "free_kick_play_fsm.h", | ||
| ], | ||
| deps = [ | ||
| "//shared:constants", | ||
| "//software/ai/evaluation:enemy_threat", | ||
| "//software/ai/evaluation:find_open_areas", | ||
| "//software/ai/evaluation:possession", | ||
| "//software/ai/hl/stp/play", | ||
| "//software/ai/hl/stp/tactic/chip:chip_tactic", | ||
| "//software/ai/hl/stp/tactic/crease_defender:crease_defender_tactic", | ||
| "//software/ai/hl/stp/tactic/goalie:goalie_tactic", | ||
| "//software/ai/hl/stp/tactic/move:move_tactic", | ||
| "//software/ai/hl/stp/tactic/receiver:receiver_tactic", | ||
| "//software/ai/passing:eighteen_zone_pitch_division", | ||
| "//software/ai/passing:pass_generator", | ||
| "//software/logger", | ||
| "//software/util/generic_factory", | ||
| "//software/world:ball", | ||
| ], | ||
| alwayslink = True, | ||
| ) | ||
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| cc_test( | ||
| name = "free_kick_play_cpp_test", | ||
| srcs = ["free_kick_play_test.cpp"], | ||
| deps = [ | ||
| "//shared/test_util:tbots_gtest_main", | ||
| "//software/ai/hl/stp/play/free_kick:free_kick_play", | ||
| "//software/simulated_tests:simulated_er_force_sim_play_test_fixture", | ||
| "//software/simulated_tests/validation:validation_function", | ||
| "//software/test_util", | ||
| "//software/time:duration", | ||
| "//software/world", | ||
| ], | ||
| ) | ||
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| py_test( | ||
| name = "free_kick_play_test", | ||
| srcs = ["free_kick_play_test.py"], | ||
| tags = ["exclusive"], | ||
| deps = [ | ||
| "//software/simulated_tests:simulated_test_fixture", | ||
| "//software/simulated_tests:validation", | ||
| requirement("pytest"), | ||
| ], | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| #include "software/ai/hl/stp/play/free_kick/free_kick_play.h" | ||
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| #include "shared/constants.h" | ||
| #include "software/util/generic_factory/generic_factory.h" | ||
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| FreeKickPlay::FreeKickPlay(TbotsProto::AiConfig config) | ||
| : Play(config, true), fsm{FreeKickPlayFSM{config}}, control_params{} | ||
| { | ||
| } | ||
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| void FreeKickPlay::getNextTactics(TacticCoroutine::push_type &yield, const World &world) | ||
| { | ||
| // This function doesn't get called so it does nothing, will be removed once | ||
| // coroutines are phased out | ||
| } | ||
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| void FreeKickPlay::updateTactics(const PlayUpdate &play_update) | ||
| { | ||
| fsm.process_event(FreeKickPlayFSM::Update(control_params, play_update)); | ||
| } | ||
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| std::vector<std::string> FreeKickPlay::getState() | ||
| { | ||
| std::vector<std::string> state; | ||
| state.emplace_back(objectTypeName(*this) + " - " + getCurrentFullStateName(fsm)); | ||
| return state; | ||
| } | ||
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| // Register this play in the genericFactory | ||
| static TGenericFactory<std::string, Play, FreeKickPlay, TbotsProto::AiConfig> factory; | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| #pragma once | ||
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| #include "software/ai/hl/stp/play/free_kick/free_kick_play_fsm.h" | ||
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| class FreeKickPlay : public Play | ||
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|
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| { | ||
| public: | ||
| FreeKickPlay(TbotsProto::AiConfig config); | ||
|
There was a problem hiding this comment. the constructor should have docs |
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| void getNextTactics(TacticCoroutine::push_type &yield, const World &world) override; | ||
| void updateTactics(const PlayUpdate &play_update) override; | ||
| std::vector<std::string> getState() override; | ||
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| private: | ||
| FSM<FreeKickPlayFSM> fsm; | ||
| FreeKickPlayFSM::ControlParams control_params; | ||
| }; | ||
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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.cppfor an exampleThere was a problem hiding this comment.
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Good call! I've updated it.