EnemyFreeKickPlay FSM Conversion #3179
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…into Andrewyx/ThunderscopePaths
…ware into Andrewyx/ThunderscopePaths
…into Andrewyx/ThunderscopePaths
…into Andrewyx/ThunderscopePaths
…into Andrewyx/FreeKick
…into Andrewyx/FreeKick
…into Andrewyx/FreeKick
…into Andrewyx/FreeKick
…into Andrewyx/FreeKick
raymond212
reviewed
May 19, 2024
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| DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS | ||
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| static constexpr double THRESHOLD_DISTANCE_METERS = 0.1; |
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Perhaps a name like TOO_CLOSE_THRESHOLD_METERS would better?
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| DEFINE_SML_STATE(BlockFreeKicker) | ||
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| DEFINE_SML_EVENT(Update) | ||
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| DEFINE_SML_ACTION(setupEnemyKickerStrategy) |
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Suggested change
| DEFINE_SML_STATE(BlockFreeKicker) | |
| DEFINE_SML_EVENT(Update) | |
| DEFINE_SML_ACTION(setupEnemyKickerStrategy) | |
| DEFINE_SML_STATE(BlockEnemyKickerState) | |
| DEFINE_SML_EVENT(Update) | |
| DEFINE_SML_ACTION(blockEnemyKicker) |
An FSM state should usually include State in the name, to distinguish it from an action.
The action setupEnemyKickerStrategy is a bit confusing, something like blockEnemyKicker could be more clear.
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… Andrewyx/FreeKick
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4 tasks
nimazareian
reviewed
May 30, 2024
src/software/logger/logger.h
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| @@ -3,7 +3,7 @@ | |||
| #include <g3sinks/LogRotate.h> | |||
| #include <g3sinks/LogRotateWithFilter.h> | |||
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| #include <experimental/filesystem> | |||
| //#include <experimental/filesystem> | |||
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I think you forgot to uncomment the lines in this file
src/software/logger/logger.h
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| if (!std::experimental::filesystem::exists(runtime_dir)) | ||
| { | ||
| std::experimental::filesystem::create_directories(runtime_dir); | ||
| } | ||
| // if (!std::experimental::filesystem::exists(runtime_dir)) | ||
| // { | ||
| // std::experimental::filesystem::create_directories(runtime_dir); | ||
| // } |
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nuts I forgot to recomment that when I went in to fix the bad merge. Should be fixed now thought
raymond212
requested changes
Jun 1, 2024
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I merged EnemyBallPlacementPlay #3146 into master, and there seems to be some merge conflicts with this PR.
nimazareian
approved these changes
Jun 1, 2024
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Description
This PR addresses the EnemyFreeKickPlay redesign in which we transform the existing design utilizing co-routines into the current FSM framework.
NOTE: This PR contains a stopgap redesign of DefensePlayFSM to suit the case of EnemyFreeKickPlayFSM. This PR shares significant similarities with DefensePlayFSM and is planned to be refactored along with DefensePlayFSM in a following PR.
Otherwise same behaviour as DefensePlayFSM, but:
this implementation uses 0.6m to better avoid violation area
Other Changes:
Testing Done
Pytests have been written to test behaviour. This can be run with
./tbots.py run enemy_free_kick_play_test.py -o -tKNOWN BUGS:FIXED- If the Main Pass Defender switches roles, it may cut through the foul region,this will be most likely fixed in the new dynamic trajectory planner PR #3152
Resolved Issues
Resolves #3011, Re-implements #2970
Length Justification and Key Files to Review
This PR is broken up into two PRs, this one focuses on the implementation of the FSM. A future PR will be used to refactor EnemyFreeKickPlayFSM and DefensePlayFSM and abstract away shared functionality.
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