[Gameplay] Avoid Aimless Kick/Chip by Defenders #3230
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Andrewyx
changed the title
itsarune
reviewed
Jun 26, 2024
| ai_config.robot_navigation_obstacle_config()), | ||
| std::make_shared<CreaseDefenderTactic>( | ||
| ai_config.robot_navigation_obstacle_config())}; | ||
| std::make_shared<CreaseDefenderTactic>(ai_config), |
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can you delete the TODO above this line. Doesn't seem relevant anymore
itsarune
reviewed
Jun 26, 2024
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| std::vector<Robot> enemy_robots = event.common.world_ptr->enemyTeam().getAllRobots(); | ||
| for (int i = 0; i < static_cast<int>(event.common.world_ptr->enemyTeam().numRobots()); i++) { | ||
| if (contains(zone, enemy_robots[i].position())) | ||
| { | ||
| return true; | ||
| } | ||
| } | ||
| return false; |
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nit: try refactoring to use std::any_of: https://en.cppreference.com/w/cpp/algorithm/all_any_none_of
itsarune
reviewed
Jun 26, 2024
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| // DEBUG: Visualizes threat stadium | ||
| LOG(VISUALIZE) << *createDebugShapes({ | ||
| *createDebugShape(threat_zone, std::to_string(event.common.robot.id()), "threatzone") | ||
| }); |
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remove to delete when you're done
itsarune
reviewed
Jun 26, 2024
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| if (goal_intersections.empty() | ||
| && CreaseDefenderFSM::isAnyEnemyInZone(event, threat_zone) | ||
| && robot_to_net_m <= event.common.world_ptr->field().totalYLength() / 2) |
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why did you use YLength() here?
also this should be a constant with the word THRESHOLD in it
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This ensures that chips only occur when the ball is somewhat near our net. This cannot be a constant since this value must scale with field size and this is only determined in runtime
itsarune
reviewed
Jun 26, 2024
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| if (goal_intersections.empty() | ||
| && CreaseDefenderFSM::isAnyEnemyInZone(event, threat_zone) | ||
| && robot_to_net_m <= event.common.world_ptr->field().totalYLength() / 2) | ||
| { | ||
| // Autochip only if the robot is not facing the net, there is an enemy in front, and robot is close to net | ||
| auto_chip_or_kick = AutoChipOrKick{ | ||
| AutoChipOrKickMode::AUTOCHIP, | ||
| chip_distance | ||
| }; | ||
| } | ||
| else | ||
| { | ||
| auto_chip_or_kick = AutoChipOrKick{AutoChipOrKickMode::OFF, 0}; | ||
| } |
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Suggested change
| if (goal_intersections.empty() | |
| && CreaseDefenderFSM::isAnyEnemyInZone(event, threat_zone) | |
| && robot_to_net_m <= event.common.world_ptr->field().totalYLength() / 2) | |
| { | |
| // Autochip only if the robot is not facing the net, there is an enemy in front, and robot is close to net | |
| auto_chip_or_kick = AutoChipOrKick{ | |
| AutoChipOrKickMode::AUTOCHIP, | |
| chip_distance | |
| }; | |
| } | |
| else | |
| { | |
| auto_chip_or_kick = AutoChipOrKick{AutoChipOrKickMode::OFF, 0}; | |
| } | |
| auto_chip_or_kick = AutoChipOrKick{AutoChipOrKickMode::OFF, 0}; | |
| if (goal_intersections.empty() | |
| && CreaseDefenderFSM::isAnyEnemyInZone(event, threat_zone) | |
| && robot_to_net_m <= event.common.world_ptr->field().totalYLength() / 2) | |
| { | |
| // Autochip only if the robot is not facing the net, there is an enemy in front, and robot is close to net | |
| auto_chip_or_kick = AutoChipOrKick{ | |
| AutoChipOrKickMode::AUTOCHIP, | |
| chip_distance | |
| }; | |
| } |
itsarune
reviewed
Jun 26, 2024
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| constexpr double GET_POSSESSION_THRESHOLD_M = 1; | ||
| constexpr double THREAT_THRESHOLD_M = GET_POSSESSION_THRESHOLD_M * 2; |
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this should be in the header so that we can find these constants easily
itsarune
reviewed
Jun 26, 2024
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| LOG(VISUALIZE) << *createDebugShapes({ | ||
| *createDebugShape( | ||
| Circle(robot_position, GET_POSSESSION_THRESHOLD_M), | ||
| std::to_string(event.common.robot.id()) + "1", | ||
| "ballzone" | ||
| ) | ||
| }); |
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remember to remove this when you're done
itsarune
reviewed
Jun 26, 2024
| boost::sml::back::process<DribbleFSM::Update> processEvent) | ||
| { | ||
| DribbleFSM::ControlParams control_params{ | ||
| .dribble_destination = Point(), |
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Suggested change
| .dribble_destination = Point(), | |
| .dribble_destination = event.common.world_ptr->ball().position(), |
itsarune
reviewed
Jun 26, 2024
| { | ||
| DribbleFSM::ControlParams control_params{ | ||
| .dribble_destination = Point(), | ||
| .final_dribble_orientation = Angle(), |
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should be oriented towards the enemy net
itsarune
reviewed
Jun 26, 2024
| *MoveFSM_S + Update_E / blockThreat_A, MoveFSM_S = X, | ||
| *MoveFSM_S + Update_E[ballNearbyWithoutThreat_G] / prepareGetPossession_A = DribbleFSM_S, | ||
| MoveFSM_S + Update_E / blockThreat_A, MoveFSM_S = X, | ||
| DribbleFSM_S + Update_E[!ballNearbyWithoutThreat_G] / blockThreat_A = X, |
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Suggested change
| DribbleFSM_S + Update_E[!ballNearbyWithoutThreat_G] / blockThreat_A = X, | |
| DribbleFSM_S + Update_E[!ballNearbyWithoutThreat_G] / blockThreat_A = MoveFSM, |
itsarune
reviewed
Jun 26, 2024
| * | ||
| * @param event CreaseDefenderFSM::Update event | ||
| * @param zone a stadium shape that defines the zone | ||
| * @param zone a stadium shape that defines the zone |
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Suggested change
| * @param zone a stadium shape that defines the zone |
itsarune
reviewed
Jun 26, 2024
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| fsm_map.at(tactic_update.robot.id()) | ||
| ->process_event(DribbleFSM::Update(dribble_control_params, tactic_update)); |
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do we need this? I'm not 100% sure if this is necessary
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No idea why, but weirdly yes
itsarune
reviewed
Jun 26, 2024
| @@ -33,8 +35,7 @@ class CreaseDefenderTactic : public Tactic | |||
| * | |||
| * @param robot_obstacle_inflation_factor The amount to inflate the robot obstacles | |||
| */ | |||
| explicit CreaseDefenderTactic( | |||
| TbotsProto::RobotNavigationObstacleConfig robot_navigation_obstacle_config); | |||
| explicit CreaseDefenderTactic(TbotsProto::AiConfig ai_config); | |||
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incorrect docs for this function
itsarune
reviewed
Jun 26, 2024
| @@ -71,8 +71,7 @@ std::shared_ptr<Tactic> createTactic(const TbotsProto::CreaseDefenderTactic &tac | |||
| TbotsProto::AiConfig ai_config) | |||
| { | |||
| // TODO-AKHIL: Implement this | |||
| auto tactic = std::make_shared<CreaseDefenderTactic>( | |||
| ai_config.robot_navigation_obstacle_config()); | |||
| auto tactic = std::make_shared<CreaseDefenderTactic>(ai_config); | |||
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you can delete the previous TODO
itsarune
reviewed
Jun 26, 2024
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Description
Changes Crease Defender Autochip behaviour such that robots only chip in dire circumstances.
Further adds new Chip Validation
Crease defenders now only autochip incoming balls when:
Further adds the following:
Testing Done
Adds new chip validation test which passes when ball is threshold meters off the ground. This allows us to test if chip behaviour occurs.
Resolved Issues
Resolves #3220
Length Justification and Key Files to Review
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 issueSuggests new ticket reworking the visual component of the ball_if_off_ground validation test. This test validates changes in the z axis and the current 2D shape system is not enough to visualize this. It is purely a visual change and is not urgent, but will take some time to think of a new way to visualize.