Merge pull request #36 from CLSFramework/develop

Develop

Author: naderzare

ChangeLog.md

@@ -1,5 +1,39 @@
 # ChangeLog
 
+## [1.0.6] - 2024-10-19
+
+### Added
+- ServerParam.center_circle_r, ServerParam.goal_post_radius, WorldModel.game_mode_side
+
+### Fixed
+-
+
+### Changed
+- 
+
+### Engineers
+- [ErfanFathi](https://github.com/ErfanFathii)
+
+=======
+
+## [1.0.5] - 2024-10-16
+
+### Added
+- wm.time_stopped, wm.set_play_count, serverParams.goal_area_width/length
+
+### Fixed
+-
+
+### Changed
+- 
+
+### Engineers
+- [NaderZare](https://github.com/naderzare)
+- [SadraKhanjari](https://github.com/SK2iP)
+- [SoroushMazloum](https://github.com/SoroushMazloum)
+
+=======
+
 ## [1.0.4] - 2024-10-8
 
 ### Added

idl/grpc/service.proto

@@ -1,4 +1,4 @@
-// version 1.4
+// version 1.6
 
 syntax = "proto3";
 
@@ -313,7 +313,7 @@ message WorldModel {
   repeated Player unknowns = 10;
   map<int32, Player> our_players_dict = 11;
   map<int32, Player> their_players_dict = 12;
-  int32 our_goalie_uniform_number = 13; // The uniform number of our goalie.
+ int32 our_goalie_uniform_number = 13; // The uniform number of our goalie.
   int32 their_goalie_uniform_number = 14; // The uniform number of their goalie.
   float offside_line_x = 15; // The x-coordinate of the offside line of opponent team.
   int32 ofside_line_x_count = 16; // How many cycles ago the agent has seen (calculated) the offside line.
@@ -340,6 +340,9 @@ message WorldModel {
   bool kickable_opponent_existance = 37; // Whether the kickable opponent exists or not.
   PenaltyKickState penalty_kick_state = 38; // The penalty kick state.
   int32 see_time = 39; // The time that the agent has seen the world model.
+  int32 time_stopped = 40;
+  int32 set_play_count = 41;
+  Side game_mode_side = 42;
 }
 
 /**
@@ -1249,6 +1252,10 @@ message ServerParam {
   float penalty_area_half_width = 220;
   float penalty_area_length = 221;
   float goal_width = 222;
+  float goal_area_width = 223;
+  float goal_area_length = 224;
+  float center_circle_r = 225;
+  float goal_post_radius = 226;
 }
 
 message PlayerParam {

idl/thrift/soccer_service.thrift

@@ -1,4 +1,4 @@
-// version 1.4
+// version 1.6
 
 namespace cpp soccer
 namespace py soccer
@@ -300,7 +300,10 @@ struct WorldModel {
   36: bool kickable_teammate_existance,
   37: bool kickable_opponent_existance,
   38: PenaltyKickState penalty_kick_state,
-  39: i32 see_time
+  39: i32 see_time,
+  40: i32 time_stopped,
+  41: i32 set_play_count,
+  42: Side game_mode_side
 }
 
 struct State {
@@ -1142,7 +1145,11 @@ struct ServerParam {
   219: double their_penalty_area_line_x,
   220: double penalty_area_half_width,
   221: double penalty_area_length,
-  222: double goal_width
+  222: double goal_width,
+  223: double goal_area_width,
+  224: double goal_area_length,
+  225: double center_circle_r,
+  226: double goal_post_radius
 }
 
 struct PlayerParam {

src/grpc-client/grpc_client.cpp

@@ -277,7 +277,10 @@ void GrpcClient::sendServerParam() const
     serverParam.set_their_penalty_area_line_x(SP.theirPenaltyAreaLineX());
     serverParam.set_penalty_area_half_width(SP.penaltyAreaHalfWidth());
     serverParam.set_penalty_area_length(SP.penaltyAreaLength());
-
+    serverParam.set_goal_area_width(SP.goalAreaWidth());
+    serverParam.set_goal_area_length(SP.goalAreaLength());
+    serverParam.set_center_circle_r(SP.centerCircleR());
+    serverParam.set_goal_post_radius(SP.goalPostRadius());
     ClientContext context;
     protos::Empty empty;
     protos::RegisterResponse* response = new protos::RegisterResponse(*M_register_response);

src/grpc-client/state_generator.cpp

@@ -533,6 +533,9 @@ protos::WorldModel *StateGenerator::convertWorldModel(const rcsc::WorldModel &wm
         res->set_allocated_penalty_kick_state(convertPenaltyKickState(wm, wm.penaltyKickState()));
     }
     res->set_see_time(wm.seeTime().cycle());
+    res->set_time_stopped(wm.time().stopped());
+    res->set_set_play_count(wm.getSetPlayCount());
+    res->set_game_mode_side(convertSide(wm.gameMode().side()));
     return res;
 }
 

src/thrift-client/thrift_client.cpp

@@ -258,7 +258,10 @@ void ThriftAgent::sendServerParam() const
     serverParam.their_penalty_area_line_x = SP.theirPenaltyAreaLineX();
     serverParam.penalty_area_half_width = SP.penaltyAreaHalfWidth();
     serverParam.penalty_area_length = SP.penaltyAreaLength();
-
+    serverParam.goal_area_width = SP.goalAreaWidth();
+    serverParam.goal_area_length = SP.goalAreaLength();
+    serverParam.center_circle_r = SP.centerCircleR();
+    serverParam.goal_post_radius = SP.goalPostRadius();
     try{
         soccer::Empty empty;
         serverParam.register_response = M_register_response;

src/thrift-client/thrift_state_generator.cpp

@@ -561,6 +561,9 @@ soccer::WorldModel ThriftStateGenerator::convertWorldModel(const rcsc::WorldMode
         res.penalty_kick_state = convertPenaltyKickState(wm, wm.penaltyKickState());
     }
     res.see_time = wm.seeTime().cycle();
+    res.time_stopped = wm.time().stopped();
+    res.set_play_count = wm.getSetPlayCount();
+    res.game_mode_side = convertSide(wm.gameMode().side());
     return res;
 }