dddd

ChangeLog.md

@@ -1,5 +1,23 @@
 # ChangeLog
 
+## [1.1.2] - 2024-12-08
+
+### Added
+- ServerParams.pitch_margin
+- Player.inertia_final_point, PenaltyKickState.cycle, self.get_safety_dash_power.
+- bhv_goalieFreeKick added
+
+### Fixed
+-
+
+### Changed
+- 
+
+### Developers
+- [SoroushMazloum](https://github.com/SoroushMazloum)
+
+=======
+
 ## [1.1.1] - 2024-12-01
 
 ### Added

idl/grpc/service.proto

@@ -1,4 +1,4 @@
-// version 1.8
+// version 1.9
 
 syntax = "proto3";
 
@@ -135,6 +135,7 @@ message PenaltyKickState {
   int32 our_score = 5;
   int32 their_score = 6;
   bool is_kick_taker = 7;
+  int32 cycle = 8;
 }
 
 /**
@@ -172,6 +173,7 @@ message Player {
   int32 ball_reach_steps = 28; // How many cycles the player needs to reach the ball.
   bool is_tackling = 29; // Whether the player is tackling or not.
   int32 type_id = 30; // The type identifier of the player.
+  RpcVector2D inertia_final_point = 31;
 }
 
 /**
@@ -220,6 +222,7 @@ message Self {
   CardType card = 39; // The card type of the agent. It can be NO_CARD, YELLOW, or RED.
   int32 catch_time = 40; // The time when the last catch command is performed.
   float effort = 41; // The effort of the agent. TODO more info
+  float get_safety_dash_power = 42;
 }
 
 /**
@@ -1296,6 +1299,8 @@ message bhv_doForceKick {}
 
 message bhv_doHeardPassRecieve {}
 
+message bhv_goalieFreeKick {}
+
 message PlayerAction {
   oneof action {
       Dash dash = 1;
@@ -1366,6 +1371,7 @@ message PlayerAction {
       bhv_doHeardPassRecieve bhv_do_heard_pass_recieve = 66;
       HeliosBasicTackle helios_basic_tackle = 67;
       Neck_OffensiveInterceptNeck neck_offensive_intercept_neck = 68;
+      bhv_goalieFreeKick bhv_goalie_free_kick = 69;
   }
 }
 
@@ -1668,6 +1674,7 @@ message ServerParam {
   float goal_area_length = 224;
   float center_circle_r = 225;
   float goal_post_radius = 226;
+  float pitch_margin = 227;
 }
 
 message PlayerParam {

idl/readme.md

@@ -2,7 +2,7 @@
 <a name="top"></a>
 
 
-## Version: 1.8
+## Version: 1.9
 
 ## Table of Contents
 
@@ -156,6 +156,7 @@
     - [WorldModel.TheirPlayersDictEntry](#protos-WorldModel-TheirPlayersDictEntry)
     - [bhv_doForceKick](#protos-bhv_doForceKick)
     - [bhv_doHeardPassRecieve](#protos-bhv_doHeardPassRecieve)
+    - [bhv_goalieFreeKick](#protos-bhv_goalieFreeKick)
 
     - [AgentType](#protos-AgentType)
     - [CardType](#protos-CardType)
@@ -1962,6 +1963,7 @@ return pb2.PlayerActions(actions=actions)
 | our_score | [int32](#int32) |  |  |
 | their_score | [int32](#int32) |  |  |
 | is_kick_taker | [bool](#bool) |  |  |
+| cycle | [int32](#int32) |  |  |
 
 
 
@@ -2110,6 +2112,7 @@ To get type information of the player, you can use the type_id field and player
 | ball_reach_steps | [int32](#int32) |  | How many cycles the player needs to reach the ball. |
 | is_tackling | [bool](#bool) |  | Whether the player is tackling or not. |
 | type_id | [int32](#int32) |  | The type identifier of the player. |
+| inertia_final_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
 
 
 
@@ -2192,6 +2195,7 @@ To get type information of the player, you can use the type_id field and player
 | bhv_do_heard_pass_recieve | [bhv_doHeardPassRecieve](#protos-bhv_doHeardPassRecieve) |  |  |
 | helios_basic_tackle | [HeliosBasicTackle](#protos-HeliosBasicTackle) |  |  |
 | neck_offensive_intercept_neck | [Neck_OffensiveInterceptNeck](#protos-Neck_OffensiveInterceptNeck) |  |  |
+| bhv_goalie_free_kick | [bhv_goalieFreeKick](#protos-bhv_goalieFreeKick) |  |  |
 
 
 
@@ -2565,6 +2569,7 @@ When an agent send a message to the playmaker server, self is information about
 | card | [CardType](#protos-CardType) |  | The card type of the agent. It can be NO_CARD, YELLOW, or RED. |
 | catch_time | [int32](#int32) |  | The time when the last catch command is performed. |
 | effort | [float](#float) |  | The effort of the agent. TODO more info |
+| get_safety_dash_power | [float](#float) |  |  |
 
 
 
@@ -2822,6 +2827,7 @@ When an agent send a message to the playmaker server, self is information about
 | goal_area_length | [float](#float) |  |  |
 | center_circle_r | [float](#float) |  |  |
 | goal_post_radius | [float](#float) |  |  |
+| pitch_margin | [float](#float) |  |  |
 
 
 
@@ -3274,6 +3280,16 @@ WorldModel is the message that represents the world model in the soccer simulati
 
 
 
+
+<a name="protos-bhv_goalieFreeKick"></a>
+
+### bhv_goalieFreeKick
+
+
+
+
+
+
 
 
 

idl/thrift/soccer_service.thrift

@@ -1,4 +1,4 @@
-// version 1.8
+// version 1.9
 
 namespace cpp soccer
 namespace py soccer
@@ -112,7 +112,8 @@ struct PenaltyKickState {
   4: i32 their_taker_counter,
   5: i32 our_score,
   6: i32 their_score,
-  7: bool is_kick_taker
+  7: bool is_kick_taker,
+  8: i32 cycle
 }
 
 struct Player {
@@ -145,7 +146,8 @@ struct Player {
   27: double angle_from_ball,
   28: i32 ball_reach_steps,
   29: bool is_tackling,
-  30: i32 type_id
+  30: i32 type_id,
+  31: RpcVector2D inertia_final_point
 }
 
 struct Self {
@@ -189,7 +191,8 @@ struct Self {
   38: double stamina_capacity,
   39: CardType card,
   40: i32 catch_time,
-  41: double effort
+  41: double effort,
+  42: double get_safety_dash_power
 }
 
 enum InterceptActionType {
@@ -850,6 +853,8 @@ struct bhv_doForceKick {}
 
 struct bhv_doHeardPassRecieve {}
 
+struct bhv_goalieFreeKick {}
+
 struct PlayerAction {
   1: optional Dash dash,
   2: optional Turn turn,
@@ -919,6 +924,7 @@ struct PlayerAction {
   66: optional bhv_doHeardPassRecieve bhv_do_heard_pass_recieve,
   67: optional HeliosBasicTackle helios_basic_tackle,
   68: optional Neck_OffensiveInterceptNeck neck_offensive_intercept_neck
+  69: optional bhv_goalieFreeKick bhv_goalie_free_kick
 }
 
 struct PlayerActions {
@@ -1215,7 +1221,8 @@ struct ServerParam {
   223: double goal_area_width,
   224: double goal_area_length,
   225: double center_circle_r,
-  226: double goal_post_radius
+  226: double goal_post_radius,
+  227: double pitch_margin
 }
 
 struct PlayerParam {

src/grpc-client/grpc_client.cpp

@@ -281,6 +281,7 @@ void GrpcClient::sendServerParam() const
     serverParam.set_goal_area_length(SP.goalAreaLength());
     serverParam.set_center_circle_r(SP.centerCircleR());
     serverParam.set_goal_post_radius(SP.goalPostRadius());
+    serverParam.set_pitch_margin(SP.pitchMargin());
     ClientContext context;
     protos::Empty empty;
     protos::RegisterResponse* response = new protos::RegisterResponse(*M_register_response);

src/grpc-client/grpc_client_player.cpp

@@ -57,6 +57,7 @@
 #include "planner/actgen_action_chain_length_filter.h"
 #include "planner/action_chain_holder.h"
 #include "planner/bhv_planned_action.h"
+#include "player/bhv_goalie_free_kick.h"
 #include "player/strategy.h"
 #include "player/bhv_basic_tackle.h"
 #include "player/neck_offensive_intercept_neck.h"
@@ -898,6 +899,17 @@ void GrpcClientPlayer::getActions()
                 rcsc::dlog.addText( rcsc::Logger::TEAM, __FILE__": Neck_ScanPlayers failed" );
             }
         }
+        else if (action.action_case() == PlayerAction::kBhvGoalieFreeKick && !action_performed) {
+            if (Bhv_GoalieFreeKick().execute(agent))
+            {
+                action_performed = true;
+                rcsc::dlog.addText( rcsc::Logger::TEAM, __FILE__": Bhv_GoalieFreeKick performed" );
+            }
+            else
+            {
+                rcsc::dlog.addText( rcsc::Logger::TEAM, __FILE__": Bhv_GoalieFreeKick failed" );
+            }
+        }
         else if (action.action_case() == PlayerAction::kNeckTurnToBallAndPlayer) {
             const auto &neckTurnToBallAndPlayer = action.neck_turn_to_ball_and_player();
             const rcsc::AbstractPlayerObject *player = nullptr;

src/grpc-client/state_generator.cpp

@@ -174,6 +174,7 @@ protos::Self *StateGenerator::convertSelf(const rcsc::SelfObject &self, const rc
     res->set_card(convertCardType(self.card()));
     res->set_catch_time(self.catchTime().cycle());
     res->set_effort(static_cast<float>(self.effort()));
+    res->set_get_safety_dash_power(static_cast<float>(self.getSafetyDashPower(rcsc::ServerParam::i().maxDashPower())));
     return res;
 }
 
@@ -246,7 +247,7 @@ protos::PenaltyKickState *StateGenerator::convertPenaltyKickState(const rcsc::Wo
     res->set_our_score(state->ourScore());
     res->set_their_score(state->theirScore());
     res->set_is_kick_taker(state->isKickTaker(wm.ourSide(), wm.self().unum()));
-
+    res->set_cycle(state->time().cycle());
     return res;
 }
 
@@ -288,6 +289,7 @@ void StateGenerator::updatePlayerObject(protos::Player *p, const rcsc::PlayerObj
     p->set_ball_reach_steps(player->ballReachStep());
     p->set_is_tackling(player->isTackling());
     p->set_type_id(player->playerTypePtr()->id());
+    p->set_allocated_inertia_final_point(convertVector2D(player->inertiaFinalPoint()));
 }
 
 /**

src/thrift-client/thrift_client.cpp

@@ -262,6 +262,7 @@ void ThriftAgent::sendServerParam() const
     serverParam.goal_area_length = SP.goalAreaLength();
     serverParam.center_circle_r = SP.centerCircleR();
     serverParam.goal_post_radius = SP.goalPostRadius();
+    serverParam.pitch_margin = SP.pitchMargin();
     try{
         soccer::Empty empty;
         serverParam.register_response = M_register_response;

src/thrift-client/thrift_client_player.cpp

@@ -58,6 +58,7 @@
 #include "planner/action_chain_holder.h"
 #include "planner/bhv_planned_action.h"
 #include "player/strategy.h"
+#include "player/bhv_goalie_free_kick.h"
 #include "player/bhv_basic_tackle.h"
 #include "player/neck_offensive_intercept_neck.h"
 #include <rcsc/player/say_message_builder.h>
@@ -1227,9 +1228,22 @@ void ThriftClientPlayer::getActions()
                       __FILE__": doHeardPassReceive performed" );
             }
             else
+            {
+                agent->debugClient().addMessage("doHeardPassReceive failed");
+            }
+        }
+        else if(action.__isset.bhv_goalie_free_kick && !action_performed)
+        {
+            if (Bhv_GoalieFreeKick().execute(agent))
+            {
+                action_performed = true;
+                rcsc::dlog.addText( rcsc::Logger::TEAM,
+                      __FILE__": Bhv_GoalieFreeKick performed" );
+            }
+            else
             {
                 rcsc::dlog.addText( rcsc::Logger::TEAM,
-                      __FILE__": doHeardPassReceive failed" );
+                      __FILE__": Bhv_GoalieFreeKick failed" );
             }
         }
         else if (action.__isset.helios_offensive_planner && !action_performed)

src/thrift-client/thrift_state_generator.cpp

@@ -179,6 +179,7 @@ soccer::Self ThriftStateGenerator::convertSelf(const rcsc::SelfObject &self, con
     res.card = convertCardType(self.card());
     res.catch_time = self.catchTime().cycle();
     res.effort = static_cast<float>(self.effort());
+    res.get_safety_dash_power = static_cast<float>(self.getSafetyDashPower(rcsc::ServerParam::i().maxDashPower()));
     return res;
 }
 
@@ -255,7 +256,7 @@ soccer::PenaltyKickState ThriftStateGenerator::convertPenaltyKickState(const rcs
     res.our_score = state->ourScore();
     res.their_score = state->theirScore();
     res.is_kick_taker = state->isKickTaker(wm.ourSide(), wm.self().unum());
-
+    res.cycle = state->time().cycle();
     return res;
 }
 
@@ -304,6 +305,7 @@ void ThriftStateGenerator::updatePlayerObject(soccer::Player & p, const rcsc::Pl
     {
         p.type_id = player->playerTypePtr()->id();
     }
+    p.inertia_final_point = convertVector2D(player->inertiaFinalPoint());
 }
 
 /**