edit starter clearball, dribble, kick_planner, pass, shoot. add some setplay files: go_to_placed_ball, intention_wait_after_setplay, prepare_setplay_kick, setplay_freekick. add starter_strategy

Author: SoroushMazloum

idl/service.proto

@@ -172,6 +172,7 @@ 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 +221,7 @@ 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 +1298,8 @@ message bhv_doForceKick {}
 
 message bhv_doHeardPassRecieve {}
 
+message bhv_goalieFreeKick {}
+
 message PlayerAction {
   oneof action {
       Dash dash = 1;
@@ -1366,6 +1370,7 @@ 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 +1673,7 @@ message ServerParam {
   float goal_area_length = 224;
   float center_circle_r = 225;
   float goal_post_radius = 226;
+  float pitch_margin = 227;
 }
 
 message PlayerParam {

src/behaviors/bhv_starter_clearball.py

@@ -6,13 +6,13 @@
 from pyrusgeom import vector_2d
 from service_pb2 import *
 
-class BhvStarterClearBall(IBehavior):
+class BhvStarterClearBall():
 
     def __init__(self):
         pass
 
 
-    def execute(self, agent: IAgent):
+    def execute(agent: IAgent):
         wm = agent.wm
         ball_pos = Vector2D(wm.ball.position.x, wm.ball.position.y)
         target = Vector2D(agent.server_params.pitch_half_length, 0.0)

src/behaviors/bhv_starter_dribble.py

@@ -6,12 +6,12 @@
 from service_pb2 import *
 
 
-class BhvStarterDribble(IBehavior):
+class BhvStarterDribble():
 
     def __init__(self):
         pass
 
-    def execute(self, agent: IAgent):
+    def execute(agent: IAgent):
         wm = agent.wm
         ball_pos = Vector2D(wm.ball.position.x, wm.ball.position.y)
         dribble_angle = (Vector2D(52.5, 0) - ball_pos).th().degree()

src/behaviors/bhv_starter_kick_planner.py

@@ -11,29 +11,29 @@
 
 class BhvStarterKickPlanner(IBehavior):
     def __init__(self):
-        self.starter_shoot = BhvStarterShoot()
+        '''self.starter_shoot = BhvStarterShoot()
         self.starter_clear_ball = BhvStarterClearBall()
         self.starter_dribble = BhvStarterDribble()
-        self.starter_pass = BhvStarterPass()
+        self.starter_pass = BhvStarterPass()'''
 
     def execute(self, agent: IAgent):
         agent.logger.debug("BhvStarterKickPlanner.execute")
         from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
         actions = []
-        actions += [shoot] if (shoot := self.starter_shoot.execute(agent)) is not None else []
+        actions += [shoot] if (shoot := BhvStarterShoot.execute(agent)) is not None else []
         opps = Tools.OpponentsFromSelf(agent)
         nearest_opp = opps[0] if opps else None
         nearest_opp_dist = nearest_opp.dist_from_self if nearest_opp else 1000.0
 
         if nearest_opp_dist < 10:
-            actions += [passing] if (passing := self.starter_pass.execute(agent)) is not None else []
+            actions += [passing] if (passing := BhvStarterPass.execute(agent)) is not None else []
 
-        actions += [dribble] if (dribble := self.starter_dribble.execute(agent)) is not None else []
+        actions += [dribble] if (dribble := BhvStarterDribble.execute(agent)) is not None else []
 
         if nearest_opp_dist > 2.5:
             actions.append(PlayerAction(body_hold_ball=Body_HoldBall()))
 
-        actions.append(self.starter_clear_ball.execute(agent))
+        actions.append(BhvStarterClearBall.execute(agent))
 
         #Sending actions' queue
         for i in actions:

src/behaviors/bhv_starter_pass.py

@@ -6,12 +6,12 @@
 from service_pb2 import *
 
 
-class BhvStarterPass(IBehavior):
+class BhvStarterPass():
 
     def __init__(self):
         pass
 
-    def execute(self, agent: IAgent) -> PlayerAction:
+    def execute(agent: IAgent) -> PlayerAction:
 
         wm = agent.wm
         target = []

src/behaviors/bhv_starter_shoot.py

@@ -5,11 +5,11 @@
 
 
 
-class BhvStarterShoot(IBehavior):
+class BhvStarterShoot():
     def __init__(self):
         pass
 
-    def execute(self, agent: IAgent):
+    def execute(agent: IAgent):
         wm = agent.wm
         ball_pos = Vector2D(wm.ball.position.x, wm.ball.position.y)
         ball_max_velocity = agent.server_params.ball_speed_max

src/behaviors/starter_setplay/bhv_starter_go_to_placed_ball.py

@@ -0,0 +1,50 @@
+from src.interfaces.IAgent import IAgent
+from service_pb2 import *
+from pyrusgeom.vector_2d import Vector2D
+#from src.behaviors.starter_setplay.bhv_starter_setplay import BhvStarterSetPlay #TODO
+from src.utils.tools import Tools
+from src.utils.convertor import Convertor
+class BhvStarterGoToPlacedBall:
+    
+    def __init__(self, angle: float):
+        self.M_ball_place_angle = angle  
+        pass
+
+    def execute(self, agent: IAgent):
+        actions = []
+        from src.behaviors.starter_setplay.bhv_starter_setplay import BhvStarterSetPlay
+        
+        dir_margin = 15.0
+        sp = agent.server_params
+        wm = agent.wm
+        angle_diff = wm.ball.angle_from_self - self.M_ball_place_angle
+
+        if abs(angle_diff) < dir_margin and wm.ball.dist_from_self < (agent.player_types[wm.self.id].player_size + sp.ball_size + 0.08):
+            # already reach
+            return actions
+
+        # decide sub-target point
+        ball_position = Convertor.convert_rpc_vector2d_to_vector2d(wm.ball.position)
+        self_position = Convertor.convert_rpc_vector2d_to_vector2d(wm.self.position)
+        sub_target = ball_position + Vector2D.polar2vector(2.0, self.M_ball_place_angle + 180.0)
+
+        dash_power = 20.0
+        dash_speed = -1.0
+        if wm.ball.dist_from_self > 2.0:
+            dash_power = BhvStarterSetPlay.get_set_play_dash_power(agent)
+        else:
+            dash_speed = agent.player_types[wm.self.id].player_size
+            dash_power = Tools.GetDashPowerToKeepSpeed(agent, dash_speed, wm.self.effort) #DEBUG NEEDED
+        # it is necessary to go to sub target point
+        if abs(angle_diff) > dir_margin:
+            actions.append(PlayerAction(body_go_to_point=Body_GoToPoint(target_point=Convertor.convert_vector2d_to_rpc_vector2d(sub_target), distance_threshold=0.1, max_dash_power=50)))
+        # dir diff is small. go to ball
+        else:
+            # body dir is not right
+            if abs(wm.ball.angle_from_self - wm.self.body_direction) > 1.5:
+                actions.append(PlayerAction(body_turn_to_ball=Body_TurnToBall(cycle=1)))
+            # dash to ball
+            else:
+                actions.append(PlayerAction(dash=Dash(power=dash_power, relative_direction=0)))
+                
+        return actions

src/behaviors/starter_setplay/bhv_starter_intention_wait_after_setplay_kick.py

@@ -0,0 +1,21 @@
+from src.interfaces.IAgent import IAgent
+from service_pb2 import *
+
+class BhvStarterIntentionWaitAfterSetPlayKick:
+
+    def __init__(self):
+        pass
+
+    def finished(self, agent: IAgent) -> bool:
+        wm = agent.wm
+
+        if wm.kickable_opponent_existance:
+            return True
+
+        if not wm.self.is_kickable:
+            return True
+
+        return False
+
+    def execute(self, agent: IAgent) -> bool:
+        return [PlayerAction(bhv_body_neck_to_ball=Bhv_BodyNeckToBall())]

src/behaviors/starter_setplay/bhv_starter_prepare_setplay_kick.py

@@ -0,0 +1,37 @@
+from src.interfaces.IAgent import IAgent
+from service_pb2 import *
+from pyrusgeom.angle_deg import AngleDeg
+class BhvStarterPrepareSetPlayKick:
+    s_rest_wait_cycle = -1
+    
+    def __init__(self, ball_place_angle: float, wait_cycle: float):
+        self.M_ball_place_angle = ball_place_angle
+        self.M_wait_cycle = wait_cycle
+
+    def execute(self, agent: IAgent) -> bool:
+        actions = []
+        from src.behaviors.starter_setplay.bhv_starter_go_to_placed_ball import BhvStarterGoToPlacedBall
+        # Not reach the ball side
+        actions += BhvStarterGoToPlacedBall(self.M_ball_place_angle).execute(agent)
+
+        # Reach to ball side
+        if self.s_rest_wait_cycle < 0:
+            self.s_rest_wait_cycle = self.M_wait_cycle
+
+        if self.s_rest_wait_cycle == 0:
+            if (agent.wm.self.stamina < agent.server_params.stamina_max * 0.9 or agent.wm.self.seetime != agent.wm.cycle): #TODO
+                self.s_rest_wait_cycle = 1
+
+        if self.s_rest_wait_cycle > 0:
+            if agent.wm.game_mode_type == GameModeType.KickOff_:
+                moment = AngleDeg(agent.server_params.visible_angle)
+                actions.append(PlayerAction(turn=Turn(relative_direction=moment)))
+            else:
+                actions.append(PlayerAction(body_turn_to_ball=Body_TurnToBall(cycle=1)))
+
+            self.s_rest_wait_cycle -= 1
+
+            return actions
+
+        self.s_rest_wait_cycle = -1
+        return []