Merge pull request #6 from CLSFramework/starter_develop_bool

Starter develop bool

Author: naderzare

README.md

@@ -288,6 +288,93 @@ TODO
 
 TODO
 
+## Decision Making
+
+```mermaid
+flowchart TD
+    subgraph SamplePlayerAgent
+        SamplePlayerAgent_update_actions[update_actions]
+    end
+
+    subgraph FormationStrategy
+        FormationStrategy_update[update]
+    end
+
+    subgraph StarterStrategy
+        StarterStrategy_update[update]
+    end
+
+    subgraph DecisionMaker
+        DecisionMaker_make_decision[make_decision]
+    end
+
+    subgraph PlayOnDecisionMaker
+        PlayOnDecisionMaker_make_decision[make_decision]
+    end
+    subgraph SetPlayDecisionMaker
+        SetPlayDecisionMaker_make_decision[make_decision]
+    end
+    subgraph PenaltyDecisionMaker
+        PenaltyDecisionMaker_make_decision[make_decision]
+    end
+    subgraph GoalieDecisionMaker
+        GoalieDecisionMaker_make_decision[make_decision]
+    end
+    subgraph KickDecisionMaker
+        KickDecisionMaker_make_decision[make_decision]
+    end
+    subgraph MoveDecisionMaker
+        MoveDecisionMaker_make_decision[make_decision]
+    end
+
+    subgraph BhvKickPlanner
+        BhvKickPlanner_execute[execute]
+    end
+
+    subgraph BhvStarterKickPlanner
+        BhvStarterKickPlanner_execute[execute]
+    end
+
+    subgraph BhvSetPlay
+        BhvSetPlay_execute[execute]
+    end
+
+    subgraph BhvStarterSetPlay
+        BhvStarterSetPlay_execute[execute]
+    end
+
+    subgraph BhvPenalty
+        BhvPenalty_execute[execute]
+    end
+
+    subgraph BhvStarterPenalty
+        BhvStarterPenalty_execute[execute]
+    end
+
+    SamplePlayerAgent_update_actions --> A{is starter?}
+    A -->|yes| StarterStrategy_update
+    A -->|no| FormationStrategy_update
+    SamplePlayerAgent_update_actions --> DecisionMaker_make_decision
+    DecisionMaker_make_decision --> B{status?}
+    B --> PlayOnDecisionMaker_make_decision
+    B --> SetPlayDecisionMaker_make_decision
+    B --> PenaltyDecisionMaker_make_decision
+    B --> GoalieDecisionMaker_make_decision
+    PlayOnDecisionMaker_make_decision --> C{is kickable?}
+    C -->|yes| KickDecisionMaker_make_decision
+    C -->|no| MoveDecisionMaker_make_decision
+    KickDecisionMaker_make_decision --> D{is starter?}
+    D -->|yes| BhvStarterKickPlanner_execute
+    D -->|no| BhvKickPlanner_execute
+    SetPlayDecisionMaker_make_decision --> E{is starter?}
+    E -->|yes| BhvStarterSetPlay_execute
+    E -->|no| BhvSetPlay_execute
+    PenaltyDecisionMaker_make_decision --> F{is starter?}
+    F -->|yes| BhvStarterPenalty_execute
+    F -->|no| BhvPenalty_execute
+
+```
+
 ## Citation
 
 - [Cross Language Soccer Framework](https://arxiv.org/pdf/2406.05621)

idl/service.proto

@@ -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 {

src/behaviors/bhv_block.py

@@ -1,11 +1,13 @@
-
+from typing import TYPE_CHECKING
 from src.interfaces.IAgent import IAgent
 from src.utils.convertor import Convertor
 from pyrusgeom.geom_2d import *
 from pyrusgeom.soccer_math import *
 from service_pb2 import *
 from src.interfaces.IBehavior import IBehavior
 
+if TYPE_CHECKING:
+    from src.sample_player_agent import SamplePlayerAgent
 
 class Bhv_Block(IBehavior):
     """
@@ -26,7 +28,7 @@ class Bhv_Block(IBehavior):
     def __init__(self):
         pass
 
-    def execute(self, agent: IAgent) -> bool:
+    def execute(self, agent: "SamplePlayerAgent") -> bool:
         """
             Executes the block behavior for the agent. Predicts the future position of the ball and checks if the agent or any teammate can block it within a certain number of cycles.
             Parameters:
@@ -38,9 +40,6 @@ def execute(self, agent: IAgent) -> bool:
                 - Calculate the first cycle that the agent or a teammate can block the ball.
                 - If the agent can block the ball, add a Body_GoToPoint action to the agent.
         """
-        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
-        assert isinstance(agent, SamplePlayerAgent)
-        
         agent.logger.debug(f'------ Bhv_Block ------')
         wm = agent.wm
         sp = agent.server_params

src/behaviors/bhv_kick_planner.py

@@ -1,9 +1,12 @@
+from typing import TYPE_CHECKING
 from src.interfaces.IBehavior import IBehavior
 from src.interfaces.IAgent import IAgent
 from pyrusgeom.soccer_math import *
 from pyrusgeom.geom_2d import *
 from service_pb2 import *
 
+if TYPE_CHECKING:
+    from src.sample_player_agent import SamplePlayerAgent
 
 class BhvKickPlanner(IBehavior):
     """
@@ -33,10 +36,8 @@ class BhvKickPlanner(IBehavior):
     def __init__(self):
         pass
 
-    def execute(self, agent: IAgent):
+    def execute(self, agent: "SamplePlayerAgent"):
         agent.logger.debug("--- WithBallDecisionMaker ---")
-        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
-        assert isinstance(agent, SamplePlayerAgent)
 
         agent.add_action(
             PlayerAction(helios_offensive_planner=self._get_helios_offensive_planner(agent))

src/behaviors/bhv_penalty.py

@@ -1,18 +1,18 @@
-
+from typing import TYPE_CHECKING
 from src.interfaces.IAgent import IAgent
 from src.utils.convertor import Convertor
 from pyrusgeom.geom_2d import *
 from pyrusgeom.soccer_math import *
 from service_pb2 import *
 from src.interfaces.IBehavior import IBehavior
 
+if TYPE_CHECKING:
+    from src.sample_player_agent import SamplePlayerAgent
 
 class BhvPenalty(IBehavior):
     def __init__(self):
         pass
 
-    def execute(self, agent: IAgent) -> bool:
+    def execute(self, agent: "SamplePlayerAgent"):
         agent.logger.debug("BhvPenalty.execute")
-        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
-        assert isinstance(agent, SamplePlayerAgent)
         agent.add_action(PlayerAction(helios_penalty=HeliosPenalty()))

src/behaviors/bhv_setplay.py

@@ -1,18 +1,18 @@
-
+from typing import TYPE_CHECKING
 from src.interfaces.IAgent import IAgent
 from src.utils.convertor import Convertor
 from pyrusgeom.geom_2d import *
 from pyrusgeom.soccer_math import *
 from service_pb2 import *
 from src.interfaces.IBehavior import IBehavior
 
+if TYPE_CHECKING:
+    from src.sample_player_agent import SamplePlayerAgent
 
 class BhvSetPlay(IBehavior):
     def __init__(self):
         pass
 
-    def execute(self, agent: IAgent) -> bool:
+    def execute(self, agent: "SamplePlayerAgent"):
         agent.logger.debug("BhvSetPlay.execute")
-        from src.sample_player_agent import SamplePlayerAgent  # Local import to avoid circular import
-        assert isinstance(agent, SamplePlayerAgent)
         agent.add_action(PlayerAction(helios_set_play=HeliosSetPlay()))

src/behaviors/bhv_starter_clearball.py

@@ -0,0 +1,39 @@
+from src.interfaces.IBehavior import IBehavior
+from src.interfaces.IAgent import IAgent
+from pyrusgeom.soccer_math import *
+from pyrusgeom.geom_2d import *
+from src.utils.tools import Tools
+from pyrusgeom import vector_2d
+from service_pb2 import *
+
+class BhvStarterClearBall():
+
+    def __init__(self):
+        pass
+    
+
+    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)
+        if ball_pos.x() > -25.0 :
+            if ball_pos.dist(Vector2D(0.0, -agent.server_params.pitch_half_width)) < ball_pos.dist(Vector2D(0.0, agent.server_params.pitch_half_width)) :
+                target = Vector2D(0.0,-34.0)
+            else:
+                target = Vector2D(0.0,34.0)
+        else :
+            if abs(ball_pos.y()) < 10 and ball_pos.x() < -10.0 :
+                if ball_pos.y() > 0.0 :
+                    target = Vector2D(-agent.server_params.pitch_half_length, 20.0)
+                else :
+                    target = Vector2D(-agent.server_params.pitch_half_length, -20.0)
+            else:
+                if ball_pos.y() > 0.0 :
+                    target = Vector2D(ball_pos.x(), 34.0)
+                else : 
+                    target = Vector2D(ball_pos.x(), -34.0)
+        return PlayerAction(body_smart_kick=Body_SmartKick(target_point=RpcVector2D(x=target.x(), y=target.y()),
+                                                                        first_speed=2.7,
+                                                                            first_speed_threshold=2.7,
+                                                                                max_steps=2))
+        

src/behaviors/bhv_starter_dribble.py

@@ -0,0 +1,33 @@
+from src.interfaces.IBehavior import IBehavior
+from src.interfaces.IAgent import IAgent
+from src.utils.tools import Tools
+from pyrusgeom.vector_2d import Vector2D
+from pyrusgeom.sector_2d import Sector2D
+from service_pb2 import *
+
+
+class BhvStarterDribble():
+
+    def __init__(self):
+        pass
+
+    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()
+        dribble_speed = 0.8
+        dribble_threshold = 0.7
+        dribble_sector = Sector2D(ball_pos, 0, 3, dribble_angle - 15, dribble_angle + 15)
+        
+        if not Tools.ExistOpponentIn(agent , dribble_sector):
+            Target = Vector2D.polar2vector(3, dribble_angle) + ball_pos
+            return PlayerAction(body_smart_kick=Body_SmartKick(target_point=RpcVector2D(x=Target.x(), y=Target.y()),
+                                                                first_speed=dribble_speed,
+                                                                    first_speed_threshold=dribble_threshold,
+                                                                        max_steps=2))
+        return
+
+
+    
+
+

src/behaviors/bhv_starter_kick_planner.py

@@ -3,14 +3,39 @@
 from pyrusgeom.soccer_math import *
 from pyrusgeom.geom_2d import *
 from service_pb2 import *
-
+from src.behaviors.bhv_starter_clearball import BhvStarterClearBall
+from src.behaviors.bhv_starter_pass import BhvStarterPass
+from src.behaviors.bhv_starter_dribble import BhvStarterDribble
+from src.behaviors.bhv_starter_shoot import BhvStarterShoot
+from src.utils.tools import Tools
 
 class BhvStarterKickPlanner(IBehavior):
     def __init__(self):
-        pass
+        '''self.starter_shoot = BhvStarterShoot()
+        self.starter_clear_ball = BhvStarterClearBall()
+        self.starter_dribble = BhvStarterDribble()
+        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
-        assert isinstance(agent, SamplePlayerAgent)
-        raise NotImplementedError("BhvStarterKickPlanner.execute not implemented")
+        actions = []
+        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 := BhvStarterPass.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(BhvStarterClearBall.execute(agent))
+        
+        #Sending actions' queue
+        for i in actions:
+            if not i == []:
+                agent.add_action(i)