added bhv_goalieFreeKick

Author: SoroushMazloum

ChangeLog.md

@@ -1,5 +1,19 @@
 # ChangeLog
 
+## [1.0.9] - 2024-1۱-9
+
+### Added
+- bhv_goalieFreeKick added
+
+### Fixed
+-
+
+### Changed
+- 
+
+### Engineers
+- [SoroushMazloum](https://github.com/SoroushMazloum)
+
 ## [1.0.8] - 2024-10-24
 
 ### Added

idl/grpc/service.proto

@@ -1,4 +1,4 @@
-// version 1.8
+// version 1.9
 
 syntax = "proto3";
 
@@ -825,6 +825,8 @@ message bhv_doForceKick {}
 
 message bhv_doHeardPassRecieve {}
 
+message bhv_goalieFreeKick {}
+
 message PlayerAction {
   oneof action {
       Dash dash = 1;
@@ -893,7 +895,7 @@ message PlayerAction {
       HeliosCommunicaion helios_communication = 64;
       bhv_doForceKick bhv_do_force_kick = 65;
       bhv_doHeardPassRecieve bhv_do_heard_pass_recieve = 66;
-
+      bhv_goalieFreeKick bhv_goalie_free_kick = 67;
   }
 }
 

idl/thrift/soccer_service.thrift

@@ -1,4 +1,4 @@
-// version 1.8
+// version 1.9
 
 namespace cpp soccer
 namespace py soccer
@@ -791,6 +791,8 @@ struct bhv_doForceKick {}
 
 struct bhv_doHeardPassRecieve {}
 
+struct bhv_goalieFreeKick {}
+
 struct PlayerAction {
   1: optional Dash dash,
   2: optional Turn turn,
@@ -857,7 +859,8 @@ struct PlayerAction {
   63: optional HeliosPenalty helios_penalty,
   64: optional HeliosCommunicaion helios_communication,
   65: optional bhv_doForceKick bhv_do_force_kick,
-  66: optional bhv_doHeardPassRecieve bhv_do_heard_pass_recieve
+  66: optional bhv_doHeardPassRecieve bhv_do_heard_pass_recieve,
+  67: optional bhv_goalieFreeKick bhv_goalie_free_kick
 }
 
 struct PlayerActions {

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 <rcsc/player/say_message_builder.h>
 #include <rcsc/common/player_param.h>
 
@@ -610,6 +611,11 @@ void ThriftClientPlayer::getActions()
                 agent->debugClient().addMessage("doHeardPassReceive - false");
             }
         }
+        else if(action.__isset.bhv_goalie_free_kick)
+        {
+            Bhv_GoalieFreeKick().execute(agent);
+            agent->debugClient().addMessage("bhvGoalieFreeKick");
+        }
         else if (action.__isset.helios_offensive_planner)
         {
             FieldEvaluator::ConstPtr field_evaluator = FieldEvaluator::ConstPtr(new SampleFieldEvaluator);