Merge pull request #29 from CLSFramework/develop_issues

Develop issues

Author: naderzare

ChangeLog.md

@@ -1,5 +1,41 @@
 # ChangeLog
 
+## [1.0.4] - 2024-10-8
+
+### Added
+- self.effort and wm.see_time are added
+
+### Fixed
+-
+
+### Changed
+- 
+
+### Engineers
+- [NaderZare](https://github.com/naderzare)
+- [SadraKhanjari](https://github.com/SK2iP)
+- [SoroushMazloum](https://github.com/SoroushMazloum)
+
+=======
+
+## [1.0.3] - 2024-10-7
+
+### Added
+- penalty_kick_state has been added to the proxy in the WorldModel message.
+
+### Fixed
+-
+
+### Changed
+- 
+
+### Engineers
+- [NaderZare](https://github.com/naderzare)
+- [SadraKhanjari](https://github.com/SK2iP)
+- [SoroushMazloum](https://github.com/SoroushMazloum)
+
+=======
+
 ## [1.0.2] - 2024-09-15
 
 ### Added

idl/grpc/service.proto

@@ -1,4 +1,4 @@
-// version 1.2
+// version 1.4
 
 syntax = "proto3";
 
@@ -102,6 +102,16 @@ enum CardType {
   RED = 2;
 }
 
+message PenaltyKickState {
+  Side on_field_side = 1;
+  Side current_taker_side = 2;
+  int32 our_taker_counter = 3;
+  int32 their_taker_counter = 4;
+  int32 our_score = 5;
+  int32 their_score = 6;
+  bool is_kick_taker = 7;
+}
+
 message Player {
   RpcVector2D  position = 1;
   RpcVector2D  seen_position = 2;
@@ -176,6 +186,7 @@ message Self {
   float stamina_capacity = 38;
   CardType card = 39;
   int32 catch_time = 40;
+  float effort = 41;
 }
 
 enum InterceptActionType {
@@ -285,6 +296,8 @@ message WorldModel {
   double their_defense_player_line_x = 35;
   bool kickable_teammate_existance = 36;
   bool kickable_opponent_existance = 37;
+  PenaltyKickState penalty_kick_state = 38;
+  int32 see_time = 39;
 }
 
 message State {

idl/thrift/soccer_service.thrift

@@ -1,4 +1,4 @@
-// version 1.2
+// version 1.4
 
 namespace cpp soccer
 namespace py soccer
@@ -105,6 +105,16 @@ enum CardType {
   RED = 2
 }
 
+struct PenaltyKickState {
+  1: Side on_field_side,
+  2: Side current_taker_side,
+  3: i32 our_taker_counter,
+  4: i32 their_taker_counter,
+  5: i32 our_score,
+  6: i32 their_score,
+  7: bool is_kick_taker
+}
+
 struct Player {
   1: RpcVector2D position,
   2: RpcVector2D seen_position,
@@ -178,7 +188,8 @@ struct Self {
   37: double recovery,
   38: double stamina_capacity,
   39: CardType card,
-  40: i32 catch_time
+  40: i32 catch_time,
+  41: double effort
 }
 
 enum InterceptActionType {
@@ -287,7 +298,9 @@ struct WorldModel {
   34: double our_defense_player_line_x,
   35: double their_defense_player_line_x,
   36: bool kickable_teammate_existance,
-  37: bool kickable_opponent_existance
+  37: bool kickable_opponent_existance,
+  38: PenaltyKickState penalty_kick_state,
+  39: i32 see_time
 }
 
 struct State {

src/grpc-client/state_generator.cpp

@@ -173,7 +173,7 @@ protos::Self *StateGenerator::convertSelf(const rcsc::SelfObject &self, const rc
     res->set_stamina_capacity(static_cast<float>(self.staminaCapacity()));
     res->set_card(convertCardType(self.card()));
     res->set_catch_time(self.catchTime().cycle());
-
+    res->set_effort(static_cast<float>(self.effort()));
     return res;
 }
 
@@ -236,6 +236,20 @@ protos::InterceptTable *StateGenerator::convertInterceptTable(const rcsc::Interc
     return res;
 }
 
+protos::PenaltyKickState *StateGenerator::convertPenaltyKickState(const rcsc::WorldModel &wm, const rcsc::PenaltyKickState *state)
+{
+    auto res = new protos::PenaltyKickState();
+    res->set_on_field_side(convertSide(state->onfieldSide()));
+    res->set_current_taker_side(convertSide(state->currentTakerSide()));
+    res->set_our_taker_counter(state->ourTakerCounter());
+    res->set_their_taker_counter(state->theirTakerCounter());
+    res->set_our_score(state->ourScore());
+    res->set_their_score(state->theirScore());
+    res->set_is_kick_taker(state->isKickTaker(wm.ourSide(), wm.self().unum()));
+    
+    return res;
+}
+
 /**
  * Updates the player object with the given player information.
  *
@@ -514,6 +528,11 @@ protos::WorldModel *StateGenerator::convertWorldModel(const rcsc::WorldModel &wm
     res->set_their_defense_line_x(static_cast<float>(wm.theirDefenseLineX()));
     res->set_our_defense_player_line_x(static_cast<float>(wm.ourDefensePlayerLineX()));
     res->set_their_defense_player_line_x(static_cast<float>(wm.theirDefensePlayerLineX()));
+    if(wm.gameMode().isPenaltyKickMode())
+    {
+        res->set_allocated_penalty_kick_state(convertPenaltyKickState(wm, wm.penaltyKickState()));
+    }
+    res->set_see_time(wm.seeTime().cycle());
     return res;
 }
 
@@ -559,4 +578,4 @@ protos::WorldModel *StateGenerator::convertCoachWorldModel(const rcsc::CoachWorl
     res->set_their_team_score(wm.ourSide() == rcsc::SideID::LEFT ? wm.gameMode().scoreRight() : wm.gameMode().scoreLeft());
     res->set_is_penalty_kick_mode(wm.gameMode().isPenaltyKickMode());
     return res;
-}
+}

src/grpc-client/state_generator.h

@@ -1,5 +1,6 @@
 #include "../grpc-generated/service.pb.h"
 #include <rcsc/player/player_agent.h>
+#include <rcsc/player/penalty_kick_state.h>
 #include <rcsc/coach/coach_agent.h>
 #include <rcsc/trainer/trainer_agent.h>
 #include <rcsc/player/world_model.h>
@@ -22,6 +23,7 @@ class StateGenerator
     static protos::Self *convertSelf(const rcsc::SelfObject &self, const rcsc::WorldModel &wm);
     static protos::InterceptActionType convertInterceptActionType(rcsc::Intercept::ActionType actionType);
     static protos::InterceptTable *convertInterceptTable(const rcsc::InterceptTable &interceptTable);
+    static protos::PenaltyKickState *convertPenaltyKickState(const rcsc::WorldModel &wm, const rcsc::PenaltyKickState *state);
     static void updatePlayerObject(protos::Player *p, const rcsc::PlayerObject *player);
     static void updatePlayerObject(protos::Player *p, const rcsc::CoachPlayerObject *player);
     static void updateAbstractPlayerObject(protos::Player *p, const rcsc::AbstractPlayerObject *player);

src/thrift-client/thrift_state_generator.cpp

@@ -178,7 +178,7 @@ soccer::Self ThriftStateGenerator::convertSelf(const rcsc::SelfObject &self, con
     res.stamina_capacity = static_cast<float>(self.staminaCapacity());
     res.card = convertCardType(self.card());
     res.catch_time = self.catchTime().cycle();
-    
+    res.effort = static_cast<float>(self.effort());
     return res;
 }
 
@@ -245,6 +245,20 @@ soccer::InterceptTable ThriftStateGenerator::convertInterceptTable(const rcsc::I
     return res;
 }
 
+soccer::PenaltyKickState ThriftStateGenerator::convertPenaltyKickState(const rcsc::WorldModel &wm, const rcsc::PenaltyKickState *state)
+{
+    auto res = soccer::PenaltyKickState();
+    res.on_field_side = convertSide(state->onfieldSide());
+    res.current_taker_side = convertSide(state->currentTakerSide());
+    res.our_taker_counter = state->ourTakerCounter();
+    res.their_taker_counter = state->theirTakerCounter();
+    res.our_score = state->ourScore();
+    res.their_score = state->theirScore();
+    res.is_kick_taker = state->isKickTaker(wm.ourSide(), wm.self().unum());
+    
+    return res;
+}
+
 /**
  * Updates the player object with the given player information.
  *
@@ -542,7 +556,11 @@ soccer::WorldModel ThriftStateGenerator::convertWorldModel(const rcsc::WorldMode
     res.their_defense_line_x = static_cast<float>(wm.theirDefenseLineX());
     res.our_defense_player_line_x = static_cast<float>(wm.ourDefensePlayerLineX());
     res.their_defense_player_line_x = static_cast<float>(wm.theirDefensePlayerLineX());
-
+    if(wm.gameMode().isPenaltyKickMode())
+    {
+        res.penalty_kick_state = convertPenaltyKickState(wm, wm.penaltyKickState());
+    }
+    res.see_time = wm.seeTime().cycle();
     return res;
 }
 
@@ -593,4 +611,4 @@ soccer::WorldModel ThriftStateGenerator::convertCoachWorldModel(const rcsc::Coac
     res.their_team_score = wm.ourSide() == rcsc::SideID::LEFT ? wm.gameMode().scoreRight() : wm.gameMode().scoreLeft();
     res.is_penalty_kick_mode = wm.gameMode().isPenaltyKickMode();
     return res;
-}
+}

src/thrift-client/thrift_state_generator.h

@@ -1,6 +1,7 @@
 //#include "service.pb.h"
 
 #include <rcsc/player/player_agent.h>
+#include <rcsc/player/penalty_kick_state.h>
 #include <rcsc/coach/coach_agent.h>
 #include <rcsc/trainer/trainer_agent.h>
 #include <rcsc/player/world_model.h>
@@ -31,6 +32,7 @@ class ThriftStateGenerator
     static soccer::Self convertSelf(const rcsc::SelfObject &self, const rcsc::WorldModel &wm);
     static soccer::InterceptActionType::type convertInterceptActionType(rcsc::Intercept::ActionType actionType);
     static soccer::InterceptTable convertInterceptTable(const rcsc::InterceptTable &interceptTable);
+    static soccer::PenaltyKickState convertPenaltyKickState(const rcsc::WorldModel &wm, const rcsc::PenaltyKickState *state);
     static void updatePlayerObject(soccer::Player &p, const rcsc::PlayerObject *player);
     static void updatePlayerObject(soccer::Player &p, const rcsc::CoachPlayerObject *player);
     static void updateAbstractPlayerObject(soccer::Player &p, const rcsc::AbstractPlayerObject *player);