Merge pull request #41 from CLSFramework/develop_issues

Develop issues

ChangeLog.md

@@ -1,5 +1,22 @@
 # ChangeLog
 
+## [1.1.2] - 2024-12-08
+
+### Added
+- ServerParams.pitch_margin
+- Player.inertia_final_point, PenaltyKickState.cycle, self.get_safety_dash_power.
+
+### Fixed
+-
+
+### Changed
+- 
+
+### Developers
+- [SoroushMazloum](https://github.com/SoroushMazloum)
+
+=======
+
 ## [1.1.1] - 2024-12-01
 
 ### Added

idl/grpc/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;
 }
 
 /**
@@ -1668,6 +1671,7 @@ message ServerParam {
   float goal_area_length = 224;
   float center_circle_r = 225;
   float goal_post_radius = 226;
+  float pitch_margin = 227;
 }
 
 message PlayerParam {

idl/thrift/soccer_service.thrift

@@ -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 {
@@ -1215,7 +1218,8 @@ 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/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_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());
 }
 
 /**