Merge pull request #50 from CLSFramework/develop-py2d

Update proto and thrift definitions to version 1.8, add Neck_Offensiv…
CLSFramework · Dec 1, 2024 · 1193740 · 1193740
2 parents cb70fcc + dd481e0
commit 1193740
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diff --git a/ChangeLog.md b/ChangeLog.md
@@ -1,5 +1,27 @@
 # ChangeLog
 
+## [1.1.1] - 2024-12-01
+
+### Added
+
+- added Neck_OffensiveInterceptNeck into idls
+- added HeliosBasicTackle into idls
+- added start-debug-agent.sh file
+
+### Fixed
+
+- bug fixed in start-agent.sh
+
+### Changed
+
+-
+
+### Developers
+
+- [NaderZare](https://github.com/naderzare)
+
+=======
+
 ## [1.1.0] - 2024-11-17
 
 ### Added

diff --git a/idl/grpc/service.proto b/idl/grpc/service.proto
@@ -1,4 +1,4 @@
-// version 1.7
+// version 1.8
 
 syntax = "proto3";
 
@@ -835,6 +835,9 @@ message Neck_TurnToRelative {
   float angle = 1;
 }
 
+message Neck_OffensiveInterceptNeck {
+}
+
 message View_ChangeWidth {
   ViewWidth view_width = 1;
 }
@@ -1284,6 +1287,11 @@ message HeliosPenalty {}
 
 message HeliosCommunicaion {}
 
+message HeliosBasicTackle {
+  float min_prob = 1;
+  float body_thr = 2;
+}
+
 message bhv_doForceKick {}
 
 message bhv_doHeardPassRecieve {}
@@ -1356,7 +1364,8 @@ message PlayerAction {
       HeliosCommunicaion helios_communication = 64;
       bhv_doForceKick bhv_do_force_kick = 65;
       bhv_doHeardPassRecieve bhv_do_heard_pass_recieve = 66;
-
+      HeliosBasicTackle helios_basic_tackle = 67;
+      Neck_OffensiveInterceptNeck neck_offensive_intercept_neck = 68;
   }
 }
 

diff --git a/idl/thrift/soccer_service.thrift b/idl/thrift/soccer_service.thrift
@@ -1,4 +1,4 @@
-// version 1.7
+// version 1.8
 
 namespace cpp soccer
 namespace py soccer
@@ -743,6 +743,8 @@ struct Neck_TurnToRelative {
   1: double angle
 }
 
+struct Neck_OffensiveInterceptNeck {}
+
 struct View_ChangeWidth {
   1: ViewWidth view_width
 }
@@ -839,6 +841,11 @@ struct HeliosPenalty {}
 
 struct HeliosCommunicaion {}
 
+struct HeliosBasicTackle {
+  1: double min_prob,
+  2: double body_thr
+}
+
 struct bhv_doForceKick {}
 
 struct bhv_doHeardPassRecieve {}
@@ -909,7 +916,9 @@ 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 HeliosBasicTackle helios_basic_tackle,
+  68: optional Neck_OffensiveInterceptNeck neck_offensive_intercept_neck
 }
 
 struct PlayerActions {

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -62,6 +62,6 @@ file(
 
 # copy other files to the binary direcotry
 file(COPY
-  formations-dt formations-keeper formations-taker player.conf coach.conf start-debug.sh start-offline.sh
+  formations-dt formations-keeper formations-taker player.conf coach.conf start-debug.sh start-offline.sh start-debug-agent.sh
   DESTINATION ${PROJECT_BINARY_DIR}/bin
   )
diff --git a/src/grpc-client/grpc_client_player.cpp b/src/grpc-client/grpc_client_player.cpp
@@ -58,6 +58,8 @@
 #include "planner/action_chain_holder.h"
 #include "planner/bhv_planned_action.h"
 #include "player/strategy.h"
+#include "player/bhv_basic_tackle.h"
+#include "player/neck_offensive_intercept_neck.h"
 #include <rcsc/player/say_message_builder.h>
 #include <rcsc/common/player_param.h>
 
@@ -1022,6 +1024,16 @@ void GrpcClientPlayer::getActions()
                 rcsc::dlog.addText( rcsc::Logger::TEAM, __FILE__": Neck_TurnToRelative failed" );
             }
         }
+        else if (action.action_case() == PlayerAction::kNeckOffensiveInterceptNeck) {
+            if (Neck_OffensiveInterceptNeck().execute(agent))
+            {
+                rcsc::dlog.addText( rcsc::Logger::TEAM, __FILE__": Neck_OffensiveInterceptNeck performed" );
+            }
+            else
+            {
+                rcsc::dlog.addText( rcsc::Logger::TEAM, __FILE__": Neck_OffensiveInterceptNeck failed" );
+            }
+        }
         else if (action.action_case() == PlayerAction::kViewChangeWidth) {
             const auto &viewChangeWidth = action.view_change_width();
             const rcsc::ViewWidth view_width = GrpcClient::convertViewWidth(viewChangeWidth.view_width());
@@ -1167,6 +1179,19 @@ void GrpcClientPlayer::getActions()
                       __FILE__": sample_communication failed" );
             }
         }
+        else if (action.action_case() == PlayerAction::kHeliosBasicTackle && !action_performed) {
+            const auto &helios_basic_tackle = action.helios_basic_tackle();
+            if (Bhv_BasicTackle( helios_basic_tackle.min_prob(), helios_basic_tackle.body_thr() ).execute(agent)) {
+                action_performed = true;
+                rcsc::dlog.addText( rcsc::Logger::TEAM,
+                      __FILE__": Bhv_BasicTackle performed" );
+            }
+            else
+            {
+                rcsc::dlog.addText( rcsc::Logger::TEAM,
+                      __FILE__": Bhv_BasicTackle failed" );
+            }
+        }
         else if (action.action_case() == PlayerAction::kBhvDoForceKick && !action_performed)
         {
             if(doForceKick(agent))

diff --git a/src/start-agent.sh.in b/src/start-agent.sh.in
@@ -266,12 +266,14 @@ do
 
     --goalie)
       is_goalie="true"
+      is_player="false"
       ;;
     --player)
       is_player="true"
       ;;
     --coach)
       is_coach="true"
+      is_player="false"
       ;;
     --fullstate)
       if [ $# -lt 2 ]; then

diff --git a/src/start-debug-agent.sh b/src/start-debug-agent.sh
@@ -0,0 +1,3 @@
+#!/bin/sh
+
+./start-agent.sh --offline-logging --debug --debug-server-connect ${1+"$@"}
diff --git a/src/thrift-client/thrift_client_player.cpp b/src/thrift-client/thrift_client_player.cpp
@@ -58,6 +58,8 @@
 #include "planner/action_chain_holder.h"
 #include "planner/bhv_planned_action.h"
 #include "player/strategy.h"
+#include "player/bhv_basic_tackle.h"
+#include "player/neck_offensive_intercept_neck.h"
 #include <rcsc/player/say_message_builder.h>
 #include <rcsc/common/player_param.h>
 
@@ -1008,6 +1010,16 @@ void ThriftClientPlayer::getActions()
                     __FILE__": Neck_TurnToRelative failed" );
             }                                  
         }
+        else if (action.__isset.neck_offensive_intercept_neck) {
+            if (Neck_OffensiveInterceptNeck().execute(agent))
+            {
+                rcsc::dlog.addText( rcsc::Logger::TEAM, __FILE__": Neck_OffensiveInterceptNeck performed" );
+            }
+            else
+            {
+                rcsc::dlog.addText( rcsc::Logger::TEAM, __FILE__": Neck_OffensiveInterceptNeck failed" );
+            }
+        }
         else if (action.__isset.view_change_width)
         {
             const auto &viewChangeWidth = action.view_change_width;
@@ -1178,7 +1190,19 @@ void ThriftClientPlayer::getActions()
                 rcsc::dlog.addText( rcsc::Logger::TEAM,
                       __FILE__": sample_communication failed" );
             }
-
+        }
+        else if (action.__isset.helios_basic_tackle && !action_performed) {
+            const auto &helios_basic_tackle = action.helios_basic_tackle;
+            if (Bhv_BasicTackle( helios_basic_tackle.min_prob, helios_basic_tackle.body_thr ).execute(agent)) {
+                action_performed = true;
+                rcsc::dlog.addText( rcsc::Logger::TEAM,
+                      __FILE__": Bhv_BasicTackle performed" );
+            }
+            else
+            {
+                rcsc::dlog.addText( rcsc::Logger::TEAM,
+                      __FILE__": Bhv_BasicTackle failed" );
+            }
         }
         else if (action.__isset.bhv_do_force_kick && !action_performed)
         {
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		#!/bin/sh

		./start-agent.sh --offline-logging --debug --debug-server-connect ${1+"$@"}