Merge pull request #44 from SoroushMazloum/develop_issues

Added bhv_goalieFreeKick

ChangeLog.md

@@ -5,6 +5,7 @@
 ### Added
 - ServerParams.pitch_margin
 - Player.inertia_final_point, PenaltyKickState.cycle, self.get_safety_dash_power.
+- bhv_goalieFreeKick added
 
 ### Fixed
 -

idl/grpc/service.proto

@@ -1,4 +1,4 @@
-// version 1.8
+// version 1.9
 
 syntax = "proto3";
 
@@ -1299,6 +1299,8 @@ message bhv_doForceKick {}
 
 message bhv_doHeardPassRecieve {}
 
+message bhv_goalieFreeKick {}
+
 message PlayerAction {
   oneof action {
       Dash dash = 1;
@@ -1369,6 +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;
   }
 }
 

idl/thrift/soccer_service.thrift

@@ -1,4 +1,4 @@
-// version 1.8
+// version 1.9
 
 namespace cpp soccer
 namespace py soccer
@@ -853,6 +853,8 @@ struct bhv_doForceKick {}
 
 struct bhv_doHeardPassRecieve {}
 
+struct bhv_goalieFreeKick {}
+
 struct PlayerAction {
   1: optional Dash dash,
   2: optional Turn turn,
@@ -922,6 +924,7 @@ struct PlayerAction {
   66: optional bhv_doHeardPassRecieve bhv_do_heard_pass_recieve,
   67: optional HeliosBasicTackle helios_basic_tackle,
   68: optional Neck_OffensiveInterceptNeck neck_offensive_intercept_neck
+  69: optional bhv_goalieFreeKick bhv_goalie_free_kick
 }
 
 struct PlayerActions {

src/grpc-client/grpc_client_player.cpp

@@ -57,6 +57,7 @@
 #include "planner/actgen_action_chain_length_filter.h"
 #include "planner/action_chain_holder.h"
 #include "planner/bhv_planned_action.h"
+#include "player/bhv_goalie_free_kick.h"
 #include "player/strategy.h"
 #include "player/bhv_basic_tackle.h"
 #include "player/neck_offensive_intercept_neck.h"
@@ -898,6 +899,10 @@ void GrpcClientPlayer::getActions()
                 rcsc::dlog.addText( rcsc::Logger::TEAM, __FILE__": Neck_ScanPlayers failed" );
             }
         }
+        else if (action.action_case() == PlayerAction::kBhvGoalieFreeKick) {
+            Bhv_GoalieFreeKick().execute(agent);
+            agent->debugClient().addMessage("Bhv_GoalieFreeKick");
+        }
         else if (action.action_case() == PlayerAction::kNeckTurnToBallAndPlayer) {
             const auto &neckTurnToBallAndPlayer = action.neck_turn_to_ball_and_player();
             const rcsc::AbstractPlayerObject *player = nullptr;

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 "player/bhv_basic_tackle.h"
 #include "player/neck_offensive_intercept_neck.h"
 #include <rcsc/player/say_message_builder.h>
@@ -1227,9 +1228,22 @@ void ThriftClientPlayer::getActions()
                       __FILE__": doHeardPassReceive performed" );
             }
             else
+            {
+                agent->debugClient().addMessage("doHeardPassReceive failed");
+            }
+        }
+        else if(action.__isset.bhv_goalie_free_kick && !action_performed)
+        {
+            if (Bhv_GoalieFreeKick().execute(agent))
+            {
+                action_performed = true;
+                rcsc::dlog.addText( rcsc::Logger::TEAM,
+                      __FILE__": Bhv_GoalieFreeKick performed" );
+            }
+            else
             {
                 rcsc::dlog.addText( rcsc::Logger::TEAM,
-                      __FILE__": doHeardPassReceive failed" );
+                      __FILE__": Bhv_GoalieFreeKick failed" );
             }
         }
         else if (action.__isset.helios_offensive_planner && !action_performed)