Merge pull request #6 from CLSFramework/develop

Develop

Author: naderzare

idl/service.proto

@@ -1,3 +1,5 @@
+// version 1
+
 syntax = "proto3";
 
 package protos;
@@ -19,13 +21,26 @@ message RegisterRequest {
   AgentType agent_type = 1;
   string team_name = 2;
   int32 uniform_number = 3;
+  int32 rpc_version = 4;
+}
+
+enum RpcServerLanguageType {
+  UNKNOWN_LANGUAGE = 0;
+  PYThON = 1;
+  JAVA = 2;
+  CPP = 3;
+  CSHARP = 4;
+  RUBY = 5;
+  JAVE_SCRIPT = 6;
+  GO = 7;
 }
 
 message RegisterResponse {
   int32 client_id = 1;
   AgentType agent_type = 2;
   string team_name = 3;
   int32 uniform_number = 4;
+  RpcServerLanguageType rpc_server_language_type = 5;
 }
 
 message Ball {
@@ -81,6 +96,12 @@ enum LoggerLevel{
   // LEVEL_ANY = 0xffffffff;
 }
 
+enum CardType {
+  NO_CARD = 0;
+  YELLOW = 1;
+  RED = 2;
+}
+
 message Player {
   RpcVector2D  position = 1;
   RpcVector2D  seen_position = 2;
@@ -151,6 +172,9 @@ message Self {
   ViewWidth view_width = 34;
   int32 type_id = 35;
   float kick_rate = 36;
+  float recovery = 37;
+  float stamina_capacity = 38;
+  CardType card = 39;
 }
 
 enum InterceptActionType {
@@ -254,6 +278,10 @@ message WorldModel {
   int32 their_team_score = 29;
   bool is_penalty_kick_mode = 30;
   map<int32, RpcVector2D> helios_home_positions = 31;
+  double our_defense_line_x = 32;
+  double their_defense_line_x = 33;
+  double our_defense_player_line_x = 34;
+  double their_defense_player_line_x = 35;
 }
 
 message State {
@@ -748,7 +776,7 @@ message HeliosGoalieKick {}
 
 message HeliosShoot {}
 
-message HeliosChainAction {
+message HeliosOffensivePlanner {
   bool direct_pass = 1;
   bool lead_pass = 2;
   bool through_pass = 3;
@@ -758,6 +786,7 @@ message HeliosChainAction {
   bool simple_pass = 7;
   bool simple_dribble = 8;
   bool simple_shoot = 9;
+  bool server_side_decision = 10;
 }
 
 message HeliosBasicOffensive {}
@@ -830,12 +859,13 @@ message PlayerAction {
       HeliosGoalieMove helios_goalie_move = 56;
       HeliosGoalieKick helios_goalie_kick = 57;
       HeliosShoot helios_shoot = 58;
-      HeliosChainAction helios_chain_action = 59;
+      HeliosOffensivePlanner helios_offensive_planner = 59;
       HeliosBasicOffensive helios_basic_offensive = 60;
       HeliosBasicMove helios_basic_move = 61;
       HeliosSetPlay helios_set_play = 62;
       HeliosPenalty helios_penalty = 63;
       HeliosCommunicaion helios_communication = 64;
+
   }
 }
 
@@ -1202,6 +1232,59 @@ message PlayerType {
   float player_speed_max = 34;
 }
 
+enum RpcActionCategory {
+  AC_Hold = 0;
+  AC_Dribble = 1;
+  AC_Pass = 2;
+  AC_Shoot = 3;
+  AC_Clear = 4;
+  AC_Move = 5;
+  AC_NoAction = 6;
+}
+message RpcCooperativeAction {
+  RpcActionCategory category = 1;
+  int32 index = 2;
+  int32 sender_unum = 3;
+  int32 target_unum = 4;
+  RpcVector2D target_point = 5;
+  double first_ball_speed = 6;
+  double first_turn_moment = 7;
+  double first_dash_power = 8;
+  double first_dash_angle_relative = 9;
+  int32 duration_step = 10;
+  int32 kick_count = 11;
+  int32 turn_count = 12;
+  int32 dash_count = 13;
+  bool final_action = 14;
+  string description = 15;
+  int32 parent_index = 16;
+}
+
+message RpcPredictState {
+  int32 spend_time = 1;
+  int32 ball_holder_unum = 2;
+  RpcVector2D ball_position = 3;
+  RpcVector2D ball_velocity = 4;
+  double our_defense_line_x = 5;
+  double our_offense_line_x = 6;
+}
+
+message RpcActionState {
+  RpcCooperativeAction action = 1;
+  RpcPredictState predict_state = 2;
+  double evaluation = 3;
+}
+
+message BestPlannerActionRequest {
+  RegisterResponse register_response = 1;
+  map<int32, RpcActionState> pairs = 2;
+  State state = 3;
+}
+
+message BestPlannerActionResponse {
+  int32 index = 1;
+}
+
 message Empty {
 }
 
@@ -1215,4 +1298,5 @@ service Game {
   rpc SendPlayerType(PlayerType) returns (Empty) {} //should be PlayerTypes
   rpc Register(RegisterRequest) returns (RegisterResponse) {}
   rpc SendByeCommand(RegisterResponse) returns (Empty) {}
+  rpc GetBestPlannerAction(BestPlannerActionRequest) returns (BestPlannerActionResponse) {}
 }

server.py

@@ -11,7 +11,6 @@
 
 logging.basicConfig(level=logging.DEBUG)
 
-
 class GrpcAgent:
     def __init__(self, agent_type, uniform_number) -> None:
         self.agent_type: pb2.AgentType = agent_type
@@ -35,15 +34,18 @@ def GetPlayerActions(self, state: pb2.State):
             if state.world_model.self.is_goalie:
                 actions.append(pb2.PlayerAction(helios_goalie=pb2.HeliosGoalie()))
             elif state.world_model.self.is_kickable:
-                actions.append(pb2.PlayerAction(helios_chain_action=pb2.HeliosChainAction(lead_pass=True,
+                actions.append(pb2.PlayerAction(helios_offensive_planner=pb2.HeliosOffensivePlanner(lead_pass=True,
                                                                                   direct_pass=True,
                                                                                   through_pass=True,
                                                                                   simple_pass=True,
                                                                                   short_dribble=True,
                                                                                   long_dribble=True,
                                                                                   simple_shoot=True,
                                                                                   simple_dribble=True,
-                                                                                  cross=True)))
+                                                                                  cross=True,
+                                                                                  server_side_decision=False
+                                                                                  )))
+                actions.append(pb2.PlayerAction(helios_shoot=pb2.HeliosShoot()))
             else:
                 actions.append(pb2.PlayerAction(helios_basic_move=pb2.HeliosBasicMove()))
         else:
@@ -125,15 +127,15 @@ def Register(self, register_request: pb2.RegisterRequest, context):
                       f"agent_type: {register_request.agent_type}")
         with self.shared_lock:
             self.shared_number_of_connections.value += 1
-        logging.debug(f"Number of connections {self.shared_number_of_connections.value}")
-        team_name = register_request.team_name
-        uniform_number = register_request.uniform_number
-        agent_type = register_request.agent_type
-        self.agents[self.shared_number_of_connections.value] = GrpcAgent(agent_type, uniform_number)
-        res = pb2.RegisterResponse(client_id=self.shared_number_of_connections.value,
-                                team_name=team_name,
-                                uniform_number=uniform_number,
-                                agent_type=agent_type)
+            logging.debug(f"Number of connections {self.shared_number_of_connections.value}")
+            team_name = register_request.team_name
+            uniform_number = register_request.uniform_number
+            agent_type = register_request.agent_type
+            self.agents[self.shared_number_of_connections.value] = GrpcAgent(agent_type, uniform_number)
+            res = pb2.RegisterResponse(client_id=self.shared_number_of_connections.value,
+                                    team_name=team_name,
+                                    uniform_number=uniform_number,
+                                    agent_type=agent_type)
         return res
 
     def SendByeCommand(self, register_response: pb2.RegisterResponse, context):
@@ -143,6 +145,15 @@ def SendByeCommand(self, register_response: pb2.RegisterResponse, context):
 
         res = pb2.Empty()
         return res
+    
+    def GetBestPlannerAction(self, pairs: pb2.BestPlannerActionRequest, context):
+        logging.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.state.register_response.uniform_number}")
+        pairs_list: list[int, pb2.RpcActionState] = [(k, v) for k, v in pairs.pairs.items()]
+        pairs_list.sort(key=lambda x: x[0])
+        best_action = max(pairs_list, key=lambda x: -1000 if x[1].action.parent_index != -1 else x[1].predict_state.ball_position.x)
+        logging.debug(f"Best action: {best_action[0]} {best_action[1].action.description} to {best_action[1].action.target_unum} in ({round(best_action[1].action.target_point.x, 2)},{round(best_action[1].action.target_point.y, 2)}) e:{round(best_action[1].evaluation,2)}")
+        res = pb2.BestPlannerActionResponse(index=best_action[0])
+        return res
 
 def serve(port, shared_lock, shared_number_of_connections):
     server = grpc.server(futures.ThreadPoolExecutor(max_workers=22))