Merge pull request #10 from CLSFramework/develop

Develop

Author: naderzare

idl/service.proto

@@ -1,4 +1,5 @@
-// version 1
+
+// version 1.6
 
 syntax = "proto3";
 
@@ -102,6 +103,16 @@ 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;
@@ -175,6 +186,8 @@ message Self {
   float recovery = 37;
   float stamina_capacity = 38;
   CardType card = 39;
+  int32 catch_time = 40;
+  float effort = 41;
 }
 
 enum InterceptActionType {
@@ -282,6 +295,13 @@ message WorldModel {
   double their_defense_line_x = 33;
   double our_defense_player_line_x = 34;
   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;
+  int32 time_stopped = 40;
+  int32 set_play_count = 41;
+  Side game_mode_side = 42;
 }
 
 message State {
@@ -799,6 +819,10 @@ message HeliosPenalty {}
 
 message HeliosCommunicaion {}
 
+message bhv_doForceKick {}
+
+message bhv_doHeardPassRecieve {}
+
 message PlayerAction {
   oneof action {
       Dash dash = 1;
@@ -865,13 +889,17 @@ message PlayerAction {
       HeliosSetPlay helios_set_play = 62;
       HeliosPenalty helios_penalty = 63;
       HeliosCommunicaion helios_communication = 64;
+      bhv_doForceKick bhv_do_force_kick = 65;
+      bhv_doHeardPassRecieve bhv_do_heard_pass_recieve = 66;
 
   }
 }
 
 message PlayerActions {
   repeated PlayerAction actions = 1;
   bool ignore_preprocess = 2;
+  bool ignore_doforcekick = 3;
+  bool ignore_doHeardPassRecieve = 4;
 }
 
 message ChangePlayerType {
@@ -1160,6 +1188,10 @@ message ServerParam {
   float penalty_area_half_width = 220;
   float penalty_area_length = 221;
   float goal_width = 222;
+  float goal_area_width = 223;
+  float goal_area_length = 224;
+  float center_circle_r = 225;
+  float goal_post_radius = 226;
 }
 
 message PlayerParam {
@@ -1299,4 +1331,4 @@ service Game {
   rpc Register(RegisterRequest) returns (RegisterResponse) {}
   rpc SendByeCommand(RegisterResponse) returns (Empty) {}
   rpc GetBestPlannerAction(BestPlannerActionRequest) returns (BestPlannerActionResponse) {}
-}
+}

server.py

@@ -53,7 +53,7 @@ def GetPlayerActions(self, state: pb2.State):
                                                                                   simple_shoot=True,
                                                                                   simple_dribble=True,
                                                                                   cross=True,
-                                                                                  server_side_decision=False
+                                                                                  server_side_decision=True
                                                                                   )))
                 actions.append(pb2.PlayerAction(helios_shoot=pb2.HeliosShoot()))
             else:
@@ -65,7 +65,7 @@ def GetPlayerActions(self, state: pb2.State):
         return pb2.PlayerActions(actions=actions)
 
     def GetBestPlannerAction(self, pairs: pb2.BestPlannerActionRequest):
-        self.logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.state.register_response.uniform_number}")
+        self.logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.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)
@@ -183,8 +183,8 @@ def SendByeCommand(self, register_response: pb2.RegisterResponse, context):
         return res
 
     def GetBestPlannerAction(self, pairs: pb2.BestPlannerActionRequest, context):
-        main_logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.state.register_response.uniform_number}")
-        res = self.agents[pairs.state.register_response.client_id].GetBestPlannerAction(pairs)
+        main_logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.register_response.uniform_number}")
+        res = self.agents[pairs.register_response.client_id].GetBestPlannerAction(pairs)
         return res