Skip to content

Commit

Permalink
offensive and defensive role priorities
Browse files Browse the repository at this point in the history
  • Loading branch information
@MaikRe
MaikRe committed Oct 7, 2024
1 parent 67d882e commit 27d3306
Show file tree
Hide file tree
Showing 3 changed files with 112 additions and 56 deletions.
138 changes: 96 additions & 42 deletions crates/control/src/role_assignment.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,8 @@ pub struct CycleContext {
_keeper_replacementkeeper_switch_time:
Parameter<Duration, "role_assignment.keeper_replacementkeeper_switch_time">,
initial_poses: Parameter<Vec<InitialPose>, "localization.initial_poses">,
optional_roles: Parameter<Vec<Role>, "behavior.optional_roles">,
offense_optional_roles: Parameter<Vec<Role>, "behavior.offense_optional_roles">,
number_of_defensive_players: Parameter<usize, "behavior.number_of_defensive_players">,
jersey_number: Parameter<usize, "jersey_number">,
spl_network: Parameter<SplNetworkParameters, "spl_network">,

Expand Down Expand Up @@ -121,6 +122,8 @@ impl RoleAssignment {
_ => Default::default(),
});

let mut defense_optional_roles = context.offense_optional_roles.clone();
defense_optional_roles.reverse();
// let available_field_players = if let Some(game_controller_state) =
// context.filtered_game_controller_state
// {
Expand Down Expand Up @@ -148,16 +151,6 @@ impl RoleAssignment {
|| primary_state == PrimaryState::Ready
|| primary_state == PrimaryState::Set
{
// #[allow(clippy::get_first)]
// let mut player_roles = Players {
// one: Role::Keeper,
// two: context.optional_roles.get(0).copied().unwrap_or_default(),
// three: context.optional_roles.get(1).copied().unwrap_or_default(),
// four: context.optional_roles.get(2).copied().unwrap_or_default(),
// five: context.optional_roles.get(3).copied().unwrap_or_default(),
// six: context.optional_roles.get(4).copied().unwrap_or_default(),
// seven: Role::Striker,
// };
if let Some(game_controller_state) = context.filtered_game_controller_state {
if let Some(0) = context.replacement_keeper_priority {
new_role = Role::ReplacementKeeper;
Expand All @@ -166,13 +159,34 @@ impl RoleAssignment {
} else if game_controller_state.goal_keeper_number == *context.jersey_number {
new_role = Role::Keeper;
} else {
new_role = match context.striker_priority {
Some(index) => context
.optional_roles
.get(index - 1)
new_role = match (
context.striker_priority,
context.replacement_keeper_priority,
) {
(None, None) => Default::default(),
(None, Some(replacement_keeper_index)) => defense_optional_roles
.get(replacement_keeper_index - 1)
.copied()
.unwrap_or_default(),
None => Role::default(),
(Some(striker_index), None) => context
.offense_optional_roles
.get(striker_index - 1)
.copied()
.unwrap_or_default(),
(Some(striker_index), Some(replacement_keeper_index)) => {
if replacement_keeper_index <= context.number_of_defensive_players {
defense_optional_roles
.get(replacement_keeper_index - 1)
.copied()
.unwrap_or_default()
} else {
context
.offense_optional_roles
.get(striker_index - 1)
.copied()
.unwrap_or_default()
}
}
};
}
}
Expand Down Expand Up @@ -309,7 +323,9 @@ impl RoleAssignment {
cycle_start_time,
context.filtered_game_controller_state,
context.spl_network.striker_trusts_team_ball,
context.optional_roles,
context.offense_optional_roles,
&defense_optional_roles,
*context.number_of_defensive_players,
context.replacement_keeper_priority.copied(),
context.striker_priority.copied(),
*context.jersey_number,
Expand All @@ -333,7 +349,9 @@ impl RoleAssignment {
cycle_start_time,
context.filtered_game_controller_state,
context.spl_network.striker_trusts_team_ball,
context.optional_roles,
context.offense_optional_roles,
&defense_optional_roles,
*context.number_of_defensive_players,
context.replacement_keeper_priority.copied(),
context.striker_priority.copied(),
*context.jersey_number,
Expand Down Expand Up @@ -439,7 +457,9 @@ fn process_role_state_machine(
cycle_start_time: SystemTime,
filtered_game_controller_state: Option<&FilteredGameControllerState>,
striker_trusts_team_ball: Duration,
optional_roles: &[Role],
offense_optional_roles: &[Role],
defense_optional_roles: &[Role],
number_of_defensive_players: usize,
replacement_keeper_priority: Option<usize>,
striker_priority: Option<usize>,
own_jersey_number: usize,
Expand Down Expand Up @@ -514,7 +534,9 @@ fn process_role_state_machine(
spl_message,
time_to_reach_kick_position,
cycle_start_time,
optional_roles,
offense_optional_roles,
defense_optional_roles,
number_of_defensive_players,
replacement_keeper_priority,
striker_priority,
goal_keeper_number,
Expand All @@ -539,7 +561,9 @@ fn process_role_state_machine(
spl_message,
time_to_reach_kick_position,
cycle_start_time,
optional_roles,
offense_optional_roles,
defense_optional_roles,
number_of_defensive_players,
replacement_keeper_priority,
striker_priority,
goal_keeper_number,
Expand All @@ -556,7 +580,9 @@ fn process_role_state_machine(
spl_message,
time_to_reach_kick_position,
cycle_start_time,
optional_roles,
offense_optional_roles,
defense_optional_roles,
number_of_defensive_players,
replacement_keeper_priority,
striker_priority,
goal_keeper_number,
Expand Down Expand Up @@ -585,7 +611,9 @@ fn process_role_state_machine(
spl_message,
time_to_reach_kick_position,
cycle_start_time,
optional_roles,
offense_optional_roles,
defense_optional_roles,
number_of_defensive_players,
replacement_keeper_priority,
striker_priority,
goal_keeper_number,
Expand All @@ -602,7 +630,9 @@ fn process_role_state_machine(
spl_message,
time_to_reach_kick_position,
cycle_start_time,
optional_roles,
offense_optional_roles,
defense_optional_roles,
number_of_defensive_players,
replacement_keeper_priority,
striker_priority,
goal_keeper_number,
Expand All @@ -628,7 +658,9 @@ fn process_role_state_machine(
spl_message,
time_to_reach_kick_position,
cycle_start_time,
optional_roles,
offense_optional_roles,
defense_optional_roles,
number_of_defensive_players,
replacement_keeper_priority,
striker_priority,
goal_keeper_number,
Expand All @@ -652,7 +684,9 @@ fn process_role_state_machine(
spl_message,
time_to_reach_kick_position,
cycle_start_time,
optional_roles,
offense_optional_roles,
defense_optional_roles,
number_of_defensive_players,
replacement_keeper_priority,
striker_priority,
goal_keeper_number,
Expand Down Expand Up @@ -685,7 +719,9 @@ fn process_role_state_machine(
spl_message,
time_to_reach_kick_position,
cycle_start_time,
optional_roles,
offense_optional_roles,
defense_optional_roles,
number_of_defensive_players,
replacement_keeper_priority,
striker_priority,
goal_keeper_number,
Expand All @@ -699,7 +735,9 @@ fn decide_if_claiming_striker_or_other_role(
spl_message: &StrikerMessage,
time_to_reach_kick_position: Option<Duration>,
cycle_start_time: SystemTime,
optional_roles: &[Role],
offense_optional_roles: &[Role],
defense_optional_roles: &[Role],
number_of_defensive_players: usize,
replacement_keeper_priority: Option<usize>,
striker_priority: Option<usize>,
goal_keeper_number: Option<usize>,
Expand All @@ -721,7 +759,9 @@ fn decide_if_claiming_striker_or_other_role(
goal_keeper_number,
spl_message.jersey_number,
own_jersey_number,
optional_roles,
offense_optional_roles,
defense_optional_roles,
number_of_defensive_players,
),
false,
team_ball_from_spl_message(cycle_start_time, spl_message),
Expand Down Expand Up @@ -788,21 +828,26 @@ fn team_ball_from_seen_ball(
})
}

#[allow(clippy::too_many_arguments)]
fn generate_role(
replacement_keeper_priority: Option<usize>,
striker_priority: Option<usize>,
goal_keeper_number: Option<usize>,
striker_jersey_number: usize,
own_jersey_number: usize,
optional_roles: &[Role],
offense_optional_roles: &[Role],
defense_optional_roles: &[Role],
number_of_defensive_players: usize,
) -> Role {
if replacement_keeper_priority.is_some() || striker_priority.is_some() {
pick_role_with_penalties(
replacement_keeper_priority.unwrap(),
striker_priority.unwrap(),
striker_jersey_number,
own_jersey_number,
optional_roles,
offense_optional_roles,
defense_optional_roles,
number_of_defensive_players,
)
} else if Some(own_jersey_number) == goal_keeper_number {
return Role::Keeper;
Expand All @@ -817,7 +862,9 @@ fn pick_role_with_penalties(
striker_priority: usize,
striker_jersey_number: usize,
own_jersey_number: usize,
optional_roles: &[Role],
offense_optional_roles: &[Role],
defense_optional_roles: &[Role],
number_of_defensive_players: usize,
) -> Role {
// let mut role_assignment: Players<Option<Role>> = Players {
// one: None,
Expand Down Expand Up @@ -847,7 +894,7 @@ fn pick_role_with_penalties(
return Role::ReplacementKeeper;
}

// for &optional_role in optional_roles.iter().take(unassigned_robots) {
// for &optional_role in offense_optional_roles.iter().take(unassigned_robots) {
// if needs_assignment(PlayerNumber::Two, penalties, &role_assignment) {
// role_assignment[PlayerNumber::Two] = Some(optional_role);
// } else if needs_assignment(PlayerNumber::Three, penalties, &role_assignment) {
Expand All @@ -864,16 +911,23 @@ fn pick_role_with_penalties(
// }

// role_assignment[own_player_number].unwrap_or_default()
match own_jersey_number.cmp(&striker_jersey_number) {
Ordering::Greater => optional_roles
.get(striker_priority)
.copied()
.unwrap_or_default(),
Ordering::Equal => Role::Striker,
Ordering::Less => optional_roles
.get(striker_priority - 1)
if replacement_keeper_priority <= number_of_defensive_players {
defense_optional_roles
.get(replacement_keeper_priority)
.copied()
.unwrap_or_default(),
.unwrap_or_default()
} else {
match own_jersey_number.cmp(&striker_jersey_number) {
Ordering::Greater => offense_optional_roles
.get(striker_priority)
.copied()
.unwrap_or_default(),
Ordering::Equal => Role::Striker,
Ordering::Less => offense_optional_roles
.get(striker_priority - 1)
.copied()
.unwrap_or_default(),
}
}
}

Expand Down
3 changes: 2 additions & 1 deletion crates/types/src/parameters.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,8 @@ pub struct StepPlannerParameters {
pub struct BehaviorParameters {
pub injected_motion_command: Option<MotionCommand>,
pub lost_ball: LostBallParameters,
pub optional_roles: Vec<Role>,
pub offense_optional_roles: Vec<Role>,
pub number_of_defensive_players: usize,
pub path_planning: PathPlanningParameters,
pub role_positions: RolePositionsParameters,
pub walk_and_stand: WalkAndStandParameters,
Expand Down
27 changes: 14 additions & 13 deletions etc/parameters/default.json
View file
Original file line number Diff line number Diff line change
Expand Up @@ -643,32 +643,32 @@
"initial_hypothesis_score": 10.0,
"initial_poses": [
{
"center_line_offset_x": -3.0,
"center_line_offset_x": -3.5,
"side": "Left"
},
{
"center_line_offset_x": -2.0,
"side": "Left"
"center_line_offset_x": -3.0,
"side": "Right"
},
{
"center_line_offset_x": -3.5,
"side": "Right"
"center_line_offset_x": -3.0,
"side": "Left"
},
{
"center_line_offset_x": -2.0,
"side": "Right"
},
{
"center_line_offset_x": -3.0,
"side": "Right"
"center_line_offset_x": -2.0,
"side": "Left"
},
{
"center_line_offset_x": -1.0,
"side": "Left"
"side": "Right"
},
{
"center_line_offset_x": -1.0,
"side": "Right"
"side": "Left"
}
],
"line_length_acceptance_factor": 1.5,
Expand Down Expand Up @@ -1123,13 +1123,14 @@
"walk_to_penalty_kick": "Normal"
},
"behavior": {
"optional_roles": [
"DefenderLeft",
"DefenderRight",
"offense_optional_roles": [
"StrikerSupporter",
"MidfielderLeft",
"MidfielderRight",
"MidfielderLeft"
"DefenderLeft",
"DefenderRight"
],
"number_of_defensive_players": 2,
"injected_motion_command": null,
"role_positions": {
"defender_aggressive_ring_radius": 2.0,
Expand Down

0 comments on commit 27d3306

Please sign in to comment.