Check out the wall chucker #2325
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,3 @@ | ||
| { | ||
| "cmake.sourceDirectory": "/home/applhau/robocup-software/soccer/src/soccer/strategy/agent/position/framework/src/tests" | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -36,15 +36,15 @@ Defense::State Defense::update_state() { | |
| } | ||
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| switch (current_state_) { | ||
| case IDLING:{ | ||
|
There was a problem hiding this comment. this seems like it breaks code style (no space before '{' and no newline before '}'). did you run a formatter? it's also possible our formatter doesn't catch this case (blocks in a case statement is a bit nonstandard but I do love them) |
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| break;} | ||
| case JOINING_WALL:{ | ||
| send_join_wall_request(); | ||
| // SPDLOG_INFO("join wall {}", robot_id_); | ||
| next_state = WALLING; | ||
| walling_robots_ = {(u_int8_t)robot_id_}; | ||
| break;} | ||
| case WALLING:{ | ||
| // If a wall is already full, | ||
| // Remove the robot with the highest ID from a wall | ||
| // and make them a marker instead. | ||
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@@ -54,43 +54,69 @@ Defense::State Defense::update_state() { | |
| // SPDLOG_INFO("leave wall {}", robot_id_); | ||
| next_state = ENTERING_MARKING; | ||
| } | ||
| //wall stealing | ||
| if(can_steal_ball()) { | ||
| send_leave_wall_request(); | ||
| next_state = STEALING; | ||
| } | ||
| break;} | ||
| case SEARCHING:{ | ||
| break;} | ||
| case RECEIVING:{ | ||
| // transition to idling if we are close enough to the ball | ||
| if (distance_to_ball < ball_receive_distance_) { | ||
| next_state = IDLING; | ||
| } | ||
| break;} | ||
| case PASSING:{ | ||
| // transition to idling if we no longer have the ball (i.e. it was passed or it was | ||
| // stolen) | ||
| if (check_is_done() || distance_to_ball > ball_lost_distance_) { | ||
| next_state = JOINING_WALL; | ||
| } | ||
| break;} | ||
| case FACING:{ | ||
| if (check_is_done()) { | ||
| next_state = IDLING; | ||
| }} | ||
| case MARKING:{ | ||
| if (marker_.get_target() == -1 || marker_.target_out_of_bounds(world_state)) { | ||
| next_state = ENTERING_MARKING; | ||
| } | ||
| break;} | ||
| case ENTERING_MARKING:{ | ||
| marker_.choose_target(world_state); | ||
| int target_id = marker_.get_target(); | ||
| if (target_id == -1) { | ||
| next_state = ENTERING_MARKING; | ||
| } else { | ||
| next_state = MARKING; | ||
| } | ||
| break;} | ||
| case STEALING: // wall steal | ||
| { | ||
| // Go to passing if successful | ||
| if (check_is_done()) { | ||
| send_leave_wall_request(); | ||
| next_state = CLEARING; | ||
| } | ||
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| if (!can_steal_ball()) { | ||
| next_state = JOINING_WALL; | ||
| } | ||
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There was a problem hiding this comment. we probably want |
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| /*if (timed_out()) { | ||
| // If we timed out and the ball is close, assume we have it | ||
| // (because is_done for settle/collect are not great) | ||
| next_state = IDLING; | ||
| }*/ | ||
| } | ||
| case CLEARING: | ||
| { | ||
| if(check_is_done()) { | ||
| next_state = JOINING_WALL; | ||
| } | ||
| } | ||
| } | ||
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| return next_state; | ||
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@@ -145,7 +171,7 @@ std::optional<RobotIntent> Defense::state_to_task(RobotIntent intent) { | |
| if (!walling_robots_.empty() && waller_id_ != -1) { | ||
| Waller waller{waller_id_, walling_robots_}; | ||
| return waller.get_task(intent, last_world_state_, this->field_dimensions_); | ||
| } | ||
| } else if (current_state_ == FACING) { | ||
| rj_geometry::Point robot_position = | ||
| last_world_state_->get_robot(true, robot_id_).pose.position(); | ||
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@@ -164,6 +190,26 @@ std::optional<RobotIntent> Defense::state_to_task(RobotIntent intent) { | |
| } else if (current_state_ == MARKING) { | ||
| // Marker marker = Marker((u_int8_t) robot_id_); | ||
| return marker_.get_task(intent, last_world_state_, this->field_dimensions_); | ||
| } else if(current_state_ == STEALING) { //wall stealer | ||
| auto collect_cmd = planning::MotionCommand{"collect"}; | ||
| intent.motion_command = collect_cmd; | ||
| intent.dribbler_speed = 255.0; | ||
| return intent; | ||
| } else if(current_state_ == CLEARING) { | ||
| planning::LinearMotionInstant target{clear_point_}; | ||
| auto line_kick_cmd = planning::MotionCommand{"line_kick", target}; | ||
| intent.motion_command = line_kick_cmd; | ||
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| // note: the way this is set up makes it impossible to | ||
| // shoot on time without breakbeam | ||
| // TODO(Kevin): make intent hold a manip msg instead? to be cleaner? | ||
|
There was a problem hiding this comment. i think it's about time to stop adding TODOs for @kfu02, lol. i know you just copied this from somewhere but let's take this out, and maybe make a clickup card if we think this task is actually a good idea |
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| intent.shoot_mode = RobotIntent::ShootMode::CHIP; | ||
| intent.trigger_mode = RobotIntent::TriggerMode::ON_BREAK_BEAM; | ||
| intent.kick_speed = 4.0; | ||
| intent.dribbler_speed = 255.0; | ||
| intent.is_active = true; | ||
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| return intent; | ||
| } | ||
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| return std::nullopt; | ||
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There was a problem hiding this comment. also uncommit this, please. you seem to have cloned ER-Force's framework git repo inside of this one. git repos don't nest well unfortunately, because now you've checked their entire repo into ours. |
Submodule framework
added at
a6c523
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please uncommit this. your local settings.json are not a part of the shared code. (you can later make a case for inserting this into our .gitignore file, if you please, or you can locally tell get to ignore this file using various methods )