Merge branch 'robocup_2019' of github.com:UBC-Thunderbots/Software in…

…to robocup_2019

src/thunderbots/software/ai/hl/stp/play/corner_kick_play.cpp

@@ -130,6 +130,13 @@ void CornerKickPlay::getNextTactics(TacticCoroutine::push_type &yield)
     PassGenerator pass_generator(world, world.ball().position(),
                                  PassType::ONE_TOUCH_SHOT);
 
+    // Target any pass in the enemy half of the field, shifted up by 1 meter
+    // from the center line
+    pass_generator.setTargetRegion(Rectangle(
+            Point(1, world.field().width()/2),
+            world.field().enemyCornerNeg()
+            ));
+
     std::pair<Pass, double> best_pass_and_score_so_far =
         pass_generator.getBestPassSoFar();
 

src/thunderbots/software/ai/hl/stp/play/defense_play.cpp

@@ -50,7 +50,7 @@ void DefensePlay::getNextTactics(TacticCoroutine::push_type &yield)
 
     std::shared_ptr<ShadowEnemyTactic> shadow_enemy_tactic =
         std::make_shared<ShadowEnemyTactic>(world.field(), world.friendlyTeam(),
-                                            world.enemyTeam(), true, true);
+                                            world.enemyTeam(), true, world.ball(), true);
 
 
     std::array<std::shared_ptr<CreaseDefenderTactic>, 2> crease_defender_tactics = {
@@ -100,7 +100,7 @@ void DefensePlay::getNextTactics(TacticCoroutine::push_type &yield)
         shoot_goal_tactic->addWhitelistedAvoidArea(AvoidArea::HALF_METER_AROUND_BALL);
         auto shoot_goal_robot = shoot_goal_tactic->getAssignedRobot();
         if(shoot_goal_robot && (dist(shoot_goal_robot->position(), world.ball().position()) < 4 * ROBOT_MAX_RADIUS_METERS)
-         && shoot_goal_robot->velocity().len() < 0.75) {
+         && shoot_goal_robot->velocity().len() < 0.5) {
             shoot_goal_tactic->addWhitelistedAvoidArea(AvoidArea::ENEMY_ROBOTS);
             LOG(DEBUG) << "ignoring enemy" << std::endl;
         }
@@ -152,8 +152,9 @@ void DefensePlay::getNextTactics(TacticCoroutine::push_type &yield)
 
         if (enemy_threats.size() > 1) {
             shadow_enemy_tactic->updateParams(
-                    enemy_threats.at(0), world.field(), world.friendlyTeam(),
-                    world.enemyTeam(), ROBOT_MAX_RADIUS_METERS * 3, enemy_team_can_pass);
+                    enemy_threats.at(1), world.field(), world.friendlyTeam(),
+                    world.enemyTeam(), ROBOT_MAX_RADIUS_METERS * 3,
+                    enemy_team_can_pass, world.ball());
             result.emplace_back(shadow_enemy_tactic);
         } else {
             Robot nearest_enemy_robot = *std::min_element(

src/thunderbots/software/ai/hl/stp/play/enemy_freekick_play.cpp

@@ -53,9 +53,9 @@ void EnemyFreekickPlay::getNextTactics(TacticCoroutine::push_type &yield)
 
     // Init Shadow Enemy Tactics for extra robots
     auto shadow_tactic_main = std::make_shared<ShadowEnemyTactic>(
-        world.field(), world.friendlyTeam(), world.enemyTeam(), true, true);
+        world.field(), world.friendlyTeam(), world.enemyTeam(), true, world.ball(), true);
     auto shadow_tactic_secondary = std::make_shared<ShadowEnemyTactic>(
-        world.field(), world.friendlyTeam(), world.enemyTeam(), true, true);
+        world.field(), world.friendlyTeam(), world.enemyTeam(), true, world.ball(), true);
 
     // Init Move Tactics for extra robots (These will be used if there are no robots to
     // shadow)
@@ -114,7 +114,7 @@ void EnemyFreekickPlay::getNextTactics(TacticCoroutine::push_type &yield)
         {
             shadow_tactic_main->updateParams(
                 enemy_threats.at(1), world.field(), world.friendlyTeam(),
-                world.enemyTeam(), ROBOT_MAX_RADIUS_METERS * 3, enemy_team_can_pass);
+                world.enemyTeam(), ROBOT_MAX_RADIUS_METERS * 3, enemy_team_can_pass, world.ball());
             move_tactic_main->updateParams(
                 world.field().friendlyGoal() + Point(0, 2 * ROBOT_MAX_RADIUS_METERS),
                 (world.ball().position() - world.field().friendlyGoal()).orientation(),
@@ -127,10 +127,10 @@ void EnemyFreekickPlay::getNextTactics(TacticCoroutine::push_type &yield)
         {
             shadow_tactic_main->updateParams(
                 enemy_threats.at(1), world.field(), world.friendlyTeam(),
-                world.enemyTeam(), ROBOT_MAX_RADIUS_METERS * 3, enemy_team_can_pass);
+                world.enemyTeam(), ROBOT_MAX_RADIUS_METERS * 3, enemy_team_can_pass, world.ball());
             shadow_tactic_secondary->updateParams(
                 enemy_threats.at(2), world.field(), world.friendlyTeam(),
-                world.enemyTeam(), ROBOT_MAX_RADIUS_METERS * 3, enemy_team_can_pass);
+                world.enemyTeam(), ROBOT_MAX_RADIUS_METERS * 3, enemy_team_can_pass, world.ball());
 
             tactics_to_run.emplace_back(shadow_tactic_main);
             tactics_to_run.emplace_back(shadow_tactic_secondary);

src/thunderbots/software/ai/hl/stp/play/kickoff_enemy_play.cpp

@@ -35,11 +35,11 @@ void KickoffEnemyPlay::getNextTactics(TacticCoroutine::push_type &yield)
     // on the field to be evenly spread out
     std::vector<std::shared_ptr<ShadowEnemyTactic>> shadow_enemy_tactics = {
         std::make_shared<ShadowEnemyTactic>(world.field(), world.friendlyTeam(),
-                                            world.enemyTeam(), true, true),
+                                            world.enemyTeam(), true, world.ball(), true),
         std::make_shared<ShadowEnemyTactic>(world.field(), world.friendlyTeam(),
-                                            world.enemyTeam(), true, true),
+                                            world.enemyTeam(), true, world.ball(), true),
         std::make_shared<ShadowEnemyTactic>(world.field(), world.friendlyTeam(),
-                                            world.enemyTeam(), true, true)};
+                                            world.enemyTeam(), true, world.ball(), true)};
 
     // these positions are picked according to the following slide
     // https://images.slideplayer.com/32/9922349/slides/slide_2.jpg
@@ -118,7 +118,7 @@ void KickoffEnemyPlay::getNextTactics(TacticCoroutine::push_type &yield)
                 // anyway
                 shadow_enemy_tactics.at(i)->updateParams(
                     enemy_threat, world.field(), world.friendlyTeam(), world.enemyTeam(),
-                    shadow_dist, false);
+                    shadow_dist, false, world.ball());
                 result.emplace_back(shadow_enemy_tactics.at(i));
             }
             else

src/thunderbots/software/ai/hl/stp/play/penalty_kick_play.cpp

@@ -56,18 +56,17 @@ void PenaltyKickPlay::getNextTactics(TacticCoroutine::push_type &yield)
     move_tactic_6->addWhitelistedAvoidArea(AvoidArea::ENEMY_HALF);
     move_tactic_6->addWhitelistedAvoidArea(AvoidArea::FRIENDLY_HALF);
 
+    Timestamp start_of_shoot = world.getMostRecentTimestamp();
     do
     {
         std::vector<std::shared_ptr<Tactic>> tactics_to_run;
 
 
-        Vector behind_ball_direction = (world.ball().position() - world.field().enemyGoalpostPos()).norm();
-        Angle shoot_angle = (world.field().enemyGoalpostPos() -  world.ball().position()).orientation();
+        Vector behind_ball_direction = (world.ball().position() - world.field().enemyGoal()).norm();
+        Angle shoot_angle = (world.field().enemyGoal() -  world.ball().position()).orientation();
 
         Point behind_ball = world.ball().position() + behind_ball_direction.norm(DIST_TO_FRONT_OF_ROBOT_METERS + BALL_MAX_RADIUS_METERS + 0.1);
 
-        printf("\nX=%f", behind_ball.x());
-        printf("\nY=%f", behind_ball.y());
         move_tactic_2->updateParams(Point(0, 0), world.field().enemyGoal().orientation(),
                                     0);
         move_tactic_3->updateParams(Point(0, 4 * ROBOT_MAX_RADIUS_METERS),
@@ -78,7 +77,7 @@ void PenaltyKickPlay::getNextTactics(TacticCoroutine::push_type &yield)
                                     world.field().enemyGoal().orientation(), 0);
         move_tactic_6->updateParams(Point(0, -8 * ROBOT_MAX_RADIUS_METERS),
                                     world.field().enemyGoal().orientation(), 0);
-        penalty_shot_tactic->updateParams(world.ball(), world.enemyTeam().goalie(), world.field());
+        penalty_shot_tactic->updateParams(world.ball(), world.enemyTeam().goalie(), world.field(), start_of_shoot);
         shooter_setup_move->updateParams(behind_ball, shoot_angle, 0.0);
 
         // If we are setting up for penalty kick, move our robots to position

src/thunderbots/software/ai/hl/stp/play/shoot_or_chip_play.cpp

@@ -12,6 +12,7 @@
 #include "ai/hl/stp/tactic/crease_defender_tactic.h"
 #include "ai/hl/stp/tactic/goalie_tactic.h"
 #include "ai/hl/stp/tactic/move_tactic.h"
+#include "ai/hl/stp/tactic/patrol_tactic.h"
 #include "ai/hl/stp/tactic/shadow_enemy_tactic.h"
 #include "ai/hl/stp/tactic/shoot_goal_tactic.h"
 #include "ai/hl/stp/tactic/stop_tactic.h"
@@ -31,12 +32,21 @@ std::string ShootOrChipPlay::getName() const
 
 bool ShootOrChipPlay::isApplicable(const World &world) const
 {
-    return world.gameState().isPlaying() &&
+    bool use_shoot_or_pass_instead_of_shoot_or_chip =
+            Util::DynamicParameters::HighLevelStrategy::
+            use_shoot_or_pass_instead_of_shoot_or_chip.value();
+
+    return !use_shoot_or_pass_instead_of_shoot_or_chip && world.gameState().isPlaying() &&
            Evaluation::teamHasPossession(world, world.friendlyTeam());
 }
 
 bool ShootOrChipPlay::invariantHolds(const World &world) const
 {
+
+//    bool use_shoot_or_pass_instead_of_shoot_or_chip =
+//            Util::DynamicParameters::HighLevelStrategy::
+//            use_shoot_or_pass_instead_of_shoot_or_chip.value();
+
     return world.gameState().isPlaying() &&
            Evaluation::teamHasPossession(world, world.friendlyTeam());
 }
@@ -65,6 +75,23 @@ void ShootOrChipPlay::getNextTactics(TacticCoroutine::push_type &yield)
                                                CreaseDefenderTactic::LeftOrRight::RIGHT),
     };
 
+    std::array<std::shared_ptr<PatrolTactic>, 2> patrol_tactics = {
+        std::make_shared<PatrolTactic>(
+            std::vector<Point>(
+                {Point(world.field().enemyCornerPos().x() - 3 * ROBOT_MAX_RADIUS_METERS,
+                       world.field().enemyCornerPos().y() - 3 * ROBOT_MAX_RADIUS_METERS),
+                 Point(3 * ROBOT_MAX_RADIUS_METERS,
+                       world.field().width() / 2 - 3 * ROBOT_MAX_RADIUS_METERS)}),
+            .03, 0),
+        std::make_shared<PatrolTactic>(
+            std::vector<Point>(
+                {Point(3 * ROBOT_MAX_RADIUS_METERS,
+                       -world.field().width() / 2 + 3 * ROBOT_MAX_RADIUS_METERS),
+                 Point(
+                     world.field().enemyCornerNeg().x() - 3 * ROBOT_MAX_RADIUS_METERS,
+                     world.field().enemyCornerNeg().y() + 3 * ROBOT_MAX_RADIUS_METERS)}),
+            .03, 0)};
+
     std::array<std::shared_ptr<MoveTactic>, 2> move_to_open_area_tactics = {
         std::make_shared<MoveTactic>(true), std::make_shared<MoveTactic>(true)};
 
@@ -140,13 +167,19 @@ void ShootOrChipPlay::getNextTactics(TacticCoroutine::push_type &yield)
         shoot_or_chip_tactic->addWhitelistedAvoidArea(AvoidArea::HALF_METER_AROUND_BALL);
         auto shoot_goal_robot = shoot_or_chip_tactic->getAssignedRobot();
         if(shoot_goal_robot && (dist(shoot_goal_robot->position(), world.ball().position()) < 4 * ROBOT_MAX_RADIUS_METERS)
-           && shoot_goal_robot->velocity().len() < 0.75) {
+           && shoot_goal_robot->velocity().len() < 0.5) {
             shoot_or_chip_tactic->addWhitelistedAvoidArea(AvoidArea::ENEMY_ROBOTS);
         }
 
         // We want this second in priority only to the goalie
         result.insert(result.begin() + 1, shoot_or_chip_tactic);
 
+        // If we can't do anything else then patrol?
+        for (auto &patrol_tactic : patrol_tactics)
+        {
+            result.emplace_back(patrol_tactic);
+        }
+
         // yield the Tactics this Play wants to run, in order of priority
         yield(result);