Bevyhavior Simulator (HULKs#1428)

* Purge lua from simulator

Clean up game state transitions

Clean up lua stuff

Working scenario

* Migrate simulator to bevy

* Implement simple autoref

* Upgrade to bevy 0.14 to make use of AppExit codes

* Fix rebase issues

* Allow look at with negative angles 😬

* Don't skip ready phase

* Enter set early once robots stop moving

* Clean up golden goal scenario

* Fix system execution order

* Fix system time initialization in LastFilteredGameControllerStateChanges

* Speed up playback

* Clean up primary state handling

* Configurable ball friction

* Use walking parameters

* Make simulated robot movement roughly follow physical step parameters

* Allow skipping standby phase

* Split auto referee from game controller logic

* Port intercept ball scenario

* Port deny keeper ballsearch scenario

* Split assistant ref jobs from auto referee

* Make scenarios to plugins

* Use paste to avoid naming conflicts

* Split setup from update system

* --wip--

* Remove Uncertain kind rebase fix

* Use attribute macro for scenario

* Name scenarios properly

* Remove vestigial remaining_amount_of_messages

* Update ground_to_field in cycler_state

* Add whistle to bevy and opponent kickoff scenario (#1)

* set kicking team for opponent kickoff

* whistle in behavior sim

* set kicking team after goal

* remove specific kicking team

* make whistle into resource

* remove started this cycle from main output, is never consumed

* make whistle resource simpler

* Timestamp simulation frames and expose to communication

* Default to 7

* add more scenarios

* Add defender positioning and golden goal striker penalized (HULKs#2)

* add defender positioning and golden goal striker penalized

Co-authored-by: Vivi <[email protected]>

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Co-authored-by: Konrad Nölle <[email protected]>
Co-authored-by: okiwi6 <oleflb>
Co-authored-by: Vivi <[email protected]>

* Bevy sub states (HULKs#3)

* handle sub states

* new scenarios

* match file and scenario names

* review changes

* scenario needs to be at least 11592 frames for corner kick

* 🤦

* change exit conditions

* remove unused import

* demonstration scenario

* hulks vs ghosts

* quantum ball

* only update ball model if ball is actually in view

* correct ball position in ground when robot moves

* reduce hypothesis_timeout

* ball search scenario

* passive defender positioning

* oscillating obstacle

* Penalty Shootout (HULKs#4)

* set game phase and run shot direction estimation

* penalty shootouts

* remove duplicate data

* reduce opponent shot time

* Apply linear ball model to... uhhh... the ball model...

* use different player for shootout

* turn off default bevy features

* spacing

* BallisFree -> BallIsFree [skip ci]

* Remove walking engine parameters from fake data

* Remove legacy lua scenarios

* Remove autogenerated lua tests from build.rs

* Remove unused 'paste' dependency

* Fix ball model moving when robot turns

* Load and use field dimensions

* Clean up dead code

* Overhaul playback implementation, and add playback speed slider

* Formatting

* Rename behavior simulator

* Remove bevyhavior simulator from build matrix

* Fix type on SimulatorFieldDimensions

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Co-authored-by: MaikRe <[email protected]>
Co-authored-by: Maik Rebaum <[email protected]>
Co-authored-by: ole.flb <[email protected]>
Co-authored-by: Vivi <[email protected]>

Author: 4 people

.github/workflows/pull-request.yml

@@ -100,7 +100,7 @@ jobs:
     strategy:
       fail-fast: true
       matrix:
-        target: [behavior_simulator, imagine, nao, replayer, webots]
+        target: [imagine, nao, replayer, webots]
         profile: [release, dev]
     runs-on:
       - self-hosted