Improve FreeKickPlay behaviour and convert it to use FSMs #2953

raymond212 · 2023-06-30T06:20:56Z

Description

❗ This PR is dependent on the changes from #3200, as such, it's in a draft state until that is merged. Please comment any passing/receiving related suggestions in that PR and for the time being only focus on suggestions around the changes listed below in this PR.

Improved FreeKickPlay:

Reimplemented it using FSMs
Used KickTactic instead of AttackerTactic to ensure that we do not dribble
Deleted CornerKickPlay
Update KickFSM and ChipFSM to make sure that the robot is aligned to the kick/chip direction of the latest control params. Also update how far we drive into the ball.
Update GetBehindBallFSM's guard to be more strict on the robot's alignment with the ball. The width of the region has been updated to have the same tolerance that the ball has to be within for it to not hit the side of the dribbler.
Old region that the robot had to be within to be counted as "behind ball":

Updated region:
Update some of the constants related to the robots based on the most up to date CAD.

Todo:

Add validation for free kick play

Testing Done

Tried free kicks in AI vs AI and updated existing tests

Resolved Issues

resolves #2950, resolves #3205

Length Justification and Key Files to Review

free_kick_play_fsm.h and free_kick_play_fsm.cpp.

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
Remove all commented out code
Remove extra print statements: for example, those just used for testing
Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

…rav_banna/pass_speed_cost � Conflicts: � src/software/thunderscope/thunderscope.py

…rav_banna/pass_speed_cost

…rav_banna/pass_speed_cost � Conflicts: � src/software/ai/hl/stp/tactic/kick/kick_fsm.cpp

williamckha

LGTM one comment

williamckha · 2024-07-09T21:13:35Z

src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.cpp

+    // Passing robot
+    updateAlignToBallTactic(event.common.world_ptr);
+    tactics_to_run[0].emplace_back(align_to_ball_tactic);
+
+    if (event.common.num_tactics <= 1)
+    {
+        LOG(WARNING)
+            << "Not enough tactics to setup pass receivers and defenders during free kick";
+        return;
+    }


The align_to_ball_tactic will not get set if we have num_tactics == 1

Yeah you're right. I decided to just remove the check. setReceiverAndDefenderTactics already can handle the case where num_tactics = 1. Though If num_tactics = 1, we just chip it towards the center and run towards it since there are no defenders. I hope we won't have to test that in real life 😅

Andrewyx · 2024-07-09T21:47:57Z

src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.cpp

+    double abs_min_pass_score =
+        ai_config.shoot_or_pass_play_config().abs_min_pass_score();
+    double min_perfect_pass_score =
+        ai_config.shoot_or_pass_play_config().min_perfect_pass_score();


What is the plan here for when #3246 is merged in? I believe ShootOrPassPlayConfig is going to be removed and replaced with ShotConfig, which is very different.

Both PRs are being aimed to be merged with master, so which ever one is merged second will need to fix it. I can't update this PR to use ShotConfig, since it doesn't exist on my branch.

Andrewyx

LGTM

itsarune · 2024-07-13T23:35:38Z

src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.cpp

+    // Note that getBestReceivingPositions may return fewer positions than requested
+    // if there are not enough robots, so we will need to check the size of the vector.


isn't it guaranteed to be exactly num_tactics? since receiver_positioning_tactics is resized to num_tactics

We actually update num_tactics to be a valid number within getBestReceivingPositions.

Software/src/software/ai/passing/receiver_position_generator.hpp

Lines 141 to 152 in 2b91689

// Verify that the number of receiver positions requested is valid

if (num_positions >

(world.friendlyTeam().numRobots() - existing_receiver_positions.size()))

{

LOG(WARNING) << "Not enough friendly robots to assign " << num_positions

<< " receiver positions. Assigning "

<< world.friendlyTeam().numRobots() -

existing_receiver_positions.size()

<< " receiver positions instead";

num_positions = static_cast<unsigned int>(world.friendlyTeam().numRobots() -

existing_receiver_positions.size());

}

itsarune · 2024-07-13T23:37:36Z

src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.cpp

+    // Face towards the center of the left segment of the enemy defense area,
+    // so we are prepared to take a shot on enemy net, or pass the ball near
+    // the enemy defense area.


why specifically the negative x negative y corner and not just the enemy goal centre?

This is similar to the one of the changes that Andrew had in his CreaseDefender PR. We're getting the center of the left segment of the defense area, and not the center of the defense area.

why do we specifically choose that segment?

itsarune · 2024-07-13T23:54:40Z

src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.h

+    /**
+     * Guard on whether to abort the pass
+     *
+     * @param event the ShootOrPassPlayFSM Update event


Suggested change

* @param event the ShootOrPassPlayFSM Update event

* @param event the FreeKickPlayFSM Update event

src/software/ai/hl/stp/tactic/transition_conditions.cpp

itsarune

looks good, minor nit

itsarune · 2024-07-15T22:50:14Z

src/shared/constants.h

+// The distance that the ball has to travel for it to be considered in play
+// after a kick-off, free kick, or penalty kick.
+// https://robocup-ssl.github.io/ssl-rules/sslrules.html#_ball_in_and_out_of_play
+static const double BALL_IN_PLAY_DISTANCE_THRESHOLD_METERS = 0.05;


in the future, we can probably use this constant in game_state.cpp. It's a good first member ticket

itsarune · 2024-07-15T23:13:39Z

src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.h

+    /**
+     * Updates the kicker to align to the ball
+     *
+     * @param world the latest world


nit:

Suggested change

* @param world the latest world

* @param world_ptr the latest world

itsarune

feel free to merge 🥳

sauravbanna added 30 commits May 21, 2023 18:02

testing

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testing

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test

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fix

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fixed cost function

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formatting

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Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau…

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…rav_banna/pass_speed_cost � Conflicts: � src/software/thunderscope/thunderscope.py

fix

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test

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test

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test

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Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau…

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…rav_banna/pass_speed_cost

fix tests

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formatting + docs

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formatting + docs

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test

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Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau…

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…rav_banna/pass_speed_cost

test

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added tests for backward passes

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uncomment + formatting

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docs

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fix

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added new field tets for passing

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fix

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fixed tests

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fix

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fix

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Merge branch 'master' of github.com:UBC-Thunderbots/Software into sau…

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…rav_banna/pass_speed_cost � Conflicts: � src/software/ai/hl/stp/tactic/kick/kick_fsm.cpp

fix tests

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fix?

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nimazareian added 2 commits July 9, 2024 11:46

move constant

2619740

update where we align to, and update test validation

7f00c31

nimazareian marked this pull request as ready for review July 9, 2024 20:18

nimazareian requested a review from itsarune July 9, 2024 20:18

[pre-commit.ci lite] apply automatic fixes

1b23f26

nimazareian added the Robocup-2024 label Jul 9, 2024

williamckha reviewed Jul 9, 2024

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address comment

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nimazareian requested a review from williamckha July 9, 2024 21:21

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itsarune reviewed Jul 13, 2024

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itsarune reviewed Jul 14, 2024

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src/software/ai/hl/stp/tactic/transition_conditions.cpp Show resolved Hide resolved

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nimazareian added 2 commits July 15, 2024 09:32

pull master

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update

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nimazareian dismissed stale reviews from Andrewyx and williamckha via 9f394ec July 15, 2024 07:59

williamckha approved these changes Jul 15, 2024

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nimazareian requested review from itsarune and williamckha July 15, 2024 08:00

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nimazareian added a commit that referenced this pull request Jul 15, 2024

Merge #2953 - Fix Freekick

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itsarune reviewed Jul 15, 2024

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itsarune approved these changes Jul 15, 2024

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nimazareian merged commit 55a4f24 into UBC-Thunderbots:master Jul 16, 2024
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		// Note that getBestReceivingPositions may return fewer positions than requested
		// if there are not enough robots, so we will need to check the size of the vector.

	// Verify that the number of receiver positions requested is valid
	if (num_positions >
	(world.friendlyTeam().numRobots() - existing_receiver_positions.size()))
	{
	LOG(WARNING) << "Not enough friendly robots to assign " << num_positions
	<< " receiver positions. Assigning "
	<< world.friendlyTeam().numRobots() -
	existing_receiver_positions.size()
	<< " receiver positions instead";
	num_positions = static_cast<unsigned int>(world.friendlyTeam().numRobots() -
	existing_receiver_positions.size());
	}

	* @param event the ShootOrPassPlayFSM Update event
	* @param event the FreeKickPlayFSM Update event

	* @param world the latest world
	* @param world_ptr the latest world

Improve FreeKickPlay behaviour and convert it to use FSMs #2953

Improve FreeKickPlay behaviour and convert it to use FSMs #2953

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raymond212 commented Jun 30, 2023 • edited by nimazareian Loading Uh oh! There was an error while loading. Please reload this page.

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Description

Testing Done

Resolved Issues

Length Justification and Key Files to Review

Review Checklist

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raymond212 commented Jun 30, 2023 •

edited by nimazareian

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