Penalty kick play pytest #3475
Penalty kick play pytest #3475
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GrayHoang
requested review from
itsarune,
sauravbanna and
williamckha
as code owners
src/software/ai/hl/stp/play/penalty_kick/penalty_kick_play_test.py
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src/software/ai/hl/stp/play/penalty_kick/penalty_kick_play_test.py
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…/Software into penalty_kick_play_pytest
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Probably going to add the pytest for the tactic to this branch as well. Just gotta figure out how to write that... |
…/Software into penalty_kick_play_pytest
| # Always Validation | ||
| inv_always_validation_sequence_set = [[]] | ||
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| ag_always_validation_sequence_set = [[FriendlyAlwaysHasBallPossession(), BallAlwaysMovesForward(ball_initial_pos)]] |
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Why can't this be inv_always?
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It immediately fails cause I think the ball doesn't start moving forward? Or the robot doesn't immediately start with the ball. I forget which.
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In fact it is both.
| create_world_state( | ||
| yellow_robot_locations=[], | ||
| blue_robot_locations=[tbots_cpp.Point(-3, 0)], | ||
| ball_location=tbots_cpp.Point(0, 0), |
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penalty mark is 6m from the opponent net (-1.5, 0)
https://robocup-ssl.github.io/ssl-rules/sslrules.html#_penalty_mark
| from proto.import_all_protos import * | ||
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| def test_penalty_kick_no_goalie(simulated_test_runner): |
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you should break this test into 2 different tests (setup and taking):
https://robocup-ssl.github.io/ssl-rules/sslrules.html#_penalty_kick
setup: checks that all friendly robots are behind the ball and only 1 robot is near the ball
take: checks that we score and the ball always moves forward. we need to issue NORMAL_START so that the penalty kick taker actually starts manipulating the ball. you would do this by adding these lines
simulated_test_runner.gamecontroller.send_gc_command(
gc_command=Command.Type.NORMAL_START, team=Team.BLUE
)
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yeah I realized after I wrote this test lol
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This test only has one robot though, so I think this should be in the play test, and not the tactic test?
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yeah it should be under src/software/ai/hl/stp/play/penalty_kick/
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yeah change was made to the right file
| def test_penalty_kick_play(simulated_test_runner): | ||
| ball_initial_pos = tbots_cpp.Point(0, 0) | ||
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| def setup(*args): |
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Missing docstring, add param docs for args.
| inv_eventually_validation_sequence_set = [ | ||
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| FriendlyTeamEventuallyScored(), | ||
| BallEventuallyEntersRegion(regions=[field.enemyDefenseArea()]), |
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this validation is kinda redundant considering we have FriendlyTeamEventuallyScored
| [ | ||
| FriendlyAlwaysHasBallPossession(), | ||
| BallAlwaysMovesForward(tbots_cpp.Point(0, 0)), | ||
| ] |
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nit: make this another variable like you've done for the other sets
| ], | ||
| ) | ||
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| cc_test( |
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you can delete this test now that you've added the pytest
itsarune
left a comment
itsarune
left a comment
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left some feedback, you might want to check if the tests you made pass locally.
2 participants
Description
Adds a pytest for penalty kick
Basically this test just assess whether the ball goes into the goal. I may update it later to pass if the ball enters the crease, as in theory the goalie can defend the ball and we would still consider the play to succeed, even if the ball didn't score.
Testing Done
It compiles and the broken penalty kick ai fails the test (gotta fix that)
Resolved Issues
working on #3389
Length Justification and Key Files to Review
there are a couple of comments on lines I wasn't sure about.
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue