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Jul 18, 2025
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Richard/defense again #2389

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f82ba9c
defense again
rkoulen3 Jul 18, 2025
b591a59
forgort the cpp
rkoulen3 Jul 18, 2025
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178 changes: 37 additions & 141 deletions soccer/src/soccer/strategy/agent/position/defense.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,16 +2,20 @@

namespace strategy {

Defense::Defense(int r_id) : Position(r_id, "Defense"), marker_{field_dimensions_} {}
Defense::Defense(int r_id) : Position(r_id, "Defense") {}

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constructor does not initialize these fields: next_state

Defense::Defense(const Position& other) : Position{other}, marker_{field_dimensions_} {
Defense::~Defense() {

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an exception may be thrown in function '~Defense' which should not throw exceptions
die();

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}

Defense::Defense(const Position& other) : Position{other} {

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constructor does not initialize these fields: next_state
position_name_ = "Defense";
walling_robots_ = {};
}

std::optional<RobotIntent> Defense::derived_get_task(RobotIntent intent) {
current_state_ = update_state();
// waller_id_ = get_waller_id();
//waller_id_ = get_waller_id();
return state_to_task(intent);
}

Expand All @@ -20,162 +24,49 @@
}

Defense::State Defense::update_state() {
State next_state = current_state_;
// handle transitions between states
WorldState* world_state = last_world_state_;

rj_geometry::Point robot_position = world_state->get_robot(true, robot_id_).pose.position();
rj_geometry::Point ball_position = world_state->ball.position;
rj_geometry::Point robot_position = last_world_state_->get_robot(true, robot_id_).pose.position();
rj_geometry::Point ball_position = last_world_state_->ball.position;
double distance_to_ball = robot_position.dist_to(ball_position);

if (!Defense::is_alive(robot_id_) ||
(current_state_ == WALLING && waller_id_ == -1)) { // deadlock band-aid :(
Defense::die();
return IDLING;
}

if (current_state_ != WALLING && current_state_ != JOINING_WALL && waller_id_ != -1) {
send_leave_wall_request();
walling_robots_ = {(u_int8_t)robot_id_};
waller_id_ = -1;
return DEFAULT;
}

switch (current_state_) {
case IDLING:
next_state = JOINING_WALL; // deadlock band-aid :(]
break;
case JOINING_WALL:
send_join_wall_request();
// SPDLOG_INFO("join wall {}", robot_id_);
case DEFAULT: {
return JOINING_WALL;
}
case JOINING_WALL: {
send_join_wall_request(); // sets waller_id_
SPDLOG_INFO("{} joining wall at wall pos {}", robot_id_, waller_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.
if (walling_robots_.size() > kMaxWallers &&
this->robot_id_ == *max_element(walling_robots_.begin(), walling_robots_.end())) {
send_leave_wall_request();
// SPDLOG_INFO("leave wall {}", robot_id_);
next_state = ENTERING_MARKING;
}
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()) {
next_state = IDLING;
}

if (distance_to_ball > ball_lost_distance_) {
next_state = IDLING;
}
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;
}
}
case WALLING: {
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;
}
}
}

return next_state;
}

std::optional<RobotIntent> Defense::state_to_task(RobotIntent intent) {
// if (robot_id_ == 2) {
// SPDLOG_INFO("{} current state of 2", current_state_);
// }
if (current_state_ == IDLING) {
auto empty_motion_cmd = planning::MotionCommand{};
intent.motion_command = empty_motion_cmd;
return intent;
// DO NOTHING
} else if (current_state_ == SEARCHING) {
// TODO(https://app.clickup.com/t/8677qektb): Define defensive searching behavior
} else if (current_state_ == RECEIVING) {
// check how far we are from the ball
// TODO(https://app.clickup.com/t/8677rrgjn): Convert RECEIVING state into role_interface
rj_geometry::Point robot_position =
last_world_state_->get_robot(true, robot_id_).pose.position();
rj_geometry::Point ball_position = last_world_state_->ball.position;
double distance_to_ball = robot_position.dist_to(ball_position);
if (distance_to_ball > max_receive_distance && !chasing_ball) {
auto motion_instance =
planning::LinearMotionInstant{robot_position, rj_geometry::Point{0.0, 0.0}};
auto face_ball = planning::FaceBall{};
auto face_ball_cmd = planning::MotionCommand{"path_target", motion_instance, face_ball};
intent.motion_command = face_ball_cmd;
} else {
// intercept the ball
chasing_ball = true;
auto collect_cmd = planning::MotionCommand{"collect"};
intent.motion_command = collect_cmd;
}
return intent;
} else if (current_state_ == PASSING) {
// attempt to pass the ball to the target robot
rj_geometry::Point target_robot_pos =
last_world_state_->get_robot(true, target_robot_id).pose.position();
planning::LinearMotionInstant target{target_robot_pos};
auto line_kick_cmd = planning::MotionCommand{"line_kick", target};
intent.motion_command = line_kick_cmd;
intent.shoot_mode = RobotIntent::ShootMode::KICK;
// NOTE: Check we can actually use break beams
intent.trigger_mode = RobotIntent::TriggerMode::ON_BREAK_BEAM;
// TODO: Adjust the kick speed based on distance
intent.kick_speed = 3.0;
intent.is_active = true;
return intent;
cached_ball_pos_ = get_ball_pos();

if (current_state_ == DEFAULT) {

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return std::nullopt;
} else if (current_state_ == JOINING_WALL) {

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return std::nullopt;
} else if (current_state_ == WALLING) {
// band-aid fix: ball might be occluded
if (last_world_state_->ball.visible) {
cached_ball_pose = last_world_state_->ball.position;
}
if (!walling_robots_.empty() && waller_id_ != -1) {
Waller waller{waller_id_, walling_robots_};
// return waller.get_task(intent, last_world_state_, this->field_dimensions_);
return waller.get_task_with_ball(intent, last_world_state_, this->field_dimensions_,
cached_ball_pose);
return waller.get_task_with_ball(intent, last_world_state_, this->field_dimensions_, cached_ball_pos_);

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}
} else if (current_state_ == FACING) {
rj_geometry::Point robot_position =
last_world_state_->get_robot(true, robot_id_).pose.position();
auto current_location_instant =
planning::LinearMotionInstant{robot_position, rj_geometry::Point{0.0, 0.0}};
auto face_ball = planning::FaceBall{};
auto face_ball_cmd =
planning::MotionCommand{"path_target", current_location_instant, face_ball};
intent.motion_command = face_ball_cmd;
return intent;
} else if (current_state_ == ENTERING_MARKING) {
// Prepares a robot for marking. NOTE: May update to add move to center of field
auto empty_motion_cmd = planning::MotionCommand{};
intent.motion_command = empty_motion_cmd;
return 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_);
}

return std::nullopt;
Expand Down Expand Up @@ -311,14 +202,11 @@
}
}

void Defense::derived_acknowledge_pass() { current_state_ = FACING; }
void Defense::derived_acknowledge_pass() {}

void Defense::derived_pass_ball() { current_state_ = PASSING; }
void Defense::derived_pass_ball() {}

void Defense::derived_acknowledge_ball_in_transit() {
current_state_ = RECEIVING;
chasing_ball = false;
}
void Defense::derived_acknowledge_ball_in_transit() {}

int Defense::get_waller_id() {
return find(walling_robots_.begin(), walling_robots_.end(), robot_id_) -
Expand All @@ -333,4 +221,12 @@

void Defense::revive() { current_state_ = JOINING_WALL; }

rj_geometry::Point Defense::get_ball_pos() const {
if (last_world_state_->ball.visible) {
return last_world_state_->ball.position;
} else {

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return cached_ball_pos_;
}
}

} // namespace strategy
20 changes: 6 additions & 14 deletions soccer/src/soccer/strategy/agent/position/defense.hpp
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Expand Up @@ -28,7 +28,7 @@
class Defense : public Position {
public:
Defense(int r_id);
~Defense() override = default;
~Defense() override;
Defense(const Position& other);

void receive_communication_response(communication::AgentPosResponseWrapper response) override;
Expand Down Expand Up @@ -60,18 +60,14 @@
std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;

enum State {
IDLING, // simply staying in place
DEFAULT, // simply staying in place
JOINING_WALL, // send message to find its place in the wall
WALLING, // participating in the wall
SEARCHING, // moving around on the field to do something
RECEIVING, // physically intercepting the ball from a pass
PASSING, // physically kicking the ball towards another robot
FACING, // turning to face the passing robot
MARKING, // Following closely to an offense robot
ENTERING_MARKING, // Choosing/waiting for a robot to mark
};

State update_state();
State current_state_ = DEFAULT;
State next_state;

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std::optional<RobotIntent> state_to_task(RobotIntent intent);

Expand Down Expand Up @@ -116,17 +112,13 @@
std::vector<u_int8_t> walling_robots_ = {};
int waller_id_ = -1;

// current state of the defense agent (state machine)
int get_waller_id();
State current_state_ = JOINING_WALL;

int get_marker_target_id();
Marker marker_;

// band-aid function, used to track robot death in live play
bool is_alive(u_int8_t concerned_id);
// this tracks the ball pose (since it can be occluded in play)
rj_geometry::Point cached_ball_pose;
rj_geometry::Point cached_ball_pos_;
rj_geometry::Point get_ball_pos() const;
};

} // namespace strategy
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