Replace player number with jersey number #1449

MaikRe · 2024-09-19T20:41:23Z

Why? What?

This takes apart the double task that player number was performing and splits it into jersey number and behavior dependent on active field robots, regardless of their jersey number.

Created to replace #1021 in order to not do double work on refactoring the behavior simulator.

ToDo / Known Issues

Depends on #1428
Fixes #1417
Fixes #1298

Fix sacrificial lamp somehow as right now the chosen robot is hard coded based on jersey number
Fix robot initial pose order in localization
Fix robot initial pose order in behavior simulator
Handle role assignment correctly, what do we need to prioritize? Is it possible to set offensive and defensive strategies and decide based on that?
~~- [ ] HULKs aufstellung in intercept ball?~~
Handle replacement keeper delay, probably via leading edge detection on replacement keeper priority
Look at referee, check which positions need to do this
Goal keeper should have widestance action in node.rs
cleanup

Ideas for Next Iterations (Not This PR)

Consider when and how goal keeper should perform widestance. Currently in intercept ball since he is the only player on the field he becomes striker and thus does not perform widestance. Is this the desired behavior?
Implement better aufstellung for special scenarios (intercept ball, oscillating obstacle, penalty shootouts etc)
Set number of defensive and offensive players based on game situation and opponent penalties

How to Test

The CI being green is the first sign that on the behavior side everything seems to work.
The rest needs to be tested in test games with various ~~player~~ uhh jersey number configurations.

oleflb

Oof, I expected this to be easier

crates/argument_parsers/src/lib.rs

crates/bevyhavior_simulator/src/aufstellung.rs

oleflb · 2024-11-27T17:38:12Z

crates/bevyhavior_simulator/src/autoref.rs

+            GameControllerCommand::SetGameState(game_state) => {
+                match game_state {
+                    GameState::Ready | GameState::Standby => {
+                        for mut robot in &mut robots {
+                            let parameters = &robot.parameters;
+                            let initial_pose = parameters
+                                .localization
+                                .initial_poses
+                                .get(robot.database.main_outputs.walk_in_position_index)
+                                .cloned()
+                                .unwrap_or_default();
+                            robot.database.main_outputs.ground_to_field = Some(
+                                generate_initial_pose(&initial_pose, &parameters.field_dimensions)
+                                    .as_transform(),
+                            );
+                        }
+                    }
+                    _ => {}
+                };
+            }


why is this a task of the autoref?

This and the time.ticks problem are connected. The robots only generate their proper poses if localization is running, which is not the case in the behavior simulator. This needs to be called at least once between standby and ready, which explicitly calling GameState::Ready combined with the code above does. The alternative is tracking the last game state in the robots resource to call it there. @knoellle Maybe you have a suggestion of whats best practice.

The alternative is to include a sorting function in the hulks_setup which sorts all of the robots ahead of time. I had this implemented before but found it to be a little bit messier than needed

crates/bevyhavior_simulator/src/bin/defender_positioning.rs

crates/control/src/role_assignment.rs

oleflb · 2024-11-27T19:54:21Z

crates/control/src/role_assignment.rs

-                });
-            if !send_spl_striker_message && is_lowest_number_without {
-                new_role = Role::ReplacementKeeper;
+        if let (Some(0), Some(x)) = (


what is x. Consider renaming your variable

oleflb · 2024-11-27T19:55:48Z

crates/control/src/role_assignment.rs

@@ -461,10 +473,14 @@ fn process_role_state_machine(
            _ => decide_if_claiming_striker_or_other_role(


this function now has 10 arguments, just saying

crates/control/src/role_assignment.rs

MaikRe · 2025-01-16T14:08:00Z

Closed as benefit of having more jersey numbers does not outweigh potential drawbacks this PR introduces. See #1587

MaikRe mentioned this pull request Sep 19, 2024

Split player and role numbers #1021

Closed

MaikRe self-assigned this Sep 19, 2024

MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch 2 times, most recently from 0a55ea8 to 6f203d9 Compare September 22, 2024 11:01

MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch from 859349a to 3f9bcc8 Compare October 7, 2024 13:01

MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch 3 times, most recently from 1d0948d to 2f51548 Compare October 16, 2024 09:50

MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch from f18844e to 9d81cbf Compare October 26, 2024 13:29

MaikRe enabled auto-merge October 26, 2024 13:55

MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch 2 times, most recently from 2f6ee0e to 19a8b91 Compare November 5, 2024 12:27

MaikRe removed their assignment Nov 6, 2024

MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch from 2bfa5a4 to 37d75a7 Compare November 16, 2024 15:22

MaikRe added 16 commits November 24, 2024 13:38

rename player to jersey in pepsi

9cf7851

jersey numbers and stuff

5bc4493

replace player with jersey in default json

7666695

use position for sacrificial nao

5b44c3b

remove circular dependency

fb10c8b

remove unused import

c0880a9

produce output for behavior sim

05fbdf3

remove duplicate node

7304d4a

--wip-- [skip ci]

6b08edc

it compiles! mostly :)

e31d8dd

use jersey number for initial pose

d8ac8e0

remove unused parameter

7624ed2

behavior sim layer works in twix

0c803a2

make clippy happy

a9d6080

fix circular dependency for sacrificial lamb

db914ae

refactor active player filter, fix filtering of goal keeper penalty

e7b4c66

MaikRe added 13 commits November 24, 2024 13:42

spelling

6aa1bca

--wip-- [skip ci]

f6db0ce

correct role for defensive players

7a8dcd1

leading edge detection for replacement keeper leaving goal

05ca100

rebase and update all scenarios

83685e5

replace hashmap with btreemap

55ffc4d

prefer striker over replacement keeper

345dfff

wide stance only if keeper and in own penalty box (spl rules)

11a17d0

remove old comments

6775722

look at referee

53c434d

cross less paths

ad57e66

correct sacrificial lamb

c95cfa0

I assume we will never have more than 256 players per team

e57a4f5

MaikRe force-pushed the 1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19_20 branch from 37d75a7 to e57a4f5 Compare November 24, 2024 12:50

MaikRe added 2 commits November 24, 2024 13:57

revert some parameters to main

fb95d11

publify field dimensions

0ab2c7b

pejotejo requested a review from oleflb November 27, 2024 14:49

MaikRe added 6 commits November 27, 2024 16:29

ball search scenario was not long enough

79ce6ac

cleanup

28f9b2c

revert default in support foot

03a5c6a

use players instead of hashmap:

a727fb6

remove unused file

1b5ed85

cleanup

c3df712

oleflb self-assigned this Nov 27, 2024

oleflb requested changes Nov 27, 2024

View reviewed changes

MaikRe added 2 commits November 27, 2024 23:33

make error lowercase

0cdb108

hulks_aufstellung -> hulks_setup

0e3524c

MaikRe closed this Jan 16, 2025

auto-merge was automatically disabled January 16, 2025 14:08
Pull request was closed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Replace player number with jersey number #1449

Replace player number with jersey number #1449

MaikRe commented Sep 19, 2024 •

edited

Loading

oleflb left a comment

oleflb Nov 27, 2024

MaikRe Nov 27, 2024

MaikRe Nov 27, 2024

oleflb Nov 27, 2024

oleflb Nov 27, 2024

MaikRe commented Jan 16, 2025

		@@ -461,10 +473,14 @@ fn process_role_state_machine(
		_ => decide_if_claiming_striker_or_other_role(

Replace player number with jersey number #1449

Replace player number with jersey number #1449

Conversation

MaikRe commented Sep 19, 2024 • edited Loading

Why? What?

ToDo / Known Issues

Ideas for Next Iterations (Not This PR)

How to Test

oleflb left a comment

Choose a reason for hiding this comment

oleflb Nov 27, 2024

Choose a reason for hiding this comment

MaikRe Nov 27, 2024

Choose a reason for hiding this comment

MaikRe Nov 27, 2024

Choose a reason for hiding this comment

oleflb Nov 27, 2024

Choose a reason for hiding this comment

oleflb Nov 27, 2024

Choose a reason for hiding this comment

MaikRe commented Jan 16, 2025

MaikRe commented Sep 19, 2024 •

edited

Loading