Merge pull request #12 from CLSFramework/develop

Develop

Author: naderzare

.github/workflows/generate.yml

@@ -0,0 +1,50 @@
+name: Generate Thrift Code
+
+on:
+  push:
+    branches:
+      - main
+      
+jobs:
+  generate:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.x'
+
+      - name: Install Thrift
+        run: |
+          sudo apt-get install -y thrift-compiler
+          python3 -m pip install --upgrade pip
+          pip install -r requirements.txt
+      
+      - name: Run generate.sh
+        run: |
+          chmod +x ./generate.sh  
+          ./generate.sh
+
+      - name: Check for changes
+        run: |
+          git config --global user.name "github-actions[bot]"
+          git config --global user.email "github-actions[bot]@users.noreply.github.com"
+          git add soccer/*
+          if ! git diff --cached --quiet; then
+            git commit -m "Automated update: Generated Thrift classes"
+          else
+            echo "No changes detected, skipping commit."
+          fi
+
+      - name: Push changes
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        run: |
+          git push origin main
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -12,3 +12,4 @@ soccer/__pycache__/
 scripts/proxy
 scripts/rcssserver
 __pycache__/
+logs/

generate.sh

@@ -2,4 +2,4 @@
 
 thrift --gen py -out ./ ./idl/*.thrift
 
-python type_generator.py
+python3 type_generator.py

idl/soccer_service.thrift

@@ -1,4 +1,4 @@
-// version 1.6
+// version 1.7
 
 namespace cpp soccer
 namespace py soccer
@@ -761,6 +761,58 @@ struct HeliosGoalieKick {}
 
 struct HeliosShoot {}
 
+struct OpponentEffector {
+  1: list<double> negetive_effect_by_distance,
+  2: bool negetive_effect_by_distance_based_on_first_layer,
+  3: list<double> negetive_effect_by_reach_steps,
+  4: bool negetive_effect_by_reach_steps_based_on_first_layer
+}
+
+struct ActionTypeEffector {
+  1: double direct_pass,
+  2: double lead_pass,
+  3: double through_pass,
+  4: double short_dribble,
+  5: double long_dribble,
+  6: double cross,
+  7: double hold
+}
+
+struct TeammateEffector {
+  1: map<i32, double> coefficients,
+  2: bool apply_based_on_first_layer
+}
+
+struct PlannerEvaluationEffector {
+  1: optional OpponentEffector opponent_effector,
+  2: optional ActionTypeEffector action_type_effector,
+  3: optional TeammateEffector teammate_effector
+}
+
+struct HeliosFieldEvaluator {
+  1: double x_coefficient,
+  2: double ball_dist_to_goal_coefficient,
+  3: double effective_max_ball_dist_to_goal
+}
+
+struct MatrixFieldEvaluatorY {
+  1: list<double> evals
+}
+
+struct MatrixFieldEvaluator {
+  1: list<MatrixFieldEvaluatorY> evals
+}
+
+struct PlannerFieldEvaluator {
+  1: optional HeliosFieldEvaluator helios_field_evaluator,
+  2: optional MatrixFieldEvaluator matrix_field_evaluator
+}
+
+struct PlannerEvaluation {
+  1: PlannerEvaluationEffector effectors,
+  2: PlannerFieldEvaluator field_evaluators
+}
+
 struct HeliosOffensivePlanner {
   1: bool direct_pass,
   2: bool lead_pass,
@@ -771,7 +823,10 @@ struct HeliosOffensivePlanner {
   7: bool simple_pass,
   8: bool simple_dribble,
   9: bool simple_shoot
-  10: bool server_side_decision
+  10: bool server_side_decision,
+  11: i32 max_depth,
+  12: i32 max_nodes,
+  13: PlannerEvaluation evaluation
 }
 
 struct HeliosBasicOffensive {}
@@ -861,7 +916,9 @@ struct PlayerActions {
   1: list<PlayerAction> actions,
   2: bool ignore_preprocess,
   3: bool ignore_doforcekick,
-  4: bool ignore_doHeardPassRecieve
+  4: bool ignore_doHeardPassRecieve,
+  5: bool ignore_doIntention,
+  6: bool ignore_shootInPreprocess
 }
 
 struct ChangePlayerType {
@@ -1289,4 +1346,5 @@ service Game {
   RegisterResponse Register(1: RegisterRequest request),
   Empty SendByeCommand(1: RegisterResponse register_response),
   BestPlannerActionResponse GetBestPlannerAction(1: BestPlannerActionRequest best_planner_action_request)
-}
+}
+

server.py

@@ -44,6 +44,8 @@ def GetPlayerActions(self, state: State):
             if state.world_model.myself.is_goalie:
                 actions.append(PlayerAction(helios_goalie=HeliosGoalie()))
             elif state.world_model.myself.is_kickable:
+                # First action is the most important one
+                actions.append(PlayerAction(helios_shoot=HeliosShoot()))
                 actions.append(PlayerAction(helios_offensive_planner=HeliosOffensivePlanner(lead_pass=True,
                                                                                             direct_pass=True,
                                                                                             through_pass=True,
@@ -53,8 +55,7 @@ def GetPlayerActions(self, state: State):
                                                                                             simple_shoot=True,
                                                                                             simple_dribble=True,
                                                                                             cross=True,
-                                                                                            server_side_decision=True)))
-                actions.append(PlayerAction(helios_shoot=HeliosShoot()))
+                                                                                            server_side_decision=False)))
             else:
                 actions.append(PlayerAction(helios_basic_move=HeliosBasicMove()))
         else: