Direct pass #2155
Direct pass #2155
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| @@ -171,8 +171,8 @@ class PlaySelector(situation.IPlaySelector): | |||
| """ | |||
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| def __init__(self): | |||
| self.curr_situation = situations.Defense | |||
| self.curr_play = defense.Defense() | |||
| self.curr_situation = situations.Offense | |||
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please uncommit changes to rj_gameplay
| if (buffered_responses_[i].associated_request == agent_response.associated_request) { | ||
| // add the robot id in the corresponding (increasing) location in the received_robot_ids |
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is there a reason this comment was removed? is it inaccurate somehow?
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looks like all the changes to this file were formatting. unless you needed to change this file for your work, uncommit these changes too.
| @@ -203,11 +210,44 @@ communication::PosAgentResponseWrapper Offense::receive_communication_request( | |||
| std::get_if<communication::ResetScorerRequest>(&request.request)) { | |||
| communication::Acknowledge response = receive_reset_scorer_request(); | |||
| comm_response.response = response; | |||
| } else if (const communication::PassRequest* pass_request = | |||
| std::get_if<communication::PassRequest>(&request.request)) { | |||
| rj_geometry::Point robot_position = world_state()->get_robot(true, robot_id_).pose.position(); | |||
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can you please add some comments clearly explaining the logic implemented here?
| } | ||
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| return comm_response; | ||
| } | ||
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| communication::PassResponse Offense::receive_pass_request( |
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pass pass_request by const reference here
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hold on, was this copied directly from Position? why don't we just call Position::receive_past_request() in that case?
| @@ -172,6 +175,10 @@ std::optional<RobotIntent> Offense::state_to_task(RobotIntent intent) { | |||
| planning::MotionCommand{"path_target", current_location_instant, face_ball}; | |||
| intent.motion_command = face_ball_cmd; | |||
| return intent; | |||
| } else if (current_state_ == AWAITING_SEND_PASS) { | |||
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should we really be standing perfectly still and doing nothing while waiting to pass? it's okay for now but let's have a discussion about this and how this entire state machine operates.
| @@ -166,6 +166,19 @@ void Position::send_direct_pass_request(std::vector<u_int8_t> target_robots) { | |||
| communication_request_ = communication_request; | |||
| } | |||
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| void Position::broadcast_direct_pass_request() { | |||
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this is a useful addition
| @@ -296,9 +296,9 @@ void CoachNode::assign_positions_normal(std::array<uint32_t, kNumShells>& positi | |||
| positions[robot_id] = Positions::Offense; | |||
| break; | |||
| case 2: | |||
| positions[robot_id] = Positions::Defense; | |||
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uncommit these changes if they were just for testing.
| @@ -256,7 +258,7 @@ class Position { | |||
| const int robot_id_; | |||
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| // the robot our robot is going to be passing to | |||
| int target_robot_id; | |||
| int target_robot_id = 10; | |||
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what is the purpose of this default?
automated style fixes Co-authored-by: sanatd33 <[email protected]>
Description
Modifies the code in offense.cpp to only pass to another offense robot if that target robot is open.
Associated / Resolved Issue
Resolves https://app.clickup.com/t/86ayr29tq
Steps to Test
make run-sim
Robots 1, 2, and 4 are set to Offense by default and forced into the 'Awaiting Passing' state.
Expected result: If either robots 1, 2, or 4 have possession of the ball, they will pass it to another Offense robot, provided that it is open.
Key Files to Review
Review Checklist
(Optional) Sub-issues (for drafts)
Note: if you find yourself breaking this PR into many smaller features, it may make sense to break up the PR into logical units based on these features.