From aa614293b1704e5e94431644fe03735d93266fa0 Mon Sep 17 00:00:00 2001 From: Soroush Mazloum Date: Thu, 26 Sep 2024 21:56:54 +0330 Subject: [PATCH 01/17] .thrift version and catch_time --- idl/service.proto | 3 +- service_pb2.py | 556 +++++++++++++++++++++++----------------------- service_pb2.pyi | 6 +- 3 files changed, 284 insertions(+), 281 deletions(-) diff --git a/idl/service.proto b/idl/service.proto index e67c939..bc31cc3 100644 --- a/idl/service.proto +++ b/idl/service.proto @@ -1,4 +1,4 @@ -// version 1 +// version 1.1 syntax = "proto3"; @@ -175,6 +175,7 @@ message Self { float recovery = 37; float stamina_capacity = 38; CardType card = 39; + int32 catch_time = 40; } enum InterceptActionType { diff --git a/service_pb2.py b/service_pb2.py index 775f543..45da28e 100644 --- a/service_pb2.py +++ b/service_pb2.py @@ -14,7 +14,7 @@ -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\rservice.proto\x12\x06protos\"@\n\x0bRpcVector2D\x12\t\n\x01x\x18\x01 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*2\n\tAgentType\x12\x0b\n\x07PlayerT\x10\x00\x12\n\n\x06\x43oachT\x10\x01\x12\x0c\n\x08TrainerT\x10\x02*w\n\x11RpcActionCategory\x12\x0b\n\x07\x41\x43_Hold\x10\x00\x12\x0e\n\nAC_Dribble\x10\x01\x12\x0b\n\x07\x41\x43_Pass\x10\x02\x12\x0c\n\x08\x41\x43_Shoot\x10\x03\x12\x0c\n\x08\x41\x43_Clear\x10\x04\x12\x0b\n\x07\x41\x43_Move\x10\x05\x12\x0f\n\x0b\x41\x43_NoAction\x10\x06\x32\xfb\x04\n\x04Game\x12:\n\x10GetPlayerActions\x12\r.protos.State\x1a\x15.protos.PlayerActions\"\x00\x12\x38\n\x0fGetCoachActions\x12\r.protos.State\x1a\x14.protos.CoachActions\"\x00\x12<\n\x11GetTrainerActions\x12\r.protos.State\x1a\x16.protos.TrainerActions\"\x00\x12\x37\n\x0fSendInitMessage\x12\x13.protos.InitMessage\x1a\r.protos.Empty\"\x00\x12\x38\n\x10SendServerParams\x12\x13.protos.ServerParam\x1a\r.protos.Empty\"\x00\x12\x38\n\x10SendPlayerParams\x12\x13.protos.PlayerParam\x1a\r.protos.Empty\"\x00\x12\x35\n\x0eSendPlayerType\x12\x12.protos.PlayerType\x1a\r.protos.Empty\"\x00\x12?\n\x08Register\x12\x17.protos.RegisterRequest\x1a\x18.protos.RegisterResponse\"\x00\x12;\n\x0eSendByeCommand\x12\x18.protos.RegisterResponse\x1a\r.protos.Empty\"\x00\x12]\n\x14GetBestPlannerAction\x12 .protos.BestPlannerActionRequest\x1a!.protos.BestPlannerActionResponse\"\x00\x62\x06proto3') _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) @@ -29,24 +29,24 @@ _globals['_WORLDMODEL_HELIOSHOMEPOSITIONSENTRY']._serialized_options = b'8\001' _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._loaded_options = None _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_options = b'8\001' - _globals['_VIEWWIDTH']._serialized_start=26771 - _globals['_VIEWWIDTH']._serialized_end=26816 - _globals['_RPCSERVERLANGUAGETYPE']._serialized_start=26818 - _globals['_RPCSERVERLANGUAGETYPE']._serialized_end=26941 - _globals['_SIDE']._serialized_start=26943 - _globals['_SIDE']._serialized_end=26983 - _globals['_LOGGERLEVEL']._serialized_start=26986 - _globals['_LOGGERLEVEL']._serialized_end=27292 - _globals['_CARDTYPE']._serialized_start=27294 - _globals['_CARDTYPE']._serialized_end=27338 - _globals['_INTERCEPTACTIONTYPE']._serialized_start=27340 - _globals['_INTERCEPTACTIONTYPE']._serialized_end=27458 - _globals['_GAMEMODETYPE']._serialized_start=27461 - _globals['_GAMEMODETYPE']._serialized_end=28032 - _globals['_AGENTTYPE']._serialized_start=28034 - _globals['_AGENTTYPE']._serialized_end=28084 - _globals['_RPCACTIONCATEGORY']._serialized_start=28086 - _globals['_RPCACTIONCATEGORY']._serialized_end=28205 + _globals['_VIEWWIDTH']._serialized_start=26791 + _globals['_VIEWWIDTH']._serialized_end=26836 + _globals['_RPCSERVERLANGUAGETYPE']._serialized_start=26838 + _globals['_RPCSERVERLANGUAGETYPE']._serialized_end=26961 + _globals['_SIDE']._serialized_start=26963 + _globals['_SIDE']._serialized_end=27003 + _globals['_LOGGERLEVEL']._serialized_start=27006 + _globals['_LOGGERLEVEL']._serialized_end=27312 + _globals['_CARDTYPE']._serialized_start=27314 + _globals['_CARDTYPE']._serialized_end=27358 + _globals['_INTERCEPTACTIONTYPE']._serialized_start=27360 + _globals['_INTERCEPTACTIONTYPE']._serialized_end=27478 + _globals['_GAMEMODETYPE']._serialized_start=27481 + _globals['_GAMEMODETYPE']._serialized_end=28052 + _globals['_AGENTTYPE']._serialized_start=28054 + _globals['_AGENTTYPE']._serialized_end=28104 + _globals['_RPCACTIONCATEGORY']._serialized_start=28106 + _globals['_RPCACTIONCATEGORY']._serialized_end=28225 _globals['_RPCVECTOR2D']._serialized_start=25 _globals['_RPCVECTOR2D']._serialized_end=89 _globals['_REGISTERREQUEST']._serialized_start=91 @@ -58,263 +58,263 @@ _globals['_PLAYER']._serialized_start=940 _globals['_PLAYER']._serialized_end=1756 _globals['_SELF']._serialized_start=1759 - _globals['_SELF']._serialized_end=2810 - _globals['_INTERCEPTINFO']._serialized_start=2813 - _globals['_INTERCEPTINFO']._serialized_end=3089 - _globals['_INTERCEPTTABLE']._serialized_start=3092 - _globals['_INTERCEPTTABLE']._serialized_end=3442 - _globals['_WORLDMODEL']._serialized_start=3445 - _globals['_WORLDMODEL']._serialized_end=4872 - _globals['_WORLDMODEL_OURPLAYERSDICTENTRY']._serialized_start=4649 - _globals['_WORLDMODEL_OURPLAYERSDICTENTRY']._serialized_end=4718 - _globals['_WORLDMODEL_THEIRPLAYERSDICTENTRY']._serialized_start=4720 - _globals['_WORLDMODEL_THEIRPLAYERSDICTENTRY']._serialized_end=4791 - _globals['_WORLDMODEL_HELIOSHOMEPOSITIONSENTRY']._serialized_start=4793 - _globals['_WORLDMODEL_HELIOSHOMEPOSITIONSENTRY']._serialized_end=4872 - _globals['_STATE']._serialized_start=4875 - _globals['_STATE']._serialized_end=5047 - _globals['_INITMESSAGE']._serialized_start=5049 - _globals['_INITMESSAGE']._serialized_end=5135 - _globals['_DASH']._serialized_start=5137 - _globals['_DASH']._serialized_end=5186 - _globals['_TURN']._serialized_start=5188 - _globals['_TURN']._serialized_end=5222 - _globals['_KICK']._serialized_start=5224 - _globals['_KICK']._serialized_end=5273 - _globals['_TACKLE']._serialized_start=5275 - _globals['_TACKLE']._serialized_end=5319 - _globals['_CATCH']._serialized_start=5321 - _globals['_CATCH']._serialized_end=5328 - _globals['_MOVE']._serialized_start=5330 - _globals['_MOVE']._serialized_end=5358 - _globals['_TURNNECK']._serialized_start=5360 - _globals['_TURNNECK']._serialized_end=5386 - _globals['_CHANGEVIEW']._serialized_start=5388 - _globals['_CHANGEVIEW']._serialized_end=5439 - _globals['_BALLMESSAGE']._serialized_start=5441 - _globals['_BALLMESSAGE']._serialized_end=5542 - _globals['_PASSMESSAGE']._serialized_start=5545 - _globals['_PASSMESSAGE']._serialized_end=5724 - _globals['_INTERCEPTMESSAGE']._serialized_start=5726 - _globals['_INTERCEPTMESSAGE']._serialized_end=5796 - _globals['_GOALIEMESSAGE']._serialized_start=5798 - _globals['_GOALIEMESSAGE']._serialized_end=5921 - _globals['_GOALIEANDPLAYERMESSAGE']._serialized_start=5924 - _globals['_GOALIEANDPLAYERMESSAGE']._serialized_end=6133 - _globals['_OFFSIDELINEMESSAGE']._serialized_start=6135 - _globals['_OFFSIDELINEMESSAGE']._serialized_end=6179 - _globals['_DEFENSELINEMESSAGE']._serialized_start=6181 - _globals['_DEFENSELINEMESSAGE']._serialized_end=6225 - _globals['_WAITREQUESTMESSAGE']._serialized_start=6227 - _globals['_WAITREQUESTMESSAGE']._serialized_end=6247 - _globals['_SETPLAYMESSAGE']._serialized_start=6249 - _globals['_SETPLAYMESSAGE']._serialized_end=6284 - _globals['_PASSREQUESTMESSAGE']._serialized_start=6286 - _globals['_PASSREQUESTMESSAGE']._serialized_end=6349 - _globals['_STAMINAMESSAGE']._serialized_start=6351 - _globals['_STAMINAMESSAGE']._serialized_end=6384 - _globals['_RECOVERYMESSAGE']._serialized_start=6386 - _globals['_RECOVERYMESSAGE']._serialized_end=6421 - _globals['_STAMINACAPACITYMESSAGE']._serialized_start=6423 - _globals['_STAMINACAPACITYMESSAGE']._serialized_end=6473 - _globals['_DRIBBLEMESSAGE']._serialized_start=6475 - _globals['_DRIBBLEMESSAGE']._serialized_end=6555 - _globals['_BALLGOALIEMESSAGE']._serialized_start=6558 - _globals['_BALLGOALIEMESSAGE']._serialized_end=6742 - _globals['_ONEPLAYERMESSAGE']._serialized_start=6744 - _globals['_ONEPLAYERMESSAGE']._serialized_end=6825 - _globals['_TWOPLAYERMESSAGE']._serialized_start=6828 - _globals['_TWOPLAYERMESSAGE']._serialized_end=6998 - _globals['_THREEPLAYERMESSAGE']._serialized_start=7001 - _globals['_THREEPLAYERMESSAGE']._serialized_end=7248 - _globals['_SELFMESSAGE']._serialized_start=7250 - _globals['_SELFMESSAGE']._serialized_end=7358 - _globals['_TEAMMATEMESSAGE']._serialized_start=7360 - _globals['_TEAMMATEMESSAGE']._serialized_end=7464 - _globals['_OPPONENTMESSAGE']._serialized_start=7466 - _globals['_OPPONENTMESSAGE']._serialized_end=7570 - _globals['_BALLPLAYERMESSAGE']._serialized_start=7573 - _globals['_BALLPLAYERMESSAGE']._serialized_end=7774 - _globals['_SAY']._serialized_start=7777 - _globals['_SAY']._serialized_end=9009 - _globals['_POINTTO']._serialized_start=9011 - _globals['_POINTTO']._serialized_end=9042 - _globals['_POINTTOOF']._serialized_start=9044 - _globals['_POINTTOOF']._serialized_end=9055 - _globals['_ATTENTIONTO']._serialized_start=9057 - _globals['_ATTENTIONTO']._serialized_end=9112 - _globals['_ATTENTIONTOOF']._serialized_start=9114 - _globals['_ATTENTIONTOOF']._serialized_end=9129 - _globals['_ADDTEXT']._serialized_start=9131 - _globals['_ADDTEXT']._serialized_end=9193 - _globals['_ADDPOINT']._serialized_start=9195 - _globals['_ADDPOINT']._serialized_end=9292 - _globals['_ADDLINE']._serialized_start=9295 - _globals['_ADDLINE']._serialized_end=9425 - _globals['_ADDARC']._serialized_start=9428 - _globals['_ADDARC']._serialized_end=9581 - _globals['_ADDCIRCLE']._serialized_start=9584 - _globals['_ADDCIRCLE']._serialized_end=9713 - _globals['_ADDTRIANGLE']._serialized_start=9716 - _globals['_ADDTRIANGLE']._serialized_end=9905 - _globals['_ADDRECTANGLE']._serialized_start=9908 - _globals['_ADDRECTANGLE']._serialized_end=10045 - _globals['_ADDSECTOR']._serialized_start=10048 - _globals['_ADDSECTOR']._serialized_end=10242 - 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_globals['_DOCHANGEPLAYERTYPE']._serialized_start=17543 + _globals['_DOCHANGEPLAYERTYPE']._serialized_end=17619 + _globals['_TRAINERACTION']._serialized_start=17622 + _globals['_TRAINERACTION']._serialized_end=17931 + _globals['_TRAINERACTIONS']._serialized_start=17933 + _globals['_TRAINERACTIONS']._serialized_end=17989 + _globals['_SERVERPARAM']._serialized_start=17992 + _globals['_SERVERPARAM']._serialized_end=23717 + _globals['_PLAYERPARAM']._serialized_start=23720 + _globals['_PLAYERPARAM']._serialized_end=24757 + _globals['_PLAYERTYPE']._serialized_start=24760 + _globals['_PLAYERTYPE']._serialized_end=25719 + _globals['_RPCCOOPERATIVEACTION']._serialized_start=25722 + _globals['_RPCCOOPERATIVEACTION']._serialized_end=26151 + _globals['_RPCPREDICTSTATE']._serialized_start=26154 + _globals['_RPCPREDICTSTATE']._serialized_end=26361 + _globals['_RPCACTIONSTATE']._serialized_start=26364 + _globals['_RPCACTIONSTATE']._serialized_end=26494 + _globals['_BESTPLANNERACTIONREQUEST']._serialized_start=26497 + _globals['_BESTPLANNERACTIONREQUEST']._serialized_end=26736 + _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_start=26668 + _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_end=26736 + _globals['_BESTPLANNERACTIONRESPONSE']._serialized_start=26738 + _globals['_BESTPLANNERACTIONRESPONSE']._serialized_end=26780 + _globals['_EMPTY']._serialized_start=26782 + _globals['_EMPTY']._serialized_end=26789 + _globals['_GAME']._serialized_start=28228 + _globals['_GAME']._serialized_end=28863 # @@protoc_insertion_point(module_scope) diff --git a/service_pb2.pyi b/service_pb2.pyi index e2f3e17..4fe9818 100644 --- a/service_pb2.pyi +++ b/service_pb2.pyi @@ -346,7 +346,7 @@ class Player(_message.Message): def __init__(self, position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., pos_count: _Optional[int] = ..., seen_pos_count: _Optional[int] = ..., heard_pos_count: _Optional[int] = ..., vel_count: _Optional[int] = ..., seen_vel_count: _Optional[int] = ..., ghost_count: _Optional[int] = ..., dist_from_self: _Optional[float] = ..., angle_from_self: _Optional[float] = ..., id: _Optional[int] = ..., side: _Optional[_Union[Side, str]] = ..., uniform_number: _Optional[int] = ..., uniform_number_count: _Optional[int] = ..., is_goalie: bool = ..., body_direction: _Optional[float] = ..., body_direction_count: _Optional[int] = ..., face_direction: _Optional[float] = ..., face_direction_count: _Optional[int] = ..., point_to_direction: _Optional[float] = ..., point_to_direction_count: _Optional[int] = ..., is_kicking: bool = ..., dist_from_ball: _Optional[float] = ..., angle_from_ball: _Optional[float] = ..., ball_reach_steps: _Optional[int] = ..., is_tackling: bool = ..., type_id: _Optional[int] = ...) -> None: ... class Self(_message.Message): - __slots__ = ("position", "seen_position", "heard_position", "velocity", "seen_velocity", "pos_count", "seen_pos_count", "heard_pos_count", "vel_count", "seen_vel_count", "ghost_count", "id", "side", "uniform_number", "uniform_number_count", "is_goalie", "body_direction", "body_direction_count", "face_direction", "face_direction_count", "point_to_direction", "point_to_direction_count", "is_kicking", "dist_from_ball", "angle_from_ball", "ball_reach_steps", "is_tackling", "relative_neck_direction", "stamina", "is_kickable", "catch_probability", "tackle_probability", "foul_probability", "view_width", "type_id", "kick_rate", "recovery", "stamina_capacity", "card") + __slots__ = ("position", "seen_position", "heard_position", "velocity", "seen_velocity", "pos_count", "seen_pos_count", "heard_pos_count", "vel_count", "seen_vel_count", "ghost_count", "id", "side", "uniform_number", "uniform_number_count", "is_goalie", "body_direction", "body_direction_count", "face_direction", "face_direction_count", "point_to_direction", "point_to_direction_count", "is_kicking", "dist_from_ball", "angle_from_ball", "ball_reach_steps", "is_tackling", "relative_neck_direction", "stamina", "is_kickable", "catch_probability", "tackle_probability", "foul_probability", "view_width", "type_id", "kick_rate", "recovery", "stamina_capacity", "card", "catch_time") POSITION_FIELD_NUMBER: _ClassVar[int] SEEN_POSITION_FIELD_NUMBER: _ClassVar[int] HEARD_POSITION_FIELD_NUMBER: _ClassVar[int] @@ -386,6 +386,7 @@ class Self(_message.Message): RECOVERY_FIELD_NUMBER: _ClassVar[int] STAMINA_CAPACITY_FIELD_NUMBER: _ClassVar[int] CARD_FIELD_NUMBER: _ClassVar[int] + CATCH_TIME_FIELD_NUMBER: _ClassVar[int] position: RpcVector2D seen_position: RpcVector2D heard_position: RpcVector2D @@ -425,7 +426,8 @@ class Self(_message.Message): recovery: float stamina_capacity: float card: CardType - def __init__(self, position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., pos_count: _Optional[int] = ..., seen_pos_count: _Optional[int] = ..., heard_pos_count: _Optional[int] = ..., vel_count: _Optional[int] = ..., seen_vel_count: _Optional[int] = ..., ghost_count: _Optional[int] = ..., id: _Optional[int] = ..., side: _Optional[_Union[Side, str]] = ..., uniform_number: _Optional[int] = ..., uniform_number_count: _Optional[int] = ..., is_goalie: bool = ..., body_direction: _Optional[float] = ..., body_direction_count: _Optional[int] = ..., face_direction: _Optional[float] = ..., face_direction_count: _Optional[int] = ..., point_to_direction: _Optional[float] = ..., point_to_direction_count: _Optional[int] = ..., is_kicking: bool = ..., dist_from_ball: _Optional[float] = ..., angle_from_ball: _Optional[float] = ..., ball_reach_steps: _Optional[int] = ..., is_tackling: bool = ..., relative_neck_direction: _Optional[float] = ..., stamina: _Optional[float] = ..., is_kickable: bool = ..., catch_probability: _Optional[float] = ..., tackle_probability: _Optional[float] = ..., foul_probability: _Optional[float] = ..., view_width: _Optional[_Union[ViewWidth, str]] = ..., type_id: _Optional[int] = ..., kick_rate: _Optional[float] = ..., recovery: _Optional[float] = ..., stamina_capacity: _Optional[float] = ..., card: _Optional[_Union[CardType, str]] = ...) -> None: ... + catch_time: int + def __init__(self, position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., pos_count: _Optional[int] = ..., seen_pos_count: _Optional[int] = ..., heard_pos_count: _Optional[int] = ..., vel_count: _Optional[int] = ..., seen_vel_count: _Optional[int] = ..., ghost_count: _Optional[int] = ..., id: _Optional[int] = ..., side: _Optional[_Union[Side, str]] = ..., uniform_number: _Optional[int] = ..., uniform_number_count: _Optional[int] = ..., is_goalie: bool = ..., body_direction: _Optional[float] = ..., body_direction_count: _Optional[int] = ..., face_direction: _Optional[float] = ..., face_direction_count: _Optional[int] = ..., point_to_direction: _Optional[float] = ..., point_to_direction_count: _Optional[int] = ..., is_kicking: bool = ..., dist_from_ball: _Optional[float] = ..., angle_from_ball: _Optional[float] = ..., ball_reach_steps: _Optional[int] = ..., is_tackling: bool = ..., relative_neck_direction: _Optional[float] = ..., stamina: _Optional[float] = ..., is_kickable: bool = ..., catch_probability: _Optional[float] = ..., tackle_probability: _Optional[float] = ..., foul_probability: _Optional[float] = ..., view_width: _Optional[_Union[ViewWidth, str]] = ..., type_id: _Optional[int] = ..., kick_rate: _Optional[float] = ..., recovery: _Optional[float] = ..., stamina_capacity: _Optional[float] = ..., card: _Optional[_Union[CardType, str]] = ..., catch_time: _Optional[int] = ...) -> None: ... class InterceptInfo(_message.Message): __slots__ = ("action_type", "turn_steps", "turn_angle", "dash_steps", "dash_power", "dash_dir", "final_self_position", "final_ball_dist", "final_stamina", "value") From fff81ea3fb5c6ee47598bec9995f316201a16e04 Mon Sep 17 00:00:00 2001 From: SK2iP Date: Sun, 29 Sep 2024 21:13:21 +0330 Subject: [PATCH 02/17] add version 1.1 --- idl/service.proto | 5 + service_pb2.py | 558 ++++++++++++++++++++++---------------------- service_pb2.pyi | 18 +- service_pb2_grpc.py | 9 +- 4 files changed, 306 insertions(+), 284 deletions(-) diff --git a/idl/service.proto b/idl/service.proto index bc31cc3..363974d 100644 --- a/idl/service.proto +++ b/idl/service.proto @@ -283,6 +283,8 @@ message WorldModel { double their_defense_line_x = 33; double our_defense_player_line_x = 34; double their_defense_player_line_x = 35; + bool kickable_teammate_existance = 36; + bool kickable_opponent_existance = 37; } message State { @@ -800,6 +802,8 @@ message HeliosPenalty {} message HeliosCommunicaion {} +message bhv_doForceKick {} + message PlayerAction { oneof action { Dash dash = 1; @@ -866,6 +870,7 @@ message PlayerAction { HeliosSetPlay helios_set_play = 62; HeliosPenalty helios_penalty = 63; HeliosCommunicaion helios_communication = 64; + bhv_doForceKick bhv_do_force_kick = 65; } } diff --git a/service_pb2.py b/service_pb2.py index 45da28e..25afbea 100644 --- a/service_pb2.py +++ b/service_pb2.py @@ -1,12 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: service.proto -# Protobuf Python Version: 5.26.1 +# Protobuf Python Version: 5.27.2 """Generated protocol buffer code.""" from google.protobuf import descriptor as _descriptor from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import runtime_version as _runtime_version from google.protobuf import symbol_database as _symbol_database from google.protobuf.internal import builder as _builder +_runtime_version.ValidateProtobufRuntimeVersion( + _runtime_version.Domain.PUBLIC, + 5, + 27, + 2, + '', + 'service.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -14,7 +24,7 @@ -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\rservice.proto\x12\x06protos\"@\n\x0bRpcVector2D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\x0c\n\x04\x64ist\x18\x03 \x01(\x02\x12\r\n\x05\x61ngle\x18\x04 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.protos.BestPlannerActionRequest\x1a!.protos.BestPlannerActionResponse\"\x00\x62\x06proto3') _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) @@ -29,24 +39,24 @@ _globals['_WORLDMODEL_HELIOSHOMEPOSITIONSENTRY']._serialized_options = b'8\001' _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._loaded_options = None _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_options = b'8\001' - _globals['_VIEWWIDTH']._serialized_start=26791 - _globals['_VIEWWIDTH']._serialized_end=26836 - _globals['_RPCSERVERLANGUAGETYPE']._serialized_start=26838 - _globals['_RPCSERVERLANGUAGETYPE']._serialized_end=26961 - _globals['_SIDE']._serialized_start=26963 - _globals['_SIDE']._serialized_end=27003 - _globals['_LOGGERLEVEL']._serialized_start=27006 - _globals['_LOGGERLEVEL']._serialized_end=27312 - _globals['_CARDTYPE']._serialized_start=27314 - _globals['_CARDTYPE']._serialized_end=27358 - _globals['_INTERCEPTACTIONTYPE']._serialized_start=27360 - _globals['_INTERCEPTACTIONTYPE']._serialized_end=27478 - _globals['_GAMEMODETYPE']._serialized_start=27481 - _globals['_GAMEMODETYPE']._serialized_end=28052 - _globals['_AGENTTYPE']._serialized_start=28054 - _globals['_AGENTTYPE']._serialized_end=28104 - _globals['_RPCACTIONCATEGORY']._serialized_start=28106 - _globals['_RPCACTIONCATEGORY']._serialized_end=28225 + _globals['_VIEWWIDTH']._serialized_start=26938 + _globals['_VIEWWIDTH']._serialized_end=26983 + _globals['_RPCSERVERLANGUAGETYPE']._serialized_start=26985 + _globals['_RPCSERVERLANGUAGETYPE']._serialized_end=27108 + _globals['_SIDE']._serialized_start=27110 + _globals['_SIDE']._serialized_end=27150 + _globals['_LOGGERLEVEL']._serialized_start=27153 + _globals['_LOGGERLEVEL']._serialized_end=27459 + _globals['_CARDTYPE']._serialized_start=27461 + _globals['_CARDTYPE']._serialized_end=27505 + _globals['_INTERCEPTACTIONTYPE']._serialized_start=27507 + _globals['_INTERCEPTACTIONTYPE']._serialized_end=27625 + _globals['_GAMEMODETYPE']._serialized_start=27628 + _globals['_GAMEMODETYPE']._serialized_end=28199 + _globals['_AGENTTYPE']._serialized_start=28201 + _globals['_AGENTTYPE']._serialized_end=28251 + _globals['_RPCACTIONCATEGORY']._serialized_start=28253 + _globals['_RPCACTIONCATEGORY']._serialized_end=28372 _globals['_RPCVECTOR2D']._serialized_start=25 _globals['_RPCVECTOR2D']._serialized_end=89 _globals['_REGISTERREQUEST']._serialized_start=91 @@ -64,257 +74,259 @@ _globals['_INTERCEPTTABLE']._serialized_start=3112 _globals['_INTERCEPTTABLE']._serialized_end=3462 _globals['_WORLDMODEL']._serialized_start=3465 - _globals['_WORLDMODEL']._serialized_end=4892 - _globals['_WORLDMODEL_OURPLAYERSDICTENTRY']._serialized_start=4669 - _globals['_WORLDMODEL_OURPLAYERSDICTENTRY']._serialized_end=4738 - _globals['_WORLDMODEL_THEIRPLAYERSDICTENTRY']._serialized_start=4740 - _globals['_WORLDMODEL_THEIRPLAYERSDICTENTRY']._serialized_end=4811 - 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_globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_end=26883 + _globals['_BESTPLANNERACTIONRESPONSE']._serialized_start=26885 + _globals['_BESTPLANNERACTIONRESPONSE']._serialized_end=26927 + _globals['_EMPTY']._serialized_start=26929 + _globals['_EMPTY']._serialized_end=26936 + _globals['_GAME']._serialized_start=28375 + _globals['_GAME']._serialized_end=29010 # @@protoc_insertion_point(module_scope) diff --git a/service_pb2.pyi b/service_pb2.pyi index 4fe9818..ed8d052 100644 --- a/service_pb2.pyi +++ b/service_pb2.pyi @@ -478,7 +478,7 @@ class InterceptTable(_message.Message): def __init__(self, self_reach_steps: _Optional[int] = ..., first_teammate_reach_steps: _Optional[int] = ..., second_teammate_reach_steps: _Optional[int] = ..., first_opponent_reach_steps: _Optional[int] = ..., second_opponent_reach_steps: _Optional[int] = ..., first_teammate_id: _Optional[int] = ..., second_teammate_id: _Optional[int] = ..., first_opponent_id: _Optional[int] = ..., second_opponent_id: _Optional[int] = ..., self_intercept_info: _Optional[_Iterable[_Union[InterceptInfo, _Mapping]]] = ...) -> None: ... class WorldModel(_message.Message): - __slots__ = ("intercept_table", "our_team_name", "their_team_name", "our_side", "last_set_play_start_time", "self", "ball", "teammates", "opponents", "unknowns", "our_players_dict", "their_players_dict", "our_goalie_uniform_number", "their_goalie_uniform_number", "offside_line_x", "ofside_line_x_count", "kickable_teammate_id", "kickable_opponent_id", "last_kick_side", "last_kicker_uniform_number", "cycle", "game_mode_type", "left_team_score", "right_team_score", "is_our_set_play", "is_their_set_play", "stoped_cycle", "our_team_score", "their_team_score", "is_penalty_kick_mode", "helios_home_positions", "our_defense_line_x", "their_defense_line_x", "our_defense_player_line_x", "their_defense_player_line_x") + __slots__ = ("intercept_table", "our_team_name", "their_team_name", "our_side", "last_set_play_start_time", "self", "ball", "teammates", "opponents", "unknowns", "our_players_dict", "their_players_dict", "our_goalie_uniform_number", "their_goalie_uniform_number", "offside_line_x", "ofside_line_x_count", "kickable_teammate_id", "kickable_opponent_id", "last_kick_side", "last_kicker_uniform_number", "cycle", "game_mode_type", "left_team_score", "right_team_score", "is_our_set_play", "is_their_set_play", "stoped_cycle", "our_team_score", "their_team_score", "is_penalty_kick_mode", "helios_home_positions", "our_defense_line_x", "their_defense_line_x", "our_defense_player_line_x", "their_defense_player_line_x", "kickable_teammate_existance", "kickable_opponent_existance") class OurPlayersDictEntry(_message.Message): __slots__ = ("key", "value") KEY_FIELD_NUMBER: _ClassVar[int] @@ -535,6 +535,8 @@ class WorldModel(_message.Message): THEIR_DEFENSE_LINE_X_FIELD_NUMBER: _ClassVar[int] OUR_DEFENSE_PLAYER_LINE_X_FIELD_NUMBER: _ClassVar[int] THEIR_DEFENSE_PLAYER_LINE_X_FIELD_NUMBER: _ClassVar[int] + KICKABLE_TEAMMATE_EXISTANCE_FIELD_NUMBER: _ClassVar[int] + KICKABLE_OPPONENT_EXISTANCE_FIELD_NUMBER: _ClassVar[int] intercept_table: InterceptTable our_team_name: str their_team_name: str @@ -570,7 +572,9 @@ class WorldModel(_message.Message): their_defense_line_x: float our_defense_player_line_x: float their_defense_player_line_x: float - def __init__(self, intercept_table: _Optional[_Union[InterceptTable, _Mapping]] = ..., our_team_name: _Optional[str] = ..., their_team_name: _Optional[str] = ..., our_side: _Optional[_Union[Side, str]] = ..., last_set_play_start_time: _Optional[int] = ..., self: _Optional[_Union[Self, _Mapping]] = ..., ball: _Optional[_Union[Ball, _Mapping]] = ..., teammates: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., opponents: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., unknowns: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., our_players_dict: _Optional[_Mapping[int, Player]] = ..., their_players_dict: _Optional[_Mapping[int, Player]] = ..., our_goalie_uniform_number: _Optional[int] = ..., their_goalie_uniform_number: _Optional[int] = ..., offside_line_x: _Optional[float] = ..., ofside_line_x_count: _Optional[int] = ..., kickable_teammate_id: _Optional[int] = ..., kickable_opponent_id: _Optional[int] = ..., last_kick_side: _Optional[_Union[Side, str]] = ..., last_kicker_uniform_number: _Optional[int] = ..., cycle: _Optional[int] = ..., game_mode_type: _Optional[_Union[GameModeType, str]] = ..., left_team_score: _Optional[int] = ..., right_team_score: _Optional[int] = ..., is_our_set_play: bool = ..., is_their_set_play: bool = ..., stoped_cycle: _Optional[int] = ..., our_team_score: _Optional[int] = ..., their_team_score: _Optional[int] = ..., is_penalty_kick_mode: bool = ..., helios_home_positions: _Optional[_Mapping[int, RpcVector2D]] = ..., our_defense_line_x: _Optional[float] = ..., their_defense_line_x: _Optional[float] = ..., our_defense_player_line_x: _Optional[float] = ..., their_defense_player_line_x: _Optional[float] = ...) -> None: ... + kickable_teammate_existance: bool + kickable_opponent_existance: bool + def __init__(self, intercept_table: _Optional[_Union[InterceptTable, _Mapping]] = ..., our_team_name: _Optional[str] = ..., their_team_name: _Optional[str] = ..., our_side: _Optional[_Union[Side, str]] = ..., last_set_play_start_time: _Optional[int] = ..., self: _Optional[_Union[Self, _Mapping]] = ..., ball: _Optional[_Union[Ball, _Mapping]] = ..., teammates: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., opponents: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., unknowns: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., our_players_dict: _Optional[_Mapping[int, Player]] = ..., their_players_dict: _Optional[_Mapping[int, Player]] = ..., our_goalie_uniform_number: _Optional[int] = ..., their_goalie_uniform_number: _Optional[int] = ..., offside_line_x: _Optional[float] = ..., ofside_line_x_count: _Optional[int] = ..., kickable_teammate_id: _Optional[int] = ..., kickable_opponent_id: _Optional[int] = ..., last_kick_side: _Optional[_Union[Side, str]] = ..., last_kicker_uniform_number: _Optional[int] = ..., cycle: _Optional[int] = ..., game_mode_type: _Optional[_Union[GameModeType, str]] = ..., left_team_score: _Optional[int] = ..., right_team_score: _Optional[int] = ..., is_our_set_play: bool = ..., is_their_set_play: bool = ..., stoped_cycle: _Optional[int] = ..., our_team_score: _Optional[int] = ..., their_team_score: _Optional[int] = ..., is_penalty_kick_mode: bool = ..., helios_home_positions: _Optional[_Mapping[int, RpcVector2D]] = ..., our_defense_line_x: _Optional[float] = ..., their_defense_line_x: _Optional[float] = ..., our_defense_player_line_x: _Optional[float] = ..., their_defense_player_line_x: _Optional[float] = ..., kickable_teammate_existance: bool = ..., kickable_opponent_existance: bool = ...) -> None: ... class State(_message.Message): __slots__ = ("register_response", "world_model", "full_world_model", "need_preprocess") @@ -1388,8 +1392,12 @@ class HeliosCommunicaion(_message.Message): __slots__ = () def __init__(self) -> None: ... +class bhv_doForceKick(_message.Message): + __slots__ = () + def __init__(self) -> None: ... + class PlayerAction(_message.Message): - __slots__ = ("dash", "turn", "kick", "tackle", "catch", "move", "turn_neck", "change_view", "say", "point_to", "point_to_of", "attention_to", "attention_to_of", "log", "debug_client", "body_go_to_point", "body_smart_kick", "bhv_before_kick_off", "bhv_body_neck_to_ball", "bhv_body_neck_to_point", "bhv_emergency", "bhv_go_to_point_look_ball", "bhv_neck_body_to_ball", "bhv_neck_body_to_point", "bhv_scan_field", "body_advance_ball", "body_clear_ball", "body_dribble", "body_go_to_point_dodge", "body_hold_ball", "body_intercept", "body_kick_one_step", "body_stop_ball", "body_stop_dash", "body_tackle_to_point", "body_turn_to_angle", "body_turn_to_ball", "body_turn_to_point", "focus_move_to_point", "focus_reset", "neck_scan_field", "neck_scan_players", "neck_turn_to_ball_and_player", "neck_turn_to_ball_or_scan", "neck_turn_to_ball", "neck_turn_to_goalie_or_scan", "neck_turn_to_low_conf_teammate", "neck_turn_to_player_or_scan", "neck_turn_to_point", "neck_turn_to_relative", "view_change_width", "view_normal", "view_synch", "view_wide", "helios_goalie", "helios_goalie_move", "helios_goalie_kick", "helios_shoot", "helios_offensive_planner", "helios_basic_offensive", "helios_basic_move", "helios_set_play", "helios_penalty", "helios_communication") + __slots__ = ("dash", "turn", "kick", "tackle", "catch", "move", "turn_neck", "change_view", "say", "point_to", "point_to_of", "attention_to", "attention_to_of", "log", "debug_client", "body_go_to_point", "body_smart_kick", "bhv_before_kick_off", "bhv_body_neck_to_ball", "bhv_body_neck_to_point", "bhv_emergency", "bhv_go_to_point_look_ball", "bhv_neck_body_to_ball", "bhv_neck_body_to_point", "bhv_scan_field", "body_advance_ball", "body_clear_ball", "body_dribble", "body_go_to_point_dodge", "body_hold_ball", "body_intercept", "body_kick_one_step", "body_stop_ball", "body_stop_dash", "body_tackle_to_point", "body_turn_to_angle", "body_turn_to_ball", "body_turn_to_point", "focus_move_to_point", "focus_reset", "neck_scan_field", "neck_scan_players", "neck_turn_to_ball_and_player", "neck_turn_to_ball_or_scan", "neck_turn_to_ball", "neck_turn_to_goalie_or_scan", "neck_turn_to_low_conf_teammate", "neck_turn_to_player_or_scan", "neck_turn_to_point", "neck_turn_to_relative", "view_change_width", "view_normal", "view_synch", "view_wide", "helios_goalie", "helios_goalie_move", "helios_goalie_kick", "helios_shoot", "helios_offensive_planner", "helios_basic_offensive", "helios_basic_move", "helios_set_play", "helios_penalty", "helios_communication", "bhv_do_force_kick") DASH_FIELD_NUMBER: _ClassVar[int] TURN_FIELD_NUMBER: _ClassVar[int] KICK_FIELD_NUMBER: _ClassVar[int] @@ -1454,6 +1462,7 @@ class PlayerAction(_message.Message): HELIOS_SET_PLAY_FIELD_NUMBER: _ClassVar[int] HELIOS_PENALTY_FIELD_NUMBER: _ClassVar[int] HELIOS_COMMUNICATION_FIELD_NUMBER: _ClassVar[int] + BHV_DO_FORCE_KICK_FIELD_NUMBER: _ClassVar[int] dash: Dash turn: Turn kick: Kick @@ -1518,7 +1527,8 @@ class PlayerAction(_message.Message): helios_set_play: HeliosSetPlay helios_penalty: HeliosPenalty helios_communication: HeliosCommunicaion - def __init__(self, dash: _Optional[_Union[Dash, _Mapping]] = ..., turn: _Optional[_Union[Turn, _Mapping]] = ..., kick: _Optional[_Union[Kick, _Mapping]] = ..., tackle: _Optional[_Union[Tackle, _Mapping]] = ..., catch: _Optional[_Union[Catch, _Mapping]] = ..., move: _Optional[_Union[Move, _Mapping]] = ..., turn_neck: _Optional[_Union[TurnNeck, _Mapping]] = ..., change_view: _Optional[_Union[ChangeView, _Mapping]] = ..., say: _Optional[_Union[Say, _Mapping]] = ..., point_to: _Optional[_Union[PointTo, _Mapping]] = ..., point_to_of: _Optional[_Union[PointToOf, _Mapping]] = ..., attention_to: _Optional[_Union[AttentionTo, _Mapping]] = ..., attention_to_of: _Optional[_Union[AttentionToOf, _Mapping]] = ..., log: _Optional[_Union[Log, _Mapping]] = ..., debug_client: _Optional[_Union[DebugClient, _Mapping]] = ..., body_go_to_point: _Optional[_Union[Body_GoToPoint, _Mapping]] = ..., body_smart_kick: _Optional[_Union[Body_SmartKick, _Mapping]] = ..., bhv_before_kick_off: _Optional[_Union[Bhv_BeforeKickOff, _Mapping]] = ..., bhv_body_neck_to_ball: _Optional[_Union[Bhv_BodyNeckToBall, _Mapping]] = ..., bhv_body_neck_to_point: _Optional[_Union[Bhv_BodyNeckToPoint, _Mapping]] = ..., bhv_emergency: _Optional[_Union[Bhv_Emergency, _Mapping]] = ..., bhv_go_to_point_look_ball: _Optional[_Union[Bhv_GoToPointLookBall, _Mapping]] = ..., bhv_neck_body_to_ball: _Optional[_Union[Bhv_NeckBodyToBall, _Mapping]] = ..., bhv_neck_body_to_point: _Optional[_Union[Bhv_NeckBodyToPoint, _Mapping]] = ..., bhv_scan_field: _Optional[_Union[Bhv_ScanField, _Mapping]] = ..., body_advance_ball: _Optional[_Union[Body_AdvanceBall, _Mapping]] = ..., body_clear_ball: _Optional[_Union[Body_ClearBall, _Mapping]] = ..., body_dribble: _Optional[_Union[Body_Dribble, _Mapping]] = ..., body_go_to_point_dodge: _Optional[_Union[Body_GoToPointDodge, _Mapping]] = ..., body_hold_ball: _Optional[_Union[Body_HoldBall, _Mapping]] = ..., body_intercept: _Optional[_Union[Body_Intercept, _Mapping]] = ..., body_kick_one_step: _Optional[_Union[Body_KickOneStep, _Mapping]] = ..., body_stop_ball: _Optional[_Union[Body_StopBall, _Mapping]] = ..., body_stop_dash: _Optional[_Union[Body_StopDash, _Mapping]] = ..., body_tackle_to_point: _Optional[_Union[Body_TackleToPoint, _Mapping]] = ..., body_turn_to_angle: _Optional[_Union[Body_TurnToAngle, _Mapping]] = ..., body_turn_to_ball: _Optional[_Union[Body_TurnToBall, _Mapping]] = ..., body_turn_to_point: _Optional[_Union[Body_TurnToPoint, _Mapping]] = ..., focus_move_to_point: _Optional[_Union[Focus_MoveToPoint, _Mapping]] = ..., focus_reset: _Optional[_Union[Focus_Reset, _Mapping]] = ..., neck_scan_field: _Optional[_Union[Neck_ScanField, _Mapping]] = ..., neck_scan_players: _Optional[_Union[Neck_ScanPlayers, _Mapping]] = ..., neck_turn_to_ball_and_player: _Optional[_Union[Neck_TurnToBallAndPlayer, _Mapping]] = ..., neck_turn_to_ball_or_scan: _Optional[_Union[Neck_TurnToBallOrScan, _Mapping]] = ..., neck_turn_to_ball: _Optional[_Union[Neck_TurnToBall, _Mapping]] = ..., neck_turn_to_goalie_or_scan: _Optional[_Union[Neck_TurnToGoalieOrScan, _Mapping]] = ..., neck_turn_to_low_conf_teammate: _Optional[_Union[Neck_TurnToLowConfTeammate, _Mapping]] = ..., neck_turn_to_player_or_scan: _Optional[_Union[Neck_TurnToPlayerOrScan, _Mapping]] = ..., neck_turn_to_point: _Optional[_Union[Neck_TurnToPoint, _Mapping]] = ..., neck_turn_to_relative: _Optional[_Union[Neck_TurnToRelative, _Mapping]] = ..., view_change_width: _Optional[_Union[View_ChangeWidth, _Mapping]] = ..., view_normal: _Optional[_Union[View_Normal, _Mapping]] = ..., view_synch: _Optional[_Union[View_Synch, _Mapping]] = ..., view_wide: _Optional[_Union[View_Wide, _Mapping]] = ..., helios_goalie: _Optional[_Union[HeliosGoalie, _Mapping]] = ..., helios_goalie_move: _Optional[_Union[HeliosGoalieMove, _Mapping]] = ..., helios_goalie_kick: _Optional[_Union[HeliosGoalieKick, _Mapping]] = ..., helios_shoot: _Optional[_Union[HeliosShoot, _Mapping]] = ..., helios_offensive_planner: _Optional[_Union[HeliosOffensivePlanner, _Mapping]] = ..., helios_basic_offensive: _Optional[_Union[HeliosBasicOffensive, _Mapping]] = ..., helios_basic_move: _Optional[_Union[HeliosBasicMove, _Mapping]] = ..., helios_set_play: _Optional[_Union[HeliosSetPlay, _Mapping]] = ..., helios_penalty: _Optional[_Union[HeliosPenalty, _Mapping]] = ..., helios_communication: _Optional[_Union[HeliosCommunicaion, _Mapping]] = ...) -> None: ... + bhv_do_force_kick: bhv_doForceKick + def __init__(self, dash: _Optional[_Union[Dash, _Mapping]] = ..., turn: _Optional[_Union[Turn, _Mapping]] = ..., kick: _Optional[_Union[Kick, _Mapping]] = ..., tackle: _Optional[_Union[Tackle, _Mapping]] = ..., catch: _Optional[_Union[Catch, _Mapping]] = ..., move: _Optional[_Union[Move, _Mapping]] = ..., turn_neck: _Optional[_Union[TurnNeck, _Mapping]] = ..., change_view: _Optional[_Union[ChangeView, _Mapping]] = ..., say: _Optional[_Union[Say, _Mapping]] = ..., point_to: _Optional[_Union[PointTo, _Mapping]] = ..., point_to_of: _Optional[_Union[PointToOf, _Mapping]] = ..., attention_to: _Optional[_Union[AttentionTo, _Mapping]] = ..., attention_to_of: _Optional[_Union[AttentionToOf, _Mapping]] = ..., log: _Optional[_Union[Log, _Mapping]] = ..., debug_client: _Optional[_Union[DebugClient, _Mapping]] = ..., body_go_to_point: _Optional[_Union[Body_GoToPoint, _Mapping]] = ..., body_smart_kick: _Optional[_Union[Body_SmartKick, _Mapping]] = ..., bhv_before_kick_off: _Optional[_Union[Bhv_BeforeKickOff, _Mapping]] = ..., bhv_body_neck_to_ball: _Optional[_Union[Bhv_BodyNeckToBall, _Mapping]] = ..., bhv_body_neck_to_point: _Optional[_Union[Bhv_BodyNeckToPoint, _Mapping]] = ..., bhv_emergency: _Optional[_Union[Bhv_Emergency, _Mapping]] = ..., bhv_go_to_point_look_ball: _Optional[_Union[Bhv_GoToPointLookBall, _Mapping]] = ..., bhv_neck_body_to_ball: _Optional[_Union[Bhv_NeckBodyToBall, _Mapping]] = ..., bhv_neck_body_to_point: _Optional[_Union[Bhv_NeckBodyToPoint, _Mapping]] = ..., bhv_scan_field: _Optional[_Union[Bhv_ScanField, _Mapping]] = ..., body_advance_ball: _Optional[_Union[Body_AdvanceBall, _Mapping]] = ..., body_clear_ball: _Optional[_Union[Body_ClearBall, _Mapping]] = ..., body_dribble: _Optional[_Union[Body_Dribble, _Mapping]] = ..., body_go_to_point_dodge: _Optional[_Union[Body_GoToPointDodge, _Mapping]] = ..., body_hold_ball: _Optional[_Union[Body_HoldBall, _Mapping]] = ..., body_intercept: _Optional[_Union[Body_Intercept, _Mapping]] = ..., body_kick_one_step: _Optional[_Union[Body_KickOneStep, _Mapping]] = ..., body_stop_ball: _Optional[_Union[Body_StopBall, _Mapping]] = ..., body_stop_dash: _Optional[_Union[Body_StopDash, _Mapping]] = ..., body_tackle_to_point: _Optional[_Union[Body_TackleToPoint, _Mapping]] = ..., body_turn_to_angle: _Optional[_Union[Body_TurnToAngle, _Mapping]] = ..., body_turn_to_ball: _Optional[_Union[Body_TurnToBall, _Mapping]] = ..., body_turn_to_point: _Optional[_Union[Body_TurnToPoint, _Mapping]] = ..., focus_move_to_point: _Optional[_Union[Focus_MoveToPoint, _Mapping]] = ..., focus_reset: _Optional[_Union[Focus_Reset, _Mapping]] = ..., neck_scan_field: _Optional[_Union[Neck_ScanField, _Mapping]] = ..., neck_scan_players: _Optional[_Union[Neck_ScanPlayers, _Mapping]] = ..., neck_turn_to_ball_and_player: _Optional[_Union[Neck_TurnToBallAndPlayer, _Mapping]] = ..., neck_turn_to_ball_or_scan: _Optional[_Union[Neck_TurnToBallOrScan, _Mapping]] = ..., neck_turn_to_ball: _Optional[_Union[Neck_TurnToBall, _Mapping]] = ..., neck_turn_to_goalie_or_scan: _Optional[_Union[Neck_TurnToGoalieOrScan, _Mapping]] = ..., neck_turn_to_low_conf_teammate: _Optional[_Union[Neck_TurnToLowConfTeammate, _Mapping]] = ..., neck_turn_to_player_or_scan: _Optional[_Union[Neck_TurnToPlayerOrScan, _Mapping]] = ..., neck_turn_to_point: _Optional[_Union[Neck_TurnToPoint, _Mapping]] = ..., neck_turn_to_relative: _Optional[_Union[Neck_TurnToRelative, _Mapping]] = ..., view_change_width: _Optional[_Union[View_ChangeWidth, _Mapping]] = ..., view_normal: _Optional[_Union[View_Normal, _Mapping]] = ..., view_synch: _Optional[_Union[View_Synch, _Mapping]] = ..., view_wide: _Optional[_Union[View_Wide, _Mapping]] = ..., helios_goalie: _Optional[_Union[HeliosGoalie, _Mapping]] = ..., helios_goalie_move: _Optional[_Union[HeliosGoalieMove, _Mapping]] = ..., helios_goalie_kick: _Optional[_Union[HeliosGoalieKick, _Mapping]] = ..., helios_shoot: _Optional[_Union[HeliosShoot, _Mapping]] = ..., helios_offensive_planner: _Optional[_Union[HeliosOffensivePlanner, _Mapping]] = ..., helios_basic_offensive: _Optional[_Union[HeliosBasicOffensive, _Mapping]] = ..., helios_basic_move: _Optional[_Union[HeliosBasicMove, _Mapping]] = ..., helios_set_play: _Optional[_Union[HeliosSetPlay, _Mapping]] = ..., helios_penalty: _Optional[_Union[HeliosPenalty, _Mapping]] = ..., helios_communication: _Optional[_Union[HeliosCommunicaion, _Mapping]] = ..., bhv_do_force_kick: _Optional[_Union[bhv_doForceKick, _Mapping]] = ...) -> None: ... class PlayerActions(_message.Message): __slots__ = ("actions", "ignore_preprocess") diff --git a/service_pb2_grpc.py b/service_pb2_grpc.py index 6e323d7..63d004a 100644 --- a/service_pb2_grpc.py +++ b/service_pb2_grpc.py @@ -5,10 +5,8 @@ import service_pb2 as service__pb2 -GRPC_GENERATED_VERSION = '1.65.4' +GRPC_GENERATED_VERSION = '1.66.1' GRPC_VERSION = grpc.__version__ -EXPECTED_ERROR_RELEASE = '1.66.0' -SCHEDULED_RELEASE_DATE = 'August 6, 2024' _version_not_supported = False try: @@ -18,15 +16,12 @@ _version_not_supported = True if _version_not_supported: - warnings.warn( + raise RuntimeError( f'The grpc package installed is at version {GRPC_VERSION},' + f' but the generated code in service_pb2_grpc.py depends on' + f' grpcio>={GRPC_GENERATED_VERSION}.' + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},' - + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.', - RuntimeWarning ) From 90417f11147ff26e480640e4b533b0cdeff52a11 Mon Sep 17 00:00:00 2001 From: naderzare Date: Mon, 30 Sep 2024 17:52:10 -0300 Subject: [PATCH 03/17] add logger file and improve loggers --- server.py | 88 +++++++++++++++++++++++++++++-------------- start-team.py | 30 ++++++++++----- start-team.sh | 11 +++++- utils/logger_utils.py | 50 ++++++++++++++++++++++++ 4 files changed, 141 insertions(+), 38 deletions(-) create mode 100644 utils/logger_utils.py diff --git a/server.py b/server.py index 5846046..61bed22 100644 --- a/server.py +++ b/server.py @@ -4,23 +4,31 @@ import service_pb2 as pb2 from typing import Union from multiprocessing import Manager, Lock +from utils.logger_utils import setup_logger import logging import grpc import argparse -logging.basicConfig(level=logging.DEBUG) +console_logging_level = logging.INFO +file_logging_level = logging.DEBUG + +main_logger = setup_logger("pmservice", "logs/pmservice.log", console_level=console_logging_level, file_level=file_logging_level) + class GrpcAgent: - def __init__(self, agent_type, uniform_number) -> None: + def __init__(self, agent_type, uniform_number, logger) -> None: self.agent_type: pb2.AgentType = agent_type self.uniform_number: int = uniform_number self.server_params: Union[pb2.ServerParam, None] = None self.player_params: Union[pb2.PlayerParam, None] = None self.player_types: dict[int, pb2.PlayerType] = {} self.debug_mode: bool = False + self.logger: logging.Logger = logger def GetAction(self, state: pb2.State): + self.logger.debug(f"================================= cycle={state.world_model.cycle}.{state.world_model.stoped_cycle} =================================") + # self.logger.debug(f"State: {state}") if self.agent_type == pb2.AgentType.PlayerT: return self.GetPlayerActions(state) elif self.agent_type == pb2.AgentType.CoachT: @@ -50,8 +58,19 @@ def GetPlayerActions(self, state: pb2.State): actions.append(pb2.PlayerAction(helios_basic_move=pb2.HeliosBasicMove())) else: actions.append(pb2.PlayerAction(helios_set_play=pb2.HeliosSetPlay())) + + self.logger.debug(f"Actions: {actions}") return pb2.PlayerActions(actions=actions) + def GetBestPlannerAction(self, pairs: pb2.BestPlannerActionRequest): + self.logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.state.register_response.uniform_number}") + pairs_list: list[int, pb2.RpcActionState] = [(k, v) for k, v in pairs.pairs.items()] + pairs_list.sort(key=lambda x: x[0]) + best_action = max(pairs_list, key=lambda x: -1000 if x[1].action.parent_index != -1 else x[1].predict_state.ball_position.x) + self.logger.debug(f"Best action: {best_action[0]} {best_action[1].action.description} to {best_action[1].action.target_unum} in ({round(best_action[1].action.target_point.x, 2)},{round(best_action[1].action.target_point.y, 2)}) e:{round(best_action[1].evaluation,2)}") + res = pb2.BestPlannerActionResponse(index=best_action[0]) + return res + def GetCoachActions(self, state: pb2.State): actions = [] actions.append(pb2.CoachAction(do_helios_substitute=pb2.DoHeliosSubstitute())) @@ -74,6 +93,21 @@ def GetTrainerActions(self, state: pb2.State): ) ) return pb2.TrainerActions(actions=actions) + + def SetServerParams(self, server_params: pb2.ServerParam): + self.logger.debug(f"Server params received unum {server_params.register_response.uniform_number}") + # self.logger.debug(f"Server params: {server_params}") + self.server_params = server_params + + def SetPlayerParams(self, player_params: pb2.PlayerParam): + self.logger.debug(f"Player params received unum {player_params.register_response.uniform_number}") + # self.logger.debug(f"Player params: {player_params}") + self.player_params = player_params + + def SetPlayerType(self, player_type: pb2.PlayerType): + self.logger.debug(f"Player type received unum {player_type.register_response.uniform_number}") + # self.logger.debug(f"Player type: {player_type}") + self.player_types[player_type.id] = player_type class GameHandler(pb2_grpc.GameServicer): def __init__(self, shared_lock, shared_number_of_connections) -> None: @@ -82,64 +116,64 @@ def __init__(self, shared_lock, shared_number_of_connections) -> None: self.shared_number_of_connections = shared_number_of_connections def GetPlayerActions(self, state: pb2.State, context): - logging.debug(f"GetPlayerActions unum {state.register_response.uniform_number} at {state.world_model.cycle}") + main_logger.debug(f"GetPlayerActions unum {state.register_response.uniform_number} at {state.world_model.cycle}") res = self.agents[state.register_response.client_id].GetAction(state) - logging.debug(f"GetPlayerActions Done unum {res}") return res def GetCoachActions(self, state: pb2.State, context): - logging.debug(f"GetCoachActions coach at {state.world_model.cycle}") + main_logger.debug(f"GetCoachActions coach at {state.world_model.cycle}") res = self.agents[state.register_response.client_id].GetAction(state) return res def GetTrainerActions(self, state: pb2.State, context): - logging.debug(f"GetTrainerActions trainer at {state.world_model.cycle}") + main_logger.debug(f"GetTrainerActions trainer at {state.world_model.cycle}") res = self.agents[state.register_response.client_id].GetAction(state) return res def SendServerParams(self, serverParams: pb2.ServerParam, context): - logging.debug(f"Server params received unum {serverParams.register_response.uniform_number}") - self.agents[serverParams.register_response.client_id].server_params = serverParams + main_logger.debug(f"Server params received unum {serverParams.register_response.uniform_number}") + self.agents[serverParams.register_response.client_id].SetServerParams(serverParams) res = pb2.Empty() return res def SendPlayerParams(self, playerParams: pb2.PlayerParam, context): - logging.debug(f"Player params received unum {playerParams.register_response.uniform_number}") - self.agents[playerParams.register_response.client_id].player_params = playerParams + main_logger.debug(f"Player params received unum {playerParams.register_response.uniform_number}") + self.agents[playerParams.register_response.client_id].SetPlayerParams(playerParams) res = pb2.Empty() return res def SendPlayerType(self, playerType: pb2.PlayerType, context): - logging.debug(f"Player type received unum {playerType.register_response.uniform_number}") - self.agents[playerType.register_response.client_id].player_types[playerType.id] = playerType + main_logger.debug(f"Player type received unum {playerType.register_response.uniform_number}") + self.agents[playerType.register_response.client_id].SetPlayerType(playerType) res = pb2.Empty() return res def SendInitMessage(self, initMessage: pb2.InitMessage, context): - logging.debug(f"Init message received unum {initMessage.register_response.uniform_number}") + main_logger.debug(f"Init message received unum {initMessage.register_response.uniform_number}") self.agents[initMessage.register_response.client_id].debug_mode = initMessage.debug_mode res = pb2.Empty() return res def Register(self, register_request: pb2.RegisterRequest, context): - logging.debug(f"received register request from team_name: {register_request.team_name} " - f"unum: {register_request.uniform_number} " - f"agent_type: {register_request.agent_type}") with self.shared_lock: + main_logger.info(f"received register request from team_name: {register_request.team_name} " + f"unum: {register_request.uniform_number} " + f"agent_type: {register_request.agent_type}") self.shared_number_of_connections.value += 1 - logging.debug(f"Number of connections {self.shared_number_of_connections.value}") + main_logger.info(f"Number of connections {self.shared_number_of_connections.value}") team_name = register_request.team_name uniform_number = register_request.uniform_number agent_type = register_request.agent_type - self.agents[self.shared_number_of_connections.value] = GrpcAgent(agent_type, uniform_number) - res = pb2.RegisterResponse(client_id=self.shared_number_of_connections.value, + register_response = pb2.RegisterResponse(client_id=self.shared_number_of_connections.value, team_name=team_name, uniform_number=uniform_number, agent_type=agent_type) - return res + logger = setup_logger(f"agent{register_response.uniform_number}_{register_response.client_id}") + self.agents[self.shared_number_of_connections.value] = GrpcAgent(agent_type, uniform_number, logger) + return register_response def SendByeCommand(self, register_response: pb2.RegisterResponse, context): - logging.debug(f"Bye command received unum {register_response.uniform_number}") + main_logger.debug(f"Bye command received unum {register_response.uniform_number}") # with shared_lock: self.agents.pop(register_response.client_id) @@ -147,13 +181,10 @@ def SendByeCommand(self, register_response: pb2.RegisterResponse, context): return res def GetBestPlannerAction(self, pairs: pb2.BestPlannerActionRequest, context): - logging.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.state.register_response.uniform_number}") - pairs_list: list[int, pb2.RpcActionState] = [(k, v) for k, v in pairs.pairs.items()] - pairs_list.sort(key=lambda x: x[0]) - best_action = max(pairs_list, key=lambda x: -1000 if x[1].action.parent_index != -1 else x[1].predict_state.ball_position.x) - logging.debug(f"Best action: {best_action[0]} {best_action[1].action.description} to {best_action[1].action.target_unum} in ({round(best_action[1].action.target_point.x, 2)},{round(best_action[1].action.target_point.y, 2)}) e:{round(best_action[1].evaluation,2)}") - res = pb2.BestPlannerActionResponse(index=best_action[0]) + main_logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.state.register_response.uniform_number}") + res = self.agents[pairs.state.register_response.client_id].GetBestPlannerAction(pairs) return res + def serve(port, shared_lock, shared_number_of_connections): server = grpc.server(futures.ThreadPoolExecutor(max_workers=22)) @@ -161,12 +192,13 @@ def serve(port, shared_lock, shared_number_of_connections): pb2_grpc.add_GameServicer_to_server(game_service, server) server.add_insecure_port(f'[::]:{port}') server.start() - logging.info(f"Starting server on port {port}") + main_logger.info(f"Starting server on port {port}") server.wait_for_termination() def main(): + main_logger.info("Starting server") manager = Manager() shared_lock = Lock() # Create a Lock for synchronization shared_number_of_connections = manager.Value('i', 0) diff --git a/start-team.py b/start-team.py index ff010a2..010c69d 100644 --- a/start-team.py +++ b/start-team.py @@ -5,10 +5,14 @@ import logging import argparse import check_requirements +from utils.logger_utils import setup_logger +# remove logs directory +os.system("rm -rf logs") + # Set up logging -logging.basicConfig(level=logging.DEBUG, format='%(asctime)s - %(levelname)s - %(message)s') +start_team_logger = setup_logger('start-team', 'logs/start-team.log', console_level=logging.DEBUG, file_level=logging.DEBUG, console_format_str='%(message)s') def run_server_script(args): # Start the server.py script as a new process group @@ -31,12 +35,20 @@ def run_start_script(args): ) return process -def stream_output(process, prefix): +def stream_output_to_console(process, prefix): # Stream output from the process and log it with a prefix for line in iter(process.stdout.readline, b''): - logging.debug(f'{prefix} {line.decode().strip()}') + start_team_logger.debug(f'{prefix} {line.decode().strip()}') process.stdout.close() +def stream_output_to_file(process, prefix): + # Stream output from the process and log it with a prefix + logger = setup_logger(prefix, console_level=None, file_level=logging.DEBUG) + for line in iter(process.stdout.readline, b''): + logger.info(line.decode().strip()) + pass + process.stdout.close() + def kill_process_group(process): try: os.killpg(os.getpgid(process.pid), signal.SIGTERM) # Send SIGTERM to the process group @@ -52,20 +64,20 @@ def kill_process_group(process): try: # Check Python requirements - logging.debug("Checking Python requirements...") + start_team_logger.debug("Checking Python requirements...") check_requirements.check_requirements() # Run the server.py script first server_process = run_server_script(args) - logging.debug(f"Started server.py process with PID: {server_process.pid}") + start_team_logger.debug(f"Started server.py process with PID: {server_process.pid}") # Run the start.sh script after server.py with the given arguments start_process = run_start_script(args) - logging.debug(f"Started start.sh process with PID: {start_process.pid} with team name {args=}") + start_team_logger.debug(f"Started start.sh process with PID: {start_process.pid} with team name {args=}") # Monitor both processes and log their outputs - server_thread = threading.Thread(target=stream_output, args=(server_process, 'server:')) - start_thread = threading.Thread(target=stream_output, args=(start_process, 'team:')) + server_thread = threading.Thread(target=stream_output_to_console, args=(server_process, 'server:')) + start_thread = threading.Thread(target=stream_output_to_file, args=(start_process, 'proxy:')) server_thread.start() start_thread.start() @@ -75,7 +87,7 @@ def kill_process_group(process): start_thread.join() except KeyboardInterrupt: - logging.debug("Interrupted! Killing all processes.") + start_team_logger.debug("Interrupted! Killing all processes.") kill_process_group(server_process) kill_process_group(start_process) diff --git a/start-team.sh b/start-team.sh index b33e6fa..c40d4ee 100755 --- a/start-team.sh +++ b/start-team.sh @@ -1,5 +1,12 @@ #!/bin/bash +# remove logs directory +rm -rf logs +# create logs directory +if [ ! -d "./logs" ]; then + mkdir -p "./logs" +fi + # Ensure the script exits if any command fails set -e # check scripts/proxy directory does not exist, raise error @@ -67,8 +74,10 @@ sleep 2 # Start start.sh script in the correct directory with arguments echo "Starting start.sh with team name: $team_name and ..." +log_dir="logs/proxy.log" +abspath=$(realpath $log_dir) cd scripts/proxy -bash start.sh -t "$team_name" --rpc-port $rpc_port --rpc-type grpc & +bash start.sh -t "$team_name" --rpc-port $rpc_port --rpc-type grpc >> $abspath 2>&1 & start_pid=$! # Wait for both background processes to finish diff --git a/utils/logger_utils.py b/utils/logger_utils.py new file mode 100644 index 0000000..5f73f7d --- /dev/null +++ b/utils/logger_utils.py @@ -0,0 +1,50 @@ +import logging +import os + + +def setup_logger(name, log_file=None, console_level=logging.INFO, file_level=logging.DEBUG, console_format_str=None, file_format_str=None): + """ + Set up a logger that writes to both a file and the console, with different formats and levels. + + :param name: Name of the logger. + :param log_file: Path to the log file. + :param console_level: Logging level for the console output. + :param file_level: Logging level for the file output. + :return: Configured logger. + """ + have_console_handler = console_level is not None + have_file_handler = file_level is not None + if log_file is None: + log_file = os.path.join('logs', f'{name}.log') + # Directory + directory = os.path.dirname(log_file) + if directory and not os.path.exists(directory): + os.makedirs(directory) + + print(f"have_console_handler={have_console_handler}, have_file_handler={have_file_handler}", log_file, directory) + # Create a custom logger + logger = logging.getLogger(name) + + if not logger.hasHandlers(): + logger.setLevel(logging.DEBUG) # Set the overall logger level to the lowest level you want to capture + # Console handler + if have_console_handler: + console_handler = logging.StreamHandler() # For console output + console_handler.setLevel(console_level) + if not console_format_str: + console_format_str = '%(name)s - %(levelname)s - %(message)s' + console_format = logging.Formatter(console_format_str) + console_handler.setFormatter(console_format) + logger.addHandler(console_handler) + + # File handler + if have_file_handler: + file_handler = logging.FileHandler(log_file) # For file output + file_handler.setLevel(file_level) + if not file_format_str: + file_format_str = '%(asctime)s - %(name)s - %(levelname)s - %(message)s' + file_format = logging.Formatter(file_format_str) + file_handler.setFormatter(file_format) + logger.addHandler(file_handler) + + return logger From 7036fc82b8402858e7b8b373b98beaa7d848ebd8 Mon Sep 17 00:00:00 2001 From: naderzare Date: Mon, 30 Sep 2024 17:58:08 -0300 Subject: [PATCH 04/17] run proxy in debug mode --- start-team.py | 5 +++-- start-team.sh | 10 +++++++++- 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/start-team.py b/start-team.py index 010c69d..e5fc5b4 100644 --- a/start-team.py +++ b/start-team.py @@ -27,7 +27,7 @@ def run_server_script(args): def run_start_script(args): # Start the start.sh script in its own directory as a new process group process = subprocess.Popen( - ['bash', 'start.sh', '-t', args.team_name, '--rpc-port', args.rpc_port, '--rpc-type', 'grpc'], + ['bash', 'start.sh' if not args.debug else 'start-debug.sh', '-t', args.team_name, '--rpc-port', args.rpc_port, '--rpc-type', 'grpc'], cwd='scripts/proxy', # Corrected directory to where start.sh is located preexec_fn=os.setsid, # Create a new session and set the process group ID stdout=subprocess.PIPE, @@ -60,8 +60,9 @@ def kill_process_group(process): parser = argparse.ArgumentParser(description='Run server and team scripts.') parser.add_argument('-t', '--team_name', required=False, help='The name of the team', default='CLS') parser.add_argument('--rpc-port', required=False, help='The port of the server', default='50051') + parser.add_argument('-d', '--debug', required=False, help='Enable debug mode', default=False, action='store_true') args = parser.parse_args() - + try: # Check Python requirements start_team_logger.debug("Checking Python requirements...") diff --git a/start-team.sh b/start-team.sh index c40d4ee..7361a75 100755 --- a/start-team.sh +++ b/start-team.sh @@ -17,6 +17,7 @@ fi team_name="CLS" rpc_port=50051 +debug=false # help function usage() { @@ -38,6 +39,9 @@ do rpc_port=$2 shift ;; + -d|--debug) + debug=true + ;; *) echo 1>&2 echo "invalid option \"${1}\"." 1>&2 @@ -77,7 +81,11 @@ echo "Starting start.sh with team name: $team_name and ..." log_dir="logs/proxy.log" abspath=$(realpath $log_dir) cd scripts/proxy -bash start.sh -t "$team_name" --rpc-port $rpc_port --rpc-type grpc >> $abspath 2>&1 & +if [ "$debug" = true ]; then + bash start-debug.sh -t "$team_name" --rpc-port $rpc_port --rpc-type grpc >> $abspath 2>&1 & +else + bash start.sh -t "$team_name" --rpc-port $rpc_port --rpc-type grpc >> $abspath 2>&1 & +fi start_pid=$! # Wait for both background processes to finish From 9f6d8dda13c37456fc82b0ecc43c564d60576374 Mon Sep 17 00:00:00 2001 From: naderzare Date: Tue, 1 Oct 2024 21:00:54 -0300 Subject: [PATCH 05/17] update logger based on review --- server.py | 18 +++++++++++++----- start-team.py | 13 +++++++------ start-team.sh | 21 +++++++++++---------- utils/logger_utils.py | 12 ++++++------ 4 files changed, 37 insertions(+), 27 deletions(-) diff --git a/server.py b/server.py index 61bed22..0dd1c0e 100644 --- a/server.py +++ b/server.py @@ -8,12 +8,14 @@ import logging import grpc import argparse +import datetime console_logging_level = logging.INFO file_logging_level = logging.DEBUG -main_logger = setup_logger("pmservice", "logs/pmservice.log", console_level=console_logging_level, file_level=file_logging_level) +main_logger = None +log_dir = None class GrpcAgent: @@ -168,7 +170,7 @@ def Register(self, register_request: pb2.RegisterRequest, context): team_name=team_name, uniform_number=uniform_number, agent_type=agent_type) - logger = setup_logger(f"agent{register_response.uniform_number}_{register_response.client_id}") + logger = setup_logger(f"agent{register_response.uniform_number}_{register_response.client_id}", log_dir) self.agents[self.shared_number_of_connections.value] = GrpcAgent(agent_type, uniform_number, logger) return register_response @@ -198,13 +200,19 @@ def serve(port, shared_lock, shared_number_of_connections): def main(): + global main_logger, log_dir + parser = argparse.ArgumentParser(description='Run play maker server') + parser.add_argument('-p', '--rpc-port', required=False, help='The port of the server', default=50051) + parser.add_argument('-l', '--log-dir', required=False, help='The directory of the log file', + default=f'logs/{datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S")}') + args = parser.parse_args() + log_dir = args.log_dir + main_logger = setup_logger("pmservice", log_dir, console_level=console_logging_level, file_level=file_logging_level) main_logger.info("Starting server") manager = Manager() shared_lock = Lock() # Create a Lock for synchronization shared_number_of_connections = manager.Value('i', 0) - parser = argparse.ArgumentParser(description='Run play maker server') - parser.add_argument('-p', '--rpc-port', required=False, help='The port of the server', default=50051) - args = parser.parse_args() + serve(args.rpc_port, shared_lock, shared_number_of_connections) if __name__ == '__main__': diff --git a/start-team.py b/start-team.py index e5fc5b4..ea0e8f8 100644 --- a/start-team.py +++ b/start-team.py @@ -6,18 +6,19 @@ import argparse import check_requirements from utils.logger_utils import setup_logger +import datetime # remove logs directory -os.system("rm -rf logs") +log_dir = os.path.join(os.getcwd(), 'logs', datetime.datetime.now().strftime('%Y-%m-%d_%H-%M-%S')) # Set up logging -start_team_logger = setup_logger('start-team', 'logs/start-team.log', console_level=logging.DEBUG, file_level=logging.DEBUG, console_format_str='%(message)s') +start_team_logger = setup_logger('start-team', log_dir, console_level=logging.DEBUG, file_level=logging.DEBUG, console_format_str='%(message)s') def run_server_script(args): # Start the server.py script as a new process group process = subprocess.Popen( - ['python3', 'server.py', '--rpc-port', args.rpc_port], + ['python3', 'server.py', '--rpc-port', args.rpc_port, '--log-dir', log_dir], preexec_fn=os.setsid, # Create a new session and set the process group ID stdout=subprocess.PIPE, stderr=subprocess.STDOUT # Capture stderr and redirect it to stdout @@ -43,7 +44,7 @@ def stream_output_to_console(process, prefix): def stream_output_to_file(process, prefix): # Stream output from the process and log it with a prefix - logger = setup_logger(prefix, console_level=None, file_level=logging.DEBUG) + logger = setup_logger(prefix, log_dir, console_level=None, file_level=logging.DEBUG) for line in iter(process.stdout.readline, b''): logger.info(line.decode().strip()) pass @@ -77,8 +78,8 @@ def kill_process_group(process): start_team_logger.debug(f"Started start.sh process with PID: {start_process.pid} with team name {args=}") # Monitor both processes and log their outputs - server_thread = threading.Thread(target=stream_output_to_console, args=(server_process, 'server:')) - start_thread = threading.Thread(target=stream_output_to_file, args=(start_process, 'proxy:')) + server_thread = threading.Thread(target=stream_output_to_console, args=(server_process, 'server')) + start_thread = threading.Thread(target=stream_output_to_file, args=(start_process, 'proxy')) server_thread.start() start_thread.start() diff --git a/start-team.sh b/start-team.sh index 7361a75..c7553a9 100755 --- a/start-team.sh +++ b/start-team.sh @@ -1,12 +1,13 @@ #!/bin/bash -# remove logs directory -rm -rf logs -# create logs directory -if [ ! -d "./logs" ]; then - mkdir -p "./logs" +# create a log directory with the current date and time +log_dir="logs/$(date +'%Y-%m-%d_%H-%M-%S')" +if [ ! -d $log_dir ]; then + mkdir -p $log_dir fi +abs_log_dir_path=$(realpath $log_dir) + # Ensure the script exits if any command fails set -e # check scripts/proxy directory does not exist, raise error @@ -60,7 +61,7 @@ python3 check_requirements.py # Start server.py in the background echo "Starting server.py..." -python3 server.py --rpc-port $rpc_port & +python3 server.py --rpc-port $rpc_port --log-dir $abs_log_dir_path & server_pid=$! # Function to kill server and team processes on exit @@ -78,13 +79,13 @@ sleep 2 # Start start.sh script in the correct directory with arguments echo "Starting start.sh with team name: $team_name and ..." -log_dir="logs/proxy.log" -abspath=$(realpath $log_dir) + +start_log_path="$abs_log_dir_path/proxy.log" cd scripts/proxy if [ "$debug" = true ]; then - bash start-debug.sh -t "$team_name" --rpc-port $rpc_port --rpc-type grpc >> $abspath 2>&1 & + bash start-debug.sh -t "$team_name" --rpc-port $rpc_port --rpc-type grpc >> $start_log_path 2>&1 & else - bash start.sh -t "$team_name" --rpc-port $rpc_port --rpc-type grpc >> $abspath 2>&1 & + bash start.sh -t "$team_name" --rpc-port $rpc_port --rpc-type grpc >> $start_log_path 2>&1 & fi start_pid=$! diff --git a/utils/logger_utils.py b/utils/logger_utils.py index 5f73f7d..5f9690d 100644 --- a/utils/logger_utils.py +++ b/utils/logger_utils.py @@ -2,7 +2,7 @@ import os -def setup_logger(name, log_file=None, console_level=logging.INFO, file_level=logging.DEBUG, console_format_str=None, file_format_str=None): +def setup_logger(name, log_dir, console_level=logging.INFO, file_level=logging.DEBUG, console_format_str=None, file_format_str=None): """ Set up a logger that writes to both a file and the console, with different formats and levels. @@ -14,14 +14,14 @@ def setup_logger(name, log_file=None, console_level=logging.INFO, file_level=log """ have_console_handler = console_level is not None have_file_handler = file_level is not None - if log_file is None: - log_file = os.path.join('logs', f'{name}.log') + + if not os.path.exists(log_dir): + os.makedirs(log_dir) + + log_file = os.path.join(log_dir, f'{name}.log') # Directory directory = os.path.dirname(log_file) - if directory and not os.path.exists(directory): - os.makedirs(directory) - print(f"have_console_handler={have_console_handler}, have_file_handler={have_file_handler}", log_file, directory) # Create a custom logger logger = logging.getLogger(name) From 496d08ec994993a0b5722e9c6f0226a19bb098e2 Mon Sep 17 00:00:00 2001 From: naderzare Date: Tue, 1 Oct 2024 21:07:58 -0300 Subject: [PATCH 06/17] clean code --- utils/logger_utils.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/utils/logger_utils.py b/utils/logger_utils.py index 5f9690d..f7786a2 100644 --- a/utils/logger_utils.py +++ b/utils/logger_utils.py @@ -19,8 +19,6 @@ def setup_logger(name, log_dir, console_level=logging.INFO, file_level=logging.D os.makedirs(log_dir) log_file = os.path.join(log_dir, f'{name}.log') - # Directory - directory = os.path.dirname(log_file) # Create a custom logger logger = logging.getLogger(name) From 6256fde1c3fee44ae139d24ce7c390aeeb3074fb Mon Sep 17 00:00:00 2001 From: naderzare Date: Tue, 1 Oct 2024 21:19:33 -0300 Subject: [PATCH 07/17] clean code --- start-team.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/start-team.py b/start-team.py index ea0e8f8..5bb8530 100644 --- a/start-team.py +++ b/start-team.py @@ -9,12 +9,11 @@ import datetime -# remove logs directory -log_dir = os.path.join(os.getcwd(), 'logs', datetime.datetime.now().strftime('%Y-%m-%d_%H-%M-%S')) - # Set up logging +log_dir = os.path.join(os.getcwd(), 'logs', datetime.datetime.now().strftime('%Y-%m-%d_%H-%M-%S')) start_team_logger = setup_logger('start-team', log_dir, console_level=logging.DEBUG, file_level=logging.DEBUG, console_format_str='%(message)s') + def run_server_script(args): # Start the server.py script as a new process group process = subprocess.Popen( From ce8aded86bb0b50e77f9bef13f76af4bdb7e5a85 Mon Sep 17 00:00:00 2001 From: Arad Firouzkouhi Date: Sun, 15 Sep 2024 15:57:00 -0700 Subject: [PATCH 08/17] Create README.md --- README.md | 52 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 52 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..ca7d217 --- /dev/null +++ b/README.md @@ -0,0 +1,52 @@ +# Quick start +## Installation +Install the pre-requisites and the RoboCup Soccer 2D Platform using the commands below: +``` Bash +sudo apt-get install fuse #Used to run AppImages +pushd scripts +sh download-rcssserver.sh #install RoboCup Server +popd +``` +Next, install the soccer proxy, which uses C++ to read and pre-processes state data and passes them to the Python server (this project) for decision-making. +``` Bash +pushd scripts +sh download-proxy.sh.sh #install C++ proxy +popd +``` +Clone this repository & install the required python libraries (such as gRPC). Don't forget to activate your virtual environment! +``` Bash +git clone https://github.com/CLSFramework/sample-playmaker-server-python-grpc.git +cd sample-playmaker-server-python-grpc +# Activate venv/anaconda before this step! +pip install -r requirements.txt +``` +Finally, download the monitor from [the original repository](https://github.com/rcsoccersim/rcssmonitor/releases) in order to view the games. +## Running a game +This section assumes you have installed the server & proxy using the scripts (as mentioned above) +We must first run a RoboCup Server, in order to host the game: +``` Bash +cd scripts/rcssserver +./rcssserver +``` +Then we must run the proxy & the decisionmaking server: +``` Bash +./start-team.sh +``` +Launch the opponent team, start the monitor app image. press Ctrl + C to connect to the server, and Ctrl + K for kick-off! + +# How to change the code +The `server.py` file contains the logic in 3 main functions: +`GetPlayerActions` receives a game state, and returns a list of actions for a player for for that cycle. +The actions we can output are equivalent to the Helios Base, which are abstracted into multiple levels. +You can use actions such as `DoDash`, `DoTurn`, `DoKick` which directly apply force, or use actions such as `GoToPoint`, `SmartKick`, `Shoot` or more. + +Similarly, you can change `GetCoachActions` which is responsible for coach communication & substitutions. + +You can also use `GetTrainerActions` to move the players & the ball to make repeatable scenarios (when the server is in trainer mode). +# Why & How it works +Originally the RoboCup 2D Soccer Simulation teams used C++, as the main code base (Agent2D aka Helios Base) was written in this language due to its performance. +Due to the popularity of python in Machine Learning & AI spaces we decided to create a python platform which would be equivalent to Agent 2D. +However, using python alone was too slow as preprocessing sensor information & tasks such as localization took too long. + +For this reason we have split up the code into two segments: +The data processing section in proxy, which creates a World Model (state), and passes it to python for planning to occur. From 2563f5ea4777a40385325908e7bece27bd22ae38 Mon Sep 17 00:00:00 2001 From: Arad Firouzkouhi Date: Sun, 22 Sep 2024 00:56:59 -0700 Subject: [PATCH 09/17] Update README.md --- README.md | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index ca7d217..8196d47 100644 --- a/README.md +++ b/README.md @@ -49,4 +49,21 @@ Due to the popularity of python in Machine Learning & AI spaces we decided to cr However, using python alone was too slow as preprocessing sensor information & tasks such as localization took too long. For this reason we have split up the code into two segments: -The data processing section in proxy, which creates a World Model (state), and passes it to python for planning to occur. +The data processing section in proxy, which creates a World Model (state), and passes it to python for planning to occur. This repository uses gRPC to pass along the World Model, but there is a sister-repo which is compatible with thrift. + +![cls](https://github.com/user-attachments/assets/4daee216-1479-4acd-88f2-9e772b8c7837) +As seen in the figure, the proxy handles connecting to the server, receiving sensor information and creating a world-model, and finds the action to take via a remote procedure call to a decision-making server, which is this repository. + +# Configuration +## RoboCup Server configuration +You can change the configuration of the RoboCup server and change parameters such as players' stamina, game length, field length, etc. by modifying `~/.rcssserver/server.conf`. Refer to the server's documents and repo for a more detailed guide. + +## Modifying Proxy & Running proxy and server seperately +If you want to modify the algorithms of the base (such as ball interception, shooting, localization, etc.) you must modify the code of the [proxy repo](https://github.com/CLSFramework/soccer-simulation-proxy). After re-building from source, you can run the proxy by using `./start.sh --rpc-type grpc` in the bin folder of the proxy, and run the gRPC server with `python3 server.py` in this repo's directory. It is highly recommended to launch the python server before the proxy. + +You can modify the rpc port by adding the argument `--rpc-port [VALUE]`, where the default is 50051. + +# Citation + +- [Cross Language Soccer Framework](https://arxiv.org/pdf/2406.05621) +- Zare, N., Sayareh, A., Sadraii, A., Firouzkouhi, A. and Soares, A., 2024. Cross Language Soccer Framework: An Open Source Framework for the RoboCup 2D Soccer Simulation. arXiv preprint arXiv:2406.05621. From 01bbfd6c5dd718040da4b1a6add12d45f6b736f7 Mon Sep 17 00:00:00 2001 From: Nader Zare Date: Sun, 6 Oct 2024 19:05:29 -0300 Subject: [PATCH 10/17] Update README.md --- README.md | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 8196d47..c247354 100644 --- a/README.md +++ b/README.md @@ -7,12 +7,6 @@ pushd scripts sh download-rcssserver.sh #install RoboCup Server popd ``` -Next, install the soccer proxy, which uses C++ to read and pre-processes state data and passes them to the Python server (this project) for decision-making. -``` Bash -pushd scripts -sh download-proxy.sh.sh #install C++ proxy -popd -``` Clone this repository & install the required python libraries (such as gRPC). Don't forget to activate your virtual environment! ``` Bash git clone https://github.com/CLSFramework/sample-playmaker-server-python-grpc.git @@ -20,6 +14,12 @@ cd sample-playmaker-server-python-grpc # Activate venv/anaconda before this step! pip install -r requirements.txt ``` +Next, install the soccer proxy, which uses C++ to read and pre-processes state data and passes them to the Python server (this project) for decision-making. +``` Bash +pushd scripts +sh download-proxy.sh.sh #install C++ proxy +popd +``` Finally, download the monitor from [the original repository](https://github.com/rcsoccersim/rcssmonitor/releases) in order to view the games. ## Running a game This section assumes you have installed the server & proxy using the scripts (as mentioned above) From efc7740bc5202496ec0067fbf6569c06c197e2d0 Mon Sep 17 00:00:00 2001 From: Nader Zare Date: Sun, 6 Oct 2024 19:08:06 -0300 Subject: [PATCH 11/17] Update README.md --- README.md | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index c247354..ccd9490 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,8 @@ # Quick start ## Installation -Install the pre-requisites and the RoboCup Soccer 2D Platform using the commands below: +Install the pre-requisites using the command below: ``` Bash sudo apt-get install fuse #Used to run AppImages -pushd scripts -sh download-rcssserver.sh #install RoboCup Server -popd ``` Clone this repository & install the required python libraries (such as gRPC). Don't forget to activate your virtual environment! ``` Bash @@ -14,10 +11,16 @@ cd sample-playmaker-server-python-grpc # Activate venv/anaconda before this step! pip install -r requirements.txt ``` +To download RoboCup Soccer 2D Platform using the commands below: +``` Bash +pushd scripts +sh download-rcssserver.sh #install RoboCup Server +popd +``` Next, install the soccer proxy, which uses C++ to read and pre-processes state data and passes them to the Python server (this project) for decision-making. ``` Bash pushd scripts -sh download-proxy.sh.sh #install C++ proxy +sh download-proxy.sh #install C++ proxy popd ``` Finally, download the monitor from [the original repository](https://github.com/rcsoccersim/rcssmonitor/releases) in order to view the games. From 9d3dc988d4f9d2f1dc2cceeff9b158f8902045be Mon Sep 17 00:00:00 2001 From: naderzare Date: Sun, 6 Oct 2024 19:28:02 -0300 Subject: [PATCH 12/17] update readme --- README.md | 85 ++++++++++++++++++++++++++++++++++++++++++++----------- 1 file changed, 69 insertions(+), 16 deletions(-) diff --git a/README.md b/README.md index ccd9490..9e6dcd9 100644 --- a/README.md +++ b/README.md @@ -1,52 +1,84 @@ -# Quick start -## Installation +# CLSF Sample Python Base Code (gRPC) + +[![Documentation Status](https://readthedocs.org/projects/clsframework/badge/?version=latest)](https://clsframework.github.io/docs/introduction/) +[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT) + +This repository contains a sample decision-making server for the RoboCup 2D Soccer Simulation, which allows you to create a team by using Python. This server is compatible with the [Cross Language Soccer Framework](https://arxiv.org/pdf/2406.05621). This server is written in Python and uses gRPC to communicate with the [proxy](https://github.com/CLSFramework/soccer-simulation-proxy). + +The Soccer Simulation Server sends the observations to the proxy, which processes the data, create state message and sends it to the decision-making server. The decision-making server then sends the actions to the proxy, and then the proxy convert actions to the server commands and sends them to the server. + +For more information, please refer to the [documentation](https://clsframework.github.io/). + +## Quick start + +### Preparation + Install the pre-requisites using the command below: + ``` Bash sudo apt-get install fuse #Used to run AppImages ``` + Clone this repository & install the required python libraries (such as gRPC). Don't forget to activate your virtual environment! + ``` Bash git clone https://github.com/CLSFramework/sample-playmaker-server-python-grpc.git cd sample-playmaker-server-python-grpc # Activate venv/anaconda before this step! pip install -r requirements.txt + +./generate.sh # Generate the gRPC files ``` -To download RoboCup Soccer 2D Platform using the commands below: + +To download RoboCup Soccer 2D Server using the commands below: + ``` Bash pushd scripts -sh download-rcssserver.sh #install RoboCup Server +sh download-rcssserver.sh # Download the soccer simulation server popd ``` -Next, install the soccer proxy, which uses C++ to read and pre-processes state data and passes them to the Python server (this project) for decision-making. + +Next, download the soccer proxy, which uses C++ to read and pre-processes state data and passes them to the Python server (this project) for decision-making. + ``` Bash pushd scripts sh download-proxy.sh #install C++ proxy popd ``` -Finally, download the monitor from [the original repository](https://github.com/rcsoccersim/rcssmonitor/releases) in order to view the games. -## Running a game + +Finally, to watch the game, download the monitor from [the original repository](https://github.com/rcsoccersim/rcssmonitor/releases) in order to view the games. + +### Running a game + This section assumes you have installed the server & proxy using the scripts (as mentioned above) We must first run a RoboCup Server, in order to host the game: + ``` Bash cd scripts/rcssserver ./rcssserver ``` + Then we must run the proxy & the decisionmaking server: + ``` Bash ./start-team.sh ``` + Launch the opponent team, start the monitor app image. press Ctrl + C to connect to the server, and Ctrl + K for kick-off! -# How to change the code +## How to change the code + The `server.py` file contains the logic in 3 main functions: `GetPlayerActions` receives a game state, and returns a list of actions for a player for for that cycle. -The actions we can output are equivalent to the Helios Base, which are abstracted into multiple levels. -You can use actions such as `DoDash`, `DoTurn`, `DoKick` which directly apply force, or use actions such as `GoToPoint`, `SmartKick`, `Shoot` or more. +The actions we can output are equivalent to the Helios Base (Proxy), which are abstracted into multiple levels. +You can use actions such as `DoDash`, `DoTurn`, `DoKick` which directly apply force, or use actions such as `GoToPoint`, `SmartKick`, `Shoot` or [more](https://clsframework.github.io/docs/idl/). Similarly, you can change `GetCoachActions` which is responsible for coach communication & substitutions. You can also use `GetTrainerActions` to move the players & the ball to make repeatable scenarios (when the server is in trainer mode). -# Why & How it works + +## Why & How it works + Originally the RoboCup 2D Soccer Simulation teams used C++, as the main code base (Agent2D aka Helios Base) was written in this language due to its performance. Due to the popularity of python in Machine Learning & AI spaces we decided to create a python platform which would be equivalent to Agent 2D. However, using python alone was too slow as preprocessing sensor information & tasks such as localization took too long. @@ -54,19 +86,40 @@ However, using python alone was too slow as preprocessing sensor information & t For this reason we have split up the code into two segments: The data processing section in proxy, which creates a World Model (state), and passes it to python for planning to occur. This repository uses gRPC to pass along the World Model, but there is a sister-repo which is compatible with thrift. +```mermaid +sequenceDiagram + participant SS as SoccerSimulationServer + participant SP as SoccerSimulationProxy + participant PM as PlayMakerServer + Note over SS,PM: Run + SP->>SS: Connect + SS->>SP: OK, Unum + SP->>PM: Register + PM->>SP: OK, ClientID + SS->>SP: Observation + Note over SP: Convert observation to State + SP->>PM: State + PM->>SP: Actions + Note over SP: Convert Actions to Low-Level Commands + SP->>SS: Commands +``` + ![cls](https://github.com/user-attachments/assets/4daee216-1479-4acd-88f2-9e772b8c7837) As seen in the figure, the proxy handles connecting to the server, receiving sensor information and creating a world-model, and finds the action to take via a remote procedure call to a decision-making server, which is this repository. -# Configuration -## RoboCup Server configuration +## Configuration + +### RoboCup Server configuration + You can change the configuration of the RoboCup server and change parameters such as players' stamina, game length, field length, etc. by modifying `~/.rcssserver/server.conf`. Refer to the server's documents and repo for a more detailed guide. -## Modifying Proxy & Running proxy and server seperately +### Modifying Proxy & Running proxy and server seperately + If you want to modify the algorithms of the base (such as ball interception, shooting, localization, etc.) you must modify the code of the [proxy repo](https://github.com/CLSFramework/soccer-simulation-proxy). After re-building from source, you can run the proxy by using `./start.sh --rpc-type grpc` in the bin folder of the proxy, and run the gRPC server with `python3 server.py` in this repo's directory. It is highly recommended to launch the python server before the proxy. -You can modify the rpc port by adding the argument `--rpc-port [VALUE]`, where the default is 50051. +You can modify the rpc port by adding the argument `--rpc-port [VALUE]`, where the default is 50051. -# Citation +## Citation - [Cross Language Soccer Framework](https://arxiv.org/pdf/2406.05621) - Zare, N., Sayareh, A., Sadraii, A., Firouzkouhi, A. and Soares, A., 2024. Cross Language Soccer Framework: An Open Source Framework for the RoboCup 2D Soccer Simulation. arXiv preprint arXiv:2406.05621. From 7233d3579151440b4a541852ac820162033a409e Mon Sep 17 00:00:00 2001 From: naderzare Date: Sun, 6 Oct 2024 19:32:13 -0300 Subject: [PATCH 13/17] update readme --- README.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/README.md b/README.md index 9e6dcd9..091098a 100644 --- a/README.md +++ b/README.md @@ -66,6 +66,14 @@ Then we must run the proxy & the decisionmaking server: Launch the opponent team, start the monitor app image. press Ctrl + C to connect to the server, and Ctrl + K for kick-off! +### Tutorial Video (English) + +TDB + +### Tutorial Video (Persian) + + + ## How to change the code The `server.py` file contains the logic in 3 main functions: From 6e34ee7d6e7dfa0058c691c734d9750dc3e0b7bc Mon Sep 17 00:00:00 2001 From: naderzare Date: Sun, 6 Oct 2024 19:38:50 -0300 Subject: [PATCH 14/17] update readme --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 091098a..9b2d211 100644 --- a/README.md +++ b/README.md @@ -72,7 +72,7 @@ TDB ### Tutorial Video (Persian) - +[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/97YDEumcVWU/0.jpg)](https://www.youtube.com/watch?v=97YDEumcVWU&t=0s) ## How to change the code From 28ec03582cbbc0942bcaf0ad4cd17c0d4eec357c Mon Sep 17 00:00:00 2001 From: SK2iP Date: Sat, 19 Oct 2024 20:16:53 +0330 Subject: [PATCH 15/17] add version 1.4 and debug mode --- idl/service.proto | 488 +++++++++++++++++++++++++++++----------------- 1 file changed, 305 insertions(+), 183 deletions(-) diff --git a/idl/service.proto b/idl/service.proto index 363974d..379ef5e 100644 --- a/idl/service.proto +++ b/idl/service.proto @@ -1,27 +1,41 @@ -// version 1.1 +// version 1.4 syntax = "proto3"; package protos; +/** + * Enum representing the different view widths available in the soccer simulation. + * For more information, see the documentation at [link](https://link.com). + */ enum ViewWidth { - NARROW = 0; - NORMAL = 1; - WIDE = 2; + NARROW = 0; // Narrow view width (60 degrees). + NORMAL = 1; // Normal view width (90 degrees). + WIDE = 2; // Wide view width (180 degrees). } +/** + * RpcVector2D represents a 2D vector with additional properties. + * If you want to have access to geometric operations, you can use Vector2D class in [pyrusgeom package](https://github.com/Cyrus2D/PyrusGeom) + * To use this class, you need to install pyrusgeom package, import Vector2D class and create a Vector2D object with x and y values. + */ message RpcVector2D { - float x = 1; - float y = 2; - float dist = 3; - float angle = 4; + float x = 1; // The x-coordinate of the vector. + float y = 2; // The y-coordinate of the vector. + float dist = 3; // The distance magnitude of the vector. + float angle = 4; // The angle of the vector in degrees. In soccer simulation 2D environment, the 0 degree is opponent's goal, and the angle increases in the counter-clock direction. So, if your team is in left side, -90 degree is up, 0 degree is right (opponent gole), 90 degree is down. } +/** + * RegisterRequest is the message that the client sends to the server to register itself. + * The client should send this message to the server to register itself. + * The server will respond with a RegisterResponse message. + */ message RegisterRequest { - AgentType agent_type = 1; - string team_name = 2; - int32 uniform_number = 3; - int32 rpc_version = 4; + AgentType agent_type = 1; // The type of the agent. It can be PlayerT, CoachT, or TrainerT. + string team_name = 2; // The name of the team that the agent belongs to. + int32 uniform_number = 3; // The uniform number of the agent. + int32 rpc_version = 4; // The version of the RPC protocol that the client supports. } enum RpcServerLanguageType { @@ -35,32 +49,40 @@ enum RpcServerLanguageType { GO = 7; } +/** + * RegisterResponse is the message that the server sends to the client in response to a RegisterRequest message. + * The server will respond with this message after receiving a RegisterRequest message. + * The client should use the information in this message to identify itself to the server. + */ message RegisterResponse { - int32 client_id = 1; - AgentType agent_type = 2; - string team_name = 3; - int32 uniform_number = 4; - RpcServerLanguageType rpc_server_language_type = 5; + int32 client_id = 1; // The unique identifier assigned to the client by the server. + AgentType agent_type = 2; // The type of the agent. It can be PlayerT, CoachT, or TrainerT. + string team_name = 3; // The name of the team that the agent belongs to. + int32 uniform_number = 4; // The uniform number of the agent. + RpcServerLanguageType rpc_server_language_type = 5; // The language that the server is implemented in. } +/** + * Ball is the message that represents the ball in the soccer simulation. +*/ message Ball { - RpcVector2D position = 1; - RpcVector2D relative_position = 2; - RpcVector2D seen_position = 3; - RpcVector2D heard_position = 4; - RpcVector2D velocity = 5; - RpcVector2D seen_velocity = 6; - RpcVector2D heard_velocity = 7; - int32 pos_count = 8; - int32 seen_pos_count = 9; - int32 heard_pos_count = 10; - int32 vel_count = 11; - int32 seen_vel_count = 12; - int32 heard_vel_count = 13; - int32 lost_count = 14; + RpcVector2D position = 1; // The position of the ball. + RpcVector2D relative_position = 2; // The relative position of the ball to the agent who is sending the message. + RpcVector2D seen_position = 3; // The position of the ball that the agent has seen. + RpcVector2D heard_position = 4; // The position of the ball that the agent has heard. + RpcVector2D velocity = 5; // The velocity of the ball. + RpcVector2D seen_velocity = 6; // The velocity of the ball that the agent has seen. + RpcVector2D heard_velocity = 7; // The velocity of the ball that the agent has heard. + int32 pos_count = 8; // How many cycles ago the agent has seen or heard the ball. + int32 seen_pos_count = 9; // How many cycles ago the agent has seen the ball. + int32 heard_pos_count = 10; // How many cycles ago the agent has heard the ball. + int32 vel_count = 11; // How many cycles ago the agent has seen or heard the velocity of the ball. + int32 seen_vel_count = 12; // How many cycles ago the agent has seen the velocity of the ball. + int32 heard_vel_count = 13; // How many cycles ago the agent has heard the velocity of the ball. + int32 lost_count = 14; // How many cycles ago the agent has lost the ball. int32 ghost_count = 15; - float dist_from_self = 16; - float angle_from_self = 17; + float dist_from_self = 16; // The distance of the ball from the agent who is sending the message. + float angle_from_self = 17; // The angle of the ball from the agent who is sending the message. } enum Side { @@ -102,113 +124,141 @@ enum CardType { RED = 2; } -message Player { - RpcVector2D position = 1; - RpcVector2D seen_position = 2; - RpcVector2D heard_position = 3; - RpcVector2D velocity = 4; - RpcVector2D seen_velocity = 5; - int32 pos_count = 6; - int32 seen_pos_count = 7; - int32 heard_pos_count = 8; - int32 vel_count = 9; - int32 seen_vel_count = 10; - int32 ghost_count = 11; - float dist_from_self = 12; - float angle_from_self = 13; - int32 id = 14; - Side side = 15; - int32 uniform_number = 16; - int32 uniform_number_count = 17; - bool is_goalie = 18; - float body_direction = 19; - int32 body_direction_count = 20; - float face_direction = 21; - int32 face_direction_count = 22; - float point_to_direction = 23; - int32 point_to_direction_count = 24; - bool is_kicking = 25; - float dist_from_ball = 26; - float angle_from_ball = 27; - int32 ball_reach_steps = 28; - bool is_tackling = 29; - int32 type_id = 30; +message PenaltyKickState { + Side on_field_side = 1; + Side current_taker_side = 2; + int32 our_taker_counter = 3; + int32 their_taker_counter = 4; + int32 our_score = 5; + int32 their_score = 6; + bool is_kick_taker = 7; } +/** + * Player is the message that represents a player in the soccer simulation. + * To get type information of the player, you can use the type_id field and player type information. +*/ +message Player { + RpcVector2D position = 1; // The position of the player. + RpcVector2D seen_position = 2; // The position of the player that the agent has seen. + RpcVector2D heard_position = 3; // The position of the player that the agent has heard. + RpcVector2D velocity = 4; // The velocity of the player. + RpcVector2D seen_velocity = 5; // The velocity of the player that the agent has seen. + int32 pos_count = 6; // How many cycles ago the agent has seen or heard the player. + int32 seen_pos_count = 7; // How many cycles ago the agent has seen the player. + int32 heard_pos_count = 8; // How many cycles ago the agent has heard the player. + int32 vel_count = 9; // How many cycles ago the agent has seen or heard the velocity of the player. + int32 seen_vel_count = 10; // How many cycles ago the agent has seen the velocity of the player. + int32 ghost_count = 11; // How many cycles ago the agent has lost the player. + float dist_from_self = 12; // The distance of the player from the agent who is sending the message. + float angle_from_self = 13; // The angle of the player from the agent who is sending the message. + int32 id = 14; // The unique identifier of the player. + Side side = 15; // The side of the player. It can be LEFT or RIGHT or UNKNOWN if the side is not known. + int32 uniform_number = 16; // The uniform number of the player. + int32 uniform_number_count = 17; // How many cycles ago the agent has seen the uniform number of the player. + bool is_goalie = 18; // Whether the player is a goalie or not. + float body_direction = 19; // The body direction of the player. + int32 body_direction_count = 20; // How many cycles ago the agent has seen the body direction of the player. + float face_direction = 21; // The face direction of the player. In soccer simulation 2D, face direction is the direction that the player is looking at. + int32 face_direction_count = 22; // How many cycles ago the agent has seen the face direction of the player. + float point_to_direction = 23; // The direction that the player is pointing to. + int32 point_to_direction_count = 24; // How many cycles ago the agent has seen the point to direction of the player. + bool is_kicking = 25; // Whether the player is kicking or not. + float dist_from_ball = 26; // The distance of the player from the ball. + float angle_from_ball = 27; // The angle of the player from the ball. + int32 ball_reach_steps = 28; // How many cycles the player needs to reach the ball. + bool is_tackling = 29; // Whether the player is tackling or not. + int32 type_id = 30; // The type identifier of the player. +} + +/** + * Self is the message that represents the agent itself in the soccer simulation. + * When an agent send a message to the playmaker server, self is information about the agent itself. +*/ message Self { - RpcVector2D position = 1; - RpcVector2D seen_position = 2; - RpcVector2D heard_position = 3; - RpcVector2D velocity = 4; - RpcVector2D seen_velocity = 5; - int32 pos_count = 6; - int32 seen_pos_count = 7; - int32 heard_pos_count = 8; - int32 vel_count = 9; - int32 seen_vel_count = 10; - int32 ghost_count = 11; - int32 id = 12; - Side side = 13; - int32 uniform_number = 14; - int32 uniform_number_count = 15; - bool is_goalie = 16; - float body_direction = 17; - int32 body_direction_count = 18; - float face_direction = 19; - int32 face_direction_count = 20; - float point_to_direction = 21; - int32 point_to_direction_count = 22; - bool is_kicking = 23; - float dist_from_ball = 24; - float angle_from_ball = 25; - int32 ball_reach_steps = 26; - bool is_tackling = 27; - float relative_neck_direction = 28; - float stamina = 29; - bool is_kickable = 30; - float catch_probability = 31; - float tackle_probability = 32; - float foul_probability = 33; - ViewWidth view_width = 34; - int32 type_id = 35; - float kick_rate = 36; - float recovery = 37; - float stamina_capacity = 38; - CardType card = 39; - int32 catch_time = 40; -} - + RpcVector2D position = 1; // The position of the agent. + RpcVector2D seen_position = 2; // The position of the agent that the agent has seen. (By using flags) + RpcVector2D heard_position = 3; // The position of the agent that the agent has heard. (This is not very useful) + RpcVector2D velocity = 4; // The velocity of the agent. + RpcVector2D seen_velocity = 5; // The velocity of the agent that the agent has seen. (By using flags) + int32 pos_count = 6; // How many cycles ago the agent has seen or heard itself. + int32 seen_pos_count = 7; // How many cycles ago the agent has seen itself. + int32 heard_pos_count = 8; // How many cycles ago the agent has heard itself. + int32 vel_count = 9; // How many cycles ago the agent has seen or heard the velocity of itself. + int32 seen_vel_count = 10; // How many cycles ago the agent has seen the velocity of itself. + int32 ghost_count = 11; // How many cycles ago the agent has lost itself. + int32 id = 12; // The ID number for this object in proxy. + Side side = 13; // The side of the agent. It can be LEFT or RIGHT or UNKNOWN if the side is not known. + int32 uniform_number = 14; // The uniform number of the agent. + int32 uniform_number_count = 15; // How many cycles ago the agent has seen the uniform number of itself. + bool is_goalie = 16; // Whether the agent is a goalie or not. + float body_direction = 17; // The body direction of the agent. + int32 body_direction_count = 18; // How many cycles ago the agent has seen the body direction of itself. + float face_direction = 19; // The face direction of the agent. In soccer simulation 2D, face direction is the direction that the agent is looking at. This is a global direction. + int32 face_direction_count = 20; // How many cycles ago the agent has seen the face direction of itself. + float point_to_direction = 21; // The direction that the agent is pointing to. This is a global direction. + int32 point_to_direction_count = 22; // How many cycles ago the agent has seen the point to direction of itself. + bool is_kicking = 23; // Whether the agent is kicking or not. + float dist_from_ball = 24; // The distance of the agent from the ball. + float angle_from_ball = 25; // The angle of the agent from the ball. + int32 ball_reach_steps = 26; // How many cycles the agent needs to reach the ball. + bool is_tackling = 27; // Whether the agent is tackling or not. + float relative_neck_direction = 28; // The relative neck direction of the agent to the body direction. + float stamina = 29; // The stamina of the agent. This number is between TODO + bool is_kickable = 30; // Whether the agent is kickable or not. Means the agent can kick the ball. + float catch_probability = 31; // The probability of the agent to catch the ball. This number is important for goalies. + float tackle_probability = 32; // The probability of the agent to tackle the ball. + float foul_probability = 33; // The probability of the agent to foul. + ViewWidth view_width = 34; // The view width of the agent. It can be NARROW, NORMAL, or WIDE. + int32 type_id = 35; // The type identifier of the agent. The RcssServer generates 18 different types of agents. The coach is reponsible to give the type information to the agent. + float kick_rate = 36; // The kick rate of the agent. This number is calculated by this formula: self.playerType().kickRate(wm.ball().distFromSelf(), (wm.ball().angleFromSelf() - self.body()).degree()), So, if the kick rate is more, the agent can kick the ball with more first speed to any angle. + float recovery = 37; // The current estimated recovery value. TODO more info + float stamina_capacity = 38; // The stamina capacity of the agent. This number is between 0 to ~130000 depending on the server param. + CardType card = 39; // The card type of the agent. It can be NO_CARD, YELLOW, or RED. + int32 catch_time = 40; // The time when the last catch command is performed. + float effort = 41; // The effort of the agent. TODO more info +} + +/** + * InterceptActionType is the enum that represents the different types of intercept actions. +*/ enum InterceptActionType { - UNKNOWN_Intercept_Action_Type = 0; - OMNI_DASH = 1; - TURN_FORWARD_DASH = 2; - TURN_BACKWARD_DASH = 3; + UNKNOWN_Intercept_Action_Type = 0; // Unknown intercept action type. + OMNI_DASH = 1; // Omni dash intercept action type. Means the agent will dash to the ball in any direction. + TURN_FORWARD_DASH = 2; // Turn forward dash intercept action type. Means the agent will turn to the ball and dash to the ball. + TURN_BACKWARD_DASH = 3; // Turn backward dash intercept action type. Means the agent will turn to the ball and dash to the ball in the backward direction. } +/** + * InterceptInfo is the message that represents the information about an intercept action. +*/ message InterceptInfo { - InterceptActionType action_type = 1; - int32 turn_steps = 2; - float turn_angle = 3; - int32 dash_steps = 4; - float dash_power = 5; - float dash_dir = 6; - RpcVector2D final_self_position = 7; - float final_ball_dist = 8; - float final_stamina = 9; - float value = 10; -} - + InterceptActionType action_type = 1; // The type of the intercept action. + int32 turn_steps = 2; // The number of steps that the agent needs to turn to the ball. + float turn_angle = 3; // The angle that the agent needs to turn to the ball. + int32 dash_steps = 4; // The number of steps that the agent needs to dash to the ball. + float dash_power = 5; // The power of the dash action. + float dash_dir = 6; // The direction of the dash action to player's body direction. + RpcVector2D final_self_position = 7; // The final position of the agent after the intercept action. + float final_ball_dist = 8; // The final distance of the ball from the agent after the intercept action. + float final_stamina = 9; // The final stamina of the agent after the intercept action. + float value = 10; // The value of the intercept action. TODO less is better or more is better? +} + +/** + * InterceptTable is the message that represents the intercept table of the agent. +*/ message InterceptTable { - int32 self_reach_steps = 1; - int32 first_teammate_reach_steps = 2; - int32 second_teammate_reach_steps = 3; - int32 first_opponent_reach_steps = 4; - int32 second_opponent_reach_steps = 5; - int32 first_teammate_id = 6; - int32 second_teammate_id = 7; - int32 first_opponent_id = 8; - int32 second_opponent_id = 9; - repeated InterceptInfo self_intercept_info = 10; + int32 self_reach_steps = 1; // The number of steps that the agent needs to reach the ball. + int32 first_teammate_reach_steps = 2; // The number of steps that the first teammate needs to reach the ball. + int32 second_teammate_reach_steps = 3; // The number of steps that the second teammate needs to reach the ball. + int32 first_opponent_reach_steps = 4; // The number of steps that the first opponent needs to reach the ball. + int32 second_opponent_reach_steps = 5; // The number of steps that the second opponent needs to reach the ball. + int32 first_teammate_id = 6; // The ID of the first teammate. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no first teammate. + int32 second_teammate_id = 7; // The ID of the second teammate. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no second teammate. + int32 first_opponent_id = 8; // The ID of the first opponent. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no first opponent. + int32 second_opponent_id = 9; // The ID of the second opponent. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no second opponent. + repeated InterceptInfo self_intercept_info = 10; // The intercept information of the agent. } enum GameModeType { @@ -247,53 +297,64 @@ enum GameModeType { MODE_MAX = 32; } +/** + * WorldModel is the message that represents the world model in the soccer simulation. The WorldModel message contains all the information about the current state of the game. +*/ message WorldModel { - InterceptTable intercept_table = 1; - string our_team_name = 2; - string their_team_name = 3; - Side our_side = 4; - int32 last_set_play_start_time = 5; - Self self = 6; - Ball ball = 7; + InterceptTable intercept_table = 1; // The intercept table of the agent. + string our_team_name = 2; // The name of our team. + string their_team_name = 3; // The name of their team. + Side our_side = 4; // The side of our team. It can be LEFT or RIGHT. + int32 last_set_play_start_time = 5; // The last set play start time. + Self self = 6; // The information about the agent itself. + Ball ball = 7; // The information about the ball. repeated Player teammates = 8; repeated Player opponents = 9; repeated Player unknowns = 10; map our_players_dict = 11; map their_players_dict = 12; - int32 our_goalie_uniform_number = 13; - int32 their_goalie_uniform_number = 14; - float offside_line_x = 15; - int32 ofside_line_x_count = 16; - int32 kickable_teammate_id = 17; - int32 kickable_opponent_id = 18; - Side last_kick_side = 19; - int32 last_kicker_uniform_number = 20; - int32 cycle = 21; - GameModeType game_mode_type = 22; - int32 left_team_score = 23; - int32 right_team_score = 24; - bool is_our_set_play = 25; - bool is_their_set_play = 26; - int32 stoped_cycle = 27; - int32 our_team_score = 28; - int32 their_team_score = 29; - bool is_penalty_kick_mode = 30; - map helios_home_positions = 31; - double our_defense_line_x = 32; - double their_defense_line_x = 33; - double our_defense_player_line_x = 34; - double their_defense_player_line_x = 35; - bool kickable_teammate_existance = 36; - bool kickable_opponent_existance = 37; -} - + int32 our_goalie_uniform_number = 13; // The uniform number of our goalie. + int32 their_goalie_uniform_number = 14; // The uniform number of their goalie. + float offside_line_x = 15; // The x-coordinate of the offside line of opponent team. + int32 ofside_line_x_count = 16; // How many cycles ago the agent has seen (calculated) the offside line. + int32 kickable_teammate_id = 17; // The ID of the kickable teammate. To get the information about the kickable teammate, you can find a player in teammates or our_players_dict with this ID. + int32 kickable_opponent_id = 18; // The ID of the kickable opponent. To get the information about the kickable opponent, you can find a player in opponents or their_players_dict with this ID. + Side last_kick_side = 19; // The last side that the ball was kicked. + int32 last_kicker_uniform_number = 20; // The last uniform number that the ball was kicked. + int32 cycle = 21; // The current cycle of the game. + GameModeType game_mode_type = 22; // The current game mode type. + int32 left_team_score = 23; // The score of the left team. + int32 right_team_score = 24; // The score of the right team. + bool is_our_set_play = 25; // Whether it is our set play or not. + bool is_their_set_play = 26; // Whether it is their set play or not. + int32 stoped_cycle = 27; // The number of cycles that the game has stopped. For example, when the cycle is 90, and stoped_cycle is 10, it means the game has stopped at 90th cycle for 10 cycles. + int32 our_team_score = 28; // The score of our team. + int32 their_team_score = 29; // The score of their team. + bool is_penalty_kick_mode = 30; // Whether it is penalty kick mode or not. + map helios_home_positions = 31; // The home positions of the agents in the helios strategy. Helios base code is using Delanaray triangulation to calculate the home positions. + double our_defense_line_x = 32; // The x-coordinate of our defense line. The diffence line is minimum x-coordinate of our players (except goalie) and ball. + double their_defense_line_x = 33; // The x-coordinate of their defense line. The diffence line is minimum x-coordinate of their players (except goalie) and ball. + double our_defense_player_line_x = 34; // The x-coordinate of our defense player line. The diffence player line is minimum x-coordinate of our players (except goalie). + double their_defense_player_line_x = 35; // The x-coordinate of their defense player line. The diffence player line is minimum x-coordinate of their players (except goalie). + bool kickable_teammate_existance = 36; // Whether the kickable teammate exists or not. + bool kickable_opponent_existance = 37; // Whether the kickable opponent exists or not. + PenaltyKickState penalty_kick_state = 38; // The penalty kick state. + int32 see_time = 39; // The time that the agent has seen the world model. +} + +/** + * State is the message that represents the state of the agent in the soccer simulation. +*/ message State { - RegisterResponse register_response = 1; - WorldModel world_model = 2; - WorldModel full_world_model = 3; - bool need_preprocess = 4; + RegisterResponse register_response = 1; // The response of the agent registration. The agent should use this information to identify itself to the playermaker server. + WorldModel world_model = 2; // The world model of the agent. The agent should use this information to make decisions. If the server is in full state mode, the world model will be full state without noise. + WorldModel full_world_model = 3; // The full world model of the agent. This value will be set only if the server is in full state mode and proxy agent is in debug mode. TODO add more information + bool need_preprocess = 4; // Whether the agent needs to preprocess the world model or not. If the agent needs to do some preprocessing actions, it means the proxy agent will igonre the playmaker actions, you can ignore preprocessing. } +/** + * AgentType is the enum that represents the different types of agents. +*/ enum AgentType { PlayerT = 0; CoachT = 1; @@ -305,13 +366,23 @@ message InitMessage { bool debug_mode = 2; } +/** + * Dash is the message that represents the dash action in the soccer simulation. + * By using this action, agent can dash (run or walk) to a direction with a power. + * The rcssserver, calculates the next position and velocity of the agent based on current position, velocity, power and direction. +*/ message Dash { - float power = 1; - float relative_direction = 2; + float power = 1; // The power of the dash action. The power can be between -100 to 100. If the power is negative, the agent will dash in the backward direction by using two times of the power. + float relative_direction = 2; // The relative direction of the dash action to the body direction of the agent. The direction can be between -180 to 180. } +/** + * Turn is the message that represents the turn action in the soccer simulation. + * By using this action, agent can turn to a direction relative to the current body direction. + * The rcssserver, calculates the next body direction of the agent based on current body direction, relative direction and velocity of the agent. +*/ message Turn { - float relative_direction = 1; + float relative_direction = 1; // The relative direction of the turn action to the body direction of the agent. The direction can be between -180 to 180. } message Kick { @@ -779,17 +850,24 @@ message HeliosGoalieKick {} message HeliosShoot {} +/** + * HeliosOffensivePlanner is the message that represents the offensive planner of the agent in the soccer simulation. + * The offensive planner is responsible for making decisions about the offensive actions of the agent by creating a tree of actions, finding the best chain of actions, and executing the first action in the chain. + * The best action is an action with best incomming predicted state. + * The best predicted state is the state that has the best evalution value by using this formula: value = ball.x + max(0.0, 40.0 - ball.dist(opponent goal center)) + * Due to the complexity of the not simple actions, the agent can not calculate the best action in the first layer of the tree. So, the agent can use the simple actions in the first layer of the tree. +*/ message HeliosOffensivePlanner { - bool direct_pass = 1; - bool lead_pass = 2; - bool through_pass = 3; - bool short_dribble = 4; - bool long_dribble = 5; - bool cross = 6; - bool simple_pass = 7; - bool simple_dribble = 8; - bool simple_shoot = 9; - bool server_side_decision = 10; + bool direct_pass = 1; // Whether the agent can make a direct pass or not. The direct pass is a pass action that the agent can pass the ball to the position of a teammate player. This action is just used in the first layer of the tree. + bool lead_pass = 2; // Whether the agent can make a lead pass or not. The lead pass is a pass action that the agent can pass the ball to the position of a teammate player with a lead (very cloase to the teammate). This action is just used in the first layer of the tree. + bool through_pass = 3; // Whether the agent can make a through pass or not. The through pass is a pass action that the agent can pass the ball to the position of a teammate player with a through (close or very far from the teammate, between teammates and opponent goal). This action is just used in the first layer of the tree. + bool short_dribble = 4; // Whether the agent can make a short dribble or not. The short dribble is a dribble action that the agent can dribble the ball to a position. This action is just used in the first layer of the tree. + bool long_dribble = 5; // Whether the agent can make a long dribble or not. The long dribble is a dribble action that the agent can dribble the ball to a position. This dribble is longer than the short dribble. This action is just used in the first layer of the tree + bool cross = 6; // Whether the agent can make a cross or not. The cross is a kick action that the agent can kick the ball to the position close to teammate, but it does not care that the teammate can control the ball or not. This action is just used in the first layer of the tree. + bool simple_pass = 7; // Whether the agent can make a simple pass or not. The simple pass is a pass action that the agent can pass the ball to the position of a teammate player. This action is just used in the second or more layers of the tree. This action is not very accurate. + bool simple_dribble = 8; // Whether the agent can make a simple dribble or not. The simple dribble is a dribble action that the agent can dribble the ball to a position. This action is just used in the second or more layers of the tree. This action is not very accurate. + bool simple_shoot = 9; // Whether the agent can make a simple shoot or not. The simple shoot is a kick action that the agent can kick the ball to the opponent goal. This action is just used in the second or more layers of the tree. This action is not very accurate. + bool server_side_decision = 10; // If this value is true, the proxy agent, will create the tree and send all of the nodes to the playmaker server to choose the best action. If this value is false, the proxy agent will choose the best action by itself. } message HeliosBasicOffensive {} @@ -804,6 +882,8 @@ message HeliosCommunicaion {} message bhv_doForceKick {} +message bhv_doHeardPassRecieve {} + message PlayerAction { oneof action { Dash dash = 1; @@ -871,6 +951,7 @@ message PlayerAction { HeliosPenalty helios_penalty = 63; HeliosCommunicaion helios_communication = 64; bhv_doForceKick bhv_do_force_kick = 65; + bhv_doHeardPassRecieve bhv_do_heard_pass_recieve = 66; } } @@ -878,6 +959,8 @@ message PlayerAction { message PlayerActions { repeated PlayerAction actions = 1; bool ignore_preprocess = 2; + bool ignore_doforcekick = 3; + bool ignore_doHeardPassRecieve = 4; } message ChangePlayerType { @@ -1295,6 +1378,45 @@ message Empty { } service Game { + /* + * The Game service provides various RPC methods for interacting with a soccer simulation. + * + ```mermaid + sequenceDiagram + participant SS as SoccerSimulationServer + participant SP as SoccerSimulationProxy + participant PM as PlayMakerServer + Note over SS,PM: Run + SP->>SS: Connect + SS->>SP: OK, Unum + SS->>SP: ServerParam + SS->>SP: PlayerParam + SS->>SP: PlayerType (0) + SS->>SP: PlayerType (1) + SS->>SP: PlayerType (17) + SP->>PM: Register(RegisterRequest) + PM->>SP: RegisterResponse + SP->>PM: SendInitMessage(InitMessage) + PM->>SP: Empty + SP->>PM: SendServerParams(ServerParam) + PM->>SP: Empty + SP->>PM: SendPlayerParams(PlayerParam) + PM->>SP: Empty + SP->>PM: SendPlayerType(PlayerType(0)) + PM->>SP: Empty + SP->>PM: SendPlayerType(PlayerType(1)) + PM->>SP: Empty + SP->>PM: SendPlayerType(PlayerType(17)) + PM->>SP: Empty + SS->>SP: Observation + Note over SP: Convert observation to State + SP->>PM: GetPlayerActions(State) + PM->>SP: PlayerActions + Note over SP: Convert Actions to Low-Level Commands + SP->>SS: Commands + ``` + */ + rpc GetPlayerActions(State) returns (PlayerActions) {} rpc GetCoachActions(State) returns (CoachActions) {} rpc GetTrainerActions(State) returns (TrainerActions) {} From d8a691d130272fe6bb03635189fe29046adc5f55 Mon Sep 17 00:00:00 2001 From: SK2iP Date: Sun, 20 Oct 2024 00:51:02 +0330 Subject: [PATCH 16/17] Add version 1.6 --- idl/service.proto | 488 +++++++++++++++---------------------- server.py | 8 +- service_pb2.py | 570 ++++++++++++++++++++++---------------------- service_pb2.pyi | 68 +++++- service_pb2_grpc.py | 2 +- 5 files changed, 546 insertions(+), 590 deletions(-) diff --git a/idl/service.proto b/idl/service.proto index 379ef5e..5c6944c 100644 --- a/idl/service.proto +++ b/idl/service.proto @@ -1,41 +1,28 @@ -// version 1.4 + +// version 1.6 syntax = "proto3"; package protos; -/** - * Enum representing the different view widths available in the soccer simulation. - * For more information, see the documentation at [link](https://link.com). - */ enum ViewWidth { - NARROW = 0; // Narrow view width (60 degrees). - NORMAL = 1; // Normal view width (90 degrees). - WIDE = 2; // Wide view width (180 degrees). + NARROW = 0; + NORMAL = 1; + WIDE = 2; } -/** - * RpcVector2D represents a 2D vector with additional properties. - * If you want to have access to geometric operations, you can use Vector2D class in [pyrusgeom package](https://github.com/Cyrus2D/PyrusGeom) - * To use this class, you need to install pyrusgeom package, import Vector2D class and create a Vector2D object with x and y values. - */ message RpcVector2D { - float x = 1; // The x-coordinate of the vector. - float y = 2; // The y-coordinate of the vector. - float dist = 3; // The distance magnitude of the vector. - float angle = 4; // The angle of the vector in degrees. In soccer simulation 2D environment, the 0 degree is opponent's goal, and the angle increases in the counter-clock direction. So, if your team is in left side, -90 degree is up, 0 degree is right (opponent gole), 90 degree is down. + float x = 1; + float y = 2; + float dist = 3; + float angle = 4; } -/** - * RegisterRequest is the message that the client sends to the server to register itself. - * The client should send this message to the server to register itself. - * The server will respond with a RegisterResponse message. - */ message RegisterRequest { - AgentType agent_type = 1; // The type of the agent. It can be PlayerT, CoachT, or TrainerT. - string team_name = 2; // The name of the team that the agent belongs to. - int32 uniform_number = 3; // The uniform number of the agent. - int32 rpc_version = 4; // The version of the RPC protocol that the client supports. + AgentType agent_type = 1; + string team_name = 2; + int32 uniform_number = 3; + int32 rpc_version = 4; } enum RpcServerLanguageType { @@ -49,40 +36,32 @@ enum RpcServerLanguageType { GO = 7; } -/** - * RegisterResponse is the message that the server sends to the client in response to a RegisterRequest message. - * The server will respond with this message after receiving a RegisterRequest message. - * The client should use the information in this message to identify itself to the server. - */ message RegisterResponse { - int32 client_id = 1; // The unique identifier assigned to the client by the server. - AgentType agent_type = 2; // The type of the agent. It can be PlayerT, CoachT, or TrainerT. - string team_name = 3; // The name of the team that the agent belongs to. - int32 uniform_number = 4; // The uniform number of the agent. - RpcServerLanguageType rpc_server_language_type = 5; // The language that the server is implemented in. + int32 client_id = 1; + AgentType agent_type = 2; + string team_name = 3; + int32 uniform_number = 4; + RpcServerLanguageType rpc_server_language_type = 5; } -/** - * Ball is the message that represents the ball in the soccer simulation. -*/ message Ball { - RpcVector2D position = 1; // The position of the ball. - RpcVector2D relative_position = 2; // The relative position of the ball to the agent who is sending the message. - RpcVector2D seen_position = 3; // The position of the ball that the agent has seen. - RpcVector2D heard_position = 4; // The position of the ball that the agent has heard. - RpcVector2D velocity = 5; // The velocity of the ball. - RpcVector2D seen_velocity = 6; // The velocity of the ball that the agent has seen. - RpcVector2D heard_velocity = 7; // The velocity of the ball that the agent has heard. - int32 pos_count = 8; // How many cycles ago the agent has seen or heard the ball. - int32 seen_pos_count = 9; // How many cycles ago the agent has seen the ball. - int32 heard_pos_count = 10; // How many cycles ago the agent has heard the ball. - int32 vel_count = 11; // How many cycles ago the agent has seen or heard the velocity of the ball. - int32 seen_vel_count = 12; // How many cycles ago the agent has seen the velocity of the ball. - int32 heard_vel_count = 13; // How many cycles ago the agent has heard the velocity of the ball. - int32 lost_count = 14; // How many cycles ago the agent has lost the ball. + RpcVector2D position = 1; + RpcVector2D relative_position = 2; + RpcVector2D seen_position = 3; + RpcVector2D heard_position = 4; + RpcVector2D velocity = 5; + RpcVector2D seen_velocity = 6; + RpcVector2D heard_velocity = 7; + int32 pos_count = 8; + int32 seen_pos_count = 9; + int32 heard_pos_count = 10; + int32 vel_count = 11; + int32 seen_vel_count = 12; + int32 heard_vel_count = 13; + int32 lost_count = 14; int32 ghost_count = 15; - float dist_from_self = 16; // The distance of the ball from the agent who is sending the message. - float angle_from_self = 17; // The angle of the ball from the agent who is sending the message. + float dist_from_self = 16; + float angle_from_self = 17; } enum Side { @@ -134,131 +113,114 @@ message PenaltyKickState { bool is_kick_taker = 7; } -/** - * Player is the message that represents a player in the soccer simulation. - * To get type information of the player, you can use the type_id field and player type information. -*/ message Player { - RpcVector2D position = 1; // The position of the player. - RpcVector2D seen_position = 2; // The position of the player that the agent has seen. - RpcVector2D heard_position = 3; // The position of the player that the agent has heard. - RpcVector2D velocity = 4; // The velocity of the player. - RpcVector2D seen_velocity = 5; // The velocity of the player that the agent has seen. - int32 pos_count = 6; // How many cycles ago the agent has seen or heard the player. - int32 seen_pos_count = 7; // How many cycles ago the agent has seen the player. - int32 heard_pos_count = 8; // How many cycles ago the agent has heard the player. - int32 vel_count = 9; // How many cycles ago the agent has seen or heard the velocity of the player. - int32 seen_vel_count = 10; // How many cycles ago the agent has seen the velocity of the player. - int32 ghost_count = 11; // How many cycles ago the agent has lost the player. - float dist_from_self = 12; // The distance of the player from the agent who is sending the message. - float angle_from_self = 13; // The angle of the player from the agent who is sending the message. - int32 id = 14; // The unique identifier of the player. - Side side = 15; // The side of the player. It can be LEFT or RIGHT or UNKNOWN if the side is not known. - int32 uniform_number = 16; // The uniform number of the player. - int32 uniform_number_count = 17; // How many cycles ago the agent has seen the uniform number of the player. - bool is_goalie = 18; // Whether the player is a goalie or not. - float body_direction = 19; // The body direction of the player. - int32 body_direction_count = 20; // How many cycles ago the agent has seen the body direction of the player. - float face_direction = 21; // The face direction of the player. In soccer simulation 2D, face direction is the direction that the player is looking at. - int32 face_direction_count = 22; // How many cycles ago the agent has seen the face direction of the player. - float point_to_direction = 23; // The direction that the player is pointing to. - int32 point_to_direction_count = 24; // How many cycles ago the agent has seen the point to direction of the player. - bool is_kicking = 25; // Whether the player is kicking or not. - float dist_from_ball = 26; // The distance of the player from the ball. - float angle_from_ball = 27; // The angle of the player from the ball. - int32 ball_reach_steps = 28; // How many cycles the player needs to reach the ball. - bool is_tackling = 29; // Whether the player is tackling or not. - int32 type_id = 30; // The type identifier of the player. -} - -/** - * Self is the message that represents the agent itself in the soccer simulation. - * When an agent send a message to the playmaker server, self is information about the agent itself. -*/ + RpcVector2D position = 1; + RpcVector2D seen_position = 2; + RpcVector2D heard_position = 3; + RpcVector2D velocity = 4; + RpcVector2D seen_velocity = 5; + int32 pos_count = 6; + int32 seen_pos_count = 7; + int32 heard_pos_count = 8; + int32 vel_count = 9; + int32 seen_vel_count = 10; + int32 ghost_count = 11; + float dist_from_self = 12; + float angle_from_self = 13; + int32 id = 14; + Side side = 15; + int32 uniform_number = 16; + int32 uniform_number_count = 17; + bool is_goalie = 18; + float body_direction = 19; + int32 body_direction_count = 20; + float face_direction = 21; + int32 face_direction_count = 22; + float point_to_direction = 23; + int32 point_to_direction_count = 24; + bool is_kicking = 25; + float dist_from_ball = 26; + float angle_from_ball = 27; + int32 ball_reach_steps = 28; + bool is_tackling = 29; + int32 type_id = 30; +} + message Self { - RpcVector2D position = 1; // The position of the agent. - RpcVector2D seen_position = 2; // The position of the agent that the agent has seen. (By using flags) - RpcVector2D heard_position = 3; // The position of the agent that the agent has heard. (This is not very useful) - RpcVector2D velocity = 4; // The velocity of the agent. - RpcVector2D seen_velocity = 5; // The velocity of the agent that the agent has seen. (By using flags) - int32 pos_count = 6; // How many cycles ago the agent has seen or heard itself. - int32 seen_pos_count = 7; // How many cycles ago the agent has seen itself. - int32 heard_pos_count = 8; // How many cycles ago the agent has heard itself. - int32 vel_count = 9; // How many cycles ago the agent has seen or heard the velocity of itself. - int32 seen_vel_count = 10; // How many cycles ago the agent has seen the velocity of itself. - int32 ghost_count = 11; // How many cycles ago the agent has lost itself. - int32 id = 12; // The ID number for this object in proxy. - Side side = 13; // The side of the agent. It can be LEFT or RIGHT or UNKNOWN if the side is not known. - int32 uniform_number = 14; // The uniform number of the agent. - int32 uniform_number_count = 15; // How many cycles ago the agent has seen the uniform number of itself. - bool is_goalie = 16; // Whether the agent is a goalie or not. - float body_direction = 17; // The body direction of the agent. - int32 body_direction_count = 18; // How many cycles ago the agent has seen the body direction of itself. - float face_direction = 19; // The face direction of the agent. In soccer simulation 2D, face direction is the direction that the agent is looking at. This is a global direction. - int32 face_direction_count = 20; // How many cycles ago the agent has seen the face direction of itself. - float point_to_direction = 21; // The direction that the agent is pointing to. This is a global direction. - int32 point_to_direction_count = 22; // How many cycles ago the agent has seen the point to direction of itself. - bool is_kicking = 23; // Whether the agent is kicking or not. - float dist_from_ball = 24; // The distance of the agent from the ball. - float angle_from_ball = 25; // The angle of the agent from the ball. - int32 ball_reach_steps = 26; // How many cycles the agent needs to reach the ball. - bool is_tackling = 27; // Whether the agent is tackling or not. - float relative_neck_direction = 28; // The relative neck direction of the agent to the body direction. - float stamina = 29; // The stamina of the agent. This number is between TODO - bool is_kickable = 30; // Whether the agent is kickable or not. Means the agent can kick the ball. - float catch_probability = 31; // The probability of the agent to catch the ball. This number is important for goalies. - float tackle_probability = 32; // The probability of the agent to tackle the ball. - float foul_probability = 33; // The probability of the agent to foul. - ViewWidth view_width = 34; // The view width of the agent. It can be NARROW, NORMAL, or WIDE. - int32 type_id = 35; // The type identifier of the agent. The RcssServer generates 18 different types of agents. The coach is reponsible to give the type information to the agent. - float kick_rate = 36; // The kick rate of the agent. This number is calculated by this formula: self.playerType().kickRate(wm.ball().distFromSelf(), (wm.ball().angleFromSelf() - self.body()).degree()), So, if the kick rate is more, the agent can kick the ball with more first speed to any angle. - float recovery = 37; // The current estimated recovery value. TODO more info - float stamina_capacity = 38; // The stamina capacity of the agent. This number is between 0 to ~130000 depending on the server param. - CardType card = 39; // The card type of the agent. It can be NO_CARD, YELLOW, or RED. - int32 catch_time = 40; // The time when the last catch command is performed. - float effort = 41; // The effort of the agent. TODO more info -} - -/** - * InterceptActionType is the enum that represents the different types of intercept actions. -*/ + RpcVector2D position = 1; + RpcVector2D seen_position = 2; + RpcVector2D heard_position = 3; + RpcVector2D velocity = 4; + RpcVector2D seen_velocity = 5; + int32 pos_count = 6; + int32 seen_pos_count = 7; + int32 heard_pos_count = 8; + int32 vel_count = 9; + int32 seen_vel_count = 10; + int32 ghost_count = 11; + int32 id = 12; + Side side = 13; + int32 uniform_number = 14; + int32 uniform_number_count = 15; + bool is_goalie = 16; + float body_direction = 17; + int32 body_direction_count = 18; + float face_direction = 19; + int32 face_direction_count = 20; + float point_to_direction = 21; + int32 point_to_direction_count = 22; + bool is_kicking = 23; + float dist_from_ball = 24; + float angle_from_ball = 25; + int32 ball_reach_steps = 26; + bool is_tackling = 27; + float relative_neck_direction = 28; + float stamina = 29; + bool is_kickable = 30; + float catch_probability = 31; + float tackle_probability = 32; + float foul_probability = 33; + ViewWidth view_width = 34; + int32 type_id = 35; + float kick_rate = 36; + float recovery = 37; + float stamina_capacity = 38; + CardType card = 39; + int32 catch_time = 40; + float effort = 41; +} + enum InterceptActionType { - UNKNOWN_Intercept_Action_Type = 0; // Unknown intercept action type. - OMNI_DASH = 1; // Omni dash intercept action type. Means the agent will dash to the ball in any direction. - TURN_FORWARD_DASH = 2; // Turn forward dash intercept action type. Means the agent will turn to the ball and dash to the ball. - TURN_BACKWARD_DASH = 3; // Turn backward dash intercept action type. Means the agent will turn to the ball and dash to the ball in the backward direction. + UNKNOWN_Intercept_Action_Type = 0; + OMNI_DASH = 1; + TURN_FORWARD_DASH = 2; + TURN_BACKWARD_DASH = 3; } -/** - * InterceptInfo is the message that represents the information about an intercept action. -*/ message InterceptInfo { - InterceptActionType action_type = 1; // The type of the intercept action. - int32 turn_steps = 2; // The number of steps that the agent needs to turn to the ball. - float turn_angle = 3; // The angle that the agent needs to turn to the ball. - int32 dash_steps = 4; // The number of steps that the agent needs to dash to the ball. - float dash_power = 5; // The power of the dash action. - float dash_dir = 6; // The direction of the dash action to player's body direction. - RpcVector2D final_self_position = 7; // The final position of the agent after the intercept action. - float final_ball_dist = 8; // The final distance of the ball from the agent after the intercept action. - float final_stamina = 9; // The final stamina of the agent after the intercept action. - float value = 10; // The value of the intercept action. TODO less is better or more is better? -} - -/** - * InterceptTable is the message that represents the intercept table of the agent. -*/ + InterceptActionType action_type = 1; + int32 turn_steps = 2; + float turn_angle = 3; + int32 dash_steps = 4; + float dash_power = 5; + float dash_dir = 6; + RpcVector2D final_self_position = 7; + float final_ball_dist = 8; + float final_stamina = 9; + float value = 10; +} + message InterceptTable { - int32 self_reach_steps = 1; // The number of steps that the agent needs to reach the ball. - int32 first_teammate_reach_steps = 2; // The number of steps that the first teammate needs to reach the ball. - int32 second_teammate_reach_steps = 3; // The number of steps that the second teammate needs to reach the ball. - int32 first_opponent_reach_steps = 4; // The number of steps that the first opponent needs to reach the ball. - int32 second_opponent_reach_steps = 5; // The number of steps that the second opponent needs to reach the ball. - int32 first_teammate_id = 6; // The ID of the first teammate. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no first teammate. - int32 second_teammate_id = 7; // The ID of the second teammate. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no second teammate. - int32 first_opponent_id = 8; // The ID of the first opponent. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no first opponent. - int32 second_opponent_id = 9; // The ID of the second opponent. This ID is unique for each player's object in the each agent proxy. If the ID is 0, it means the agent has no second opponent. - repeated InterceptInfo self_intercept_info = 10; // The intercept information of the agent. + int32 self_reach_steps = 1; + int32 first_teammate_reach_steps = 2; + int32 second_teammate_reach_steps = 3; + int32 first_opponent_reach_steps = 4; + int32 second_opponent_reach_steps = 5; + int32 first_teammate_id = 6; + int32 second_teammate_id = 7; + int32 first_opponent_id = 8; + int32 second_opponent_id = 9; + repeated InterceptInfo self_intercept_info = 10; } enum GameModeType { @@ -297,64 +259,58 @@ enum GameModeType { MODE_MAX = 32; } -/** - * WorldModel is the message that represents the world model in the soccer simulation. The WorldModel message contains all the information about the current state of the game. -*/ message WorldModel { - InterceptTable intercept_table = 1; // The intercept table of the agent. - string our_team_name = 2; // The name of our team. - string their_team_name = 3; // The name of their team. - Side our_side = 4; // The side of our team. It can be LEFT or RIGHT. - int32 last_set_play_start_time = 5; // The last set play start time. - Self self = 6; // The information about the agent itself. - Ball ball = 7; // The information about the ball. + InterceptTable intercept_table = 1; + string our_team_name = 2; + string their_team_name = 3; + Side our_side = 4; + int32 last_set_play_start_time = 5; + Self self = 6; + Ball ball = 7; repeated Player teammates = 8; repeated Player opponents = 9; repeated Player unknowns = 10; map our_players_dict = 11; map their_players_dict = 12; - int32 our_goalie_uniform_number = 13; // The uniform number of our goalie. - int32 their_goalie_uniform_number = 14; // The uniform number of their goalie. - float offside_line_x = 15; // The x-coordinate of the offside line of opponent team. - int32 ofside_line_x_count = 16; // How many cycles ago the agent has seen (calculated) the offside line. - int32 kickable_teammate_id = 17; // The ID of the kickable teammate. To get the information about the kickable teammate, you can find a player in teammates or our_players_dict with this ID. - int32 kickable_opponent_id = 18; // The ID of the kickable opponent. To get the information about the kickable opponent, you can find a player in opponents or their_players_dict with this ID. - Side last_kick_side = 19; // The last side that the ball was kicked. - int32 last_kicker_uniform_number = 20; // The last uniform number that the ball was kicked. - int32 cycle = 21; // The current cycle of the game. - GameModeType game_mode_type = 22; // The current game mode type. - int32 left_team_score = 23; // The score of the left team. - int32 right_team_score = 24; // The score of the right team. - bool is_our_set_play = 25; // Whether it is our set play or not. - bool is_their_set_play = 26; // Whether it is their set play or not. - int32 stoped_cycle = 27; // The number of cycles that the game has stopped. For example, when the cycle is 90, and stoped_cycle is 10, it means the game has stopped at 90th cycle for 10 cycles. - int32 our_team_score = 28; // The score of our team. - int32 their_team_score = 29; // The score of their team. - bool is_penalty_kick_mode = 30; // Whether it is penalty kick mode or not. - map helios_home_positions = 31; // The home positions of the agents in the helios strategy. Helios base code is using Delanaray triangulation to calculate the home positions. - double our_defense_line_x = 32; // The x-coordinate of our defense line. The diffence line is minimum x-coordinate of our players (except goalie) and ball. - double their_defense_line_x = 33; // The x-coordinate of their defense line. The diffence line is minimum x-coordinate of their players (except goalie) and ball. - double our_defense_player_line_x = 34; // The x-coordinate of our defense player line. The diffence player line is minimum x-coordinate of our players (except goalie). - double their_defense_player_line_x = 35; // The x-coordinate of their defense player line. The diffence player line is minimum x-coordinate of their players (except goalie). - bool kickable_teammate_existance = 36; // Whether the kickable teammate exists or not. - bool kickable_opponent_existance = 37; // Whether the kickable opponent exists or not. - PenaltyKickState penalty_kick_state = 38; // The penalty kick state. - int32 see_time = 39; // The time that the agent has seen the world model. -} - -/** - * State is the message that represents the state of the agent in the soccer simulation. -*/ + int32 our_goalie_uniform_number = 13; + int32 their_goalie_uniform_number = 14; + float offside_line_x = 15; + int32 ofside_line_x_count = 16; + int32 kickable_teammate_id = 17; + int32 kickable_opponent_id = 18; + Side last_kick_side = 19; + int32 last_kicker_uniform_number = 20; + int32 cycle = 21; + GameModeType game_mode_type = 22; + int32 left_team_score = 23; + int32 right_team_score = 24; + bool is_our_set_play = 25; + bool is_their_set_play = 26; + int32 stoped_cycle = 27; + int32 our_team_score = 28; + int32 their_team_score = 29; + bool is_penalty_kick_mode = 30; + map helios_home_positions = 31; + double our_defense_line_x = 32; + double their_defense_line_x = 33; + double our_defense_player_line_x = 34; + double their_defense_player_line_x = 35; + bool kickable_teammate_existance = 36; + bool kickable_opponent_existance = 37; + PenaltyKickState penalty_kick_state = 38; + int32 see_time = 39; + int32 time_stopped = 40; + int32 set_play_count = 41; + Side game_mode_side = 42; +} + message State { - RegisterResponse register_response = 1; // The response of the agent registration. The agent should use this information to identify itself to the playermaker server. - WorldModel world_model = 2; // The world model of the agent. The agent should use this information to make decisions. If the server is in full state mode, the world model will be full state without noise. - WorldModel full_world_model = 3; // The full world model of the agent. This value will be set only if the server is in full state mode and proxy agent is in debug mode. TODO add more information - bool need_preprocess = 4; // Whether the agent needs to preprocess the world model or not. If the agent needs to do some preprocessing actions, it means the proxy agent will igonre the playmaker actions, you can ignore preprocessing. + RegisterResponse register_response = 1; + WorldModel world_model = 2; + WorldModel full_world_model = 3; + bool need_preprocess = 4; } -/** - * AgentType is the enum that represents the different types of agents. -*/ enum AgentType { PlayerT = 0; CoachT = 1; @@ -366,23 +322,13 @@ message InitMessage { bool debug_mode = 2; } -/** - * Dash is the message that represents the dash action in the soccer simulation. - * By using this action, agent can dash (run or walk) to a direction with a power. - * The rcssserver, calculates the next position and velocity of the agent based on current position, velocity, power and direction. -*/ message Dash { - float power = 1; // The power of the dash action. The power can be between -100 to 100. If the power is negative, the agent will dash in the backward direction by using two times of the power. - float relative_direction = 2; // The relative direction of the dash action to the body direction of the agent. The direction can be between -180 to 180. + float power = 1; + float relative_direction = 2; } -/** - * Turn is the message that represents the turn action in the soccer simulation. - * By using this action, agent can turn to a direction relative to the current body direction. - * The rcssserver, calculates the next body direction of the agent based on current body direction, relative direction and velocity of the agent. -*/ message Turn { - float relative_direction = 1; // The relative direction of the turn action to the body direction of the agent. The direction can be between -180 to 180. + float relative_direction = 1; } message Kick { @@ -850,24 +796,17 @@ message HeliosGoalieKick {} message HeliosShoot {} -/** - * HeliosOffensivePlanner is the message that represents the offensive planner of the agent in the soccer simulation. - * The offensive planner is responsible for making decisions about the offensive actions of the agent by creating a tree of actions, finding the best chain of actions, and executing the first action in the chain. - * The best action is an action with best incomming predicted state. - * The best predicted state is the state that has the best evalution value by using this formula: value = ball.x + max(0.0, 40.0 - ball.dist(opponent goal center)) - * Due to the complexity of the not simple actions, the agent can not calculate the best action in the first layer of the tree. So, the agent can use the simple actions in the first layer of the tree. -*/ message HeliosOffensivePlanner { - bool direct_pass = 1; // Whether the agent can make a direct pass or not. The direct pass is a pass action that the agent can pass the ball to the position of a teammate player. This action is just used in the first layer of the tree. - bool lead_pass = 2; // Whether the agent can make a lead pass or not. The lead pass is a pass action that the agent can pass the ball to the position of a teammate player with a lead (very cloase to the teammate). This action is just used in the first layer of the tree. - bool through_pass = 3; // Whether the agent can make a through pass or not. The through pass is a pass action that the agent can pass the ball to the position of a teammate player with a through (close or very far from the teammate, between teammates and opponent goal). This action is just used in the first layer of the tree. - bool short_dribble = 4; // Whether the agent can make a short dribble or not. The short dribble is a dribble action that the agent can dribble the ball to a position. This action is just used in the first layer of the tree. - bool long_dribble = 5; // Whether the agent can make a long dribble or not. The long dribble is a dribble action that the agent can dribble the ball to a position. This dribble is longer than the short dribble. This action is just used in the first layer of the tree - bool cross = 6; // Whether the agent can make a cross or not. The cross is a kick action that the agent can kick the ball to the position close to teammate, but it does not care that the teammate can control the ball or not. This action is just used in the first layer of the tree. - bool simple_pass = 7; // Whether the agent can make a simple pass or not. The simple pass is a pass action that the agent can pass the ball to the position of a teammate player. This action is just used in the second or more layers of the tree. This action is not very accurate. - bool simple_dribble = 8; // Whether the agent can make a simple dribble or not. The simple dribble is a dribble action that the agent can dribble the ball to a position. This action is just used in the second or more layers of the tree. This action is not very accurate. - bool simple_shoot = 9; // Whether the agent can make a simple shoot or not. The simple shoot is a kick action that the agent can kick the ball to the opponent goal. This action is just used in the second or more layers of the tree. This action is not very accurate. - bool server_side_decision = 10; // If this value is true, the proxy agent, will create the tree and send all of the nodes to the playmaker server to choose the best action. If this value is false, the proxy agent will choose the best action by itself. + bool direct_pass = 1; + bool lead_pass = 2; + bool through_pass = 3; + bool short_dribble = 4; + bool long_dribble = 5; + bool cross = 6; + bool simple_pass = 7; + bool simple_dribble = 8; + bool simple_shoot = 9; + bool server_side_decision = 10; } message HeliosBasicOffensive {} @@ -1249,6 +1188,10 @@ message ServerParam { float penalty_area_half_width = 220; float penalty_area_length = 221; float goal_width = 222; + float goal_area_width = 223; + float goal_area_length = 224; + float center_circle_r = 225; + float goal_post_radius = 226; } message PlayerParam { @@ -1378,45 +1321,6 @@ message Empty { } service Game { - /* - * The Game service provides various RPC methods for interacting with a soccer simulation. - * - ```mermaid - sequenceDiagram - participant SS as SoccerSimulationServer - participant SP as SoccerSimulationProxy - participant PM as PlayMakerServer - Note over SS,PM: Run - SP->>SS: Connect - SS->>SP: OK, Unum - SS->>SP: ServerParam - SS->>SP: PlayerParam - SS->>SP: PlayerType (0) - SS->>SP: PlayerType (1) - SS->>SP: PlayerType (17) - SP->>PM: Register(RegisterRequest) - PM->>SP: RegisterResponse - SP->>PM: SendInitMessage(InitMessage) - PM->>SP: Empty - SP->>PM: SendServerParams(ServerParam) - PM->>SP: Empty - SP->>PM: SendPlayerParams(PlayerParam) - PM->>SP: Empty - SP->>PM: SendPlayerType(PlayerType(0)) - PM->>SP: Empty - SP->>PM: SendPlayerType(PlayerType(1)) - PM->>SP: Empty - SP->>PM: SendPlayerType(PlayerType(17)) - PM->>SP: Empty - SS->>SP: Observation - Note over SP: Convert observation to State - SP->>PM: GetPlayerActions(State) - PM->>SP: PlayerActions - Note over SP: Convert Actions to Low-Level Commands - SP->>SS: Commands - ``` - */ - rpc GetPlayerActions(State) returns (PlayerActions) {} rpc GetCoachActions(State) returns (CoachActions) {} rpc GetTrainerActions(State) returns (TrainerActions) {} @@ -1427,4 +1331,4 @@ service Game { rpc Register(RegisterRequest) returns (RegisterResponse) {} rpc SendByeCommand(RegisterResponse) returns (Empty) {} rpc GetBestPlannerAction(BestPlannerActionRequest) returns (BestPlannerActionResponse) {} -} \ No newline at end of file +} diff --git a/server.py b/server.py index 0dd1c0e..6839f45 100644 --- a/server.py +++ b/server.py @@ -53,7 +53,7 @@ def GetPlayerActions(self, state: pb2.State): simple_shoot=True, simple_dribble=True, cross=True, - server_side_decision=False + server_side_decision=True ))) actions.append(pb2.PlayerAction(helios_shoot=pb2.HeliosShoot())) else: @@ -65,7 +65,7 @@ def GetPlayerActions(self, state: pb2.State): return pb2.PlayerActions(actions=actions) def GetBestPlannerAction(self, pairs: pb2.BestPlannerActionRequest): - self.logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.state.register_response.uniform_number}") + self.logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.register_response.uniform_number}") pairs_list: list[int, pb2.RpcActionState] = [(k, v) for k, v in pairs.pairs.items()] pairs_list.sort(key=lambda x: x[0]) best_action = max(pairs_list, key=lambda x: -1000 if x[1].action.parent_index != -1 else x[1].predict_state.ball_position.x) @@ -183,8 +183,8 @@ def SendByeCommand(self, register_response: pb2.RegisterResponse, context): return res def GetBestPlannerAction(self, pairs: pb2.BestPlannerActionRequest, context): - main_logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.state.register_response.uniform_number}") - res = self.agents[pairs.state.register_response.client_id].GetBestPlannerAction(pairs) + main_logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.register_response.uniform_number}") + res = self.agents[pairs.register_response.client_id].GetBestPlannerAction(pairs) return res 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.protos.BestPlannerActionRequest\x1a!.protos.BestPlannerActionResponse\"\x00\x62\x06proto3') _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) @@ -39,24 +39,24 @@ _globals['_WORLDMODEL_HELIOSHOMEPOSITIONSENTRY']._serialized_options = b'8\001' _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._loaded_options = None _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_options = b'8\001' - _globals['_VIEWWIDTH']._serialized_start=26938 - _globals['_VIEWWIDTH']._serialized_end=26983 - _globals['_RPCSERVERLANGUAGETYPE']._serialized_start=26985 - _globals['_RPCSERVERLANGUAGETYPE']._serialized_end=27108 - _globals['_SIDE']._serialized_start=27110 - _globals['_SIDE']._serialized_end=27150 - _globals['_LOGGERLEVEL']._serialized_start=27153 - _globals['_LOGGERLEVEL']._serialized_end=27459 - _globals['_CARDTYPE']._serialized_start=27461 - _globals['_CARDTYPE']._serialized_end=27505 - _globals['_INTERCEPTACTIONTYPE']._serialized_start=27507 - 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_globals['_GAMEMODETYPE']._serialized_start=28284 + _globals['_GAMEMODETYPE']._serialized_end=28855 + _globals['_AGENTTYPE']._serialized_start=28857 + _globals['_AGENTTYPE']._serialized_end=28907 + _globals['_RPCACTIONCATEGORY']._serialized_start=28909 + _globals['_RPCACTIONCATEGORY']._serialized_end=29028 _globals['_RPCVECTOR2D']._serialized_start=25 _globals['_RPCVECTOR2D']._serialized_end=89 _globals['_REGISTERREQUEST']._serialized_start=91 @@ -65,268 +65,272 @@ _globals['_REGISTERRESPONSE']._serialized_end=398 _globals['_BALL']._serialized_start=401 _globals['_BALL']._serialized_end=937 - _globals['_PLAYER']._serialized_start=940 - _globals['_PLAYER']._serialized_end=1756 - _globals['_SELF']._serialized_start=1759 - _globals['_SELF']._serialized_end=2830 - _globals['_INTERCEPTINFO']._serialized_start=2833 - _globals['_INTERCEPTINFO']._serialized_end=3109 - _globals['_INTERCEPTTABLE']._serialized_start=3112 - _globals['_INTERCEPTTABLE']._serialized_end=3462 - 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_globals['_HELIOSPENALTY']._serialized_start=13872 + _globals['_HELIOSPENALTY']._serialized_end=13887 + _globals['_HELIOSCOMMUNICAION']._serialized_start=13889 + _globals['_HELIOSCOMMUNICAION']._serialized_end=13909 + _globals['_BHV_DOFORCEKICK']._serialized_start=13911 + _globals['_BHV_DOFORCEKICK']._serialized_end=13928 + _globals['_BHV_DOHEARDPASSRECIEVE']._serialized_start=13930 + _globals['_BHV_DOHEARDPASSRECIEVE']._serialized_end=13954 + _globals['_PLAYERACTION']._serialized_start=13957 + _globals['_PLAYERACTION']._serialized_end=17389 + _globals['_PLAYERACTIONS']._serialized_start=17392 + _globals['_PLAYERACTIONS']._serialized_end=17536 + _globals['_CHANGEPLAYERTYPE']._serialized_start=17538 + _globals['_CHANGEPLAYERTYPE']._serialized_end=17594 + _globals['_DOHELIOSSUBSTITUTE']._serialized_start=17596 + _globals['_DOHELIOSSUBSTITUTE']._serialized_end=17616 + _globals['_DOHELIOSSAYPLAYERTYPES']._serialized_start=17618 + _globals['_DOHELIOSSAYPLAYERTYPES']._serialized_end=17642 + _globals['_COACHACTION']._serialized_start=17645 + _globals['_COACHACTION']._serialized_end=17855 + _globals['_COACHACTIONS']._serialized_start=17857 + _globals['_COACHACTIONS']._serialized_end=17909 + _globals['_DOKICKOFF']._serialized_start=17911 + _globals['_DOKICKOFF']._serialized_end=17922 + _globals['_DOMOVEBALL']._serialized_start=17924 + _globals['_DOMOVEBALL']._serialized_end=18014 + _globals['_DOMOVEPLAYER']._serialized_start=18016 + _globals['_DOMOVEPLAYER']._serialized_end=18135 + _globals['_DORECOVER']._serialized_start=18137 + _globals['_DORECOVER']._serialized_end=18148 + _globals['_DOCHANGEMODE']._serialized_start=18150 + _globals['_DOCHANGEMODE']._serialized_end=18238 + _globals['_DOCHANGEPLAYERTYPE']._serialized_start=18240 + _globals['_DOCHANGEPLAYERTYPE']._serialized_end=18316 + _globals['_TRAINERACTION']._serialized_start=18319 + _globals['_TRAINERACTION']._serialized_end=18628 + _globals['_TRAINERACTIONS']._serialized_start=18630 + _globals['_TRAINERACTIONS']._serialized_end=18686 + _globals['_SERVERPARAM']._serialized_start=18689 + _globals['_SERVERPARAM']._serialized_end=24520 + _globals['_PLAYERPARAM']._serialized_start=24523 + _globals['_PLAYERPARAM']._serialized_end=25560 + _globals['_PLAYERTYPE']._serialized_start=25563 + _globals['_PLAYERTYPE']._serialized_end=26522 + _globals['_RPCCOOPERATIVEACTION']._serialized_start=26525 + _globals['_RPCCOOPERATIVEACTION']._serialized_end=26954 + _globals['_RPCPREDICTSTATE']._serialized_start=26957 + _globals['_RPCPREDICTSTATE']._serialized_end=27164 + _globals['_RPCACTIONSTATE']._serialized_start=27167 + _globals['_RPCACTIONSTATE']._serialized_end=27297 + _globals['_BESTPLANNERACTIONREQUEST']._serialized_start=27300 + _globals['_BESTPLANNERACTIONREQUEST']._serialized_end=27539 + _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_start=27471 + _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_end=27539 + _globals['_BESTPLANNERACTIONRESPONSE']._serialized_start=27541 + _globals['_BESTPLANNERACTIONRESPONSE']._serialized_end=27583 + _globals['_EMPTY']._serialized_start=27585 + _globals['_EMPTY']._serialized_end=27592 + _globals['_GAME']._serialized_start=29031 + _globals['_GAME']._serialized_end=29666 # @@protoc_insertion_point(module_scope) diff --git a/service_pb2.pyi b/service_pb2.pyi index ed8d052..5a5fac3 100644 --- a/service_pb2.pyi +++ b/service_pb2.pyi @@ -281,6 +281,24 @@ class Ball(_message.Message): angle_from_self: float def __init__(self, position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., relative_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., pos_count: _Optional[int] = ..., seen_pos_count: _Optional[int] = ..., heard_pos_count: _Optional[int] = ..., vel_count: _Optional[int] = ..., seen_vel_count: _Optional[int] = ..., heard_vel_count: _Optional[int] = ..., lost_count: _Optional[int] = ..., ghost_count: _Optional[int] = ..., dist_from_self: _Optional[float] = ..., angle_from_self: _Optional[float] = ...) -> None: ... +class PenaltyKickState(_message.Message): + __slots__ = ("on_field_side", "current_taker_side", "our_taker_counter", "their_taker_counter", "our_score", "their_score", "is_kick_taker") + ON_FIELD_SIDE_FIELD_NUMBER: _ClassVar[int] + CURRENT_TAKER_SIDE_FIELD_NUMBER: _ClassVar[int] + OUR_TAKER_COUNTER_FIELD_NUMBER: _ClassVar[int] + THEIR_TAKER_COUNTER_FIELD_NUMBER: _ClassVar[int] + OUR_SCORE_FIELD_NUMBER: _ClassVar[int] + THEIR_SCORE_FIELD_NUMBER: _ClassVar[int] + IS_KICK_TAKER_FIELD_NUMBER: _ClassVar[int] + on_field_side: Side + current_taker_side: Side + our_taker_counter: int + their_taker_counter: int + our_score: int + their_score: int + is_kick_taker: bool + def __init__(self, on_field_side: _Optional[_Union[Side, str]] = ..., current_taker_side: _Optional[_Union[Side, str]] = ..., our_taker_counter: _Optional[int] = ..., their_taker_counter: _Optional[int] = ..., our_score: _Optional[int] = ..., their_score: _Optional[int] = ..., is_kick_taker: bool = ...) -> None: ... + class Player(_message.Message): __slots__ = ("position", "seen_position", "heard_position", "velocity", "seen_velocity", "pos_count", "seen_pos_count", "heard_pos_count", "vel_count", "seen_vel_count", "ghost_count", "dist_from_self", "angle_from_self", "id", "side", "uniform_number", "uniform_number_count", "is_goalie", "body_direction", "body_direction_count", "face_direction", "face_direction_count", "point_to_direction", "point_to_direction_count", "is_kicking", "dist_from_ball", "angle_from_ball", "ball_reach_steps", "is_tackling", "type_id") POSITION_FIELD_NUMBER: _ClassVar[int] @@ -346,7 +364,7 @@ class Player(_message.Message): def __init__(self, position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., pos_count: _Optional[int] = ..., seen_pos_count: _Optional[int] = ..., heard_pos_count: _Optional[int] = ..., vel_count: _Optional[int] = ..., seen_vel_count: _Optional[int] = ..., ghost_count: _Optional[int] = ..., dist_from_self: _Optional[float] = ..., angle_from_self: _Optional[float] = ..., id: _Optional[int] = ..., side: _Optional[_Union[Side, str]] = ..., uniform_number: _Optional[int] = ..., uniform_number_count: _Optional[int] = ..., is_goalie: bool = ..., body_direction: _Optional[float] = ..., body_direction_count: _Optional[int] = ..., face_direction: _Optional[float] = ..., face_direction_count: _Optional[int] = ..., point_to_direction: _Optional[float] = ..., point_to_direction_count: _Optional[int] = ..., is_kicking: bool = ..., dist_from_ball: _Optional[float] = ..., angle_from_ball: _Optional[float] = ..., ball_reach_steps: _Optional[int] = ..., is_tackling: bool = ..., type_id: _Optional[int] = ...) -> None: ... class Self(_message.Message): - __slots__ = ("position", "seen_position", "heard_position", "velocity", "seen_velocity", "pos_count", "seen_pos_count", "heard_pos_count", "vel_count", "seen_vel_count", "ghost_count", "id", "side", "uniform_number", "uniform_number_count", "is_goalie", "body_direction", "body_direction_count", "face_direction", "face_direction_count", "point_to_direction", "point_to_direction_count", "is_kicking", "dist_from_ball", "angle_from_ball", "ball_reach_steps", "is_tackling", "relative_neck_direction", "stamina", "is_kickable", "catch_probability", "tackle_probability", "foul_probability", "view_width", "type_id", "kick_rate", "recovery", "stamina_capacity", "card", "catch_time") + __slots__ = ("position", "seen_position", "heard_position", "velocity", "seen_velocity", "pos_count", "seen_pos_count", "heard_pos_count", "vel_count", "seen_vel_count", "ghost_count", "id", "side", "uniform_number", "uniform_number_count", "is_goalie", "body_direction", "body_direction_count", "face_direction", "face_direction_count", "point_to_direction", "point_to_direction_count", "is_kicking", "dist_from_ball", "angle_from_ball", "ball_reach_steps", "is_tackling", "relative_neck_direction", "stamina", "is_kickable", "catch_probability", "tackle_probability", "foul_probability", "view_width", "type_id", "kick_rate", "recovery", "stamina_capacity", "card", "catch_time", "effort") POSITION_FIELD_NUMBER: _ClassVar[int] SEEN_POSITION_FIELD_NUMBER: _ClassVar[int] HEARD_POSITION_FIELD_NUMBER: _ClassVar[int] @@ -387,6 +405,7 @@ class Self(_message.Message): STAMINA_CAPACITY_FIELD_NUMBER: _ClassVar[int] CARD_FIELD_NUMBER: _ClassVar[int] CATCH_TIME_FIELD_NUMBER: _ClassVar[int] + EFFORT_FIELD_NUMBER: _ClassVar[int] position: RpcVector2D seen_position: RpcVector2D heard_position: RpcVector2D @@ -427,7 +446,8 @@ class Self(_message.Message): stamina_capacity: float card: CardType catch_time: int - def __init__(self, position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., pos_count: _Optional[int] = ..., seen_pos_count: _Optional[int] = ..., heard_pos_count: _Optional[int] = ..., vel_count: _Optional[int] = ..., seen_vel_count: _Optional[int] = ..., ghost_count: _Optional[int] = ..., id: _Optional[int] = ..., side: _Optional[_Union[Side, str]] = ..., uniform_number: _Optional[int] = ..., uniform_number_count: _Optional[int] = ..., is_goalie: bool = ..., body_direction: _Optional[float] = ..., body_direction_count: _Optional[int] = ..., face_direction: _Optional[float] = ..., face_direction_count: _Optional[int] = ..., point_to_direction: _Optional[float] = ..., point_to_direction_count: _Optional[int] = ..., is_kicking: bool = ..., dist_from_ball: _Optional[float] = ..., angle_from_ball: _Optional[float] = ..., ball_reach_steps: _Optional[int] = ..., is_tackling: bool = ..., relative_neck_direction: _Optional[float] = ..., stamina: _Optional[float] = ..., is_kickable: bool = ..., catch_probability: _Optional[float] = ..., tackle_probability: _Optional[float] = ..., foul_probability: _Optional[float] = ..., view_width: _Optional[_Union[ViewWidth, str]] = ..., type_id: _Optional[int] = ..., kick_rate: _Optional[float] = ..., recovery: _Optional[float] = ..., stamina_capacity: _Optional[float] = ..., card: _Optional[_Union[CardType, str]] = ..., catch_time: _Optional[int] = ...) -> None: ... + effort: float + def __init__(self, position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., pos_count: _Optional[int] = ..., seen_pos_count: _Optional[int] = ..., heard_pos_count: _Optional[int] = ..., vel_count: _Optional[int] = ..., seen_vel_count: _Optional[int] = ..., ghost_count: _Optional[int] = ..., id: _Optional[int] = ..., side: _Optional[_Union[Side, str]] = ..., uniform_number: _Optional[int] = ..., uniform_number_count: _Optional[int] = ..., is_goalie: bool = ..., body_direction: _Optional[float] = ..., body_direction_count: _Optional[int] = ..., face_direction: _Optional[float] = ..., face_direction_count: _Optional[int] = ..., point_to_direction: _Optional[float] = ..., point_to_direction_count: _Optional[int] = ..., is_kicking: bool = ..., dist_from_ball: _Optional[float] = ..., angle_from_ball: _Optional[float] = ..., ball_reach_steps: _Optional[int] = ..., is_tackling: bool = ..., relative_neck_direction: _Optional[float] = ..., stamina: _Optional[float] = ..., is_kickable: bool = ..., catch_probability: _Optional[float] = ..., tackle_probability: _Optional[float] = ..., foul_probability: _Optional[float] = ..., view_width: _Optional[_Union[ViewWidth, str]] = ..., type_id: _Optional[int] = ..., kick_rate: _Optional[float] = ..., recovery: _Optional[float] = ..., stamina_capacity: _Optional[float] = ..., card: _Optional[_Union[CardType, str]] = ..., catch_time: _Optional[int] = ..., effort: _Optional[float] = ...) -> None: ... class InterceptInfo(_message.Message): __slots__ = ("action_type", "turn_steps", "turn_angle", "dash_steps", "dash_power", "dash_dir", "final_self_position", "final_ball_dist", "final_stamina", "value") @@ -478,7 +498,7 @@ class InterceptTable(_message.Message): def __init__(self, self_reach_steps: _Optional[int] = ..., first_teammate_reach_steps: _Optional[int] = ..., second_teammate_reach_steps: _Optional[int] = ..., first_opponent_reach_steps: _Optional[int] = ..., second_opponent_reach_steps: _Optional[int] = ..., first_teammate_id: _Optional[int] = ..., second_teammate_id: _Optional[int] = ..., first_opponent_id: _Optional[int] = ..., second_opponent_id: _Optional[int] = ..., self_intercept_info: _Optional[_Iterable[_Union[InterceptInfo, _Mapping]]] = ...) -> None: ... class WorldModel(_message.Message): - __slots__ = ("intercept_table", "our_team_name", "their_team_name", "our_side", "last_set_play_start_time", "self", "ball", "teammates", "opponents", "unknowns", "our_players_dict", "their_players_dict", "our_goalie_uniform_number", "their_goalie_uniform_number", "offside_line_x", "ofside_line_x_count", "kickable_teammate_id", "kickable_opponent_id", "last_kick_side", "last_kicker_uniform_number", "cycle", "game_mode_type", "left_team_score", "right_team_score", "is_our_set_play", "is_their_set_play", "stoped_cycle", "our_team_score", "their_team_score", "is_penalty_kick_mode", "helios_home_positions", "our_defense_line_x", "their_defense_line_x", "our_defense_player_line_x", "their_defense_player_line_x", "kickable_teammate_existance", "kickable_opponent_existance") + __slots__ = ("intercept_table", "our_team_name", "their_team_name", "our_side", "last_set_play_start_time", "self", "ball", "teammates", "opponents", "unknowns", "our_players_dict", "their_players_dict", "our_goalie_uniform_number", "their_goalie_uniform_number", "offside_line_x", "ofside_line_x_count", "kickable_teammate_id", "kickable_opponent_id", "last_kick_side", "last_kicker_uniform_number", "cycle", "game_mode_type", "left_team_score", "right_team_score", "is_our_set_play", "is_their_set_play", "stoped_cycle", "our_team_score", "their_team_score", "is_penalty_kick_mode", "helios_home_positions", "our_defense_line_x", "their_defense_line_x", "our_defense_player_line_x", "their_defense_player_line_x", "kickable_teammate_existance", "kickable_opponent_existance", "penalty_kick_state", "see_time", "time_stopped", "set_play_count", "game_mode_side") class OurPlayersDictEntry(_message.Message): __slots__ = ("key", "value") KEY_FIELD_NUMBER: _ClassVar[int] @@ -537,6 +557,11 @@ class WorldModel(_message.Message): THEIR_DEFENSE_PLAYER_LINE_X_FIELD_NUMBER: _ClassVar[int] KICKABLE_TEAMMATE_EXISTANCE_FIELD_NUMBER: _ClassVar[int] KICKABLE_OPPONENT_EXISTANCE_FIELD_NUMBER: _ClassVar[int] + PENALTY_KICK_STATE_FIELD_NUMBER: _ClassVar[int] + SEE_TIME_FIELD_NUMBER: _ClassVar[int] + TIME_STOPPED_FIELD_NUMBER: _ClassVar[int] + SET_PLAY_COUNT_FIELD_NUMBER: _ClassVar[int] + GAME_MODE_SIDE_FIELD_NUMBER: _ClassVar[int] intercept_table: InterceptTable our_team_name: str their_team_name: str @@ -574,7 +599,12 @@ class WorldModel(_message.Message): their_defense_player_line_x: float kickable_teammate_existance: bool kickable_opponent_existance: bool - def __init__(self, intercept_table: _Optional[_Union[InterceptTable, _Mapping]] = ..., our_team_name: _Optional[str] = ..., their_team_name: _Optional[str] = ..., our_side: _Optional[_Union[Side, str]] = ..., last_set_play_start_time: _Optional[int] = ..., self: _Optional[_Union[Self, _Mapping]] = ..., ball: _Optional[_Union[Ball, _Mapping]] = ..., teammates: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., opponents: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., unknowns: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., our_players_dict: _Optional[_Mapping[int, Player]] = ..., their_players_dict: _Optional[_Mapping[int, Player]] = ..., our_goalie_uniform_number: _Optional[int] = ..., their_goalie_uniform_number: _Optional[int] = ..., offside_line_x: _Optional[float] = ..., ofside_line_x_count: _Optional[int] = ..., kickable_teammate_id: _Optional[int] = ..., kickable_opponent_id: _Optional[int] = ..., last_kick_side: _Optional[_Union[Side, str]] = ..., last_kicker_uniform_number: _Optional[int] = ..., cycle: _Optional[int] = ..., game_mode_type: _Optional[_Union[GameModeType, str]] = ..., left_team_score: _Optional[int] = ..., right_team_score: _Optional[int] = ..., is_our_set_play: bool = ..., is_their_set_play: bool = ..., stoped_cycle: _Optional[int] = ..., our_team_score: _Optional[int] = ..., their_team_score: _Optional[int] = ..., is_penalty_kick_mode: bool = ..., helios_home_positions: _Optional[_Mapping[int, RpcVector2D]] = ..., our_defense_line_x: _Optional[float] = ..., their_defense_line_x: _Optional[float] = ..., our_defense_player_line_x: _Optional[float] = ..., their_defense_player_line_x: _Optional[float] = ..., kickable_teammate_existance: bool = ..., kickable_opponent_existance: bool = ...) -> None: ... + penalty_kick_state: PenaltyKickState + see_time: int + time_stopped: int + set_play_count: int + game_mode_side: Side + def __init__(self, intercept_table: _Optional[_Union[InterceptTable, _Mapping]] = ..., our_team_name: _Optional[str] = ..., their_team_name: _Optional[str] = ..., our_side: _Optional[_Union[Side, str]] = ..., last_set_play_start_time: _Optional[int] = ..., self: _Optional[_Union[Self, _Mapping]] = ..., ball: _Optional[_Union[Ball, _Mapping]] = ..., teammates: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., opponents: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., unknowns: _Optional[_Iterable[_Union[Player, _Mapping]]] = ..., our_players_dict: _Optional[_Mapping[int, Player]] = ..., their_players_dict: _Optional[_Mapping[int, Player]] = ..., our_goalie_uniform_number: _Optional[int] = ..., their_goalie_uniform_number: _Optional[int] = ..., offside_line_x: _Optional[float] = ..., ofside_line_x_count: _Optional[int] = ..., kickable_teammate_id: _Optional[int] = ..., kickable_opponent_id: _Optional[int] = ..., last_kick_side: _Optional[_Union[Side, str]] = ..., last_kicker_uniform_number: _Optional[int] = ..., cycle: _Optional[int] = ..., game_mode_type: _Optional[_Union[GameModeType, str]] = ..., left_team_score: _Optional[int] = ..., right_team_score: _Optional[int] = ..., is_our_set_play: bool = ..., is_their_set_play: bool = ..., stoped_cycle: _Optional[int] = ..., our_team_score: _Optional[int] = ..., their_team_score: _Optional[int] = ..., is_penalty_kick_mode: bool = ..., helios_home_positions: _Optional[_Mapping[int, RpcVector2D]] = ..., our_defense_line_x: _Optional[float] = ..., their_defense_line_x: _Optional[float] = ..., our_defense_player_line_x: _Optional[float] = ..., their_defense_player_line_x: _Optional[float] = ..., kickable_teammate_existance: bool = ..., kickable_opponent_existance: bool = ..., penalty_kick_state: _Optional[_Union[PenaltyKickState, _Mapping]] = ..., see_time: _Optional[int] = ..., time_stopped: _Optional[int] = ..., set_play_count: _Optional[int] = ..., game_mode_side: _Optional[_Union[Side, str]] = ...) -> None: ... class State(_message.Message): __slots__ = ("register_response", "world_model", "full_world_model", "need_preprocess") @@ -1396,8 +1426,12 @@ class bhv_doForceKick(_message.Message): __slots__ = () def __init__(self) -> None: ... +class bhv_doHeardPassRecieve(_message.Message): + __slots__ = () + def __init__(self) -> None: ... + class PlayerAction(_message.Message): - __slots__ = ("dash", "turn", "kick", "tackle", "catch", "move", "turn_neck", "change_view", "say", "point_to", "point_to_of", "attention_to", "attention_to_of", "log", "debug_client", "body_go_to_point", "body_smart_kick", "bhv_before_kick_off", "bhv_body_neck_to_ball", "bhv_body_neck_to_point", "bhv_emergency", "bhv_go_to_point_look_ball", "bhv_neck_body_to_ball", "bhv_neck_body_to_point", "bhv_scan_field", "body_advance_ball", "body_clear_ball", "body_dribble", "body_go_to_point_dodge", "body_hold_ball", "body_intercept", "body_kick_one_step", "body_stop_ball", "body_stop_dash", "body_tackle_to_point", "body_turn_to_angle", "body_turn_to_ball", "body_turn_to_point", "focus_move_to_point", "focus_reset", "neck_scan_field", "neck_scan_players", "neck_turn_to_ball_and_player", "neck_turn_to_ball_or_scan", "neck_turn_to_ball", "neck_turn_to_goalie_or_scan", "neck_turn_to_low_conf_teammate", "neck_turn_to_player_or_scan", "neck_turn_to_point", "neck_turn_to_relative", "view_change_width", "view_normal", "view_synch", "view_wide", "helios_goalie", "helios_goalie_move", "helios_goalie_kick", "helios_shoot", "helios_offensive_planner", "helios_basic_offensive", "helios_basic_move", "helios_set_play", "helios_penalty", "helios_communication", "bhv_do_force_kick") + __slots__ = ("dash", "turn", "kick", "tackle", "catch", "move", "turn_neck", "change_view", "say", "point_to", "point_to_of", "attention_to", "attention_to_of", "log", "debug_client", "body_go_to_point", "body_smart_kick", "bhv_before_kick_off", "bhv_body_neck_to_ball", "bhv_body_neck_to_point", "bhv_emergency", "bhv_go_to_point_look_ball", "bhv_neck_body_to_ball", "bhv_neck_body_to_point", "bhv_scan_field", "body_advance_ball", "body_clear_ball", "body_dribble", "body_go_to_point_dodge", "body_hold_ball", "body_intercept", "body_kick_one_step", "body_stop_ball", "body_stop_dash", "body_tackle_to_point", "body_turn_to_angle", "body_turn_to_ball", "body_turn_to_point", "focus_move_to_point", "focus_reset", "neck_scan_field", "neck_scan_players", "neck_turn_to_ball_and_player", "neck_turn_to_ball_or_scan", "neck_turn_to_ball", "neck_turn_to_goalie_or_scan", "neck_turn_to_low_conf_teammate", "neck_turn_to_player_or_scan", "neck_turn_to_point", "neck_turn_to_relative", "view_change_width", "view_normal", "view_synch", "view_wide", "helios_goalie", "helios_goalie_move", "helios_goalie_kick", "helios_shoot", "helios_offensive_planner", "helios_basic_offensive", "helios_basic_move", "helios_set_play", "helios_penalty", "helios_communication", "bhv_do_force_kick", "bhv_do_heard_pass_recieve") DASH_FIELD_NUMBER: _ClassVar[int] TURN_FIELD_NUMBER: _ClassVar[int] KICK_FIELD_NUMBER: _ClassVar[int] @@ -1463,6 +1497,7 @@ class PlayerAction(_message.Message): HELIOS_PENALTY_FIELD_NUMBER: _ClassVar[int] HELIOS_COMMUNICATION_FIELD_NUMBER: _ClassVar[int] BHV_DO_FORCE_KICK_FIELD_NUMBER: _ClassVar[int] + BHV_DO_HEARD_PASS_RECIEVE_FIELD_NUMBER: _ClassVar[int] dash: Dash turn: Turn kick: Kick @@ -1528,15 +1563,20 @@ class PlayerAction(_message.Message): helios_penalty: HeliosPenalty helios_communication: HeliosCommunicaion bhv_do_force_kick: bhv_doForceKick - def __init__(self, dash: _Optional[_Union[Dash, _Mapping]] = ..., turn: _Optional[_Union[Turn, _Mapping]] = ..., kick: _Optional[_Union[Kick, _Mapping]] = ..., tackle: _Optional[_Union[Tackle, _Mapping]] = ..., catch: _Optional[_Union[Catch, _Mapping]] = ..., move: _Optional[_Union[Move, _Mapping]] = ..., turn_neck: _Optional[_Union[TurnNeck, _Mapping]] = ..., change_view: _Optional[_Union[ChangeView, _Mapping]] = ..., say: _Optional[_Union[Say, _Mapping]] = ..., point_to: _Optional[_Union[PointTo, _Mapping]] = ..., point_to_of: _Optional[_Union[PointToOf, _Mapping]] = ..., attention_to: _Optional[_Union[AttentionTo, _Mapping]] = ..., attention_to_of: _Optional[_Union[AttentionToOf, _Mapping]] = ..., log: _Optional[_Union[Log, _Mapping]] = ..., debug_client: _Optional[_Union[DebugClient, _Mapping]] = ..., body_go_to_point: _Optional[_Union[Body_GoToPoint, _Mapping]] = ..., body_smart_kick: _Optional[_Union[Body_SmartKick, _Mapping]] = ..., bhv_before_kick_off: _Optional[_Union[Bhv_BeforeKickOff, _Mapping]] = ..., bhv_body_neck_to_ball: _Optional[_Union[Bhv_BodyNeckToBall, _Mapping]] = ..., bhv_body_neck_to_point: _Optional[_Union[Bhv_BodyNeckToPoint, _Mapping]] = ..., bhv_emergency: _Optional[_Union[Bhv_Emergency, _Mapping]] = ..., bhv_go_to_point_look_ball: _Optional[_Union[Bhv_GoToPointLookBall, _Mapping]] = ..., bhv_neck_body_to_ball: _Optional[_Union[Bhv_NeckBodyToBall, _Mapping]] = ..., bhv_neck_body_to_point: _Optional[_Union[Bhv_NeckBodyToPoint, _Mapping]] = ..., bhv_scan_field: _Optional[_Union[Bhv_ScanField, _Mapping]] = ..., body_advance_ball: _Optional[_Union[Body_AdvanceBall, _Mapping]] = ..., body_clear_ball: _Optional[_Union[Body_ClearBall, _Mapping]] = ..., body_dribble: _Optional[_Union[Body_Dribble, _Mapping]] = ..., body_go_to_point_dodge: _Optional[_Union[Body_GoToPointDodge, _Mapping]] = ..., body_hold_ball: _Optional[_Union[Body_HoldBall, _Mapping]] = ..., body_intercept: _Optional[_Union[Body_Intercept, _Mapping]] = ..., body_kick_one_step: _Optional[_Union[Body_KickOneStep, _Mapping]] = ..., body_stop_ball: _Optional[_Union[Body_StopBall, _Mapping]] = ..., body_stop_dash: _Optional[_Union[Body_StopDash, _Mapping]] = ..., body_tackle_to_point: _Optional[_Union[Body_TackleToPoint, _Mapping]] = ..., body_turn_to_angle: _Optional[_Union[Body_TurnToAngle, _Mapping]] = ..., body_turn_to_ball: _Optional[_Union[Body_TurnToBall, _Mapping]] = ..., body_turn_to_point: _Optional[_Union[Body_TurnToPoint, _Mapping]] = ..., focus_move_to_point: _Optional[_Union[Focus_MoveToPoint, _Mapping]] = ..., focus_reset: _Optional[_Union[Focus_Reset, _Mapping]] = ..., neck_scan_field: _Optional[_Union[Neck_ScanField, _Mapping]] = ..., neck_scan_players: _Optional[_Union[Neck_ScanPlayers, _Mapping]] = ..., neck_turn_to_ball_and_player: _Optional[_Union[Neck_TurnToBallAndPlayer, _Mapping]] = ..., neck_turn_to_ball_or_scan: _Optional[_Union[Neck_TurnToBallOrScan, _Mapping]] = ..., neck_turn_to_ball: _Optional[_Union[Neck_TurnToBall, _Mapping]] = ..., neck_turn_to_goalie_or_scan: _Optional[_Union[Neck_TurnToGoalieOrScan, _Mapping]] = ..., neck_turn_to_low_conf_teammate: _Optional[_Union[Neck_TurnToLowConfTeammate, _Mapping]] = ..., neck_turn_to_player_or_scan: _Optional[_Union[Neck_TurnToPlayerOrScan, _Mapping]] = ..., neck_turn_to_point: _Optional[_Union[Neck_TurnToPoint, _Mapping]] = ..., neck_turn_to_relative: _Optional[_Union[Neck_TurnToRelative, _Mapping]] = ..., view_change_width: _Optional[_Union[View_ChangeWidth, _Mapping]] = ..., view_normal: _Optional[_Union[View_Normal, _Mapping]] = ..., view_synch: _Optional[_Union[View_Synch, _Mapping]] = ..., view_wide: _Optional[_Union[View_Wide, _Mapping]] = ..., helios_goalie: _Optional[_Union[HeliosGoalie, _Mapping]] = ..., helios_goalie_move: _Optional[_Union[HeliosGoalieMove, _Mapping]] = ..., helios_goalie_kick: _Optional[_Union[HeliosGoalieKick, _Mapping]] = ..., helios_shoot: _Optional[_Union[HeliosShoot, _Mapping]] = ..., helios_offensive_planner: _Optional[_Union[HeliosOffensivePlanner, _Mapping]] = ..., helios_basic_offensive: _Optional[_Union[HeliosBasicOffensive, _Mapping]] = ..., helios_basic_move: _Optional[_Union[HeliosBasicMove, _Mapping]] = ..., helios_set_play: _Optional[_Union[HeliosSetPlay, _Mapping]] = ..., helios_penalty: _Optional[_Union[HeliosPenalty, _Mapping]] = ..., helios_communication: _Optional[_Union[HeliosCommunicaion, _Mapping]] = ..., bhv_do_force_kick: _Optional[_Union[bhv_doForceKick, _Mapping]] = ...) -> None: ... + bhv_do_heard_pass_recieve: bhv_doHeardPassRecieve + def __init__(self, dash: _Optional[_Union[Dash, _Mapping]] = ..., turn: _Optional[_Union[Turn, _Mapping]] = ..., kick: _Optional[_Union[Kick, _Mapping]] = ..., tackle: _Optional[_Union[Tackle, _Mapping]] = ..., catch: _Optional[_Union[Catch, _Mapping]] = ..., move: _Optional[_Union[Move, _Mapping]] = ..., turn_neck: _Optional[_Union[TurnNeck, _Mapping]] = ..., change_view: _Optional[_Union[ChangeView, _Mapping]] = ..., say: _Optional[_Union[Say, _Mapping]] = ..., point_to: _Optional[_Union[PointTo, _Mapping]] = ..., point_to_of: _Optional[_Union[PointToOf, _Mapping]] = ..., attention_to: _Optional[_Union[AttentionTo, _Mapping]] = ..., attention_to_of: _Optional[_Union[AttentionToOf, _Mapping]] = ..., log: _Optional[_Union[Log, _Mapping]] = ..., debug_client: _Optional[_Union[DebugClient, _Mapping]] = ..., body_go_to_point: _Optional[_Union[Body_GoToPoint, _Mapping]] = ..., body_smart_kick: _Optional[_Union[Body_SmartKick, _Mapping]] = ..., bhv_before_kick_off: _Optional[_Union[Bhv_BeforeKickOff, _Mapping]] = ..., bhv_body_neck_to_ball: _Optional[_Union[Bhv_BodyNeckToBall, _Mapping]] = ..., bhv_body_neck_to_point: _Optional[_Union[Bhv_BodyNeckToPoint, _Mapping]] = ..., bhv_emergency: _Optional[_Union[Bhv_Emergency, _Mapping]] = ..., bhv_go_to_point_look_ball: _Optional[_Union[Bhv_GoToPointLookBall, _Mapping]] = ..., bhv_neck_body_to_ball: _Optional[_Union[Bhv_NeckBodyToBall, _Mapping]] = ..., bhv_neck_body_to_point: _Optional[_Union[Bhv_NeckBodyToPoint, _Mapping]] = ..., bhv_scan_field: _Optional[_Union[Bhv_ScanField, _Mapping]] = ..., body_advance_ball: _Optional[_Union[Body_AdvanceBall, _Mapping]] = ..., body_clear_ball: _Optional[_Union[Body_ClearBall, _Mapping]] = ..., body_dribble: _Optional[_Union[Body_Dribble, _Mapping]] = ..., body_go_to_point_dodge: _Optional[_Union[Body_GoToPointDodge, _Mapping]] = ..., body_hold_ball: _Optional[_Union[Body_HoldBall, _Mapping]] = ..., body_intercept: _Optional[_Union[Body_Intercept, _Mapping]] = ..., body_kick_one_step: _Optional[_Union[Body_KickOneStep, _Mapping]] = ..., body_stop_ball: _Optional[_Union[Body_StopBall, _Mapping]] = ..., body_stop_dash: _Optional[_Union[Body_StopDash, _Mapping]] = ..., body_tackle_to_point: _Optional[_Union[Body_TackleToPoint, _Mapping]] = ..., body_turn_to_angle: _Optional[_Union[Body_TurnToAngle, _Mapping]] = ..., body_turn_to_ball: _Optional[_Union[Body_TurnToBall, _Mapping]] = ..., body_turn_to_point: _Optional[_Union[Body_TurnToPoint, _Mapping]] = ..., focus_move_to_point: _Optional[_Union[Focus_MoveToPoint, _Mapping]] = ..., focus_reset: _Optional[_Union[Focus_Reset, _Mapping]] = ..., neck_scan_field: _Optional[_Union[Neck_ScanField, _Mapping]] = ..., neck_scan_players: _Optional[_Union[Neck_ScanPlayers, _Mapping]] = ..., neck_turn_to_ball_and_player: _Optional[_Union[Neck_TurnToBallAndPlayer, _Mapping]] = ..., neck_turn_to_ball_or_scan: _Optional[_Union[Neck_TurnToBallOrScan, _Mapping]] = ..., neck_turn_to_ball: _Optional[_Union[Neck_TurnToBall, _Mapping]] = ..., neck_turn_to_goalie_or_scan: _Optional[_Union[Neck_TurnToGoalieOrScan, _Mapping]] = ..., neck_turn_to_low_conf_teammate: _Optional[_Union[Neck_TurnToLowConfTeammate, _Mapping]] = ..., neck_turn_to_player_or_scan: _Optional[_Union[Neck_TurnToPlayerOrScan, _Mapping]] = ..., neck_turn_to_point: _Optional[_Union[Neck_TurnToPoint, _Mapping]] = ..., neck_turn_to_relative: _Optional[_Union[Neck_TurnToRelative, _Mapping]] = ..., view_change_width: _Optional[_Union[View_ChangeWidth, _Mapping]] = ..., view_normal: _Optional[_Union[View_Normal, _Mapping]] = ..., view_synch: _Optional[_Union[View_Synch, _Mapping]] = ..., view_wide: _Optional[_Union[View_Wide, _Mapping]] = ..., helios_goalie: _Optional[_Union[HeliosGoalie, _Mapping]] = ..., helios_goalie_move: _Optional[_Union[HeliosGoalieMove, _Mapping]] = ..., helios_goalie_kick: _Optional[_Union[HeliosGoalieKick, _Mapping]] = ..., helios_shoot: _Optional[_Union[HeliosShoot, _Mapping]] = ..., helios_offensive_planner: _Optional[_Union[HeliosOffensivePlanner, _Mapping]] = ..., helios_basic_offensive: _Optional[_Union[HeliosBasicOffensive, _Mapping]] = ..., helios_basic_move: _Optional[_Union[HeliosBasicMove, _Mapping]] = ..., helios_set_play: _Optional[_Union[HeliosSetPlay, _Mapping]] = ..., helios_penalty: _Optional[_Union[HeliosPenalty, _Mapping]] = ..., helios_communication: _Optional[_Union[HeliosCommunicaion, _Mapping]] = ..., bhv_do_force_kick: _Optional[_Union[bhv_doForceKick, _Mapping]] = ..., bhv_do_heard_pass_recieve: _Optional[_Union[bhv_doHeardPassRecieve, _Mapping]] = ...) -> None: ... class PlayerActions(_message.Message): - __slots__ = ("actions", "ignore_preprocess") + __slots__ = ("actions", "ignore_preprocess", "ignore_doforcekick", "ignore_doHeardPassRecieve") ACTIONS_FIELD_NUMBER: _ClassVar[int] IGNORE_PREPROCESS_FIELD_NUMBER: _ClassVar[int] + IGNORE_DOFORCEKICK_FIELD_NUMBER: _ClassVar[int] + IGNORE_DOHEARDPASSRECIEVE_FIELD_NUMBER: _ClassVar[int] actions: _containers.RepeatedCompositeFieldContainer[PlayerAction] ignore_preprocess: bool - def __init__(self, actions: _Optional[_Iterable[_Union[PlayerAction, _Mapping]]] = ..., ignore_preprocess: bool = ...) -> None: ... + ignore_doforcekick: bool + ignore_doHeardPassRecieve: bool + def __init__(self, actions: _Optional[_Iterable[_Union[PlayerAction, _Mapping]]] = ..., ignore_preprocess: bool = ..., ignore_doforcekick: bool = ..., ignore_doHeardPassRecieve: bool = ...) -> None: ... class ChangePlayerType(_message.Message): __slots__ = ("uniform_number", "type") @@ -1639,7 +1679,7 @@ class TrainerActions(_message.Message): def __init__(self, actions: _Optional[_Iterable[_Union[TrainerAction, _Mapping]]] = ...) -> None: ... class ServerParam(_message.Message): - __slots__ = ("register_response", "inertia_moment", "player_size", "player_decay", "player_rand", "player_weight", "player_speed_max", "player_accel_max", "stamina_max", "stamina_inc_max", "recover_init", "recover_dec_thr", "recover_min", "recover_dec", "effort_init", "effort_dec_thr", "effort_min", "effort_dec", "effort_inc_thr", "effort_inc", "kick_rand", "team_actuator_noise", "player_rand_factor_l", "player_rand_factor_r", "kick_rand_factor_l", "kick_rand_factor_r", "ball_size", "ball_decay", "ball_rand", "ball_weight", "ball_speed_max", "ball_accel_max", "dash_power_rate", "kick_power_rate", "kickable_margin", "control_radius", "control_radius_width", "max_power", "min_power", "max_moment", "min_moment", "max_neck_moment", "min_neck_moment", "max_neck_angle", "min_neck_angle", "visible_angle", "visible_distance", "wind_dir", "wind_force", "wind_angle", "wind_rand", "kickable_area", "catch_area_l", "catch_area_w", "catch_probability", "goalie_max_moves", "corner_kick_margin", "offside_active_area_size", "wind_none", "use_wind_random", "coach_say_count_max", "coach_say_msg_size", "clang_win_size", "clang_define_win", "clang_meta_win", "clang_advice_win", "clang_info_win", "clang_mess_delay", "clang_mess_per_cycle", "half_time", "simulator_step", "send_step", "recv_step", "sense_body_step", "lcm_step", "player_say_msg_size", "player_hear_max", "player_hear_inc", "player_hear_decay", "catch_ban_cycle", "slow_down_factor", "use_offside", "kickoff_offside", "offside_kick_margin", "audio_cut_dist", "dist_quantize_step", "landmark_dist_quantize_step", "dir_quantize_step", "dist_quantize_step_l", "dist_quantize_step_r", "landmark_dist_quantize_step_l", "landmark_dist_quantize_step_r", "dir_quantize_step_l", "dir_quantize_step_r", "coach_mode", "coach_with_referee_mode", "use_old_coach_hear", "slowness_on_top_for_left_team", "slowness_on_top_for_right_team", "start_goal_l", "start_goal_r", "fullstate_l", "fullstate_r", "drop_ball_time", "synch_mode", "synch_offset", "synch_micro_sleep", "point_to_ban", "point_to_duration", "player_port", "trainer_port", "online_coach_port", "verbose_mode", "coach_send_vi_step", "replay_file", "landmark_file", "send_comms", "text_logging", "game_logging", "game_log_version", "text_log_dir", "game_log_dir", "text_log_fixed_name", "game_log_fixed_name", "use_text_log_fixed", "use_game_log_fixed", "use_text_log_dated", "use_game_log_dated", "log_date_format", "log_times", "record_message", "text_log_compression", "game_log_compression", "use_profile", "tackle_dist", "tackle_back_dist", "tackle_width", "tackle_exponent", "tackle_cycles", "tackle_power_rate", "freeform_wait_period", "freeform_send_period", "free_kick_faults", "back_passes", "proper_goal_kicks", "stopped_ball_vel", "max_goal_kicks", "clang_del_win", "clang_rule_win", "auto_mode", "kick_off_wait", "connect_wait", "game_over_wait", "team_l_start", "team_r_start", "keepaway_mode", "keepaway_length", "keepaway_width", "keepaway_logging", "keepaway_log_dir", "keepaway_log_fixed_name", "keepaway_log_fixed", "keepaway_log_dated", "keepaway_start", "nr_normal_halfs", "nr_extra_halfs", "penalty_shoot_outs", "pen_before_setup_wait", "pen_setup_wait", "pen_ready_wait", "pen_taken_wait", "pen_nr_kicks", "pen_max_extra_kicks", "pen_dist_x", "pen_random_winner", "pen_allow_mult_kicks", "pen_max_goalie_dist_x", "pen_coach_moves_players", "module_dir", "ball_stuck_area", "coach_msg_file", "max_tackle_power", "max_back_tackle_power", "player_speed_max_min", "extra_stamina", "synch_see_offset", "extra_half_time", "stamina_capacity", "max_dash_angle", "min_dash_angle", "dash_angle_step", "side_dash_rate", "back_dash_rate", "max_dash_power", "min_dash_power", "tackle_rand_factor", "foul_detect_probability", "foul_exponent", "foul_cycles", "golden_goal", "red_card_probability", "illegal_defense_duration", "illegal_defense_number", "illegal_defense_dist_x", "illegal_defense_width", "fixed_teamname_l", "fixed_teamname_r", "max_catch_angle", "min_catch_angle", "random_seed", "long_kick_power_factor", "long_kick_delay", "max_monitors", "catchable_area", "real_speed_max", "pitch_half_length", "pitch_half_width", "our_penalty_area_line_x", "their_penalty_area_line_x", "penalty_area_half_width", "penalty_area_length", "goal_width") + __slots__ = ("register_response", "inertia_moment", "player_size", "player_decay", "player_rand", "player_weight", "player_speed_max", "player_accel_max", "stamina_max", "stamina_inc_max", "recover_init", "recover_dec_thr", "recover_min", "recover_dec", "effort_init", "effort_dec_thr", "effort_min", "effort_dec", "effort_inc_thr", "effort_inc", "kick_rand", "team_actuator_noise", "player_rand_factor_l", "player_rand_factor_r", "kick_rand_factor_l", "kick_rand_factor_r", "ball_size", "ball_decay", "ball_rand", "ball_weight", "ball_speed_max", "ball_accel_max", "dash_power_rate", "kick_power_rate", "kickable_margin", "control_radius", "control_radius_width", "max_power", "min_power", "max_moment", "min_moment", "max_neck_moment", "min_neck_moment", "max_neck_angle", "min_neck_angle", "visible_angle", "visible_distance", "wind_dir", "wind_force", "wind_angle", "wind_rand", "kickable_area", "catch_area_l", "catch_area_w", "catch_probability", "goalie_max_moves", "corner_kick_margin", "offside_active_area_size", "wind_none", "use_wind_random", "coach_say_count_max", "coach_say_msg_size", "clang_win_size", "clang_define_win", "clang_meta_win", "clang_advice_win", "clang_info_win", "clang_mess_delay", "clang_mess_per_cycle", "half_time", "simulator_step", "send_step", "recv_step", "sense_body_step", "lcm_step", "player_say_msg_size", "player_hear_max", "player_hear_inc", "player_hear_decay", "catch_ban_cycle", "slow_down_factor", "use_offside", "kickoff_offside", "offside_kick_margin", "audio_cut_dist", "dist_quantize_step", "landmark_dist_quantize_step", "dir_quantize_step", "dist_quantize_step_l", "dist_quantize_step_r", "landmark_dist_quantize_step_l", "landmark_dist_quantize_step_r", "dir_quantize_step_l", "dir_quantize_step_r", "coach_mode", "coach_with_referee_mode", "use_old_coach_hear", "slowness_on_top_for_left_team", "slowness_on_top_for_right_team", "start_goal_l", "start_goal_r", "fullstate_l", "fullstate_r", "drop_ball_time", "synch_mode", "synch_offset", "synch_micro_sleep", "point_to_ban", "point_to_duration", "player_port", "trainer_port", "online_coach_port", "verbose_mode", "coach_send_vi_step", "replay_file", "landmark_file", "send_comms", "text_logging", "game_logging", "game_log_version", "text_log_dir", "game_log_dir", "text_log_fixed_name", "game_log_fixed_name", "use_text_log_fixed", "use_game_log_fixed", "use_text_log_dated", "use_game_log_dated", "log_date_format", "log_times", "record_message", "text_log_compression", "game_log_compression", "use_profile", "tackle_dist", "tackle_back_dist", "tackle_width", "tackle_exponent", "tackle_cycles", "tackle_power_rate", "freeform_wait_period", "freeform_send_period", "free_kick_faults", "back_passes", "proper_goal_kicks", "stopped_ball_vel", "max_goal_kicks", "clang_del_win", "clang_rule_win", "auto_mode", "kick_off_wait", "connect_wait", "game_over_wait", "team_l_start", "team_r_start", "keepaway_mode", "keepaway_length", "keepaway_width", "keepaway_logging", "keepaway_log_dir", "keepaway_log_fixed_name", "keepaway_log_fixed", "keepaway_log_dated", "keepaway_start", "nr_normal_halfs", "nr_extra_halfs", "penalty_shoot_outs", "pen_before_setup_wait", "pen_setup_wait", "pen_ready_wait", "pen_taken_wait", "pen_nr_kicks", "pen_max_extra_kicks", "pen_dist_x", "pen_random_winner", "pen_allow_mult_kicks", "pen_max_goalie_dist_x", "pen_coach_moves_players", "module_dir", "ball_stuck_area", "coach_msg_file", "max_tackle_power", "max_back_tackle_power", "player_speed_max_min", "extra_stamina", "synch_see_offset", "extra_half_time", "stamina_capacity", "max_dash_angle", "min_dash_angle", "dash_angle_step", "side_dash_rate", "back_dash_rate", "max_dash_power", "min_dash_power", "tackle_rand_factor", "foul_detect_probability", "foul_exponent", "foul_cycles", "golden_goal", "red_card_probability", "illegal_defense_duration", "illegal_defense_number", "illegal_defense_dist_x", "illegal_defense_width", "fixed_teamname_l", "fixed_teamname_r", "max_catch_angle", "min_catch_angle", "random_seed", "long_kick_power_factor", "long_kick_delay", "max_monitors", "catchable_area", "real_speed_max", "pitch_half_length", "pitch_half_width", "our_penalty_area_line_x", "their_penalty_area_line_x", "penalty_area_half_width", "penalty_area_length", "goal_width", "goal_area_width", "goal_area_length", "center_circle_r", "goal_post_radius") REGISTER_RESPONSE_FIELD_NUMBER: _ClassVar[int] INERTIA_MOMENT_FIELD_NUMBER: _ClassVar[int] PLAYER_SIZE_FIELD_NUMBER: _ClassVar[int] @@ -1862,6 +1902,10 @@ class ServerParam(_message.Message): PENALTY_AREA_HALF_WIDTH_FIELD_NUMBER: _ClassVar[int] PENALTY_AREA_LENGTH_FIELD_NUMBER: _ClassVar[int] GOAL_WIDTH_FIELD_NUMBER: _ClassVar[int] + GOAL_AREA_WIDTH_FIELD_NUMBER: _ClassVar[int] + GOAL_AREA_LENGTH_FIELD_NUMBER: _ClassVar[int] + CENTER_CIRCLE_R_FIELD_NUMBER: _ClassVar[int] + GOAL_POST_RADIUS_FIELD_NUMBER: _ClassVar[int] register_response: RegisterResponse inertia_moment: float player_size: float @@ -2084,7 +2128,11 @@ class ServerParam(_message.Message): penalty_area_half_width: float penalty_area_length: float goal_width: float - def __init__(self, register_response: _Optional[_Union[RegisterResponse, _Mapping]] = ..., inertia_moment: _Optional[float] = ..., player_size: _Optional[float] = ..., player_decay: _Optional[float] = ..., player_rand: _Optional[float] = ..., player_weight: _Optional[float] = ..., player_speed_max: _Optional[float] = ..., player_accel_max: _Optional[float] = ..., stamina_max: _Optional[float] = ..., stamina_inc_max: _Optional[float] = ..., recover_init: _Optional[float] = ..., recover_dec_thr: _Optional[float] = ..., recover_min: _Optional[float] = ..., recover_dec: _Optional[float] = ..., effort_init: _Optional[float] = ..., effort_dec_thr: _Optional[float] = ..., effort_min: _Optional[float] = ..., effort_dec: _Optional[float] = ..., effort_inc_thr: _Optional[float] = ..., effort_inc: _Optional[float] = ..., kick_rand: _Optional[float] = ..., team_actuator_noise: bool = ..., player_rand_factor_l: _Optional[float] = ..., player_rand_factor_r: _Optional[float] = ..., kick_rand_factor_l: _Optional[float] = ..., kick_rand_factor_r: _Optional[float] = ..., ball_size: _Optional[float] = ..., ball_decay: _Optional[float] = ..., ball_rand: _Optional[float] = ..., ball_weight: _Optional[float] = ..., ball_speed_max: _Optional[float] = ..., ball_accel_max: _Optional[float] = ..., dash_power_rate: _Optional[float] = ..., kick_power_rate: _Optional[float] = ..., kickable_margin: _Optional[float] = ..., control_radius: _Optional[float] = ..., control_radius_width: _Optional[float] = ..., max_power: _Optional[float] = ..., min_power: _Optional[float] = ..., max_moment: _Optional[float] = ..., min_moment: _Optional[float] = ..., max_neck_moment: _Optional[float] = ..., min_neck_moment: _Optional[float] = ..., max_neck_angle: _Optional[float] = ..., min_neck_angle: _Optional[float] = ..., visible_angle: _Optional[float] = ..., visible_distance: _Optional[float] = ..., wind_dir: _Optional[float] = ..., wind_force: _Optional[float] = ..., wind_angle: _Optional[float] = ..., wind_rand: _Optional[float] = ..., kickable_area: _Optional[float] = ..., catch_area_l: _Optional[float] = ..., catch_area_w: _Optional[float] = ..., catch_probability: _Optional[float] = ..., goalie_max_moves: _Optional[int] = ..., corner_kick_margin: _Optional[float] = ..., offside_active_area_size: _Optional[float] = ..., wind_none: bool = ..., use_wind_random: bool = ..., coach_say_count_max: _Optional[int] = ..., coach_say_msg_size: _Optional[int] = ..., clang_win_size: _Optional[int] = ..., clang_define_win: _Optional[int] = ..., clang_meta_win: _Optional[int] = ..., clang_advice_win: _Optional[int] = ..., clang_info_win: _Optional[int] = ..., clang_mess_delay: _Optional[int] = ..., clang_mess_per_cycle: _Optional[int] = ..., half_time: _Optional[int] = ..., simulator_step: _Optional[int] = ..., send_step: _Optional[int] = ..., recv_step: _Optional[int] = ..., sense_body_step: _Optional[int] = ..., lcm_step: _Optional[int] = ..., player_say_msg_size: _Optional[int] = ..., player_hear_max: _Optional[int] = ..., player_hear_inc: _Optional[int] = ..., player_hear_decay: _Optional[int] = ..., catch_ban_cycle: _Optional[int] = ..., slow_down_factor: _Optional[int] = ..., use_offside: bool = ..., kickoff_offside: bool = ..., offside_kick_margin: _Optional[float] = ..., audio_cut_dist: _Optional[float] = ..., dist_quantize_step: _Optional[float] = ..., landmark_dist_quantize_step: _Optional[float] = ..., dir_quantize_step: _Optional[float] = ..., dist_quantize_step_l: _Optional[float] = ..., dist_quantize_step_r: _Optional[float] = ..., landmark_dist_quantize_step_l: _Optional[float] = ..., landmark_dist_quantize_step_r: _Optional[float] = ..., dir_quantize_step_l: _Optional[float] = ..., dir_quantize_step_r: _Optional[float] = ..., coach_mode: bool = ..., coach_with_referee_mode: bool = ..., use_old_coach_hear: bool = ..., slowness_on_top_for_left_team: _Optional[float] = ..., slowness_on_top_for_right_team: _Optional[float] = ..., start_goal_l: _Optional[int] = ..., start_goal_r: _Optional[int] = ..., fullstate_l: bool = ..., fullstate_r: bool = ..., drop_ball_time: _Optional[int] = ..., synch_mode: bool = ..., synch_offset: _Optional[int] = ..., synch_micro_sleep: _Optional[int] = ..., point_to_ban: _Optional[int] = ..., point_to_duration: _Optional[int] = ..., player_port: _Optional[int] = ..., trainer_port: _Optional[int] = ..., online_coach_port: _Optional[int] = ..., verbose_mode: bool = ..., coach_send_vi_step: _Optional[int] = ..., replay_file: _Optional[str] = ..., landmark_file: _Optional[str] = ..., send_comms: bool = ..., text_logging: bool = ..., game_logging: bool = ..., game_log_version: _Optional[int] = ..., text_log_dir: _Optional[str] = ..., game_log_dir: _Optional[str] = ..., text_log_fixed_name: _Optional[str] = ..., game_log_fixed_name: _Optional[str] = ..., use_text_log_fixed: bool = ..., use_game_log_fixed: bool = ..., use_text_log_dated: bool = ..., use_game_log_dated: bool = ..., log_date_format: _Optional[str] = ..., log_times: bool = ..., record_message: bool = ..., text_log_compression: _Optional[int] = ..., game_log_compression: _Optional[int] = ..., use_profile: bool = ..., tackle_dist: _Optional[float] = ..., tackle_back_dist: _Optional[float] = ..., tackle_width: _Optional[float] = ..., tackle_exponent: _Optional[float] = ..., tackle_cycles: _Optional[int] = ..., tackle_power_rate: _Optional[float] = ..., freeform_wait_period: _Optional[int] = ..., freeform_send_period: _Optional[int] = ..., free_kick_faults: bool = ..., back_passes: bool = ..., proper_goal_kicks: bool = ..., stopped_ball_vel: _Optional[float] = ..., max_goal_kicks: _Optional[int] = ..., clang_del_win: _Optional[int] = ..., clang_rule_win: _Optional[int] = ..., auto_mode: bool = ..., kick_off_wait: _Optional[int] = ..., connect_wait: _Optional[int] = ..., game_over_wait: _Optional[int] = ..., team_l_start: _Optional[str] = ..., team_r_start: _Optional[str] = ..., keepaway_mode: bool = ..., keepaway_length: _Optional[float] = ..., keepaway_width: _Optional[float] = ..., keepaway_logging: bool = ..., keepaway_log_dir: _Optional[str] = ..., keepaway_log_fixed_name: _Optional[str] = ..., keepaway_log_fixed: bool = ..., keepaway_log_dated: bool = ..., keepaway_start: _Optional[int] = ..., nr_normal_halfs: _Optional[int] = ..., nr_extra_halfs: _Optional[int] = ..., penalty_shoot_outs: bool = ..., pen_before_setup_wait: _Optional[int] = ..., pen_setup_wait: _Optional[int] = ..., pen_ready_wait: _Optional[int] = ..., pen_taken_wait: _Optional[int] = ..., pen_nr_kicks: _Optional[int] = ..., pen_max_extra_kicks: _Optional[int] = ..., pen_dist_x: _Optional[float] = ..., pen_random_winner: bool = ..., pen_allow_mult_kicks: bool = ..., pen_max_goalie_dist_x: _Optional[float] = ..., pen_coach_moves_players: bool = ..., module_dir: _Optional[str] = ..., ball_stuck_area: _Optional[float] = ..., coach_msg_file: _Optional[str] = ..., max_tackle_power: _Optional[float] = ..., max_back_tackle_power: _Optional[float] = ..., player_speed_max_min: _Optional[float] = ..., extra_stamina: _Optional[float] = ..., synch_see_offset: _Optional[int] = ..., extra_half_time: _Optional[int] = ..., stamina_capacity: _Optional[float] = ..., max_dash_angle: _Optional[float] = ..., min_dash_angle: _Optional[float] = ..., dash_angle_step: _Optional[float] = ..., side_dash_rate: _Optional[float] = ..., back_dash_rate: _Optional[float] = ..., max_dash_power: _Optional[float] = ..., min_dash_power: _Optional[float] = ..., tackle_rand_factor: _Optional[float] = ..., foul_detect_probability: _Optional[float] = ..., foul_exponent: _Optional[float] = ..., foul_cycles: _Optional[int] = ..., golden_goal: bool = ..., red_card_probability: _Optional[float] = ..., illegal_defense_duration: _Optional[int] = ..., illegal_defense_number: _Optional[int] = ..., illegal_defense_dist_x: _Optional[float] = ..., illegal_defense_width: _Optional[float] = ..., fixed_teamname_l: _Optional[str] = ..., fixed_teamname_r: _Optional[str] = ..., max_catch_angle: _Optional[float] = ..., min_catch_angle: _Optional[float] = ..., random_seed: _Optional[int] = ..., long_kick_power_factor: _Optional[float] = ..., long_kick_delay: _Optional[int] = ..., max_monitors: _Optional[int] = ..., catchable_area: _Optional[float] = ..., real_speed_max: _Optional[float] = ..., pitch_half_length: _Optional[float] = ..., pitch_half_width: _Optional[float] = ..., our_penalty_area_line_x: _Optional[float] = ..., their_penalty_area_line_x: _Optional[float] = ..., penalty_area_half_width: _Optional[float] = ..., penalty_area_length: _Optional[float] = ..., goal_width: _Optional[float] = ...) -> None: ... + goal_area_width: float + goal_area_length: float + center_circle_r: float + goal_post_radius: float + def __init__(self, register_response: _Optional[_Union[RegisterResponse, _Mapping]] = ..., inertia_moment: _Optional[float] = ..., player_size: _Optional[float] = ..., player_decay: _Optional[float] = ..., player_rand: _Optional[float] = ..., player_weight: _Optional[float] = ..., player_speed_max: _Optional[float] = ..., player_accel_max: _Optional[float] = ..., stamina_max: _Optional[float] = ..., stamina_inc_max: _Optional[float] = ..., recover_init: _Optional[float] = ..., recover_dec_thr: _Optional[float] = ..., recover_min: _Optional[float] = ..., recover_dec: _Optional[float] = ..., effort_init: _Optional[float] = ..., effort_dec_thr: _Optional[float] = ..., effort_min: _Optional[float] = ..., effort_dec: _Optional[float] = ..., effort_inc_thr: _Optional[float] = ..., effort_inc: _Optional[float] = ..., kick_rand: _Optional[float] = ..., team_actuator_noise: bool = ..., player_rand_factor_l: _Optional[float] = ..., player_rand_factor_r: _Optional[float] = ..., kick_rand_factor_l: _Optional[float] = ..., kick_rand_factor_r: _Optional[float] = ..., ball_size: _Optional[float] = ..., ball_decay: _Optional[float] = ..., ball_rand: _Optional[float] = ..., ball_weight: _Optional[float] = ..., ball_speed_max: _Optional[float] = ..., ball_accel_max: _Optional[float] = ..., dash_power_rate: _Optional[float] = ..., kick_power_rate: _Optional[float] = ..., kickable_margin: _Optional[float] = ..., control_radius: _Optional[float] = ..., control_radius_width: _Optional[float] = ..., max_power: _Optional[float] = ..., min_power: _Optional[float] = ..., max_moment: _Optional[float] = ..., min_moment: _Optional[float] = ..., max_neck_moment: _Optional[float] = ..., min_neck_moment: _Optional[float] = ..., max_neck_angle: _Optional[float] = ..., min_neck_angle: _Optional[float] = ..., visible_angle: _Optional[float] = ..., visible_distance: _Optional[float] = ..., wind_dir: _Optional[float] = ..., wind_force: _Optional[float] = ..., wind_angle: _Optional[float] = ..., wind_rand: _Optional[float] = ..., kickable_area: _Optional[float] = ..., catch_area_l: _Optional[float] = ..., catch_area_w: _Optional[float] = ..., catch_probability: _Optional[float] = ..., goalie_max_moves: _Optional[int] = ..., corner_kick_margin: _Optional[float] = ..., offside_active_area_size: _Optional[float] = ..., wind_none: bool = ..., use_wind_random: bool = ..., coach_say_count_max: _Optional[int] = ..., coach_say_msg_size: _Optional[int] = ..., clang_win_size: _Optional[int] = ..., clang_define_win: _Optional[int] = ..., clang_meta_win: _Optional[int] = ..., clang_advice_win: _Optional[int] = ..., clang_info_win: _Optional[int] = ..., clang_mess_delay: _Optional[int] = ..., clang_mess_per_cycle: _Optional[int] = ..., half_time: _Optional[int] = ..., simulator_step: _Optional[int] = ..., send_step: _Optional[int] = ..., recv_step: _Optional[int] = ..., sense_body_step: _Optional[int] = ..., lcm_step: _Optional[int] = ..., player_say_msg_size: _Optional[int] = ..., player_hear_max: _Optional[int] = ..., player_hear_inc: _Optional[int] = ..., player_hear_decay: _Optional[int] = ..., catch_ban_cycle: _Optional[int] = ..., slow_down_factor: _Optional[int] = ..., use_offside: bool = ..., kickoff_offside: bool = ..., offside_kick_margin: _Optional[float] = ..., audio_cut_dist: _Optional[float] = ..., dist_quantize_step: _Optional[float] = ..., landmark_dist_quantize_step: _Optional[float] = ..., dir_quantize_step: _Optional[float] = ..., dist_quantize_step_l: _Optional[float] = ..., dist_quantize_step_r: _Optional[float] = ..., landmark_dist_quantize_step_l: _Optional[float] = ..., landmark_dist_quantize_step_r: _Optional[float] = ..., dir_quantize_step_l: _Optional[float] = ..., dir_quantize_step_r: _Optional[float] = ..., coach_mode: bool = ..., coach_with_referee_mode: bool = ..., use_old_coach_hear: bool = ..., slowness_on_top_for_left_team: _Optional[float] = ..., slowness_on_top_for_right_team: _Optional[float] = ..., start_goal_l: _Optional[int] = ..., start_goal_r: _Optional[int] = ..., fullstate_l: bool = ..., fullstate_r: bool = ..., drop_ball_time: _Optional[int] = ..., synch_mode: bool = ..., synch_offset: _Optional[int] = ..., synch_micro_sleep: _Optional[int] = ..., point_to_ban: _Optional[int] = ..., point_to_duration: _Optional[int] = ..., player_port: _Optional[int] = ..., trainer_port: _Optional[int] = ..., online_coach_port: _Optional[int] = ..., verbose_mode: bool = ..., coach_send_vi_step: _Optional[int] = ..., replay_file: _Optional[str] = ..., landmark_file: _Optional[str] = ..., send_comms: bool = ..., text_logging: bool = ..., game_logging: bool = ..., game_log_version: _Optional[int] = ..., text_log_dir: _Optional[str] = ..., game_log_dir: _Optional[str] = ..., text_log_fixed_name: _Optional[str] = ..., game_log_fixed_name: _Optional[str] = ..., use_text_log_fixed: bool = ..., use_game_log_fixed: bool = ..., use_text_log_dated: bool = ..., use_game_log_dated: bool = ..., log_date_format: _Optional[str] = ..., log_times: bool = ..., record_message: bool = ..., text_log_compression: _Optional[int] = ..., game_log_compression: _Optional[int] = ..., use_profile: bool = ..., tackle_dist: _Optional[float] = ..., tackle_back_dist: _Optional[float] = ..., tackle_width: _Optional[float] = ..., tackle_exponent: _Optional[float] = ..., tackle_cycles: _Optional[int] = ..., tackle_power_rate: _Optional[float] = ..., freeform_wait_period: _Optional[int] = ..., freeform_send_period: _Optional[int] = ..., free_kick_faults: bool = ..., back_passes: bool = ..., proper_goal_kicks: bool = ..., stopped_ball_vel: _Optional[float] = ..., max_goal_kicks: _Optional[int] = ..., clang_del_win: _Optional[int] = ..., clang_rule_win: _Optional[int] = ..., auto_mode: bool = ..., kick_off_wait: _Optional[int] = ..., connect_wait: _Optional[int] = ..., game_over_wait: _Optional[int] = ..., team_l_start: _Optional[str] = ..., team_r_start: _Optional[str] = ..., keepaway_mode: bool = ..., keepaway_length: _Optional[float] = ..., keepaway_width: _Optional[float] = ..., keepaway_logging: bool = ..., keepaway_log_dir: _Optional[str] = ..., keepaway_log_fixed_name: _Optional[str] = ..., keepaway_log_fixed: bool = ..., keepaway_log_dated: bool = ..., keepaway_start: _Optional[int] = ..., nr_normal_halfs: _Optional[int] = ..., nr_extra_halfs: _Optional[int] = ..., penalty_shoot_outs: bool = ..., pen_before_setup_wait: _Optional[int] = ..., pen_setup_wait: _Optional[int] = ..., pen_ready_wait: _Optional[int] = ..., pen_taken_wait: _Optional[int] = ..., pen_nr_kicks: _Optional[int] = ..., pen_max_extra_kicks: _Optional[int] = ..., pen_dist_x: _Optional[float] = ..., pen_random_winner: bool = ..., pen_allow_mult_kicks: bool = ..., pen_max_goalie_dist_x: _Optional[float] = ..., pen_coach_moves_players: bool = ..., module_dir: _Optional[str] = ..., ball_stuck_area: _Optional[float] = ..., coach_msg_file: _Optional[str] = ..., max_tackle_power: _Optional[float] = ..., max_back_tackle_power: _Optional[float] = ..., player_speed_max_min: _Optional[float] = ..., extra_stamina: _Optional[float] = ..., synch_see_offset: _Optional[int] = ..., extra_half_time: _Optional[int] = ..., stamina_capacity: _Optional[float] = ..., max_dash_angle: _Optional[float] = ..., min_dash_angle: _Optional[float] = ..., dash_angle_step: _Optional[float] = ..., side_dash_rate: _Optional[float] = ..., back_dash_rate: _Optional[float] = ..., max_dash_power: _Optional[float] = ..., min_dash_power: _Optional[float] = ..., tackle_rand_factor: _Optional[float] = ..., foul_detect_probability: _Optional[float] = ..., foul_exponent: _Optional[float] = ..., foul_cycles: _Optional[int] = ..., golden_goal: bool = ..., red_card_probability: _Optional[float] = ..., illegal_defense_duration: _Optional[int] = ..., illegal_defense_number: _Optional[int] = ..., illegal_defense_dist_x: _Optional[float] = ..., illegal_defense_width: _Optional[float] = ..., fixed_teamname_l: _Optional[str] = ..., fixed_teamname_r: _Optional[str] = ..., max_catch_angle: _Optional[float] = ..., min_catch_angle: _Optional[float] = ..., random_seed: _Optional[int] = ..., long_kick_power_factor: _Optional[float] = ..., long_kick_delay: _Optional[int] = ..., max_monitors: _Optional[int] = ..., catchable_area: _Optional[float] = ..., real_speed_max: _Optional[float] = ..., pitch_half_length: _Optional[float] = ..., pitch_half_width: _Optional[float] = ..., our_penalty_area_line_x: _Optional[float] = ..., their_penalty_area_line_x: _Optional[float] = ..., penalty_area_half_width: _Optional[float] = ..., penalty_area_length: _Optional[float] = ..., goal_width: _Optional[float] = ..., goal_area_width: _Optional[float] = ..., goal_area_length: _Optional[float] = ..., center_circle_r: _Optional[float] = ..., goal_post_radius: _Optional[float] = ...) -> None: ... class PlayerParam(_message.Message): __slots__ = ("register_response", "player_types", "subs_max", "pt_max", "allow_mult_default_type", "player_speed_max_delta_min", "player_speed_max_delta_max", "stamina_inc_max_delta_factor", "player_decay_delta_min", "player_decay_delta_max", "inertia_moment_delta_factor", "dash_power_rate_delta_min", "dash_power_rate_delta_max", "player_size_delta_factor", "kickable_margin_delta_min", "kickable_margin_delta_max", "kick_rand_delta_factor", "extra_stamina_delta_min", "extra_stamina_delta_max", "effort_max_delta_factor", "effort_min_delta_factor", "random_seed", "new_dash_power_rate_delta_min", "new_dash_power_rate_delta_max", "new_stamina_inc_max_delta_factor", "kick_power_rate_delta_min", "kick_power_rate_delta_max", "foul_detect_probability_delta_factor", "catchable_area_l_stretch_min", "catchable_area_l_stretch_max") diff --git a/service_pb2_grpc.py b/service_pb2_grpc.py index 63d004a..201b055 100644 --- a/service_pb2_grpc.py +++ b/service_pb2_grpc.py @@ -5,7 +5,7 @@ import service_pb2 as service__pb2 -GRPC_GENERATED_VERSION = '1.66.1' +GRPC_GENERATED_VERSION = '1.67.0' GRPC_VERSION = grpc.__version__ _version_not_supported = False From b6e915feb409894673f4ab6285b0901a11819193 Mon Sep 17 00:00:00 2001 From: SK2iP Date: Sun, 20 Oct 2024 00:52:10 +0330 Subject: [PATCH 17/17] add init to utils --- utils/__init__.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 utils/__init__.py diff --git a/utils/__init__.py b/utils/__init__.py new file mode 100644 index 0000000..e69de29