Combine chip_tactic and kick_tactic

docs/fsm-diagrams.md

@@ -429,7 +429,7 @@ Terminate:::terminate --> Terminate:::terminate : <i>SET_STOP_PRIMITIVE_ACTION</
 
 ```
 
-## [KickFSM](/src/software/ai/hl/stp/tactic/kick/kick_fsm.h)
+## [KickOrChipFSM](/src/software/ai/hl/stp/tactic/kick_or_chip/kick_or_chip_fsm.h)
 
 ```mermaid
 
@@ -438,10 +438,10 @@ classDef terminate fill:white,color:black,font-weight:bold
 direction LR
 [*] --> GetBehindBallFSM
 GetBehindBallFSM --> GetBehindBallFSM : <i>updateGetBehindBall</i>
-GetBehindBallFSM --> KickState
-KickState --> GetBehindBallFSM : [shouldRealignWithBall]\n<i>updateGetBehindBall</i>
-KickState --> KickState : [!ballChicked]\n<i>updateKick</i>
-KickState --> Terminate:::terminate : [ballChicked]\n<i>SET_STOP_PRIMITIVE_ACTION</i>
+GetBehindBallFSM --> KickOrChipState
+KickOrChipState --> GetBehindBallFSM : [shouldRealignWithBall]\n<i>updateGetBehindBall</i>
+KickOrChipState --> KickOrChipState : [!ballChicked]\n<i>kickOrChipBall</i>
+KickOrChipState --> Terminate:::terminate : [ballChicked]\n<i>SET_STOP_PRIMITIVE_ACTION</i>
 Terminate:::terminate --> Terminate:::terminate : <i>SET_STOP_PRIMITIVE_ACTION</i>
 
 ```
@@ -489,11 +489,11 @@ classDef terminate fill:white,color:black,font-weight:bold
 direction LR
 [*] --> DribbleFSM
 DribbleFSM --> DribbleFSM : [!takePenaltyShot]\n<i>updateApproachKeeper</i>
-DribbleFSM --> KickFSM : [timeOutApproach]\n<i>shoot</i>
+DribbleFSM --> KickOrChipFSM : [timeOutApproach]\n<i>shoot</i>
 DribbleFSM --> DribbleFSM : <i>adjustOrientationForShot</i>
-DribbleFSM --> KickFSM
-KickFSM --> KickFSM : <i>shoot</i>
-KickFSM --> Terminate:::terminate
+DribbleFSM --> KickOrChipFSM
+KickOrChipFSM --> KickOrChipFSM : <i>shoot</i>
+KickOrChipFSM --> Terminate:::terminate
 Terminate:::terminate --> Terminate:::terminate : <i>SET_STOP_PRIMITIVE_ACTION</i>
 
 ```

src/proto/tactic.proto

@@ -13,15 +13,14 @@ message AssignedTacticPlayControlParams
 
 message Tactic
 {
+    reserved 2, 7;
     oneof tactic
     {
         AttackerTactic attacker                             = 1;
-        ChipTactic chip                                     = 2;
         CreaseDefenderTactic crease_defender                = 3;
         DribbleTactic dribble                               = 4;
         GetBehindBallTactic get_behind_ball                 = 5;
         GoalieTactic goalie                                 = 6;
-        KickTactic kick                                     = 7;
         MoveGoalieToGoalLineTactic move_goalie_to_goal_line = 8;
         MoveTactic move                                     = 9;
         PenaltyKickTactic penalty_kick                      = 10;
@@ -30,6 +29,7 @@ message Tactic
         ShadowEnemyTactic shadow_enemy                      = 13;
         HaltTactic halt                                     = 14;
         PassDefenderTactic pass_defender                    = 15;
+        KickOrChipTactic kick_or_chip                       = 16;
     }
 }
 
@@ -44,16 +44,6 @@ message AttackerTactic
     optional Point chip_target = 3;
 }
 
-message ChipTactic
-{
-    // The location where the chip will be taken from
-    required Point chip_origin = 1;
-    // The direction the Robot will chip in
-    required Angle chip_direction = 2;
-    // The distance the robot will chip to
-    required double chip_distance_meters = 3;
-}
-
 enum CreaseDefenderAlignment
 {
     LEFT   = 0;
@@ -106,16 +96,6 @@ message GoalieTactic
     required MaxAllowedSpeedMode max_allowed_speed_mode = 1;
 }
 
-message KickTactic
-{
-    // The location where the kick will be taken from
-    required Point kick_origin = 1;
-    // The direction the Robot will kick in
-    required Angle kick_direction = 2;
-    // How fast the Robot will kick the ball in meters per second
-    required double kick_speed_meters_per_second = 3;
-}
-
 message MoveGoalieToGoalLineTactic {}
 
 message MoveTactic
@@ -177,3 +157,13 @@ message ShadowEnemyTactic
 }
 
 message HaltTactic {}
+
+message KickOrChipTactic
+{
+    // The location where the kick or chip will be taken from
+    required Point kick_or_chip_origin = 1;
+    // The direction the Robot will kick or chip in
+    required Angle kick_or_chip_direction = 2;
+    // How the robot will chip or kick the ball
+    required AutoChipOrKick auto_chip_or_kick = 3;
+}

src/software/ai/hl/stp/play/free_kick/BUILD

@@ -19,9 +19,9 @@ cc_library(
         "//software/ai/evaluation:possession",
         "//software/ai/hl/stp/play",
         "//software/ai/hl/stp/play/defense:defense_play",
-        "//software/ai/hl/stp/tactic/chip:chip_tactic",
         "//software/ai/hl/stp/tactic/crease_defender:crease_defender_tactic",
         "//software/ai/hl/stp/tactic/goalie:goalie_tactic",
+        "//software/ai/hl/stp/tactic/kick_or_chip:kick_or_chip_tactic",
         "//software/ai/hl/stp/tactic/move:move_tactic",
         "//software/ai/hl/stp/tactic/receiver:receiver_tactic",
         "//software/ai/passing:eighteen_zone_pitch_division",

src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.cpp

@@ -4,9 +4,8 @@ FreeKickPlayFSM::FreeKickPlayFSM(
     std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr)
     : PlayFSM<FreeKickPlayFSM>(ai_config_ptr),
       align_to_ball_tactic(std::make_shared<MoveTactic>(ai_config_ptr)),
-      shoot_tactic(std::make_shared<KickTactic>(ai_config_ptr)),
-      chip_tactic(std::make_shared<ChipTactic>(ai_config_ptr)),
-      passer_tactic(std::make_shared<KickTactic>(ai_config_ptr)),
+      kick_or_chip_tactic(std::make_shared<KickOrChipTactic>(ai_config_ptr)),
+      passer_tactic(std::make_shared<KickOrChipTactic>(ai_config_ptr)),
       receiver_tactic(std::make_shared<ReceiverTactic>(ai_config_ptr)),
       receiver_positioning_tactics({std::make_shared<MoveTactic>(ai_config_ptr),
                                     std::make_shared<MoveTactic>(ai_config_ptr)}),
@@ -146,12 +145,14 @@ void FreeKickPlayFSM::shootBall(const Update& event)
     LOG(INFO) << "Shooting ball.";
     PriorityTacticVector tactics_to_run = {{}};
 
-    Point ball_pos = event.common.world_ptr->ball().position();
+    Point ball_pos                   = event.common.world_ptr->ball().position();
+    AutoChipOrKick auto_chip_or_kick = {AutoChipOrKickMode::AUTOKICK,
+                                        BALL_MAX_SPEED_METERS_PER_SECOND};
 
-    shoot_tactic->updateControlParams(
+    kick_or_chip_tactic->updateControlParams(
         ball_pos, (shot->getPointToShootAt() - ball_pos).orientation(),
-        BALL_MAX_SPEED_METERS_PER_SECOND);
-    tactics_to_run[0].emplace_back(shoot_tactic);
+        auto_chip_or_kick);
+    tactics_to_run[0].emplace_back(kick_or_chip_tactic);
 
     event.common.set_tactics(tactics_to_run);
 }
@@ -200,9 +201,10 @@ void FreeKickPlayFSM::chipBall(const Update& event)
         }
     }
 
-    chip_tactic->updateControlParams(event.common.world_ptr->ball().position(),
-                                     chip_target);
-    tactics_to_run[0].emplace_back(chip_tactic);
+    AutoChipOrKick auto_chip_or_kick = {AutoChipOrKickMode::AUTOCHIP,
+                                        (chip_target - ball_pos).length()};
+    kick_or_chip_tactic->updateControlParams(ball_pos, chip_target, auto_chip_or_kick);
+    tactics_to_run[0].emplace_back(kick_or_chip_tactic);
 
     event.common.set_tactics(tactics_to_run);
 }
@@ -288,8 +290,9 @@ void FreeKickPlayFSM::passBall(const Update& event)
 
     Pass pass = best_pass_and_score_so_far.pass;
 
+    AutoChipOrKick auto_chip_or_kick = {AutoChipOrKickMode::AUTOKICK, pass.speed()};
     passer_tactic->updateControlParams(pass.passerPoint(), pass.passerOrientation(),
-                                       pass.speed());
+                                       auto_chip_or_kick);
     receiver_tactic->updateControlParams(pass);
     tactics_to_run[0].emplace_back(passer_tactic);
     tactics_to_run[0].emplace_back(receiver_tactic);
@@ -304,7 +307,7 @@ void FreeKickPlayFSM::passBall(const Update& event)
 
 bool FreeKickPlayFSM::shotDone(const Update& event)
 {
-    return shoot_tactic->done();
+    return kick_or_chip_tactic->done();
 }
 
 bool FreeKickPlayFSM::passDone(const FreeKickPlayFSM::Update& event)
@@ -314,5 +317,5 @@ bool FreeKickPlayFSM::passDone(const FreeKickPlayFSM::Update& event)
 
 bool FreeKickPlayFSM::chipDone(const FreeKickPlayFSM::Update& event)
 {
-    return chip_tactic->done();
+    return kick_or_chip_tactic->done();
 }

src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.h

@@ -5,9 +5,8 @@
 #include "software/ai/evaluation/calc_best_shot.h"
 #include "software/ai/hl/stp/play/defense/defense_play.h"
 #include "software/ai/hl/stp/play/play.h"
-#include "software/ai/hl/stp/tactic/chip/chip_tactic.h"
 #include "software/ai/hl/stp/tactic/crease_defender/crease_defender_tactic.h"
-#include "software/ai/hl/stp/tactic/kick/kick_tactic.h"
+#include "software/ai/hl/stp/tactic/kick_or_chip/kick_or_chip_tactic.h"
 #include "software/ai/hl/stp/tactic/move/move_tactic.h"
 #include "software/ai/hl/stp/tactic/receiver/receiver_tactic.h"
 #include "software/ai/passing/eighteen_zone_pitch_division.h"
@@ -266,9 +265,8 @@ struct FreeKickPlayFSM : PlayFSM<FreeKickPlayFSM>
    private:
     std::optional<Shot> shot;
     std::shared_ptr<MoveTactic> align_to_ball_tactic;
-    std::shared_ptr<KickTactic> shoot_tactic;
-    std::shared_ptr<ChipTactic> chip_tactic;
-    std::shared_ptr<KickTactic> passer_tactic;
+    std::shared_ptr<KickOrChipTactic> kick_or_chip_tactic;
+    std::shared_ptr<KickOrChipTactic> passer_tactic;
     std::shared_ptr<ReceiverTactic> receiver_tactic;
     std::vector<std::shared_ptr<MoveTactic>> receiver_positioning_tactics;
     std::shared_ptr<DefensePlay> defense_play;

src/software/ai/hl/stp/play/kickoff_friendly/BUILD

@@ -17,7 +17,7 @@ cc_library(
         "//software/ai/evaluation:enemy_threat",
         "//software/ai/evaluation:find_open_areas",
         "//software/ai/hl/stp/play",
-        "//software/ai/hl/stp/tactic/chip:chip_tactic",
+        "//software/ai/hl/stp/tactic/kick_or_chip:kick_or_chip_tactic",
         "//software/ai/hl/stp/tactic/move:move_tactic",
         "//software/logger",
         "//software/util/generic_factory",

src/software/ai/hl/stp/play/kickoff_friendly/kickoff_friendly_play_fsm.cpp

@@ -129,7 +129,10 @@ void KickoffFriendlyPlayFSM::chipBall(const Update& event)
         selected_target = best_target_it->origin();
     }
 
-    kickoff_chip_tactic->updateControlParams(ball_position, selected_target);
+    kickoff_chip_tactic->updateControlParams(
+        ball_position, selected_target,
+        AutoChipOrKick{AutoChipOrKickMode::AUTOCHIP,
+                       (selected_target - ball_position).length()});
     tactics_to_run[0].emplace_back(kickoff_chip_tactic);
     event.common.set_tactics(tactics_to_run);
 }

src/software/ai/hl/stp/play/kickoff_friendly/kickoff_friendly_play_fsm.h

@@ -6,7 +6,7 @@
 #include "software/ai/evaluation/find_open_areas.h"
 #include "software/ai/hl/stp/play/play.h"
 #include "software/ai/hl/stp/play/play_fsm.hpp"
-#include "software/ai/hl/stp/tactic/chip/chip_tactic.h"
+#include "software/ai/hl/stp/tactic/kick_or_chip/kick_or_chip_tactic.h"
 #include "software/ai/hl/stp/tactic/move/move_tactic.h"
 #include "software/logger/logger.h"
 

src/software/ai/hl/stp/play/kickoff_friendly_play.cpp

@@ -0,0 +1,146 @@
+#include "software/ai/hl/stp/play/kickoff_friendly_play.h"
+
+#include "shared/constants.h"
+#include "software/ai/evaluation/enemy_threat.h"
+#include "software/ai/hl/stp/tactic/kick_or_chip/kick_or_chip_tactic.h"
+#include "software/ai/hl/stp/tactic/move/move_tactic.h"
+#include "software/util/generic_factory/generic_factory.h"
+
+KickoffFriendlyPlay::KickoffFriendlyPlay(
+    std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr)
+    : Play(ai_config_ptr, true)
+{
+}
+
+void KickoffFriendlyPlay::getNextTactics(TacticCoroutine::push_type& yield,
+                                         const WorldPtr& world_ptr)
+{
+    // Since we only have 6 robots at the maximum, the number one priority
+    // is the robot doing the kickoff up front. The goalie is the second most
+    // important, followed by 3 and 4 setup for offense. 5 and 6 will stay
+    // back near the goalie just in case the ball quickly returns to the friendly
+    // side of the field.
+    //
+    // 		+--------------------+--------------------+
+    // 		|                    |                    |
+    // 		|               3    |                    |
+    // 		|                    |                    |
+    // 		+--+ 5               |                 +--+
+    // 		|  |                 |                 |  |
+    // 		|  |               +-+-+               |  |
+    // 		|2 |               |1  |               |  |
+    // 		|  |               +-+-+               |  |
+    // 		|  |                 |                 |  |
+    // 		+--+ 6               |                 +--+
+    // 		|                    |                    |
+    // 		|               4    |                    |
+    // 		|                    |                    |
+    // 		+--------------------+--------------------+
+    //
+    // This is a two part play:
+    //      Part 1: Get into position, but don't touch the ball (ref kickoff)
+    //      Part 2: Chip the ball over the defender (ref normal start)
+
+    // the following positions are in the same order as the positions shown above,
+    // excluding the goalie for part 1 of this play
+    std::vector<Point> kickoff_setup_positions = {
+        // Robot 1
+        Point(world_ptr->field().centerPoint() +
+              Vector(-world_ptr->field().centerCircleRadius(), 0)),
+        // Robot 2
+        // Goalie positions will be handled by the goalie tactic
+        // Robot 3
+        Point(
+            world_ptr->field().centerPoint() +
+            Vector(-world_ptr->field().centerCircleRadius() - 4 * ROBOT_MAX_RADIUS_METERS,
+                   -1.0 / 3.0 * world_ptr->field().yLength())),
+        // Robot 4
+        Point(
+            world_ptr->field().centerPoint() +
+            Vector(-world_ptr->field().centerCircleRadius() - 4 * ROBOT_MAX_RADIUS_METERS,
+                   1.0 / 3.0 * world_ptr->field().yLength())),
+        // Robot 5
+        Point(world_ptr->field().friendlyGoalpostPos().x() +
+                  world_ptr->field().defenseAreaXLength() + 2 * ROBOT_MAX_RADIUS_METERS,
+              world_ptr->field().friendlyGoalpostPos().y()),
+        // Robot 6
+        Point(world_ptr->field().friendlyGoalpostNeg().x() +
+                  world_ptr->field().defenseAreaXLength() + 2 * ROBOT_MAX_RADIUS_METERS,
+              world_ptr->field().friendlyGoalpostNeg().y()),
+    };
+
+    // move tactics to use to move to positions defined above
+    std::vector<std::shared_ptr<MoveTactic>> move_tactics = {
+        std::make_shared<PrepareKickoffMoveTactic>(ai_config_ptr),
+        std::make_shared<MoveTactic>(ai_config_ptr),
+        std::make_shared<MoveTactic>(ai_config_ptr),
+        std::make_shared<MoveTactic>(ai_config_ptr),
+        std::make_shared<MoveTactic>(ai_config_ptr)};
+
+    // specific tactics
+    auto kickoff_chip_tactic = std::make_shared<KickoffChipTactic>(ai_config_ptr);
+
+    // Part 1: setup state (move to key positions)
+    while (world_ptr->gameState().isSetupState())
+    {
+        auto enemy_threats =
+            getAllEnemyThreats(world_ptr->field(), world_ptr->friendlyTeam(),
+                               world_ptr->enemyTeam(), world_ptr->ball(), false);
+
+        PriorityTacticVector result = {{}};
+
+        // set the requirement that Robot 1 must be able to kick and chip
+        move_tactics.at(0)->mutableRobotCapabilityRequirements() = {
+            RobotCapability::Kick, RobotCapability::Chip};
+
+        // setup 5 kickoff positions in order of priority
+        for (unsigned i = 0; i < kickoff_setup_positions.size(); i++)
+        {
+            move_tactics.at(i)->updateControlParams(kickoff_setup_positions.at(i),
+                                                    Angle::zero());
+            result[0].emplace_back(move_tactics.at(i));
+        }
+
+        // yield the Tactics this Play wants to run, in order of priority
+        yield(result);
+    }
+
+    // Part 2: not normal play, currently ready state (chip the ball)
+    while (!world_ptr->gameState().isPlaying())
+    {
+        auto enemy_threats =
+            getAllEnemyThreats(world_ptr->field(), world_ptr->friendlyTeam(),
+                               world_ptr->enemyTeam(), world_ptr->ball(), false);
+
+        PriorityTacticVector result = {{}};
+
+        // TODO (#2612): This needs to be adjusted post field testing, ball needs to land
+        // exactly in the middle of the enemy field
+        Point ball_position = world_ptr->ball().position();
+        Point kick_target   = world_ptr->field().centerPoint() +
+                            Vector(world_ptr->field().xLength() / 6, 0);
+        AutoChipOrKick auto_chip_or_kick = {AutoChipOrKickMode::AUTOCHIP,
+                                            (kick_target - ball_position).length()};
+        kickoff_chip_tactic->updateControlParams(ball_position, kick_target,
+                                                 auto_chip_or_kick);
+        result[0].emplace_back(kickoff_chip_tactic);
+
+        // the robot at position 0 will be closest to the ball, so positions starting from
+        // 1 will be assigned to the rest of the robots
+        for (unsigned i = 1; i < kickoff_setup_positions.size(); i++)
+        {
+            move_tactics.at(i)->updateControlParams(kickoff_setup_positions.at(i),
+                                                    Angle::zero());
+            result[0].emplace_back(move_tactics.at(i));
+        }
+
+        // yield the Tactics this Play wants to run, in order of priority
+        yield(result);
+    }
+}
+
+
+// Register this play in the genericFactory
+static TGenericFactory<std::string, Play, KickoffFriendlyPlay,
+                       std::shared_ptr<const TbotsProto::AiConfig>>
+    factory;