Stopplay intelligent positioning fsm

[annieisawesome2]

Description

This PR converts StopPlay into an FSM and improves robot positioning. The update enables robots to spread out more strategically across the field rather than clustering around the ball, while remaining prepared to receive or intercept a pass. All positioning logic continues to comply with the rules associated with the Stop referee command.

Optimization of robot positioning

We want to follow a similar pattern to OffensePlay where we use possesion and ball location to decide wither to defensively stop or offensively stop.

I ended up deciding on this formation:

1. keep 2 robots still curved around the ball.
2. compute center point of goal ball line about 0.5m from the ball.
3. Move 3rd robot as central support to attack the middle and stretch the field ready to recieve or intercept the ball when play resumes.
   Blue: OLD, Yellow: new stop play

New player assignments:

• move_tactics[0] → center curved point near the ball.
• move_tactics[1] → single offset curved point near the ball.
• move_tactics[2] → new central support point.

NOTE:
The C++ tests only check that the robots slow down below 1.5 m/s and avoids the ball by at least 0.5m which follows the rulebook guidelines for StopPlay.

Testing Done

After converting stop play into an fsm, I tested by running bazel test //software/ai/hl/stp/play:stop_play_test --cache_test_results=no

Additional python test file was added so we can use the visualizer.

• Run ./tbots.py test stop_play_test -t for visualizer
• Run ./tbots.py test stop_play_test to test python file without visualizer

Resolved Issues

#3290

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• Remove all commented out code
• Remove extra print statements: for example, those just used for testing
• Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[StarrryNight]

lgtm. left a nit and a comment on how you can improve stop play

[nycrat]

Looks good 👍, just added a small nit about the python test

[annieisawesome2]

not sure where this came from.. had a divergent branch and did a merge..

[StarrryNight]

good job annie 😊

[StarrryNight]

Look good! left a nit

[StarrryNight]

Put this in header file

[StarrryNight]

Link issue

[StarrryNight]

nice

[williamckha]

Great work! I think the new positioning of the robots is definitely an improvement, though there's probably more we could do to make the play "intelligent" (e.g. different positioning based on which team will regain possession after the Stop, what the enemy team is doing, etc.). We can work on that later, the bulk of this PR (converting to FSM) looks good.