Merge pull request #14 from CLSFramework/develop

Develop

ChangeLog.md

@@ -1,5 +1,23 @@
 # ChangeLog
 
+## [1.0.0] - 2024-09-15
+
+### Added
+- added rpc_version to the RegisterRequest message.
+- added rpc_server_language_type to the RegisterResponse message.
+- added server side planner decision maker.
+
+### Fixed
+- fixed bugs in the getActions functions in thrift and grpc. 
+
+### Changed
+- changed chain_action messages name to planner
+
+### Engineers
+- [NaderZare](https://github.com/naderzare)
+- [SadraKhanjari](https://github.com/SK2iP)
+
+
 ## [0.1.4] - 2024-09-03
 
 ### Added

idl/grpc/service.proto

@@ -1,3 +1,5 @@
+// version 1
+
 syntax = "proto3";
 
 package protos;
@@ -19,13 +21,26 @@ message RegisterRequest {
   AgentType agent_type = 1;
   string team_name = 2;
   int32 uniform_number = 3;
+  int32 rpc_version = 4;
+}
+
+enum RpcServerLanguageType {
+  UNKNOWN_LANGUAGE = 0;
+  PYThON = 1;
+  JAVA = 2;
+  CPP = 3;
+  CSHARP = 4;
+  RUBY = 5;
+  JAVE_SCRIPT = 6;
+  GO = 7;
 }
 
 message RegisterResponse {
   int32 client_id = 1;
   AgentType agent_type = 2;
   string team_name = 3;
   int32 uniform_number = 4;
+  RpcServerLanguageType rpc_server_language_type = 5;
 }
 
 message Ball {
@@ -81,6 +96,12 @@ enum LoggerLevel{
   // LEVEL_ANY = 0xffffffff;
 }
 
+enum CardType {
+  NO_CARD = 0;
+  YELLOW = 1;
+  RED = 2;
+}
+
 message Player {
   RpcVector2D  position = 1;
   RpcVector2D  seen_position = 2;
@@ -151,6 +172,9 @@ message Self {
   ViewWidth view_width = 34;
   int32 type_id = 35;
   float kick_rate = 36;
+  float recovery = 37;
+  float stamina_capacity = 38;
+  CardType card = 39;
 }
 
 enum InterceptActionType {
@@ -254,6 +278,10 @@ message WorldModel {
   int32 their_team_score = 29;
   bool is_penalty_kick_mode = 30;
   map<int32, RpcVector2D> 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;
 }
 
 message State {
@@ -748,7 +776,7 @@ message HeliosGoalieKick {}
 
 message HeliosShoot {}
 
-message HeliosChainAction {
+message HeliosOffensivePlanner {
   bool direct_pass = 1;
   bool lead_pass = 2;
   bool through_pass = 3;
@@ -758,6 +786,7 @@ message HeliosChainAction {
   bool simple_pass = 7;
   bool simple_dribble = 8;
   bool simple_shoot = 9;
+  bool server_side_decision = 10;
 }
 
 message HeliosBasicOffensive {}
@@ -830,12 +859,13 @@ message PlayerAction {
       HeliosGoalieMove helios_goalie_move = 56;
       HeliosGoalieKick helios_goalie_kick = 57;
       HeliosShoot helios_shoot = 58;
-      HeliosChainAction helios_chain_action = 59;
+      HeliosOffensivePlanner helios_offensive_planner = 59;
       HeliosBasicOffensive helios_basic_offensive = 60;
       HeliosBasicMove helios_basic_move = 61;
       HeliosSetPlay helios_set_play = 62;
       HeliosPenalty helios_penalty = 63;
       HeliosCommunicaion helios_communication = 64;
+
   }
 }
 
@@ -1202,6 +1232,59 @@ message PlayerType {
   float player_speed_max = 34;
 }
 
+enum RpcActionCategory {
+  AC_Hold = 0;
+  AC_Dribble = 1;
+  AC_Pass = 2;
+  AC_Shoot = 3;
+  AC_Clear = 4;
+  AC_Move = 5;
+  AC_NoAction = 6;
+}
+message RpcCooperativeAction {
+  RpcActionCategory category = 1;
+  int32 index = 2;
+  int32 sender_unum = 3;
+  int32 target_unum = 4;
+  RpcVector2D target_point = 5;
+  double first_ball_speed = 6;
+  double first_turn_moment = 7;
+  double first_dash_power = 8;
+  double first_dash_angle_relative = 9;
+  int32 duration_step = 10;
+  int32 kick_count = 11;
+  int32 turn_count = 12;
+  int32 dash_count = 13;
+  bool final_action = 14;
+  string description = 15;
+  int32 parent_index = 16;
+}
+
+message RpcPredictState {
+  int32 spend_time = 1;
+  int32 ball_holder_unum = 2;
+  RpcVector2D ball_position = 3;
+  RpcVector2D ball_velocity = 4;
+  double our_defense_line_x = 5;
+  double our_offense_line_x = 6;
+}
+
+message RpcActionState {
+  RpcCooperativeAction action = 1;
+  RpcPredictState predict_state = 2;
+  double evaluation = 3;
+}
+
+message BestPlannerActionRequest {
+  RegisterResponse register_response = 1;
+  map<int32, RpcActionState> pairs = 2;
+  State state = 3;
+}
+
+message BestPlannerActionResponse {
+  int32 index = 1;
+}
+
 message Empty {
 }
 
@@ -1215,4 +1298,5 @@ service Game {
   rpc SendPlayerType(PlayerType) returns (Empty) {} //should be PlayerTypes
   rpc Register(RegisterRequest) returns (RegisterResponse) {}
   rpc SendByeCommand(RegisterResponse) returns (Empty) {}
+  rpc GetBestPlannerAction(BestPlannerActionRequest) returns (BestPlannerActionResponse) {}
 }

idl/thrift/soccer_service.thrift

@@ -1,3 +1,5 @@
+// version 1
+
 namespace cpp soccer
 namespace py soccer
 
@@ -23,14 +25,27 @@ struct RpcVector2D {
 struct RegisterRequest {
   1: AgentType agent_type,
   2: string team_name,
-  3: i32 uniform_number
+  3: i32 uniform_number,
+  4: i32 rpc_version
+}
+
+enum RpcServerLanguageType {
+  UNKNOWN_LANGUAGE = 0;
+  PYThON = 1;
+  JAVA = 2;
+  CPP = 3;
+  CSHARP = 4;
+  RUBY = 5;
+  JAVE_SCRIPT = 6;
+  GO = 7;
 }
 
 struct RegisterResponse {
   1: i32 client_id
   2: AgentType agent_type,
   3: string team_name,
-  4: i32 uniform_number
+  4: i32 uniform_number,
+  5: RpcServerLanguageType rpc_server_language_type
 }
 
 struct Ball {
@@ -84,6 +99,12 @@ enum LoggerLevel {
   PLAN = 1048576
 }
 
+enum CardType {
+  NO_CARD = 0,
+  YELLOW = 1,
+  RED = 2
+}
+
 struct Player {
   1: RpcVector2D position,
   2: RpcVector2D seen_position,
@@ -153,7 +174,10 @@ struct Self {
   33: double foul_probability,
   34: ViewWidth view_width,
   35: i32 type_id,
-  36: double kick_rate
+  36: double kick_rate,
+  37: double recovery,
+  38: double stamina_capacity,
+  39: CardType card
 }
 
 enum InterceptActionType {
@@ -256,7 +280,11 @@ struct WorldModel {
   28: i32 our_team_score,
   29: i32 their_team_score,
   30: bool is_penalty_kick_mode,
-  31: map<i32, RpcVector2D> helios_home_positions
+  31: map<i32, RpcVector2D> helios_home_positions,
+  32: double our_defense_line_x,
+  33: double their_defense_line_x,
+  34: double our_defense_player_line_x,
+  35: double their_defense_player_line_x
 }
 
 struct State {
@@ -714,7 +742,7 @@ struct HeliosGoalieKick {}
 
 struct HeliosShoot {}
 
-struct HeliosChainAction {
+struct HeliosOffensivePlanner {
   1: bool direct_pass,
   2: bool lead_pass,
   3: bool through_pass,
@@ -724,6 +752,7 @@ struct HeliosChainAction {
   7: bool simple_pass,
   8: bool simple_dribble,
   9: bool simple_shoot
+  10: bool server_side_decision
 }
 
 struct HeliosBasicOffensive {}
@@ -795,7 +824,7 @@ struct PlayerAction {
   56: optional HeliosGoalieMove helios_goalie_move,
   57: optional HeliosGoalieKick helios_goalie_kick,
   58: optional HeliosShoot helios_shoot,
-  59: optional HeliosChainAction helios_chain_action,
+  59: optional HeliosOffensivePlanner helios_offensive_planner,
   60: optional HeliosBasicOffensive helios_basic_offensive,
   61: optional HeliosBasicMove helios_basic_move,
   62: optional HeliosSetPlay helios_set_play,
@@ -1162,6 +1191,60 @@ struct PlayerType {
   34: double player_speed_max,
 }
 
+enum RpcActionCategory {
+  AC_Hold = 0;
+  AC_Dribble = 1;
+  AC_Pass = 2;
+  AC_Shoot = 3;
+  AC_Clear = 4;
+  AC_Move = 5;
+  AC_NoAction = 6;
+}
+
+struct RpcCooperativeAction {
+  1: RpcActionCategory category;
+  2: i32 index;
+  3: i32 sender_unum;
+  4: i32 target_unum;
+  5: RpcVector2D target_point;
+  6: double first_ball_speed;
+  7: double first_turn_moment;
+  8: double first_dash_power;
+  9: double first_dash_angle_relative;
+  10: i32 duration_step;
+  11: i32 kick_count;
+  12: i32 turn_count;
+  13: i32 dash_count;
+  14: bool final_action;
+  15: string description;
+  16: i32 parent_index;
+}
+
+struct RpcPredictState {
+  1: i32 spend_time;
+  2: i32 ball_holder_unum;
+  3: RpcVector2D ball_position;
+  4: RpcVector2D ball_velocity;
+  5: double our_defense_line_x;
+  6: double our_offense_line_x;
+}
+
+struct RpcActionState {
+  1: RpcCooperativeAction action;
+  2: RpcPredictState predict_state;
+  3: double evaluation;
+}
+
+struct BestPlannerActionRequest {
+  1: RegisterResponse register_response,
+  2: map<i32, RpcActionState> pairs;
+  3: State state;
+}
+
+struct BestPlannerActionResponse {
+  1: i32 index;
+}
+
 struct Empty {}
 
 service Game {
@@ -1173,6 +1256,7 @@ service Game {
   Empty SendPlayerParams(1: PlayerParam player_param),
   Empty SendPlayerType(1: PlayerType player_type),
   RegisterResponse Register(1: RegisterRequest request),
-  Empty SendByeCommand(1: RegisterResponse register_response)
+  Empty SendByeCommand(1: RegisterResponse register_response),
+  BestPlannerActionResponse GetBestPlannerAction(1: BestPlannerActionRequest best_planner_action_request)
 }