Visual referee update: Free kick signal detection #1646
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crates/bevyhavior_simulator/src/bin/visual_referee_free_kick_behavior.rs
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| @@ -325,6 +326,7 @@ impl GameState { | |||
| )] | |||
| pub enum Team { | |||
| Hulks, | |||
| #[default] | |||
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Why should Team::Opponent be default? I don't think it is a good idea to add this default impl
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True. I only did this, because our implementation of PathDeserialize for Option<T> requires Default and I changed the kicking_team to a Option<Team>. I don't think there is another way to specialize the implementation of PathDeserialize specifically for Option<Team>... Dunno what else to do :/
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hmm yes you are right about that. You can still do a manual implementation of PathDeserialize when Team does not implement Default. @schmidma I am a bit confused that PathDeserialize for Option<T> requires T: Default. Looking at the code It looks like a totally different value is deserialized in the None case
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I did not manage to manually implement PathDeserialize for Option<Team>, since adding spl_network_messages, which defines Team, as a dependency to the path_serde crate, creates a cyclic dependency 🫠.
I now simply removed the requirement for the Default derive for Option<T> by just not deserializing in the None case. This should be fine, since the value is a None anyway, right?
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Depends on what you mean by "fine". It changes the behavior.
If the previous value was none, we'd construct a default one and recurse with the deserialization.
That was a design decision we made at some point, though I'm not sure we depend on this behavior anywhere currently.
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crates/control/src/behavior/node.rs
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| .filter_map(|(player_number, penalty)| { | ||
| penalty.is_none().then_some(player_number) | ||
| }) | ||
| .skip(1) |
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what if the keeper is penalized? If 1 is penalized and rest of the team is not, 3 & 4 would be selected instead of 2 & 3
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This is intentional. The lowest non-penalized player number, in this case 2, is chosen as replacement keeper, which should not look for the referee, imo.
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Co-authored-by: MaikRe <[email protected]>
Co-authored-by: MaikRe <[email protected]>
Co-authored-by: MaikRe <[email protected]>
Co-authored-by: MaikRe <[email protected]>
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Why? What?
The rule update for the 2025 season introduces a change to the set play of free kicks. Instead of sending the kicking team in the game controller message during all free kicks, now, during
CornerKick,GoalKick,KickIn, andPushingFreeKickno kicking team will be sent in the game controller message. Instead, the head referee will give a visual signal to indicate the direction of play for the kicking team. This means a signal in the direction of the goal of the HULKs indicates that the Opponent is the kicking team. This signal can be seen below:This expands our current visual referee implementation to now also detect this free kick visual referee signal.
We only try to detect the visual referee signal in
KickInandPushingFreeKick, since thekicking_teamduringCornerKickandGoalKickcan be deduced from the current ball position and the teamsGlobalFieldSide, i.e. whether their are home or away. DuringKickInandPushingFreeKick, whenHometheDefenderRightandMidfielderRightshould look at the referee and do the detection. WhenAway, this is done byDefenderLeftandMidfielderLeftand the first two non-penalized Searchers that are not the keeper.This PR only implements the detection of the signal. It does not yet apply the detection to the
kicking_teamin theFilteredGameControllerState,since the game controller currently still always sends the kicking team, as it has not been updated yet (see RoboCup-SPL/GameController3)(EDIT: It has been updated).Fixes #1476
ToDo / Known Issues
Ideas for Next Iterations (Not This PR)
How to Test
CornerKick,GoalKick,KickIn, andPushingFreeKick.KickInandPushingFreeKickonly the correct defender and midfielder or searcher look at the referee and do the visual signal detection.