[Skill] add CircleRun

Core/tactics/skill/CircleRun.cpp

@@ -0,0 +1,46 @@
+#include <fmt/core.h>
+#include <algorithm>
+#include "VisionModule.h"
+#include "DribbleStatus.h"
+#include <CommandFactory.h>
+#include "RobotCapability.h"
+#include "CircleRun.h"
+namespace {
+    const double MAX_ACC = 6000;//mm/s^2
+    const double MAX_ROT_ACC = 50;
+}
+void CCircleRun::plan(const CVisionModule* pVision){
+    return ;
+}
+CPlayerCommand* CCircleRun::execute(const CVisionModule* pVision){
+    const int vecNumber = task().executor;
+    const CGeoPoint center = task().player.pos; // rotate center in robot coordinate
+    const double targetRotVel = task().player.rotvel; // omega
+
+    const PlayerVisionT& me = pVision->ourPlayer(vecNumber);
+    const CVector meVel = me.Vel().rotate(-me.Dir());
+    const double meRotVel = me.RotVel();
+    const double dRotVel = std::clamp(targetRotVel - meRotVel, -MAX_ROT_ACC/PARAM::Vision::FRAME_RATE, MAX_ROT_ACC/PARAM::Vision::FRAME_RATE);
+    const double rotVel = meRotVel + dRotVel;
+    const CVector me2center = center - CGeoPoint(0,0);
+    const double targetVelMod = me2center.mod() * rotVel;
+    const double targetVelDir = me2center.rotate(-std::copysign(PARAM::Math::PI/2, targetRotVel)).dir();
+    const CVector targetVel = Utils::Polar2Vector(targetVelMod, targetVelDir);
+
+    const CVector velDiff = targetVel - meVel;
+
+    const CVector dv = Utils::Polar2Vector(std::min(velDiff.mod(), MAX_ACC/PARAM::Vision::FRAME_RATE), velDiff.dir());
+
+    const CVector localVel = meVel + dv;
+
+    const bool needDribble = task().player.flag & PlayerStatus::DRIBBLING;
+    auto dribblePower = DribbleStatus::Instance()->getDribbleCommand(vecNumber);
+    if (needDribble) {
+        dribblePower = DRIBBLE_HIGHEST;
+    }
+    GDebugEngine::instance()->gui_debug_msg(me.Pos(), fmt::format("localVel: ({:.2f}, {:.2f}), rotVel: {:.2f}", localVel.x(), localVel.y(), rotVel), COLOR_GREEN);
+    GDebugEngine::instance()->gui_debug_line(me.Pos(), me.Pos() + localVel.rotate(me.Dir()), COLOR_GREEN);
+    GDebugEngine::instance()->gui_debug_line(me.Pos(), me.Pos() + me2center.rotate(me.Dir()), COLOR_GREEN);
+    GDebugEngine::instance()->gui_debug_x(me.Pos() + me2center.rotate(me.Dir()), COLOR_GREEN);
+    return CmdFactory::Instance()->newCommand(CPlayerSpeedV2(vecNumber, localVel.x(), localVel.y(), rotVel, dribblePower));
+}

Core/tactics/skill/CircleRun.h

@@ -0,0 +1,14 @@
+#pragma once
+#include "skill_registry.h"
+
+class CCircleRun : public CPlayerTask{
+public:
+    CCircleRun() = default;
+    virtual void plan(const CVisionModule* pVision);
+	virtual CPlayerCommand* execute(const CVisionModule* pVision);
+    virtual void toStream(std::ostream& os) const { os << "CircleRun"; }
+private:
+    int _lastCycle;
+};
+
+REGISTER_SKILL(CircleRun, CCircleRun);

Core/tactics/skill/CircleRun.lua

@@ -0,0 +1,22 @@
+function CircleRun(task)
+	matchPos = function()
+		return ball.pos()
+	end
+
+	execute = function(runner)
+		task_param = TaskT:new_local()
+		task_param.executor = runner
+		task_param.player.pos = CGeoPoint(100,100)
+        task_param.player.rotvel = 4
+		return skillapi:run("CircleRun", task_param)
+	end
+
+	return execute, matchPos
+end
+
+gSkillTable.CreateSkill{
+	name = "CircleRun",
+	execute = function (self)
+		print("This is in skill"..self.name)
+	end
+}