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Referee integration #111

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Merged
energy-in-joles merged 85 commits into from
May 20, 2026
Merged

Referee integration #111

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9720dc1
feat: referee support in rsim
isaac0804 Nov 26, 2025
4cff935
hotfix: self.name bug
isaac0804 Nov 26, 2025
ac7ffb0
Merge branch 'main' into referee_integration
isaac0804 Feb 18, 2026
3f6b0d9
feat: receive complete referee data and use it in strategy runner
isaac0804 Feb 18, 2026
27850b1
feat: referee command nodes and test
isaac0804 Feb 18, 2026
ec2558b
fix: make RefereeData.__eq__ actually override tuple equality; fix te…
isaac0804 Mar 13, 2026
08af954
merge: resolve conflicts from main into referee_integration
isaac0804 Mar 13, 2026
769a8a6
Add custom referee integration and profile rename
isaac0804 Mar 31, 2026
5c0b05a
Fix referee runner startup and keep-out behavior
isaac0804 Mar 31, 2026
626ef22
Scale referee actions with field geometry
isaac0804 Mar 31, 2026
d4adaeb
Fix referee restart progression and clearance
isaac0804 Mar 31, 2026
a0b120d
Fix custom referee demo wiring and status messages
isaac0804 Mar 31, 2026
2250a92
Show referee source details in live status
isaac0804 Mar 31, 2026
5d757c1
Add referee behaviour integration tests and unit test coverage
isaac0804 Apr 3, 2026
b683f39
Use public Field class properties instead of private constants
isaac0804 Apr 3, 2026
f6f1297
Default headless=True, skip ball teleport when placement pending, doc…
isaac0804 Apr 3, 2026
aa4974a
Document end-to-end ball placement test as future work
isaac0804 Apr 3, 2026
15aa391
Remove advanced controls (penalty & ball placement) from referee GUI
isaac0804 Apr 3, 2026
c148b34
Add three future work items to referee integration docs
isaac0804 Apr 3, 2026
cb6b176
Fix three bugs identified in Copilot review
isaac0804 Apr 7, 2026
5282cc2
Update utama_core/custom_referee/state_machine.py
isaac0804 Apr 7, 2026
cc1b187
Address second round of Copilot review comments
isaac0804 Apr 7, 2026
9d6b8ea
fix: stage_time_left now updates every frame in RefereeRefiner
isaac0804 Apr 14, 2026
6c265ab
fix: increase BALL_KEEP_OUT_DISTANCE to 0.8 m to prevent restart viol…
isaac0804 Apr 14, 2026
3125309
Merge origin/main into referee_integration
isaac0804 Apr 14, 2026
2040685
fix: adapt referee code to FieldDimensions API and arbitrary field sizes
isaac0804 Apr 14, 2026
3d170b8
fix: use own-half fallback direction when robot is coincident with ball
isaac0804 Apr 14, 2026
04288e5
feat: make StrategyRunner the single source of truth for referee geom…
isaac0804 Apr 14, 2026
fe1c490
refactor: remove RefereeGeometry.from_standard_div_b()
isaac0804 Apr 14, 2026
82051b9
refactor: rename half_defense_length → half_defense_depth in RefereeG…
isaac0804 Apr 14, 2026
4869ca9
fix: remove dead CLEARANCE_FALLBACK_DIRECTION and fix _clear_to_legal…
isaac0804 Apr 15, 2026
d6f4f11
fix: exclude PREPARE_KICKOFF/PENALTY from keep-out rule to prevent se…
isaac0804 Apr 15, 2026
b3a02bd
Revert "fix: exclude PREPARE_KICKOFF/PENALTY from keep-out rule to pr…
isaac0804 Apr 15, 2026
3bb31bc
fix: clear encroaching robots from current position, not formation ta…
isaac0804 Apr 15, 2026
ea33066
fix: use BALL_KEEP_OUT_DISTANCE in _ensure_outside_center_circle
isaac0804 Apr 15, 2026
386dd94
fix: address Copilot review issues in referee code and docs
isaac0804 Apr 16, 2026
ea8514b
fix: address Copilot review issues in referee actions and tests
isaac0804 Apr 16, 2026
530cd0b
fix: keep RefereeRefiner properties current when deduplication skips …
isaac0804 Apr 16, 2026
7707973
docs: rename half_defense_length → half_defense_depth in all docs
isaac0804 Apr 16, 2026
e5f381b
docs: remove non-existent exhibition.yaml from file structure
isaac0804 Apr 16, 2026
aceeb8e
Merge branch 'main' into referee_integration
energy-in-joles May 10, 2026
0c65a12
bug fix for pytest and add referee example in main
energy-in-joles May 10, 2026
82e80a2
fix: use game.ts as referee timebase instead of wall clock
isaac0804 May 15, 2026
69b96e0
fix(#107): suppress Kalman ghost tracking during robot substitution
isaac0804 May 15, 2026
3cc2ee8
Revert "fix(#107): suppress Kalman ghost tracking during robot substi…
isaac0804 May 15, 2026
d89a3af
fix: address Copilot review issues in main.py and referee tree dispat…
isaac0804 May 15, 2026
2e65361
fix: make DefenseAreaRule color-aware for symmetric enforcement
isaac0804 May 15, 2026
6db9d49
fix: cache last RefereeData so GameFrame.referee stays populated betw…
isaac0804 May 15, 2026
0a1e912
fix: address Copilot review issues in referee tree dispatchers and pe…
isaac0804 May 16, 2026
60b7c52
fix: prevent keep-out violations and defense-area infinite loop
isaac0804 May 17, 2026
b317811
fix: seed _prepare_entered_time in set_command() for direct PREPARE_*…
isaac0804 May 17, 2026
56b20a9
refactor: replace referee_system+custom_referee args with typed Refer…
isaac0804 May 18, 2026
4104b95
feat: add center_circle_radius to FieldDimensions
isaac0804 May 18, 2026
58fd7e1
refactor: replace hardcoded geometry fallbacks with STANDARD_FIELD_DI…
isaac0804 May 18, 2026
bdbe130
refactor: remove dead initial_command and initial_time params from Ga…
isaac0804 May 18, 2026
7502472
refactor: remove GameTracer from referee_integration branch
isaac0804 May 18, 2026
7b95ae8
fix: address Copilot review issues — timebase mismatch and center_cir…
isaac0804 May 18, 2026
d689b5d
fix: snapshot TeamInfo per packet to prevent retroactive history muta…
isaac0804 May 18, 2026
180d00a
update center circle render for rsim
energy-in-joles May 19, 2026
d0fb462
fix crash when rsim not included for rendering fpp
energy-in-joles May 19, 2026
9193f38
refactor: make StrategyRunner.full_field_dims the single source of fi…
isaac0804 May 19, 2026
eac4eb8
feat: add Exhibition Road festival demo (2v2, compact field, human-op…
isaac0804 May 19, 2026
3799bae
refactor: use WanderingStrategy instead of external Strategy_2v2 import
isaac0804 May 19, 2026
b8a259d
feat: scale WanderingStrategy waypoints to field_dims; pass exhibitio…
isaac0804 May 19, 2026
7b19c92
fix: propagate geometry mismatch error from vision thread to main thread
isaac0804 May 19, 2026
a4107af
fix: initialise _stop_event before _setup_vision_and_referee in __init__
isaac0804 May 19, 2026
2a9237b
fix: guard draw_line calls when env is None (grsim/real mode)
isaac0804 May 19, 2026
f5f30f0
fix: re-raise parked thread exception after stop_event exits the run …
isaac0804 May 19, 2026
a0f2bc6
feat: redesign GUI to 2x2 quadrant layout with field filling top-left
isaac0804 May 19, 2026
a35829c
feat: muted colour palette and grouped ghost-style buttons in GUI
isaac0804 May 19, 2026
788c637
Revert "feat: muted colour palette and grouped ghost-style buttons in…
isaac0804 May 19, 2026
0395d80
Revert "feat: redesign GUI to 2x2 quadrant layout with field filling …
isaac0804 May 19, 2026
7d16076
feat: restore 2x2 quadrant layout with original colour scheme
isaac0804 May 19, 2026
d380365
fix: pass waypoints directly to WanderingStep instead of via blackboard
isaac0804 May 19, 2026
a427963
fix: set _waypoints before super().__init__() in WanderingStrategy
isaac0804 May 19, 2026
3c5a653
config: disable defense area and keep-out rules for exhibition road
isaac0804 May 19, 2026
7d2c565
feat: add goal_depth to FieldDimensions and propagate to RefereeGeome…
isaac0804 May 19, 2026
a885932
docs: fix stale referee_gui.py references and outdated StrategyRunner…
isaac0804 May 19, 2026
b73ba24
fix: add _vision_receiver=None to mock_runner fixture to match Strate…
isaac0804 May 19, 2026
98e41ee
referee should be using FieldDimensions only
energy-in-joles May 20, 2026
7aae73d
tighten docs
energy-in-joles May 20, 2026
b64e4db
Potential fix for pull request finding
energy-in-joles May 20, 2026
25d660d
Potential fix for pull request finding
energy-in-joles May 20, 2026
f7b9204
update docs
energy-in-joles May 20, 2026
93121b6
fix: stabilize RefereeData __hash__ and referee_sim command timestamp
isaac0804 May 20, 2026
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2 changes: 1 addition & 1 deletion conftest.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ def pytest_addoption(parser):
parser.addoption(
"--headless",
action="store_true",
default=False,
default=True,
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help="Don't display any graphics (runs faster)",
)
parser.addoption(
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