[BLOCKED] Receiver tactic moves away from shot attempts

docs/fsm-diagrams.md

@@ -469,6 +469,7 @@ stateDiagram-v2
 classDef terminate fill:white,color:black,font-weight:bold
 direction LR
 [*] --> WaitingForPassState
+WaitingForPassState --> WaitingForPassState : [shouldMoveAwayFromShot]\n<i>moveAwayFromShot</i>
 WaitingForPassState --> WaitingForPassState : [!passStarted]\n<i>updateReceive</i>
 WaitingForPassState --> OneTouchShotState : [passStarted && onetouchPossible]\n<i>updateOnetouch</i>
 WaitingForPassState --> ReceiveAndDribbleState : [passStarted && !onetouchPossible]\n<i>updateReceive</i>

src/proto/tactic.proto

@@ -160,7 +160,7 @@ message PivotKickTactic
 message ReceiverTactic
 {
     // The pass to receive
-    optional Pass pass = 1;
+    optional Pass pass_ = 1;  // needs the _ because pass is a keyword in python
     // If set to true, we will only receive and dribble
     required bool disable_one_touch_shot = 2;
 }

src/software/ai/hl/stp/play/shoot_or_pass/BUILD

@@ -1,3 +1,5 @@
+load("@simulated_tests_deps//:requirements.bzl", "requirement")
+
 package(default_visibility = ["//visibility:public"])
 
 # We force linking for all plays so that the static variables required for the
@@ -46,7 +48,7 @@ cc_test(
 )
 
 cc_test(
-    name = "shoot_or_pass_play_test",
+    name = "shoot_or_pass_play_test_cpp",
     srcs = ["shoot_or_pass_play_test.cpp"],
     deps = [
         ":shoot_or_pass_play",
@@ -59,3 +61,19 @@ cc_test(
         "//software/world",
     ],
 )
+
+py_test(
+    name = "shoot_or_pass_play_test",
+    srcs = [
+        "shoot_or_pass_play_test.py",
+    ],
+    # TODO (#2619) Remove tag to run in parallel
+    tags = [
+        "exclusive",
+    ],
+    deps = [
+        "//software:conftest",
+        "//software/simulated_tests:validation",
+        requirement("pytest"),
+    ],
+)

src/software/ai/hl/stp/play/shoot_or_pass/shoot_or_pass_play_test.py

@@ -0,0 +1,102 @@
+import software.python_bindings as tbots_cpp
+from proto.play_pb2 import Play, PlayName
+from software.simulated_tests.friendly_team_scored import *
+from software.simulated_tests.ball_enters_region import *
+from software.simulated_tests.friendly_has_ball_possession import *
+from proto.message_translation.tbots_protobuf import create_world_state
+from proto.ssl_gc_common_pb2 import Team
+from software.simulated_tests.simulated_test_fixture import (
+    pytest_main,
+)
+
+
+def test_shoot_or_pass_play(simulated_test_runner):
+    def setup(start_point):
+        # starting point must be Point
+        ball_initial_pos = start_point
+        # placement point must be Vector2 to work with game controller
+        tbots_cpp.Point(-3, -2)
+        tbots_cpp.Field.createSSLDivisionBField()
+
+        # Setup Bots
+        blue_bots = [
+            tbots_cpp.Point(-4.5, 3.0),
+            tbots_cpp.Point(-2, 1.5),
+            tbots_cpp.Point(-2, 0.5),
+            tbots_cpp.Point(-2, -1.7),
+            tbots_cpp.Point(-2, -1.5),
+            tbots_cpp.Point(-2, -0.5),
+        ]
+
+        yellow_bots = [
+            tbots_cpp.Point(1, 0),
+            tbots_cpp.Point(1, 2.5),
+            tbots_cpp.Point(1, -2.5),
+            tbots_cpp.Field.createSSLDivisionBField().enemyGoalCenter(),
+            tbots_cpp.Field.createSSLDivisionBField()
+            .enemyDefenseArea()
+            .negXNegYCorner(),
+            tbots_cpp.Field.createSSLDivisionBField()
+            .enemyDefenseArea()
+            .negXPosYCorner(),
+        ]
+
+        # Game Controller Setup
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+        )
+        simulated_test_runner.gamecontroller.send_gc_command(
+            gc_command=Command.Type.FORCE_START, team=Team.BLUE
+        )
+
+        # Force play override here
+        blue_play = Play()
+        blue_play.name = PlayName.OffensePlay
+
+        yellow_play = Play()
+        yellow_play.name = PlayName.HaltPlay
+
+        simulated_test_runner.blue_full_system_proto_unix_io.send_proto(
+            Play, blue_play)
+        simulated_test_runner.yellow_full_system_proto_unix_io.send_proto(
+            Play, yellow_play
+        )
+
+        # Create world state
+        simulated_test_runner.simulator_proto_unix_io.send_proto(
+            WorldState,
+            create_world_state(
+                yellow_robot_locations=yellow_bots,
+                blue_robot_locations=blue_bots,
+                ball_location=ball_initial_pos,
+                ball_velocity=tbots_cpp.Vector(0, 0),
+            ),
+        )
+
+    field = tbots_cpp.Field.createSSLDivisionBField()
+
+    # Always Validation
+    inv_always_validation_sequence_set = [
+        [BallAlwaysStaysInRegion(regions=[field.fieldBoundary()])]
+    ]
+
+    ag_always_validation_sequence_set = [[FriendlyAlwaysHasBallPossession()]]
+
+    # Eventually Validation
+    inv_eventually_validation_sequence_set = [[]]
+    ag_eventually_validation_sequence_set = [[FriendlyTeamEventuallyScored()]]
+
+    simulated_test_runner.run_test(
+        params=[tbots_cpp.Point(-4.4, 2.9)],
+        setup=setup,
+        inv_eventually_validation_sequence_set=inv_eventually_validation_sequence_set,
+        inv_always_validation_sequence_set=inv_always_validation_sequence_set,
+        ag_eventually_validation_sequence_set=ag_eventually_validation_sequence_set,
+        ag_always_validation_sequence_set=ag_always_validation_sequence_set,
+        test_timeout_s=15,
+        run_till_end=True,
+    )
+
+
+if __name__ == "__main__":
+    pytest_main(__file__)

src/software/ai/hl/stp/tactic/receiver/BUILD

@@ -1,3 +1,5 @@
+load("@simulated_tests_deps//:requirements.bzl", "requirement")
+
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
@@ -34,7 +36,7 @@ cc_test(
 )
 
 cc_test(
-    name = "receiver_tactic_test",
+    name = "receiver_tactic_cpp_test",
     srcs = ["receiver_tactic_test.cpp"],
     deps = [
         ":receiver_tactic",
@@ -47,3 +49,17 @@ cc_test(
         "//software/world",
     ],
 )
+
+py_test(
+    name = "receiver_tactic_test",
+    srcs = ["receiver_tactic_test.py"],
+    tags = [
+        "exclusive",
+    ],
+    deps = [
+        "//software:conftest",
+        "//software/simulated_tests:speed_threshold_helpers",
+        "//software/simulated_tests:validation",
+        requirement("pytest"),
+    ],
+)

src/software/ai/hl/stp/tactic/receiver/receiver_fsm.cpp

@@ -174,6 +174,26 @@ void ReceiverFSM::adjustReceive(const Update& event)
     }
 }
 
+void ReceiverFSM::moveAwayFromShot(const Update& event)
+{
+    Point ball  = event.common.world_ptr->ball().position();
+    Point robot = event.common.robot.position();
+
+    Vector between_robot_and_ball = ball - robot;
+    Vector side_step_direction    = between_robot_and_ball.normalize().perpendicular();
+
+    Point side_step_position = robot + side_step_direction;
+
+    Angle orientation = (side_step_position - ball).orientation();
+
+    event.common.set_primitive(std::make_unique<MovePrimitive>(
+        event.common.robot, side_step_position, orientation,
+        TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
+        TbotsProto::ObstacleAvoidanceMode::AGGRESSIVE,
+        TbotsProto::DribblerMode::MAX_FORCE, TbotsProto::BallCollisionType::ALLOW,
+        AutoChipOrKick{AutoChipOrKickMode::OFF, {0}}));
+}
+
 bool ReceiverFSM::passStarted(const Update& event)
 {
     return event.common.world_ptr->ball().hasBallBeenKicked(
@@ -207,3 +227,18 @@ bool ReceiverFSM::strayPass(const Update& event)
 
     return stray_pass;
 }
+
+bool ReceiverFSM::shouldMoveAwayFromShot(const Update& event)
+{
+    Point ball = event.common.world_ptr->ball().position();
+    Point goal = event.common.world_ptr->field().enemyGoalpostPos();
+
+    Vector ball_expand = (ball - goal).normalize(0.5).perpendicular();
+    Vector goal_expand = Vector(0.5, 0.0);
+
+    Point robot = event.common.robot.position();
+
+    return contains(Polygon{ball - ball_expand, ball + ball_expand, goal + goal_expand,
+                            goal - goal_expand},
+                    robot);
+}

src/software/ai/hl/stp/tactic/receiver/receiver_fsm.h

@@ -114,6 +114,14 @@ struct ReceiverFSM
      */
     void adjustReceive(const Update& event);
 
+    /**
+     * Move the robot away from the planned shot path by moving
+     * perpendicular to the path by a metre.
+     *
+     * @param event ReceiverFSM::Update event
+     */
+    void moveAwayFromShot(const Update& event);
+
     /**
      * Guard that checks if the ball has been kicked
      *
@@ -141,6 +149,14 @@ struct ReceiverFSM
      */
     bool strayPass(const Update& event);
 
+    /**
+     * Checks if attacker wants to shoot and receiver is in the way.
+     *
+     * @param event ReceiverFSM::Update event
+     * @return true if should move away from shot attempt
+     */
+    bool shouldMoveAwayFromShot(const Update& event);
+
     auto operator()()
     {
         using namespace boost::sml;
@@ -154,14 +170,18 @@ struct ReceiverFSM
         DEFINE_SML_GUARD(passStarted)
         DEFINE_SML_GUARD(passFinished)
         DEFINE_SML_GUARD(strayPass)
+        DEFINE_SML_GUARD(shouldMoveAwayFromShot)
 
         DEFINE_SML_ACTION(updateOnetouch)
         DEFINE_SML_ACTION(updateReceive)
         DEFINE_SML_ACTION(adjustReceive)
+        DEFINE_SML_ACTION(moveAwayFromShot)
 
         return make_transition_table(
             // src_state + event [guard] / action = dest_state
-            *WaitingForPassState_S + Update_E[!passStarted_G] / updateReceive_A,
+            *WaitingForPassState_S +
+                Update_E[shouldMoveAwayFromShot_G] / moveAwayFromShot_A,
+            WaitingForPassState_S + Update_E[!passStarted_G] / updateReceive_A,
             WaitingForPassState_S + Update_E[passStarted_G && onetouchPossible_G] /
                                         updateOnetouch_A = OneTouchShotState_S,
             WaitingForPassState_S + Update_E[passStarted_G && !onetouchPossible_G] /