Merge branch 'main' of github.com:Umbrella167/Rocos into main

Umbrella167 · Apr 15, 2024 · 4337732 · 4337732
2 parents 88ff416 + 7264139
commit 4337732
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Showing 9 changed files with 765 additions and 28 deletions.
diff --git a/Core/src/Utils/utils.cpp b/Core/src/Utils/utils.cpp
@@ -22,11 +22,26 @@ const int inf = 1e9;
 GlobalTick Tick[PARAM::Tick::TickLength];
 int now = PARAM::Tick::TickLength - 1;
 int last = PARAM::Tick::TickLength - 2;
+CGeoPoint lastMovePoint = CGeoPoint(inf, inf);
 
 namespace Utils
 {
     // 没写完 START
 
+    /**
+     * 用于稳定输出点
+     * @brief stabilizePoint
+     * @param p
+     * @return
+     */
+    CGeoPoint stabilizePoint(CGeoPoint p){
+        if(lastMovePoint.dist(p) < 1000){
+            return lastMovePoint;
+        }
+        lastMovePoint = p;
+        return p;
+    }
+
     /**
      * 计算全局位置
      * @param  {CVisionModule*} pVision : 视觉模块
@@ -370,7 +385,7 @@ namespace Utils
      * @param playerPos
      * @param playerVel
      * @param flag 不同模式（默认0）,0-最早能拿到球的截球点，1-时间最充裕的截球点, 2- (0,1)方案取中点
-     * @param permissions 球员的权限（默认0）, 0-不允许进禁区和到场外， 1-不可以进场外可以进禁区， 2-场外禁区都可以进
+     * @param permissions 球员的权限（默认0）, 0-不允许进禁区和场外， 1-不可以到场外可以到禁区， 2-场外禁区都可以进
      * @return
      */
 

diff --git a/Core/src/Utils/utils.h b/Core/src/Utils/utils.h
@@ -44,7 +44,9 @@ namespace Utils
     extern CGeoSegment PredictBallLine(const CVisionModule *pVision);
     extern double PosToPosTime(CGeoPoint start_pos, CGeoPoint end_pos, double velocity);
 
+    /* =============== 小工具 =============== */
     extern CGeoPoint GetBallMaxPos(const CVisionModule *pVision);
+    extern CGeoPoint stabilizePoint(CGeoPoint p);
 
     extern double ShowDribblingGrade(const CVisionModule *pVision,CGeoPoint run_pos,CGeoPoint player_pos,CGeoPoint target_pos);
     extern CGeoPoint GetShowDribblingPos(const CVisionModule *pVision,CGeoPoint player_pos,CGeoPoint target_pos);

diff --git a/Core/tactics/play/TestPassAndKick.lua b/Core/tactics/play/TestPassAndKick.lua
@@ -0,0 +1,46 @@
+local waitPos = ball.antiYPos(CGeoPoint:new_local(2800,2800))
+local waitPos2 = ball.antiYPos(CGeoPoint:new_local(2800,2800))
+local mode = true
+
+return {
+firstState = "init",
+["init"] = {
+    switch = function()
+        if player.toTargetDist("Assister") < 1000 and player.toTargetDist("Leader") < 100 then
+            return "pass"
+        end
+    end,
+    Leader = task.staticGetBall(waitPos),
+    Assister = task.goCmuRush(waitPos2),
+    match = "[L][A]"
+},
+["pass"] = {
+	switch = function()
+        -- Utils.GlobalComputingPos(vision,player.pos("Assister"))
+        if player.kickBall("Leader") then
+            return "shoot"
+        end
+	end,
+	Leader = task.touchKick(waitPos, false, 2500, mode),
+    Assister = task.goCmuRush(waitPos2),
+	match = "{LA}"
+},
+["shoot"] = {
+    switch = function()
+        if player.kickBall("Assister") then
+            return "init"
+        end
+    end,
+    Leader = task.stop(),
+    Assister = task.touchKick(pos.theirGoal(), false,6000,mode),
+    match = "{LA}"
+},
+
+name = "TestPassAndKick",
+applicable ={
+	exp = "a",
+	a = true
+},
+attribute = "attack",
+timeout = 99999
+}
diff --git a/Core/tactics/play/TestSubScript.lua b/Core/tactics/play/TestSubScript.lua
@@ -24,14 +24,16 @@ return {
         switch = function()
             if bufcnt(true,30) then 
                 if not subScript then
-                    gSubPlay.new("kickTask", "TestPassAndKick")
+                    -- gSubPlay.new("kickTask", "TestPassAndKick")
+                    gSubPlay.new("testTask", "mytest2")
                 end
                 return "run"
             end
         end,
         Assister = task.stop(),
         Leader = task.stop(),
-        match = "[LA]"
+        Goalie = task.stop(),
+        match = "[LAG]"
     },
     ["run"] = {
         switch = function()
@@ -40,9 +42,9 @@ return {
             --     print("printFileTable: ", key, value)
             -- end
         end,
-        b = gSubPlay.roleTask("kickTask", "Assister"),
-        c = gSubPlay.roleTask("kickTask", "Leader"),
-        a = task.goCmuRush(runPos, 0, nil, DSS_FLAG),
+        -- b = gSubPlay.roleTask("kickTask", "Assister"),
+        c = gSubPlay.roleTask("testTask", "Goalie"),
+        -- a = task.goCmuRush(runPos, 0, nil, DSS_FLAG),
         match = "(abc)"
     },
 

diff --git a/Core/tactics/play/mytest2.lua b/Core/tactics/play/mytest2.lua
@@ -1,4 +1,5 @@
-gPlayTable.CreatePlay{
+
+return {
 
 firstState = "Init",
 
@@ -7,17 +8,34 @@ firstState = "Init",
 		-- debugEngine:gui_debug_msg(CGeoPoint(0, 0), enemy.closestBall())
 		-- debugEngine:gui_debug_msg(CGeoPoint(1000, 1300), enemy.atBallLine())
 		-- if bufcnt(true,20) then
-		-- 	return "GetGlobalMessage"
+		return "run1"
 		-- end 
 	end,
-	Assister = task.stop(),
-	Kicker = task.stop(),
-	Special = task.stop(),
+	-- Assister = task.stop(),
+	-- Kicker = task.stop(),
+	-- Special = task.stop(),
 	Tier = task.stop(),
 	Defender = task.stop(),
 	Goalie = task.goalie("Goalie"),
 	match = "[A][KS]{TDG}"
 },
+["run1"] = {
+	switch = function()
+		-- debugEngine:gui_debug_msg(CGeoPoint(0, 0), enemy.closestBall())
+		-- debugEngine:gui_debug_msg(CGeoPoint(1000, 1300), enemy.atBallLine())
+		-- if bufcnt(true,20) then
+		-- return "run1"
+		-- end 
+	end,
+	-- Assister = task.stop(),
+	-- Kicker = task.stop(),
+	-- Special = task.stop(),
+	Tier = task.defender("Tier"),
+	Defender = task.defender("Defender"),
+	-- Goalie = task.goalie("Goalie"),
+	Goalie = task.goCmuRush(runPos, 0, nil, DSS_FLAG),
+	match = "[A][KS]{TDG}"
+},
 
 name = "mytest2",
 applicable ={