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

Umbrella167 · May 13, 2024 · 9897553 · 9897553
2 parents e93194b + 81a0e9f
commit 9897553
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diff --git a/Core/src/Main/zeus_main.cpp b/Core/src/Main/zeus_main.cpp
@@ -18,41 +18,43 @@
 #include <QCoreApplication>
 #include "utils.h"
 /*! \mainpage Zeus - Run for number one
-*
-* \section Introduction
-*
-*	ZJUNlict is robot soccer team of Robocup in Small Size League.
-*
-* \section Strategy
-*	Frame : GameState -> Play -> Agent -> Skill -> Motion Control -> Wireless
-*
-* \subsection step1: GameState
-* \subsection step2: Play
-* \subsection step3: Agent
-* \subsection step4: Skill
-* \subsection step5: Motion Control : PathPlan and Trajectory Generation
-*
-* etc...
-*/
+ *
+ * \section Introduction
+ *
+ *	ZJUNlict is robot soccer team of Robocup in Small Size League.
+ *
+ * \section Strategy
+ *	Frame : GameState -> Play -> Agent -> Skill -> Motion Control -> Wireless
+ *
+ * \subsection step1: GameState
+ * \subsection step2: Play
+ * \subsection step3: Agent
+ * \subsection step4: Skill
+ * \subsection step5: Motion Control : PathPlan and Trajectory Generation
+ *
+ * etc...
+ */
 extern Semaphore visionEvent;
 extern std::mutex decisionMutex;
 /// <summary> For GPU. </summary>
-std::mutex* _best_visiondata_copy_mutex = nullptr;
-std::mutex* _value_getter_mutex = nullptr;
+std::mutex *_best_visiondata_copy_mutex = nullptr;
+std::mutex *_value_getter_mutex = nullptr;
 
 using PARAM::Latency::TOTAL_LATED_FRAME;
 
 bool VERBOSE_MODE = true;
 bool IS_SIMULATION = false;
 bool record_run_pos_on = false;
-namespace {
-COptionModule *option;
-CDecisionModule *decision;
-CActionModule *action;
-CServerInterface::VisualInfo visionInfo;
+namespace
+{
+    COptionModule *option;
+    CDecisionModule *decision;
+    CActionModule *action;
+    CServerInterface::VisualInfo visionInfo;
 }
 
-int runLoop() {
+int runLoop()
+{
     ZSS::ZParamManager::instance()->loadParam(IS_SIMULATION, "Alert/IsSimulation", false);
     initializeSingleton();
     option = new COptionModule();
@@ -70,15 +72,17 @@ int runLoop() {
     /*
 
     */
-    while (true) {
+    while (true)
+    {
         vision->setNewVision();
-        Utils::UpdateTickMessage(vision,PARAM::Player::our_goalie_num,PARAM::Player::defend_num1,PARAM::Player::defend_num2);
+        Utils::UpdateTickMessage(vision, PARAM::ZJHU::our_goalie_num, PARAM::ZJHU::defend_num1, PARAM::ZJHU::defend_num2);
         decision->DoDecision();
         action->sendAction();
-        GDebugEngine::Instance()->send(option->MyColor() == PARAM::BLUE); //Show two teams debug messages
+        GDebugEngine::Instance()->send(option->MyColor() == PARAM::BLUE); // Show two teams debug messages
     }
 }
-int main(int argc, char* argv[]) {
+int main(int argc, char *argv[])
+{
     QCoreApplication a(argc, argv);
     std::thread t(runLoop);
     t.detach();

diff --git a/Core/tactics/play/testsalta.lua b/Core/tactics/play/testsalta.lua
diff --git a/ZBin/lua_scripts/worldmodel/param.lua b/ZBin/lua_scripts/worldmodel/param.lua
@@ -19,25 +19,26 @@ defend_num2               = CGetSettings("ZJHU/defend_num2", "Int")
 -----------------------------------------------|
 --                feild参数                  --|
 -----------------------------------------------|
-pitchLength           = CGetSettings("field/width", "Int")
-pitchWidth            = CGetSettings("field/height", "Int")
-freeKickAvoidBallDist = 500
-penaltyWidth          = CGetSettings("field/penaltyLength", "Int")
-penaltyDepth          = CGetSettings("field/penaltyWidth", "Int")
-penaltyRadius         = penaltyWidth / 2
-penaltySegment        = 500
-ourTopRightPenaltyPos = CGeoPoint:new_local(-pitchLength / 2 + penaltyDepth, penaltyRadius)
-ourTopPenaltyPos      = CGeoPoint:new_local(-pitchLength / 2, penaltyRadius)
-ourButtomPenaltyPos   = CGeoPoint:new_local(-pitchLength / 2, -penaltyRadius)
+pitchLength               = CGetSettings("field/width", "Int")
+pitchWidth                = CGetSettings("field/height", "Int")
+freeKickAvoidBallDist     = 500
+penaltyWidth              = CGetSettings("field/penaltyLength", "Int")
+penaltyDepth              = CGetSettings("field/penaltyWidth", "Int")
+penaltyRadius             = penaltyWidth / 2
+penaltySegment            = 500
+ourTopRightPenaltyPos     = CGeoPoint:new_local(-pitchLength / 2 + penaltyDepth, penaltyRadius)
+ourTopPenaltyPos          = CGeoPoint:new_local(-pitchLength / 2, penaltyRadius)
+ourButtomPenaltyPos       = CGeoPoint:new_local(-pitchLength / 2, -penaltyRadius)
 -- 球门参数
-goalWidth             = CGetSettings("field/goalWidth", "Int")
-goalDepth             = CGetSettings("field/goalDepth", "Int")
-goalRadius            = goalWidth / 2
-ourGoalLine           = CGeoSegment(CGeoPoint:new_local(-pitchLength / 2, -INF), CGeoPoint:new_local(-pitchLength / 2,
-    INF))
-ourGoalPos            = CGeoPoint:new_local(-pitchLength / 2, 0)
-ourTopGoalPos         = CGeoPoint:new_local(-pitchLength / 2, goalRadius)
-ourButtomGoalPos      = CGeoPoint:new_local(-pitchLength / 2, -goalRadius)
+goalWidth                 = CGetSettings("field/goalWidth", "Int")
+goalDepth                 = CGetSettings("field/goalDepth", "Int")
+goalRadius                = goalWidth / 2
+ourGoalLine               = CGeoSegment(CGeoPoint:new_local(-pitchLength / 2, -INF),
+    CGeoPoint:new_local(-pitchLength / 2,
+        INF))
+ourGoalPos                = CGeoPoint:new_local(-pitchLength / 2, 0)
+ourTopGoalPos             = CGeoPoint:new_local(-pitchLength / 2, goalRadius)
+ourButtomGoalPos          = CGeoPoint:new_local(-pitchLength / 2, -goalRadius)
 
 
 -- 是否为真实场地
@@ -48,12 +49,12 @@ Team = "ONE"
 -----------------------------------------------|
 --                Getball参数                 --|
 -----------------------------------------------|
-playerVel = 1                                       -- 机器人速度
-getballMode = 1                                       -- [0[激进模式], 1[保守模式], 2[middle]]
-local V_DECAY_RATE_Reality = 700                          -- 场地摩擦
-lastInterPos = CGeoPoint:new_local(-INF,-INF)       -- 上一次算点结果
+playerVel = 1                                 -- 机器人速度
+getballMode = 1                               -- [0[激进模式], 1[保守模式], 2[middle]]
+local V_DECAY_RATE_Reality = 700              -- 场地摩擦
+lastInterPos = CGeoPoint:new_local(-INF, -INF) -- 上一次算点结果
 rushToBallCount = 0
-distRate = 0.2                                 --
+distRate = 0.2                                --
 
 -----------------------------------------------|
 --                球权和红外参数                --|
@@ -84,9 +85,9 @@ canTouchAngle = 45           -- 可以touch的角度
 rotPos = CGeoPoint(60, 60)           --CGeoPoint(80,80)      --旋转坐标
 rotVel = 4                           --旋转速度
 local rotCompensate_Reality = -0.015 --旋转补偿
--- -----------------------------------------------|
--- --                Tick固定匹配参数             --|
--- -----------------------------------------------|
+-----------------------------------------------|
+--                Tick固定匹配参数             --|
+-----------------------------------------------|
 -- our_goalie_num = 0
 -- defend_num1 = 1
 -- defend_num2 = 2

diff --git a/share/staticparams.cpp b/share/staticparams.cpp
@@ -15,10 +15,13 @@ namespace PARAM
         const double GOAL_DEPTH = zpm->value("field/goalDepth", QVariant(200)).toFloat();
     }
 
-    const double enemy_buffer = zpm->value("ZJHU/enemy_buffer", QVariant(130)).toFloat();
-    const double playerBallRightsBuffer_BUFFER = zpm->value("ZJHU/playerBallRightsBuffer", QVariant(120)).toFloat();
-    const double playerInfraredCountBuffer = zpm->value("ZJHU/playerInfraredCountBuffer", QVariant(120)).toFloat();
-    const double our_goalie_num = zpm->value("ZJHU/our_goalie_num", QVariant(0)).toFloat();
-    const double defend_num1 = zpm->value("ZJHU/defend_num1", QVariant(1)).toFloat();
-    const double defend_num2 = zpm->value("ZJHU/defend_num2", QVariant(2)).toFloat();
+    namespace ZJHU
+    {
+        const double enemy_buffer = zpm->value("ZJHU/enemy_buffer", QVariant(130)).toFloat();
+        const double playerBallRightsBuffer_BUFFER = zpm->value("ZJHU/playerBallRightsBuffer", QVariant(120)).toFloat();
+        const double playerInfraredCountBuffer = zpm->value("ZJHU/playerInfraredCountBuffer", QVariant(120)).toFloat();
+        const double our_goalie_num = zpm->value("ZJHU/our_goalie_num", QVariant(0)).toFloat();
+        const double defend_num1 = zpm->value("ZJHU/defend_num1", QVariant(1)).toFloat();
+        const double defend_num2 = zpm->value("ZJHU/defend_num2", QVariant(2)).toFloat();
+    }
 }
diff --git a/share/staticparams.h b/share/staticparams.h
@@ -15,16 +15,17 @@ namespace PARAM
     const int BALLMERGEDISTANCE = 0;
     const int TEAMS = 2;
 
+    /* ZJHU */
     namespace ZJHU
     {
-
-        extern const int enemy_buffer;
-        extern const int playerBallRightsBuffer;
-        extern const int playerInfraredCountBuffer;
-        extern const int our_goalie_num;
-        extern const int defend_num1;
-        extern const int defend_num2;
+        extern const double enemy_buffer;
+        extern const double playerBallRightsBuffer;
+        extern const double playerInfraredCountBuffer;
+        extern const double our_goalie_num;
+        extern const double defend_num1;
+        extern const double defend_num2;
     }
+    /* ZJHU */
 
     namespace Field
     {