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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,129 @@ | ||
| use color_eyre::Result; | ||
| use serde::{Deserialize, Serialize}; | ||
|
|
||
| use context_attribute::context; | ||
| use coordinate_systems::Ground; | ||
| use framework::{AdditionalOutput, MainOutput, PerceptionInput}; | ||
| use serde_json::Value; | ||
| use spl_network_messages::{GameState, HulkMessage}; | ||
| use types::{ | ||
| ball_position::BallPosition, filtered_game_controller_state::FilteredGameControllerState, | ||
| filtered_game_state::FilteredGameState, messages::IncomingMessage, | ||
| motion_command::MotionCommand, players::Players, | ||
| }; | ||
|
|
||
| #[derive(Deserialize, Serialize)] | ||
| pub struct BallContactCounter { | ||
| state: StateMachine, | ||
| own_contact_count: usize, | ||
| other_players_had_contact: Players<bool>, | ||
| } | ||
|
|
||
| #[context] | ||
| pub struct CreationContext {} | ||
|
|
||
| #[context] | ||
| pub struct CycleContext { | ||
| own_ball_contact_count: CyclerState<usize, "own_ball_contact_count">, | ||
| other_striker_had_ball_contact: CyclerState<bool, "other_striker_had_ball_contact">, | ||
|
|
||
| motion_command: Input<MotionCommand, "motion_command">, | ||
| ball_position: Input<Option<BallPosition<Ground>>, "ball_position?">, | ||
| filtered_messages: PerceptionInput<Option<IncomingMessage>, "SplNetwork", "filtered_message?">, | ||
| filtered_game_controller_state: | ||
| Input<Option<FilteredGameControllerState>, "filtered_game_controller_state?">, | ||
|
|
||
| x: AdditionalOutput<Value, "x">, | ||
| } | ||
|
|
||
| #[context] | ||
| #[derive(Default)] | ||
| pub struct MainOutputs { | ||
| pub x: MainOutput<Value>, | ||
| } | ||
|
|
||
| impl BallContactCounter { | ||
| pub fn new(_context: CreationContext) -> Result<Self> { | ||
| Ok(Self { | ||
| state: StateMachine::Start, | ||
| own_contact_count: 0, | ||
| other_players_had_contact: Players::default(), | ||
| }) | ||
| } | ||
|
|
||
| pub fn cycle(&mut self, mut context: CycleContext) -> Result<MainOutputs> { | ||
| self.state = match self.state { | ||
| StateMachine::Start => { | ||
| if context | ||
| .ball_position | ||
| .is_some_and(|ball| ball.position.coords().norm() < 0.3) | ||
| { | ||
| StateMachine::BallWasClose | ||
| } else { | ||
| StateMachine::Start | ||
| } | ||
| } | ||
| StateMachine::BallWasClose => { | ||
| if matches!(context.motion_command, MotionCommand::InWalkKick { .. }) { | ||
| StateMachine::Kicked | ||
| } else { | ||
| StateMachine::BallWasClose | ||
| } | ||
| } | ||
| StateMachine::Kicked => { | ||
| if context | ||
| .ball_position | ||
| .is_some_and(|ball| ball.position.coords().norm() > 0.5) | ||
| { | ||
| self.own_contact_count += 1; | ||
| StateMachine::Start | ||
| } else { | ||
| StateMachine::Kicked | ||
| } | ||
| } | ||
| }; | ||
|
|
||
| for message in context | ||
| .filtered_messages | ||
| .persistent | ||
| .values() | ||
| .flatten() | ||
| .filter_map(|message| *message) | ||
| { | ||
| if let IncomingMessage::Spl(HulkMessage::Striker(striker_message)) = dbg!(message) { | ||
| if striker_message.number_of_ball_contacts > 0 { | ||
| self.other_players_had_contact[striker_message.player_number] = true; | ||
| } | ||
| } | ||
| } | ||
|
|
||
| if let Some(state) = context.filtered_game_controller_state { | ||
| if state.game_state == FilteredGameState::Set || state.sub_state.is_some() { | ||
| self.other_players_had_contact = Players::default(); | ||
| self.own_contact_count = 0; | ||
| self.state = StateMachine::Start; | ||
| } | ||
| } | ||
|
|
||
| *context.other_striker_had_ball_contact = self | ||
| .other_players_had_contact | ||
| .iter() | ||
| .any(|(_, had_contact)| *had_contact); | ||
| *context.own_ball_contact_count = self.own_contact_count; | ||
|
|
||
| context | ||
| .x | ||
| .fill_if_subscribed(|| serde_json::to_value(&self).unwrap()); | ||
|
|
||
| Ok(MainOutputs { | ||
| x: serde_json::to_value(&self).unwrap().into(), | ||
| }) | ||
| } | ||
| } | ||
|
|
||
| #[derive(Copy, Clone, Deserialize, Serialize)] | ||
| enum StateMachine { | ||
| Start, | ||
| BallWasClose, | ||
| Kicked, | ||
| } |
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