fix kick-generation & behavior simulator

HULKs · Mar 20, 2024 · 17906fb · 17906fb
1 parent cf841e1
commit 17906fb
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Showing 4 changed files with 11 additions and 12 deletions.
diff --git a/crates/control/src/behavior/dribble.rs b/crates/control/src/behavior/dribble.rs
@@ -96,7 +96,7 @@ fn is_kick_pose_reached(
     is_x_reached && is_y_reached && is_orientation_reached
 }
 
-fn precision_kick(game_controller_state: Option<FilteredGameControllerState>) -> bool {
+pub fn precision_kick(game_controller_state: Option<FilteredGameControllerState>) -> bool {
     let game_controller_state = game_controller_state.unwrap_or_default();
 
     let penalty_shootout = matches!(

diff --git a/crates/control/src/behavior/mod.rs b/crates/control/src/behavior/mod.rs
@@ -1,6 +1,6 @@
 mod calibrate;
 mod defend;
-mod dribble;
+pub mod dribble;
 mod fall_safely;
 mod head;
 mod initial;

diff --git a/crates/control/src/kick_selector.rs b/crates/control/src/kick_selector.rs
@@ -15,9 +15,9 @@ use linear_algebra::{
     distance, point, vector, IntoFramed, Isometry2, Orientation2, Point, Point2, Pose, UnitComplex,
     Vector2,
 };
-use spl_network_messages::GamePhase;
 use types::{
     field_dimensions::FieldDimensions,
+    filtered_game_controller_state::FilteredGameControllerState,
     kick_decision::KickDecision,
     kick_target::KickTarget,
     motion_command::KickVariant,
@@ -27,6 +27,8 @@ use types::{
     world_state::BallState,
 };
 
+use crate::behavior::dribble::precision_kick;
+
 #[derive(Deserialize, Serialize)]
 pub struct KickSelector {}
 
@@ -38,7 +40,8 @@ pub struct CycleContext {
     ground_to_field: RequiredInput<Option<Isometry2<Ground, Field>>, "ground_to_field?">,
     ball_state: RequiredInput<Option<BallState>, "ball_state?">,
     obstacles: Input<Vec<Obstacle>, "obstacles">,
-    game_phase: Input<Option<GamePhase>, "filtered_game_controller_state?.game_phase">,
+    game_controller_state:
+        Input<Option<FilteredGameControllerState>, "filtered_game_controller_state?">,
     field_dimensions: Parameter<FieldDimensions, "field_dimensions">,
 
     in_walk_kicks: Parameter<InWalkKicksParameters, "in_walk_kicks">,
@@ -72,18 +75,17 @@ impl KickSelector {
 
     pub fn cycle(&mut self, mut context: CycleContext) -> Result<MainOutputs> {
         let ball_position = context.ball_state.ball_in_ground;
-        let penalty_shootout =
-            matches!(context.game_phase, Some(GamePhase::PenaltyShootout { .. }));
+        let precision_kick = precision_kick(context.game_controller_state.copied());
 
         let sides = [Side::Left, Side::Right];
         let mut kick_variants = Vec::new();
         if context.in_walk_kicks.forward.enabled {
             kick_variants.push(KickVariant::Forward)
         }
-        if context.in_walk_kicks.turn.enabled && !penalty_shootout {
+        if context.in_walk_kicks.turn.enabled && !precision_kick {
             kick_variants.push(KickVariant::Turn)
         }
-        if context.in_walk_kicks.side.enabled && !penalty_shootout {
+        if context.in_walk_kicks.side.enabled && !precision_kick {
             kick_variants.push(KickVariant::Side)
         }
 

diff --git a/tools/behavior_simulator/src/cycler.rs b/tools/behavior_simulator/src/cycler.rs
@@ -210,10 +210,7 @@ impl BehaviorCycler {
                             own_database
                                 .main_outputs
                                 .filtered_game_controller_state
-                                .as_ref()
-                                .map(|filtered_game_controller_state| {
-                                    &filtered_game_controller_state.game_phase
-                                }),
+                                .as_ref(),
                             &parameters.field_dimensions,
                             &parameters.in_walk_kicks,
                             &parameters.kick_selector.angle_distance_weight,