[Cont'd] Improved ball placement from RoboCup 2024#3597
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Apeiros-46B wants to merge 51 commits intoUBC-Thunderbots:masterfrom
Open
[Cont'd] Improved ball placement from RoboCup 2024#3597Apeiros-46B wants to merge 51 commits intoUBC-Thunderbots:masterfrom
Apeiros-46B wants to merge 51 commits intoUBC-Thunderbots:masterfrom
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… ball placement go back to aligning when ball is lost
…ld_testing_june_4
… field_testing_june_4
… a wall pickoff is no longer needed
…ld_testing_june_4
…_testing_june_4 # Conflicts: # src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm.h
…into ball_placement
…into ball_placement
…into ball_placement # Conflicts: # src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm.cpp # src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm.h # src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm_test.cpp # src/software/ai/hl/stp/tactic/dribble/dribble_tactic.cpp
Apeiros-46B
commented
Feb 11, 2026
Comment on lines
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to
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| // Subtract b from a, or return 0 if b is larger than a | ||
| static unsigned int subSat(unsigned int a, unsigned int b) |
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Should this be moved to another file?
* Exclude goalie from placing robot selection * Remember setup angle and check alignment in alignDone * Add ballLost check * Move friendly robots out of the way when setting up move tactics
* "fix" robot bumping ball when retreating * check velocity in align guards * remember placing robot ID to prevent oscillation * temporary friendly robot safe zone logic (need to fix later since rn it goes into goals)
* The fix is slightly suboptimal and relies on a hardcoded fix, will investigate better options soon
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@Apeiros-46B What is the progress on this ticket? |
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The test flakiness is fixed, there's just one last issue with the waiting line placement and robot reassignment. I have a fix but it's not perfect (but might be good enough I'm not sure), I will push the changes when I get home |
Apeiros-46B
requested review from
Andrewyx,
sauravbanna and
williamckha
as code owners
Apeiros-46B
commented
Apr 8, 2026
| # ball placement position. This prevents the issue where subsequent test | ||
| # runs don't properly get the ball placement point set properly and reuse | ||
| # the target point from the previous test case. | ||
| time.sleep(0.5) |
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If there's some a more reliable way to wait until the first command is acknowledged, that would be more ideal, but for now this does fix the test flakiness
Apeiros-46B
commented
Apr 8, 2026
| return {facing_angle, backoff_point}; | ||
| } | ||
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| void BallPlacementPlayFSM::setupMoveTactics(const Update& event, unsigned int num_tactics) |
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I'm not sure if the current waiting line positioning is ideal
Apeiros-46B
commented
Apr 8, 2026
| * @param b the right-hand side | ||
| * @return a - b, or 0 if it would underflow | ||
| */ | ||
| static unsigned int subSat(unsigned int a, unsigned int b) |
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should this helper be moved somewhere else?
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Description
Continuation of #3447
Fixes flaky ball placement tests; these were because there was some kind of race condition when the gamecontroller commands are sent from the test fixture to the C++ code where the
world_ptr.gameState()->.getBallPlacementPoint()sometimes was the expected placement point for the previous test case.Testing Done
Resolved Issues
Resolves #3561
Length Justification and Key Files to Review
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue