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Robot Factory Upgrade #2338

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merged 2 commits into from
Feb 12, 2025
Merged

Robot Factory Upgrade #2338

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9a3231f
Upgrade
rishiso Feb 3, 2025
11160a4
Fix Code Style On robot-factory-upgrade (#2340)
github-actions[bot] Feb 3, 2025
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24 changes: 5 additions & 19 deletions soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,7 +113,7 @@ void RobotFactoryPosition::handle_ready() {
if (current_position_->get_name() == "Offense" ||
current_position_->get_name() == "PenaltyPlayer" ||
current_position_->get_name() == "GoalKicker") {
set_current_position<Idle>();
set_current_position<SmartIdle>();
}
}
}
Expand Down Expand Up @@ -216,19 +216,6 @@ bool RobotFactoryPosition::am_closest_kicker() {
}

void RobotFactoryPosition::set_default_position() {
// zoner defense testing
// if (robot_id_ == goalie_id_) {
// return;
// }
// if (robot_id_ == 1) {
// set_current_position<Zoner>();
// } else {
// set_current_position<Defense>();
// }
// return;
// end zoner defense testing

// TODO (Rishi and Jack): Make this synchronized across all robots to avoid race conditions
// Get sorted positions of all friendly robots
using RobotPos = std::pair<int, double>; // (robotId, yPosition)

Expand Down Expand Up @@ -256,24 +243,23 @@ void RobotFactoryPosition::set_default_position() {
}

// Assigning new position
// Checking whether we have possesion or if the ball is on their half (using 1.99 to avoid
// rounding issues on midline)
// Checking whether we have possesion or if the ball is on their half
if (our_possession_ || last_world_state_->ball.position.y() >
field_dimensions_.center_field_loc().y() - kBallDiameter) {
// Offensive mode
// Closest 2 robots on defense, rest on offense
if (i <= 3) {
if (i <= 1) {
set_current_position<Defense>();
} else {
set_current_position<SoloOffense>();
set_current_position<Offense>();
}
} else {
// Defensive mode
// Closest 4 robots on defense, rest on offense
if (i <= 3) {
set_current_position<Defense>();
} else {
set_current_position<SoloOffense>();
set_current_position<Offense>();
}
}
}
Expand Down
5 changes: 0 additions & 5 deletions soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,11 +141,6 @@ class RobotFactoryPosition : public Position {
*/
template <class Pos>
void set_current_position() {
// If we are not currently playing Pos
// if (current_position_->get_name() == "Defense") {
// SPDLOG_INFO("we are never leaving defense :)");
// return;
// }
if (dynamic_cast<Pos*>(current_position_.get()) == nullptr) {
// This line requires Pos to implement the constructor Pos(const
// Position&)
Expand Down
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