Develop bugfix

.gitignore

@@ -2,6 +2,7 @@
 */__pycache__/
 */__pycache__/*
 *.pyc
+.vscode/
 venv/
 lib/network/__pycache__/udp_socket.cpython-36.pyc
 lib/Player/__pycache__/

base/generator_action.py

@@ -29,7 +29,10 @@ def __init__(self):
     def calculate_min_opp_dist(self, wm: 'WorldModel' = None):
         if wm is None:
             return 0.0
-        return min([opp.pos().dist(self.target_ball_pos) for opp in wm.opponents() if opp is not None and opp.unum() > 0])
+        opp_list = [opp.pos().dist(self.target_ball_pos) for opp in wm.opponents() if opp is not None and opp.unum() > 0]
+        if len(opp_list)==0:
+            return 9999
+        return min(opp_list)
 
     def evaluate(self, wm: 'WorldModel' = None):
         self.min_opp_dist = self.calculate_min_opp_dist(wm)

base/generator_shoot.py

@@ -117,6 +117,9 @@ def check_shoot(self, wm: 'WorldModel', target_point: Vector2D, first_ball_speed
 
         for o in range(1, 12):
             opp = wm.their_player(o)
+            if not opp:
+                log.sw_log().shoot().add_text("## cant see an opp")
+                continue
             if opp.unum() < 1:
                 log.sw_log().shoot().add_text( '## opp {} can not, unum')
                 continue

lib/player/player_agent.py

@@ -336,8 +336,8 @@ def run(self):
                 if self.is_decision_time(timeout_count, waited_msec) or (self._last_decision_time != self._current_time and self.world().see_time() == self._current_time):
                     self.action()
             self.flush_logs()
-            if len(message) > 0:
-                print(pt.get())
+            # if len(message) > 0:
+            #     print(pt.get())
         self.send_bye_command()
 
     def debug_players(self):
@@ -444,6 +444,7 @@ def do_catch(self):
             return False
 
         self._last_body_command.append(self.effector().set_catch())
+        return True
 
     def do_turn_neck(self, moment: AngleDeg) -> bool:
         self._last_body_command.append(self._effector.set_turn_neck(moment))

lib/player/soccer_agent.py

@@ -33,6 +33,7 @@ def parse_arguments(self):
         parser.add_argument('-g', '--goalie',
                             help='Server Trainer port',
                             action='store_true')
+        parser.add_argument("-n",help="number of players",type=int,default=11)
         args = parser.parse_args()
 
         if args.team_name:

lib/rcsc/game_mode.py

@@ -79,7 +79,7 @@ def is_penalty_kick_mode(self):
             GameModeType.PenaltyReady_Left,
             GameModeType.PenaltyReady_Right,
             GameModeType.PenaltyTaken_Left,
-            GameModeType.PenaltyReady_Right,
+            GameModeType.PenaltyTaken_Right,
             GameModeType.PenaltyMiss_Left,
             GameModeType.PenaltyMiss_Right,
             GameModeType.PenaltyScore_Left,

lib/rcsc/types.py

@@ -177,6 +177,13 @@ class GameModeType(Enum):
     PenaltyMiss_Right = "penalty_miss_r"
     PenaltyScore_Left = "penalty_score_l"
     PenaltyScore_Right = "penalty_score_r"
+    PenaltyOnfield_Left = "penalty_onfield_l"
+    PenaltyOnfield_Right = "penalty_onfield_r"
+    PenaltyFoul_Left = "penalty_foul_l"
+    PenaltyFoul_Right = "penalty_foul_r"
+    PenaltyWinner_Left = "penalty_winner_l"
+    PenaltyWinner_Right = "penalty_winner_r"
+
     GoalieCatchBall_Left = "goalie_catch_ball_l"
     GoalieCatchBall_Right = "goalie_catch_ball_r"
     IllegalDefense_Left = "illegal_defense_l"
@@ -231,6 +238,7 @@ def is_catch_fault(self):
 
     def is_ind_free_kick(self):
         return self == GameModeType.IndFreeKick_Left or self == GameModeType.IndFreeKick_Right
+
 
     def is_penalty_setup(self):
         return self == GameModeType.PenaltySetup_Left or self == GameModeType.PenaltySetup_Right

start.sh

@@ -1,16 +1,24 @@
 #!/bin/sh
 
 export PYTHONPATH="${PYTHONPATH}:`pwd`"
-
+# take argument -n into num_players, with default value 11
+num_players=11
+while getopts n: option
+do
+case "${option}"
+in
+n) num_players=${OPTARG};;
+esac
+done
 python base/main_player.py -g ${1+"$@"}&
 sleep 1
 i=2
-while [ $i -le 11 ] ; do
+while [ $i -le $num_players ] ; do
     python base/main_player.py ${1+"$@"}&
     sleep 0.2
 
   i=`expr $i + 1`
 done
 
 sleep 2
-python coach_main.py ${1+"$@"}
+python base/main_coach.py ${1+"$@"}