feat: ball placement entry point#125
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…st bugs - Convert RefereeData from NamedTuple to @DataClass(eq=False) so the custom __eq__ is respected (NamedTuple.__eq__ cannot be overridden — tuple equality always wins) - Use TYPE_CHECKING guard for TeamInfo import to avoid circular import (game/__init__ → Game → GameFrame → RefereeData → TeamInfo → game/__init__) - __eq__ compares TeamInfo by .score and .goalkeeper (the mutable game-state fields) since TeamInfo has no structural __eq__ of its own - Add __hash__ consistent with the subset of fields used in __eq__ - RefereeRefiner.add_new_referee_data: replace tuple slicing [1:] with == (now correctly uses the custom __eq__) - test_referee_unit.py: fix GameHistory() → GameHistory(10) (max_history is a required positional argument) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Adopted main's SideRuntime refactor (my/opp sides) in strategy_runner.py while preserving referee integration. Fixed imports to new data_processing module paths. Resolved standard_ssl.py conflicts keeping RefereeData usage from our branch with main's improved assertion. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Add rsim integration tests for ball placement, direct free kick (ours and theirs), and kickoff positioning in test_referee_rsim.py - Add 15 unit tests covering PrepareKickoffTheirsStep, DirectFreeOursStep, and DirectFreeTheirsStep action nodes in test_referee_unit.py - Switch demo script control_scheme from dwa to pid Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Replace Field._UNDERSCORE_CONSTANTS with their public ClassProperty equivalents in math_utils.py and geometry.py. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…ument future work - conftest.py: default --headless to True so tests don't open rsim window - strategy_runner.py: skip ball teleport on STOP when next_command is BALL_PLACEMENT so the robot must physically carry the ball - test_referee_rsim.py: replace broken full-sequence test with a comment documenting why it is deferred (ball placement carry mechanics not yet reliable in rsim) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Penalty and ball placement buttons are not in use; removing them keeps the operator panel focused on the commands we actually use. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Ball placement phase before free kick per SSL rulebook - BallPlacementOursStep carry mechanics investigation (two-robot kissing) - GUI suggested next action to reduce operator cognitive load Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Delete dead RefereeStateMachine (never wired up, duplicated GameStateMachine with a broken _replace() call on a mutable class) - Remove dead len(obs)==4 branch in _run_step; RSim always reads from ref_buffer - Snapshot TeamInfo via copy.copy() in _generate_referee_data() to prevent score mutations retroactively corrupting stored RefereeRefiner records - Update docs and stale docstrings accordingly - Document TeamInfo frozen dataclass refactor as deferred follow-up work Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
- Fix CustomReferee.step() to reset rules only on actual command transition, not when the state machine ignores the violation due to the cooldown - Remove dead STOP branch and unused my_team_is_yellow param from KeepOutRule - Add last_status_message and last_next_command properties to RefereeRefiner; remove direct _referee_records[-1] access from StrategyRunner - Fix designated_position type annotation: Tuple[float] → Tuple[float, float] - Import BALL_KEEP_OUT_DISTANCE from referee_constants in test file instead of duplicating the literal Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
RefereeData.__eq__ excludes stage_time_left to avoid spurious re-records, so the deduplication in add_new_referee_data() was discarding every frame's updated countdown. The stage_time_left property was reading from the stale cached record, causing the terminal display to freeze (e.g. always showing 4:59). Fix: track _latest_stage_time_left independently in refine(), updated on every call before the dedup check, and return it from the stage_time_left property. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…ation loop Action nodes were parking robots at 0.55 m from the ball while the KeepOutRule fires at < 0.5 m. A small ball nudge during restart would put defending robots inside the rule threshold, triggering another STOP and looping indefinitely. Increasing the action node clearance to 0.8 m gives enough buffer to absorb positioning inaccuracy. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Resolved conflicts in main.py, field.py, game_frame.py, math_utils.py, strategy_runner.py, and test_runner_misconfig.py. Updated referee branch code to use the new FieldDimensions-based Field API (removed ClassProperty constants, added field_dims param to Field.__init__), fixed Vector3D→Vector2D issues in actions.py for fpp controller compatibility, and updated test assertions to match the increased BALL_KEEP_OUT_DISTANCE (0.55→0.8). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Replace from_field_bounds with from_field_dims in RefereeGeometry so goal/defense dimensions scale with the actual field, not hardcoded to STANDARD_FIELD_DIMS - Fix Vector3D→Vector2D conversions in actions.py for fpp controller compatibility (DirectFreeOursStep, BallPlacementOursStep) - Rename get_min_bounding_zone→get_min_bounding_req in point_cycle_strategy and wandering_strategy to match abstract base class - Update test fixtures to use new Field(field_dims=...) constructor and correct BALL_KEEP_OUT_DISTANCE (0.8 m) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
_project_outside_circle was using a hardcoded (1, 0) fallback when a robot sits exactly on the obstruction center (dist == 0), pushing it to positive-x regardless of which half the team defends. Now _clear_to_legal_ positions passes an own-half-aware fallback so coincident robots are always cleared toward their correct side. Also fix test_all_robots_placed_on_own_half_* to track final target per robot (dict keyed by robot_id) rather than a flat list, so the count assertion is robust against the clearing pass re-issuing a move command. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…etry Add CustomReferee.override_geometry() to replace geometry on both the referee and its internal state machine. StrategyRunner now calls this immediately after resolving field_bounds, so the custom referee always uses the actual full_field_dims + field_bounds rather than the standard- field values baked into the YAML profile. The YAML geometry block is preserved as a fallback for standalone CustomReferee use outside of StrategyRunner. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
from_field_dims(STANDARD_FIELD_DIMS) is the direct equivalent and makes the standard-field case no more special than any other. Update the test fixture accordingly. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…eometry Aligns with FieldDimensions.half_defense_area_depth. Updated geometry.py, profile_loader.py, gui.py, and both YAML profiles. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
… GUI" This reverts commit c5caa3459ea2fa9e9da262e47d6729dbbb0eb46b.
…top-left" This reverts commit d922a78d20ee7a969c37105e33497936986cd5df.
…try and RSim renderer
…gyRunner.__init__
- demo_ball_placement.py: colleague entry point wired with the Exhibition Road field (GREAT_EXHIBITION_FIELD_DIMS, 4 m × 3 m), CustomReferee pre-configured for out-of-bounds → ball placement cycles, and GUI on port 8080. Zero referee config work needed by the strategy developer. - utama_core/strategy/examples/ball_placement_strategy.py: BallPlacementStep skeleton with detailed docstring guide (approach → capture → carry flow, relevant API pointers, dribbler usage). BallPlacementStrategy wires it into the referee override tree for 2v2 exhibition play. - utama_core/tests/strategy_runner/test_ball_placement_rsim.py: three rsim integration tests covering the full placement contract — placer approaches ball, placer progresses toward designated_position, non-placer robots clear and hold outside BALL_KEEP_OUT_DISTANCE. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…rage - Test 1: robot 0 now starts 1.5 m from the ball (was already within tolerance), checks distance decrease ≥ 0.8 m instead of threshold crossing - Test 3: hardcode placer_id=0 from reset_field instead of re-deriving it with the same min(distance_to_ball) logic as the implementation (tautological); move ball to centre so robot 1 has room to reach 0.8 m clearance - Test 4 (new): robot 1 starts closer to the ball than robot 0; asserts robot 1 approaches the ball and robot 0 does not — exercises placer selection with robot 0 as non-placer, which original tests never covered - Module docstring: add Known Gap section explaining why has_ball carry phase transition is not tested end-to-end Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Right-click field canvas (with God Mode active) to issue BALL_PLACEMENT_YELLOW/BLUE directly to any target point - Uses force_command() on the state machine to bypass the STOP-first guard, so the command takes effect immediately without operator needing to advance through STOP manually - Add demo_ball_placement_real.py: single-robot rsim/real entry point with all auto-rules off, operator-driven via GUI Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…ting DirectFreeOursStep unit tests were asserting the robot targets the exact ball position, but the new implementation targets an approach point behind the ball (_APPROACH_OFFSET). Update assertions to check the target is closer to the ball than the robot's start position. The two rsim integration tests were relying on OutOfBoundsRule triggering DIRECT_FREE via OOB detection, but the state machine now routes through BALL_PLACEMENT first before DIRECT_FREE. Switch reset_field to inject the command directly via force_command() so each test stays focused on its subject (kicker approach / keep-out clearance) rather than OOB detection. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
When the placer has the ball and needs to reorient toward the target, use turn_on_spot (dribbling=True) instead of move — this offsets lateral velocity so the robot orbits the ball contact point rather than spinning around its own centre, reducing the chance the dribbler loses the ball. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Superseded by #126 (conflict-free rebase onto main). |
| on_geometry = self._make_geometry_validation_callback() | ||
| vision_receiver = VisionReceiver(vision_buffers, on_geometry=on_geometry) | ||
| if isinstance(self.referee, OfficialReferee): | ||
| self.start_threads(vision_receiver, RefereeMessageReceiver(ref_buffer)) |
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[P2] This path starts RefereeMessageReceiver.pull_referee_data(), but that method holds self.lock while calling _update_data(), and _update_data() takes the same non-reentrant lock again before appending to ref_buffer. On the first referee packet the thread deadlocks before publishing any RefereeData, so OfficialReferee() leaves strategies with no referee commands. Remove one lock boundary or use a reentrant lock before wiring this source.
| self.command = self.next_command | ||
| self.command_counter += 1 | ||
| self.command_timestamp = timestamp | ||
| self.next_command = RefereeCommand.NORMAL_START |
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[P2] When a violation queues BALL_PLACEMENT_*, _post_ball_placement_command stores the real restart, such as DIRECT_FREE_YELLOW. This manual NORMAL_START path overwrites next_command with NORMAL_START unconditionally, so after placement the state machine skips the foul restart and goes straight to live play. Mirror the automatic STOP-to-next branch for ball-placement commands.
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Summary
BallPlacementOursStepbehaviour: robot approaches ball with dribbler on, then carries it todesignated_position; usesturn_on_spotto pivot around the ball (not the robot center) when reorienting mid-carryforce_command()toCustomRefereeandGameStateMachinefor bypassing the STOP-first guard — used by god mode and test injectionBALL_PLACEMENT_YELLOW/BLUEto any target positiondemo_ball_placement.py(rsim, 2v2, full auto-advance cycle) anddemo_ball_placement_real.py(single real robot, operator-driven)test_ball_placement_rsim.py— rsim integration tests for placer approach, carry, and non-placer clearance_handle_fouland the new approach-behind-ball logic inDirectFreeOursStepTest plan
test_random_movement_same_teamis a pre-existing unrelated failure)demo_ball_placement.py— rsim window opens, god mode right-click issues placement command, robot approaches designated positiondemo_ball_placement_real.py— switchmode="rsim"→mode="real"when hardware available; single robot responds to GUI commandsKnown gap
End-to-end ball carry (
has_ball→ pivot → drive to target) is not rsim-testable — the motion controller stops at ball centre so the IR sensor never fires in simulation. Validated at the logic/unit level; physical validation requires real hardware.🤖 Generated with Claude Code