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Time to reach rework #1634

Merged

knoellle merged 61 commits into HULKs:main from knoellle:time-to-reach-rework

Mar 10, 2025

Contributor

knoellle commented Feb 16, 2025 •

edited

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Why? What?

This PR refactors

Role assignment
Time to reach kick position calculation
Team ball handling

I still haven't been able to reproduce the exact bug related to time to reach that we found at RoboCup last year but this PR should hopefully fix it.

Fixes #

ToDo / Known Issues

There are still some todos left in the code

Ideas for Next Iterations (Not This PR)

Use network balls as percepts in the ball filter

How to Test

Best approach is probably to play around with robots, both in simulation and on real hardware.

knoellle added the is:Refactoring label

knoellle self-assigned this

knoellle added the cat:Behavior label

knoellle force-pushed the time-to-reach-rework branch from de2b39b to 570ca6c Compare

February 16, 2025 19:47

knoellle marked this pull request as ready for review

February 16, 2025 21:23

schmidma requested changes

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schmidma left a comment

Did not have a look at crates/control/src/role_assignment.rs yet. Nevertheless, here are already some questions and comments ;)

crates/spl_network_messages/src/lib.rs Outdated Show resolved Hide resolved

crates/control/src/motion/stand_up_back.rs Outdated Show resolved Hide resolved

crates/control/src/motion/stand_up_back.rs Outdated Show resolved Hide resolved

crates/control/src/time_to_reach_kick_position.rs Show resolved Hide resolved

crates/control/src/time_to_reach_kick_position.rs Outdated Show resolved Hide resolved

crates/control/src/team_ball_receiver.rs Outdated Show resolved Hide resolved

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oleflb added the GO25 label

oleflb assigned schmidma and unassigned knoellle

This was referenced Feb 20, 2025

Visual referee update: Kicking team filtering #1571

Closed

Visual referee update: Kicking team filtering #1647

Open

MaikRe reviewed

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knoellle force-pushed the time-to-reach-rework branch 4 times, most recently from b4bd753 to e197cb4 Compare

March 7, 2025 16:02

schmidma reviewed

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knoellle added 16 commits

March 10, 2025 12:59


          Avoid using Role::default()

3a17c87


          Simplify unwrap_or(Striker)

cc042f9


          Clarify variable name

ea622bc


          Update last_time_player_was_penalized before using it this cycle

e72cf15


          Remove note about sending message from comment

b36906a


          Make staying (replacement) keeper easier to read

2621a78


          Drop todo about striker edgecase

81e6840


          Don't use a default ground_to_field globally

ce06e2e


          Initialize role in new()

53d644f


          Extract gathering messages to function

a0009dc


          Refactor the way roles from different sources are combined

ff7b117


          Prevent One from becoming Loser

57a8dd4


          Convert striker message timeout into loser event

c3e56a1


          Add scenario where striker disappears without sending a loser message

6d06645


          Clean up comment

d8f86fe


          Clean up team ball parameters

ca70c8f

knoellle force-pushed the time-to-reach-rework branch from 536cfea to ca70c8f Compare

March 10, 2025 12:05

knoellle added 3 commits

March 10, 2025 13:26


          Hopefully fix Cargo.lock

94baa19


          Update cycler states

a03a9e1


          Use "Option" for remaining standup durations

7c068ad

knoellle enabled auto-merge

March 10, 2025 13:13

knoellle added 4 commits

March 10, 2025 17:55


          Fix crash when time to reach is none

d79de06


          Also use stand up sitting remaining duration

6d8d180


          Update last_time_player_was_penalized before using it this cycle (again)

ff8ded0


          Remove unused import

b42248a

schmidma approved these changes

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knoellle added this pull request to the merge queue

Merged via the queue into HULKs:main with commit 8d52c9d

32 checks passed

knoellle deleted the time-to-reach-rework branch

March 10, 2025 20:41

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cat:Behavior GO25 is:Refactoring