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fix: replace hardcoded role map in DefenceStrategy with dynamic assignment #124

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fix: replace hardcoded role map in DefenceStrategy with dynamic assignment #124

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20 changes: 15 additions & 5 deletions utama_core/strategy/examples/defense_strategy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@

from utama_core.config.enums import Role, Tactic
from utama_core.entities.data.object import TeamType
from utama_core.entities.data.vector import Vector2D
from utama_core.entities.game import Game
from utama_core.skills.src.block import block_attacker
from utama_core.skills.src.defend_parameter import defend_parameter
Expand All @@ -13,6 +14,19 @@
from utama_core.strategy.common import AbstractBehaviour, AbstractStrategy


def _assign_roles_dynamic(game: Game) -> dict:
goal_line = game.field.my_goal_line
gx = (goal_line[0][0] + goal_line[1][0]) / 2
gy = (goal_line[0][1] + goal_line[1][1]) / 2
goal = Vector2D(gx, gy)
robots = sorted(game.friendly_robots.values(), key=lambda r: r.p.distance_to(goal))
n = len(robots)
if n == 0:
return {}
roles = [Role.GOALKEEPER] + [Role.DEFENDER] * max(0, n - 2) + [Role.MIDFIELDER]
return {r.id: role for r, role in zip(robots, roles)}


class FindBlockingTarget(AbstractBehaviour):
def __init__(self, wr_blocking_target: str, name: Optional[str] = "FindBlockingTarget2BB"):
super().__init__(name=name)
Expand Down Expand Up @@ -155,11 +169,7 @@ def setup_(self):
def update(self) -> py_trees.common.Status:
self.blackboard.set(
self.role_map_key,
{
0: Role.MIDFIELDER,
1: Role.DEFENDER,
2: Role.GOALKEEPER,
},
_assign_roles_dynamic(self.blackboard.game),
)
return py_trees.common.Status.SUCCESS

Expand Down
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