Merge #3246 - New offensive gameplay

.gitignore

@@ -60,6 +60,9 @@ src/external/external
 *.log
 *.csv
 
+# Explicitly unignore files with weights
+!software/ai/evaluation/q_learning/attacker_mdp_q_function_weights.csv
+
 ### Node ###
 
 # Dependencies

src/WORKSPACE

@@ -82,6 +82,14 @@ http_archive(
     url = "https://github.com/ReneNyffenegger/cpp-base64/archive/refs/tags/V2.rc.08.zip",
 )
 
+http_archive(
+    name = "csv",
+    build_file = "@//extlibs:csv.BUILD",
+    sha256 = "83170169f2af38b171d7c3e127d9411fe381988a4b8910465f7d1c4c6169e815",
+    strip_prefix = "csv-parser-2.2.3",
+    url = "https://github.com/vincentlaucsb/csv-parser/archive/refs/tags/2.2.3.zip",
+)
+
 load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
 
 git_repository(

src/extlibs/csv.BUILD

@@ -0,0 +1,13 @@
+package(default_visibility = ["//visibility:public"])
+
+genrule(
+    name = "copy_csv",
+    srcs = ["single_include/csv.hpp"],
+    outs = ["csv.hpp"],
+    cmd = "cp $< $(@)",
+)
+
+cc_library(
+    name = "csv",
+    hdrs = ["csv.hpp"],
+)

src/proto/BUILD

@@ -15,6 +15,7 @@ proto_library(
         "play.proto",
         "power_frame_msg.proto",
         "primitive.proto",
+        "q_learning.proto",
         "robot_crash_msg.proto",
         "robot_log_msg.proto",
         "robot_statistic.proto",
@@ -53,6 +54,7 @@ py_proto_library(
         "parameters.proto",
         "play.proto",
         "primitive.proto",
+        "q_learning.proto",
         "robot_statistic.proto",
         "robot_status_msg.proto",
         "tactic.proto",

src/proto/message_translation/tbots_protobuf.cpp

@@ -392,6 +392,42 @@ std::unique_ptr<TbotsProto::PassVisualization> createPassVisualization(
     return pass_visualization_msg;
 }
 
+std::unique_ptr<TbotsProto::AttackerVisualization> createAttackerVisualization(
+    const std::optional<Pass>& pass, const bool pass_committed,
+    const std::optional<Shot>& shot, const std::optional<Point>& ball_position,
+    const std::optional<Point>& chip_target)
+{
+    auto pass_visualization_msg = std::make_unique<TbotsProto::AttackerVisualization>();
+
+    if (pass.has_value())
+    {
+        TbotsProto::Pass pass_msg;
+        *(pass_msg.mutable_passer_point())   = *createPointProto(pass->passerPoint());
+        *(pass_msg.mutable_receiver_point()) = *createPointProto(pass->receiverPoint());
+        pass_msg.set_pass_speed_m_per_s(pass->speed());
+        *(pass_visualization_msg->mutable_pass_()) = pass_msg;
+    }
+
+    pass_visualization_msg->set_pass_committed(pass_committed);
+
+    if (shot.has_value() && ball_position.has_value())
+    {
+        TbotsProto::Shot shot_msg;
+        *(shot_msg.mutable_shot_origin()) = *createPointProto(ball_position.value());
+        *(shot_msg.mutable_shot_target()) = *createPointProto(shot->getPointToShootAt());
+        *(shot_msg.mutable_open_angle())  = *createAngleProto(shot->getOpenAngle());
+        *(pass_visualization_msg->mutable_shot()) = shot_msg;
+    }
+
+    if (chip_target.has_value())
+    {
+        *(pass_visualization_msg->mutable_chip_target()) =
+            *createPointProto(chip_target.value());
+    }
+
+    return pass_visualization_msg;
+}
+
 std::unique_ptr<TbotsProto::WorldStateReceivedTrigger> createWorldStateReceivedTrigger()
 {
     auto world_state_received_trigger_msg =

src/proto/message_translation/tbots_protobuf.h

@@ -5,6 +5,7 @@
 #include "proto/vision.pb.h"
 #include "proto/visualization.pb.h"
 #include "proto/world.pb.h"
+#include "software/ai/evaluation/shot.h"
 #include "software/ai/navigator/trajectory/bang_bang_trajectory_1d_angular.h"
 #include "software/ai/navigator/trajectory/trajectory_path.h"
 #include "software/ai/passing/pass_with_rating.h"
@@ -213,6 +214,21 @@ BallState createBallState(const TbotsProto::BallState ball_state);
 std::unique_ptr<TbotsProto::PassVisualization> createPassVisualization(
     const std::vector<PassWithRating>& passes_with_rating);
 
+/**
+ * Returns an attacker visualization
+ *
+ * @param pass An optional pass to visualize
+ * @param pass_committed Whether we are committed to taking the pass
+ * @param shot An optional shot to visualize
+ * @param ball_position The current position of the ball used to visualize the shot
+ * @param chip_target An optional target that we are chipping to
+ *
+ * @return The unique_ptr to an AttackerVisualization proto
+ */
+std::unique_ptr<TbotsProto::AttackerVisualization> createAttackerVisualization(
+    const std::optional<Pass>& pass, bool pass_committed, const std::optional<Shot>& shot,
+    const std::optional<Point>& ball_position, const std::optional<Point>& chip_target);
+
 /**
  * Returns the WorldStateReceivedTrigger given the world state received trigger
  *