diff --git a/Soccer/Knowledge/Knowledge.AttackerCost.cs b/Soccer/Knowledge/Knowledge.AttackerCost.cs index 38bd3832..ebd218c8 100644 --- a/Soccer/Knowledge/Knowledge.AttackerCost.cs +++ b/Soccer/Knowledge/Knowledge.AttackerCost.cs @@ -20,6 +20,11 @@ public partial class Knowledge public DeltaTime GetAttackerAssignmentCost(RobotRef robot) { + if (robot.Id == Context.Referee.OurInfo().Goalkeeper) + { + return DeltaTime.MaxValue; + } + if (_attackerAssignmentCosts.TryGetValue(robot.Id, out var cached)) { return cached; diff --git a/Soccer/Knowledge/Knowledge.Defense.cs b/Soccer/Knowledge/Knowledge.Defense.cs index 684f7e75..2c4d0971 100644 --- a/Soccer/Knowledge/Knowledge.Defense.cs +++ b/Soccer/Knowledge/Knowledge.Defense.cs @@ -15,9 +15,6 @@ public partial class Knowledge [ConfigEntry] public static float PenaltyAreaExtensionSize { get; set; } = 200.0f; [ConfigEntry] public static float GoalLineExtentionSize { get; set; } = 100.0f; - private Common.Data.Ssl.Gc.Command? _lastRefCommand; - private Common.Time.Timestamp _oppRestartTimestamp; - public bool GoalieDiveAllowed { get; private set; } public bool BallIsGoaling { get; private set; } public float BallOwnGoalReachTime { get; private set; } diff --git a/Soccer/Plays/OurFreekick.cs b/Soccer/Plays/OurFreekick.cs index 71d9c78f..91ea9ee8 100644 --- a/Soccer/Plays/OurFreekick.cs +++ b/Soccer/Plays/OurFreekick.cs @@ -18,7 +18,10 @@ public Formation Tick() var zones = Context.Knowledge.SortedZonesByOffense; var bestOffenseZone = zones.Count > 0 ? zones.Peek() : null; - Draw.DrawCircle(bestOffenseZone.BestPosOffence, 200, Color.Amber, Options.Outline()); + if (bestOffenseZone != null) + { + Draw.DrawCircle(bestOffenseZone.BestPosOffence, 200, Color.Amber, Options.Outline()); + } var chipperTarget = bestOffenseZone?.BestPosOffence ?? Context.Field.OppGoal(); var chipPower = 0; diff --git a/Soccer/Tactics/BallPlacement.cs b/Soccer/Tactics/BallPlacement.cs index 45143aa1..9362416c 100644 --- a/Soccer/Tactics/BallPlacement.cs +++ b/Soccer/Tactics/BallPlacement.cs @@ -87,6 +87,10 @@ public BallPlacement(Robot.Robot robot, int placerId) var finalBallPos = Context.Referee.DesignatedPosition(); var ballPlacer1 = GetPlacer(1); var ballPlacer2 = GetPlacer(2); + if (ballPlacer1 == null || ballPlacer2 == null) + { + return false; + } var middle = (ballPlacer1.Position + ballPlacer2.Position) / 2.0f; return Vector2.Distance(middle, finalBallPos) < 100f; }, BPStateDelay); @@ -311,10 +315,11 @@ public void Exit() var ballPlacer1 = GetPlacer(1); var ballPlacer2 = GetPlacer(2); - var direction = Vector2.Normalize((ballPlacer1.Position + ballPlacer2.Position) / 2.0f - finalBallPos); + var direction = Vector2.Zero; if (ballPlacer1 != null && ballPlacer2 != null) { + direction = Vector2.Normalize((ballPlacer1.Position + ballPlacer2.Position) / 2.0f - finalBallPos); //var direction = Vector2.Normalize((ballPlacer1.Position + ballPlacer2.Position) / 2.0f - finalBallPos); tactic._ballPlacer2FinalPos = finalBallPos + direction * @@ -323,6 +328,11 @@ public void Exit() direction * BPKissInitDistance; } + else + { + var fallbackPlacer = ballPlacer1 ?? ballPlacer2 ?? tactic.Robot; + direction = Vector2.Normalize(fallbackPlacer.Position - finalBallPos); + } //var axis = Vector2.Normalize((ballPlacer1?.Position ?? tactic.Robot.Position) - finalBallPos); var kissTouch2 = finalBallPos + direction * 75f; diff --git a/Tests/Soccer/Plays/OurKickoffTests.cs b/Tests/Soccer/Plays/OurKickoffTests.cs index ab909a98..deac4e6a 100644 --- a/Tests/Soccer/Plays/OurKickoffTests.cs +++ b/Tests/Soccer/Plays/OurKickoffTests.cs @@ -49,7 +49,7 @@ public void OurKickoff_ReturnsCorrectFormation() // Assert Assert.Equal(4, formation.RequiredRoles.Count); - Assert.Equal(3, formation.DesiredRoles.Count); + Assert.Equal(4, formation.DesiredRoles.Count); Assert.Contains(formation.RequiredRoles, r => r is Goalie); Assert.Contains(formation.RequiredRoles, r => r is Defender { DefId: 1 }); @@ -114,6 +114,6 @@ public void OurKickoff_KicksAfterTwoSeconds() // Assert var attacker = (CircleBall)formation.RequiredRoles.First(r => r is CircleBall); - Assert.Equal(5000f, attacker.ShootPower); + Assert.Equal(3000f, attacker.ShootPower); } } diff --git a/Tests/Soccer/Plays/StatefulPlayTests.cs b/Tests/Soccer/Plays/StatefulPlayTests.cs index bb701db4..deb50a91 100644 --- a/Tests/Soccer/Plays/StatefulPlayTests.cs +++ b/Tests/Soccer/Plays/StatefulPlayTests.cs @@ -32,9 +32,10 @@ public void NormalPlay_DefendingState_UsesDefensiveAttackerAndMarking() { var ownRobots = CreateOwnRobots(6); var opponent = CreateOpponent(1, new Vector2(-2500f, 0f)); + // Put the ball in our half to force defending state var knowledge = SetupContext( gameState: GameState.Running, - ballPosition: Vector2.Zero, + ballPosition: new Vector2(Context.Field.OwnGoal().X + 500f, 0f), ownRobots: ownRobots, oppRobots: [opponent]); @@ -81,7 +82,7 @@ public void Stop_DefendingState_UsesMarking() var opponent = CreateOpponent(1, new Vector2(-2500f, 200f)); var knowledge = SetupContext( gameState: GameState.Stop, - ballPosition: Vector2.Zero, + ballPosition: new Vector2(Context.Field.OwnGoal().X + 500f, 0f), ownRobots: ownRobots, oppRobots: [opponent]); diff --git a/Vision/Tracking/RobotMerger.cs b/Vision/Tracking/RobotMerger.cs index b217fb73..b1c02d07 100644 --- a/Vision/Tracking/RobotMerger.cs +++ b/Vision/Tracking/RobotMerger.cs @@ -13,18 +13,37 @@ public partial class RobotMerger "Factor to weight stdDeviation during tracker merging, reasonable range: 1.0 - 2.0. High values lead to more jitter")] private static float MergePower { get; set; } = 1.5f; + private readonly Dictionary> _trackersById = new(); + public List Process(IEnumerable cameras, Timestamp timestamp) { - var trackersById = cameras - .SelectMany(camera => camera.Robots.Values) - .GroupBy(robot => robot.Id) - .ToDictionary(grouping => grouping.Key, grouping => grouping.ToList()); + // Bolt: eliminates ~30+ allocs/frame - replaces SelectMany/GroupBy/ToDictionary with reused dictionary and explicit loops + foreach (var list in _trackersById.Values) + { + list.Clear(); + } + + foreach (var camera in cameras) + { + foreach (var robot in camera.Robots.Values) + { + if (!_trackersById.TryGetValue(robot.Id, out var list)) + { + list = new List(); + _trackersById[robot.Id] = list; + } + list.Add(robot); + } + } - var mergedRobots = new List(); + var mergedRobots = new List(_trackersById.Count); - foreach (var (id, trackers) in trackersById) + foreach (var (id, trackers) in _trackersById) { - mergedRobots.Add(Merge(id, trackers, timestamp)); + if (trackers.Count > 0) + { + mergedRobots.Add(Merge(id, trackers, timestamp)); + } } return mergedRobots;