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Implementação do ball placement simplificado #6

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52 changes: 49 additions & 3 deletions src/Modules/Processing/CustomPlayer/CustomPlayer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,12 +34,58 @@ void CustomPlayer::update() {
}

void CustomPlayer::exec() {
if (!field || !frame || !robot) {

if (!field || !frame || !robot)
return;
if (!frame->has_ball())
return;
auto&& pos_ball = frame->ball();

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Usar um mesmo padrão pra nomes de variáveis. Nesse caso, a variável passaria a ser posBall


QPointF targetPosition(1000, 4000);
QPointF initialPosition(2000, 0);
int tolerance = 150;
Comment on lines +44 to +46

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Como essas variáveis são constantes, podem ir pro arquivo CustomPlayer.h.

maxdis = 9000000;
if ((pos_ball.distTo(targetPosition)) > tolerance) {

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Colocar nomes descritivos para as condicionais facilita entender o que tá acontecendo:

Suggested change
if ((pos_ball.distTo(targetPosition)) > tolerance) {
bool isBallOnTargetPosition = (pos_ball.distTo(targetPosition)) <= tolerance;
if (!isBallOnTargetPosition) {

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Esse comentário também se aplica às outras condicionais


for (const auto& ally : frame->allies()) {
double distance = ally.distTo(pos_ball);
if (maxdis > distance) {
maxdis = distance;
idrobot = ally.id();
}
}
}

// TODO: here...
// emit sendCommand(...);
if (robot->id() != idrobot)
return;

if ((pos_ball - targetPosition).manhattanLength() > tolerance) {
if (robot->distTo(pos_ball) > 150) {

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Substituir o 150 por uma constante

SSLMotion::GoToPoint goToPoint(pos_ball, (pos_ball - robot->position()).angle(), true);
auto command = sslNavigation.run(robot.value(), SSLRobotCommand(goToPoint));
command.set_dribbler(true);
command.set_dribblerVelocity(4);
emit sendCommand(command);
} else {
SSLMotion::GoToPoint goToPoint(targetPosition,
(targetPosition - robot->position()).angle(),
true);
goToPoint.set_maxVelocity(1);
auto command = sslNavigation.run(robot.value(), SSLRobotCommand(goToPoint));
command.set_dribbler(true);
command.set_dribblerVelocity(4);
emit sendCommand(command);
}
} else if (robot->id() == idrobot && robot->distTo(initialPosition) > tolerance) {
SSLMotion::GoToPoint goToInitial(initialPosition,
(initialPosition - robot->position()).angle(),
true);
auto command = sslNavigation.run(robot.value(), SSLRobotCommand(goToInitial));
emit sendCommand(command);
} else {
idrobot = -1;
maxdis = 9000000;
}
}

void CustomPlayer::receiveField(const Field& field) {
Expand Down
3 changes: 3 additions & 0 deletions src/Modules/Processing/CustomPlayer/CustomPlayer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,9 @@
#include "Modules/Processing/ProcessingUtils/ProcessingUtils.h"

class CustomPlayer : public Processing {
int maxdis = 9000000;
int idrobot = -1;
Comment on lines +8 to +9

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Suggested change
int maxdis = 9000000;
int idrobot = -1;
int maxDis = 9000000;
int idRobot = -1;

bool ball_placement = true;

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Essa variável não é usada, então pode ser removida

public:
CustomPlayer(int index, QThreadPool* threadPool);

Expand Down