Changed all "normal" gameplay plays to account for dynamic role alloc…

…ation, simplified RLinterface and accounted for static behaviour when no RL input is given

docker/runner/docker-compose.yml

@@ -162,6 +162,10 @@ services:
       - GRADLE_USER_HOME=/home/roboteamtwente/.cache # Cache gradle dependencies
     volumes:
       - ../../roboteam_autoref/:/home/roboteamtwente/
+    deploy:
+      resources:
+        limits:
+          memory: 500mb
     profiles: ["simulator","diff","game","autoref", "RL"]
 
   erforce_autoref_sim:
@@ -177,6 +181,10 @@ services:
         - 10010:10010 # Tracker port
       volumes:
         - ../../:/home/roboteamtwente/
+      deploy:
+        resources:
+          limits:
+            memory: 500mb
       profiles: ["simulator","diff", "RL"]
 
   erforce_autoref_game:

docker/runner/ray-cluster-combined.yaml

@@ -125,7 +125,7 @@ spec:
           - name: roboteam-secondary-ai
             image: roboteamtwente/roboteam:kubernetes
             command: ["/bin/sh"]
-            args: ["-c", "/home/roboteam/build/release/bin/roboteam_ai --secondary-ai"]
+            args: ["-c", "/home/roboteam_old/build/release/bin/roboteam_ai --secondary-ai"]
             workingDir: /home/roboteam
             env:
               - name: LD_LIBRARY_PATH

roboteam_ai/include/roboteam_ai/rl/RLInterface.hpp

@@ -4,17 +4,9 @@
 #include <array>
 #include <string>
 #include <thread>
-#include "utilities/Constants.h"
 
 namespace rtt::ai::stp::rl {
 
-/**
- * @brief Interface class for Reinforcement Learning communication
- * @details Handles ZMQ socket communication and manages game state information.
- *          This class is used to receive RL decisions from the RL model and update the role allocation.
- *          The role allocation for defenders and walls is determined based on the number of attackers.
- */
-
 class RLInterface {
    private:
     // Thread members
@@ -23,24 +15,12 @@ class RLInterface {
 
     // Game state members
     int numAttackers;
-    int numDefenders;
-    int numWallers;
-    std::array<bool, 9> gridPositions;  // Array of 9 positions, boolean
-
-    const int MANDATORY_ROLES = 3;  // keeper, passer, receiver
-    const int MAX_ROBOTS = static_cast<int>(rtt::ai::constants::MAX_ROBOT_COUNT);
 
     // ZMQ members
     zmqpp::context_t context;
     zmqpp::socket_t socket;
 
-    /**
-     * @brief Processes received string messages and updates the game state
-     * @param input_string Format: "N P1 P2 ... P_N" where:
-     *                    - N is the number of attackers
-     *                    - P1 through PN are positions (1-9) where attackers are located
-     */
-    void process_string(const std::string& input_string);
+    bool isActive;
 
     /**
      * @brief Processes string containing only number of attackers
@@ -52,45 +32,21 @@ class RLInterface {
      */
     void start();
 
-    /**
-     * @brief Allocates roles based on current game state
-     * @param requestedAttackers Number of attackers requested
-     */
-    void allocateRoles(int requestedAttackers);
-
    public:
     RLInterface();
     ~RLInterface();
 
     // Getters
     int getNumAttackers() const;
-    int getNumDefenders() const;
-    int getNumWallers() const;
-    std::array<bool, 9> getBinaryOccupancyGrid() const;
+    bool getIsActive() const { return isActive; }
 
     // Setters
     void setNumAttackers(int attackers);
-    void clearNumAttackers();
-    void setNumWallers(int wallers);
-    void clearNumWallers();
-    void setNumDefenders(int defenders);
-    void clearNumDefenders();
-    void setBinaryOccupancyGrid(std::array<bool, 9> grid);
-
-    /**
-     * @brief Receives and processes full RL decision including grid positions
-     */
-    void receiveRLDecision();
 
     /**
      * @brief Receives and processes attacker count only
      */
     void receiveAttackersOnly();
-
-    /**
-     * @brief Prints the binary occupancy grid (debug only)
-     */
-    void printBinaryOccupancyGrid() const;
 };
 
 }  // namespace rtt::ai::stp::rl

roboteam_ai/include/roboteam_ai/stp/plays/defensive/Defend.h

@@ -42,7 +42,19 @@ class Defend : public Play {
      */
     const char* getName() const override;
 
+    /**
+     * Updates role configuration based on current game state
+     */
+    void updateRoleConfiguration();
+
     InterceptionInfo harasserInfo;
+
+    private:
+        static const int MANDATORY_ROLES = 2;  // keeper, harasser
+
+        mutable int numDefenders = 4;
+        mutable int numWallers = 4;
+        mutable int numAttackers = 1;
 };
 }  // namespace rtt::ai::stp::play
 

roboteam_ai/include/roboteam_ai/stp/plays/defensive/KeeperKickBall.h

@@ -47,14 +47,24 @@ class KeeperKickBall : public Play {
      */
     bool shouldEndPlay() noexcept override;
 
+    /**
+     * Updates role configuration based on current game state
+     */
+    void updateRoleConfiguration();
+
    private:
     /**
      * @brief Check if the ball has been kicked. True if the kick tactic has ended, false if it is still going.
      * @return Boolean that tells whether the ball has been kicked
      */
     bool ballKicked();
 
-    PassInfo passInfo; /**< Struct containing info about the pass. Calculated once for each time this play is run */
+    PassInfo passInfo; /**< Struct containing info about the pass. Calculated once for each time this play is run */\
+
+    static const int MANDATORY_ROLES = 2;
+
+    mutable int numDefenders = 4;
+    mutable int numAttackers = 5;
 };
 }  // namespace rtt::ai::stp::play
 

roboteam_ai/include/roboteam_ai/stp/plays/offensive/Attack.h

@@ -43,6 +43,14 @@ class Attack : public Play {
      * @return The name of the play as string
      */
     const char* getName() const override;
+
+    void updateRoleConfiguration();
+
+    private:
+        static const int MANDATORY_ROLES = 2;
+        mutable int numDefenders = 5;
+        mutable int numWallers = 2;
+        mutable int numAttackers = 2; 
 };
 
 }  // namespace rtt::ai::stp::play

roboteam_ai/include/roboteam_ai/stp/plays/offensive/AttackingPass.h

@@ -51,17 +51,19 @@ class AttackingPass : public Play {
     void updateRoleConfiguration();
 
    private:
-    /**
-     * @brief Check if the ball has been kicked. True if passer is done with kicking, False if it is still ongoing
-     * @return Boolean that tells whether the ball has been kicked
-     */
-    bool ballKicked();
+        /**
+         * @brief Check if the ball has been kicked. True if passer is done with kicking, False if it is still ongoing
+         * @return Boolean that tells whether the ball has been kicked
+         */
+        bool ballKicked();
+
+        static const int MANDATORY_ROLES = 3;  // keeper, passer, receiver
 
-    mutable int numDefenders = 4;
-    mutable int numWallers = 2;
-    mutable int numAttackers = 2;
+        mutable int numDefenders = 4;
+        mutable int numWallers = 2;
+        mutable int numAttackers = 2;
 
-    PassInfo passInfo; /**< Struct containing info about the pass. Calculated once for each time this play is run */
+        PassInfo passInfo; /**< Struct containing info about the pass. Calculated once for each time this play is run */
 };
 }  // namespace rtt::ai::stp::play
 

roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/BallPlacementThem.h

@@ -43,6 +43,14 @@ class BallPlacementThem : public Play {
      * @return The name of the play as string
      */
     const char* getName() const override;
+
+    void updateRoleConfiguration();
+
+    static const int MANDATORY_ROLES = 2;
+
+    mutable int numDefenders = 4;
+    mutable int numWallers = 4;
+    mutable int numAttackers = 1;
 };
 }  // namespace rtt::ai::stp::play
 

roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/BallPlacementUsForceStart.h

@@ -39,6 +39,14 @@ class BallPlacementUsForceStart : public Play {
      * @return The name of the play as a string
      */
     const char* getName() const override;
+
+    void updateRoleConfiguration();
+
+    static const int MANDATORY_ROLES = 2;
+
+    mutable int numDefenders = 6;
+    mutable int numWallers = 2;
+    mutable int numAttackers = 1;
 };
 }  // namespace rtt::ai::stp::play
 

roboteam_ai/include/roboteam_ai/stp/plays/referee_specific/BallPlacementUsFreeKick.h

@@ -38,6 +38,14 @@ class BallPlacementUsFreeKick : public Play {
      * @return The name of the play as a string
      */
     const char* getName() const override;
+
+    void updateRoleConfiguration();
+
+    static const int MANDATORY_ROLES = 2;
+
+    mutable int numDefenders = 3;
+    mutable int numWallers = 2;
+    mutable int numAttackers = 4;
 };
 }  // namespace rtt::ai::stp::play