From 87148215192f4c99c5bc983cc0eab37cfc147872 Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:29:39 +0100 Subject: [PATCH 01/14] Bump pre-commit ruff to v0.15.12 and move lint keys under [lint] Match pixi.toml and the CI ruff-action pin, and move ignore/fixable under [lint] so ruff 0.15 stops warning about top-level keys. Co-Authored-By: Claude Opus 5.5 --- .pre-commit-config.yaml | 4 ++-- ruff.toml | 15 ++++++++------- 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index d2b64f69..7ccef41f 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -5,8 +5,8 @@ repos: - id: black args: ["--line-length", "120"] files: \.py$ - - repo: https://github.com/charliermarsh/ruff-pre-commit - rev: v0.0.261 # replace with latest stable version + - repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.15.12 hooks: - id: ruff args: ["--fix"] # auto-fix issues like formatting, unused imports diff --git a/ruff.toml b/ruff.toml index 9aef3370..49c78724 100644 --- a/ruff.toml +++ b/ruff.toml @@ -1,3 +1,11 @@ +# Exclusions apply to all of ruff. +exclude = [ + "*_pb2.py", + "build/", + "dist/", +] + +[lint] ignore = [ "F401", # Module imported but unused "E402", # Module level import not at top of file @@ -6,10 +14,3 @@ ignore = [ # Enable auto-fix for fixable errors fixable = ["E"] # Fix all fixable E codes (like E402) - -# Optionally, exclude certain files or directories -exclude = [ - "*_pb2.py", - "build/", - "dist/", -] From 7ef7709b0fb1d3f6200ed93b428551bcffd0a0aa Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:30:30 +0100 Subject: [PATCH 02/14] Move strategy_table into utama_core.analysis motion_stats imported it from tools/evaluation/round_robin.py, but tools/ is not part of the installed package. The table now lives in utama_core/analysis/strategy_table.py; round_robin.py imports it from there, and the tournament summary test imports it from the new location. Co-Authored-By: Claude Opus 5.5 --- tools/evaluation/round_robin.py | 88 +-------------- utama_core/analysis/motion_stats.py | 2 +- utama_core/analysis/strategy_table.py | 102 ++++++++++++++++++ .../tests/engine/test_tournament_summary.py | 3 +- 4 files changed, 107 insertions(+), 88 deletions(-) create mode 100644 utama_core/analysis/strategy_table.py diff --git a/tools/evaluation/round_robin.py b/tools/evaluation/round_robin.py index 01e3044f..59835fac 100644 --- a/tools/evaluation/round_robin.py +++ b/tools/evaluation/round_robin.py @@ -104,7 +104,8 @@ _stats_to_dict, ) from tools.evaluation.match import run_match as _lib_run_match -from utama_core.analysis import chances, restart_outcomes, turnover_breakdown +from utama_core.analysis import restart_outcomes, turnover_breakdown +from utama_core.analysis.strategy_table import strategy_table from utama_core.config.settings import REPLAY_BASE_PATH from utama_core.replay import match_cache from utama_core.replay.fingerprint import CodeGraph, match_key @@ -738,91 +739,6 @@ def git(*args: str) -> Optional[str]: } -def strategy_table( - results: list[dict], - real_losses_by_match: Optional[dict[str, dict[str, int]]] = None, - chances_by_match: Optional[dict[str, dict]] = None, -) -> dict[str, dict]: - """Per-strategy totals over `summary.json`-shaped `results`. Match stats are from - config_a's side, so config_b reads the `enemy_*` counterparts. Real ball losses are only - measured for config_a (the side with an intentions log), so they are totalled over the - matches a strategy played as config_a (`matches_as_a`), in total and by kind - (`turnover_breakdown.TURNOVER_KINDS` and `RESTART_KINDS`). `stalled` counts matches that - recorded a stall event or tripped the possession backstop: their result is still in - W-D-L, flagged rather than dropped, since a stall can be the strategy's own fault. - `chances` (`analysis.chances.rates`) is measured for both sides, over the matches in - `chances_by_match`; `pass_progress_m` is the mean metres gained toward goal per - completed pass, `forward_pass_share` the share gaining at least 1 m.""" - table: dict[str, dict] = {} - chance_totals: dict[str, dict[str, float]] = {} - progress: dict[str, list[float]] = {} - for r in results: - stats = r.get("stats") or {} - fouls = stats.get("fouls_by_side") or {} - tag = f"{_short_name(r['config_a'])}_vs_{_short_name(r['config_b'])}" - for name, own, is_a in ((r["config_a"], "friendly", True), (r["config_b"], "enemy", False)): - row = table.setdefault( - name, - { - "matches": 0, - "wins": 0, - "draws": 0, - "losses": 0, - "goals_for": 0, - "goals_against": 0, - "shots": 0, - "completed_passes": 0, - "attacking_third_entries": 0, - "fouls": 0, - "stalled": 0, - "matches_as_a": 0, - "real_losses_as_a": 0, - "real_loss_kinds_as_a": {}, - "robot_overlap_ticks": 0, - "robot_overlap_incidents": 0, - "teammate_overlap_ticks": 0, - "teammate_overlap_incidents": 0, - "near_miss_ticks": 0, - "worst_clearance_m": None, - }, - ) - prefix = "" if is_a else "enemy_" - gf, ga = (r["score_a"], r["score_b"]) if is_a else (r["score_b"], r["score_a"]) - row["matches"] += 1 - row["wins" if gf > ga else "draws" if gf == ga else "losses"] += 1 - row["goals_for"] += gf - row["goals_against"] += ga - row["shots"] += (stats.get("shots") or {}).get(own, 0) - row["completed_passes"] += stats.get(f"{prefix}completed_passes", 0) - row["attacking_third_entries"] += stats.get(f"{prefix}attacking_third_entries", 0) - row["fouls"] += sum((fouls.get(own) or {}).values()) - row["stalled"] += bool(stats.get("stall_events") or r.get("possession_backstop")) - row["robot_overlap_ticks"] += stats.get("robot_overlap_ticks", 0) - row["robot_overlap_incidents"] += stats.get("robot_overlap_incidents", 0) - row["teammate_overlap_ticks"] += (stats.get("teammate_overlap_ticks") or {}).get(own, 0) - row["teammate_overlap_incidents"] += (stats.get("teammate_overlap_incidents") or {}).get(own, 0) - row["near_miss_ticks"] += stats.get("near_miss_ticks", 0) - wc = stats.get("worst_clearance_m") - if wc is not None: - if row["worst_clearance_m"] is None or wc < row["worst_clearance_m"]: - row["worst_clearance_m"] = round(wc, 3) - progress.setdefault(name, []).extend(stats.get(f"{prefix}pass_progress_m") or []) - if chances_by_match and tag in chances_by_match: - chances.add(chance_totals.setdefault(name, {}), chances.side_totals(chances_by_match[tag], own)) - if is_a and real_losses_by_match is not None and tag in real_losses_by_match: - row["matches_as_a"] += 1 - kinds = real_losses_by_match[tag] - row["real_losses_as_a"] += sum(kinds.values()) - for kind, n in kinds.items(): - row["real_loss_kinds_as_a"][kind] = row["real_loss_kinds_as_a"].get(kind, 0) + n - for name, row in table.items(): - gains = progress.get(name, []) - row["pass_progress_m"] = round(sum(gains) / len(gains), 2) if gains else None - row["forward_pass_share"] = round(sum(g >= 1.0 for g in gains) / len(gains), 2) if gains else None - row["chances"] = chances.rates(chance_totals.get(name, {})) - return table - - def stall_incidents(results: list[dict]) -> list[dict]: """Stall events over `summary.json`-shaped `results`, with deterministic duplicates merged: the same kind, onset tick and duration tick in matches that share a strategy diff --git a/utama_core/analysis/motion_stats.py b/utama_core/analysis/motion_stats.py index b904b7b3..199a3820 100644 --- a/utama_core/analysis/motion_stats.py +++ b/utama_core/analysis/motion_stats.py @@ -212,7 +212,7 @@ def enrich_tournament_directory(tournament_dir: Union[str, Path]) -> None: st["worst_clearance_m"] = m["worst_clearance_m"] # Rebuild strategy_table if possible - from tools.evaluation.round_robin import strategy_table + from utama_core.analysis.strategy_table import strategy_table summary["strategies"] = strategy_table(summary["results"]) with open(summary_path, "w") as f: diff --git a/utama_core/analysis/strategy_table.py b/utama_core/analysis/strategy_table.py new file mode 100644 index 00000000..9ee2ded9 --- /dev/null +++ b/utama_core/analysis/strategy_table.py @@ -0,0 +1,102 @@ +"""Per-strategy totals over a round-robin's `summary.json`-shaped results. + +Lives in `utama_core` so the analysis code can rebuild a `summary.json`'s `strategies` +table without importing the `tools/` scripts (which are not part of the installed package). +`tools/evaluation/round_robin.py` re-exports it. +""" + +from __future__ import annotations + +from typing import Optional + +from utama_core.analysis import chances + + +def _short_name(config_name: str) -> str: + """A config's name in replay file names (mirrors `tools/evaluation/match._short_name`).""" + return config_name.removeprefix("build_").removesuffix("_kernel_strategy") + + +def strategy_table( + results: list[dict], + real_losses_by_match: Optional[dict[str, dict[str, int]]] = None, + chances_by_match: Optional[dict[str, dict]] = None, +) -> dict[str, dict]: + """Per-strategy totals over `summary.json`-shaped `results`. Match stats are from + config_a's side, so config_b reads the `enemy_*` counterparts. Real ball losses are only + measured for config_a (the side with an intentions log), so they are totalled over the + matches a strategy played as config_a (`matches_as_a`), in total and by kind + (`turnover_breakdown.TURNOVER_KINDS` and `RESTART_KINDS`). `stalled` counts matches that + recorded a stall event or tripped the possession backstop: their result is still in + W-D-L, flagged rather than dropped, since a stall can be the strategy's own fault. + `chances` (`analysis.chances.rates`) is measured for both sides, over the matches in + `chances_by_match`; `pass_progress_m` is the mean metres gained toward goal per + completed pass, `forward_pass_share` the share gaining at least 1 m.""" + table: dict[str, dict] = {} + chance_totals: dict[str, dict[str, float]] = {} + progress: dict[str, list[float]] = {} + for r in results: + stats = r.get("stats") or {} + fouls = stats.get("fouls_by_side") or {} + tag = f"{_short_name(r['config_a'])}_vs_{_short_name(r['config_b'])}" + for name, own, is_a in ((r["config_a"], "friendly", True), (r["config_b"], "enemy", False)): + row = table.setdefault( + name, + { + "matches": 0, + "wins": 0, + "draws": 0, + "losses": 0, + "goals_for": 0, + "goals_against": 0, + "shots": 0, + "completed_passes": 0, + "attacking_third_entries": 0, + "fouls": 0, + "stalled": 0, + "matches_as_a": 0, + "real_losses_as_a": 0, + "real_loss_kinds_as_a": {}, + "robot_overlap_ticks": 0, + "robot_overlap_incidents": 0, + "teammate_overlap_ticks": 0, + "teammate_overlap_incidents": 0, + "near_miss_ticks": 0, + "worst_clearance_m": None, + }, + ) + prefix = "" if is_a else "enemy_" + gf, ga = (r["score_a"], r["score_b"]) if is_a else (r["score_b"], r["score_a"]) + row["matches"] += 1 + row["wins" if gf > ga else "draws" if gf == ga else "losses"] += 1 + row["goals_for"] += gf + row["goals_against"] += ga + row["shots"] += (stats.get("shots") or {}).get(own, 0) + row["completed_passes"] += stats.get(f"{prefix}completed_passes", 0) + row["attacking_third_entries"] += stats.get(f"{prefix}attacking_third_entries", 0) + row["fouls"] += sum((fouls.get(own) or {}).values()) + row["stalled"] += bool(stats.get("stall_events") or r.get("possession_backstop")) + row["robot_overlap_ticks"] += stats.get("robot_overlap_ticks", 0) + row["robot_overlap_incidents"] += stats.get("robot_overlap_incidents", 0) + row["teammate_overlap_ticks"] += (stats.get("teammate_overlap_ticks") or {}).get(own, 0) + row["teammate_overlap_incidents"] += (stats.get("teammate_overlap_incidents") or {}).get(own, 0) + row["near_miss_ticks"] += stats.get("near_miss_ticks", 0) + wc = stats.get("worst_clearance_m") + if wc is not None: + if row["worst_clearance_m"] is None or wc < row["worst_clearance_m"]: + row["worst_clearance_m"] = round(wc, 3) + progress.setdefault(name, []).extend(stats.get(f"{prefix}pass_progress_m") or []) + if chances_by_match and tag in chances_by_match: + chances.add(chance_totals.setdefault(name, {}), chances.side_totals(chances_by_match[tag], own)) + if is_a and real_losses_by_match is not None and tag in real_losses_by_match: + row["matches_as_a"] += 1 + kinds = real_losses_by_match[tag] + row["real_losses_as_a"] += sum(kinds.values()) + for kind, n in kinds.items(): + row["real_loss_kinds_as_a"][kind] = row["real_loss_kinds_as_a"].get(kind, 0) + n + for name, row in table.items(): + gains = progress.get(name, []) + row["pass_progress_m"] = round(sum(gains) / len(gains), 2) if gains else None + row["forward_pass_share"] = round(sum(g >= 1.0 for g in gains) / len(gains), 2) if gains else None + row["chances"] = chances.rates(chance_totals.get(name, {})) + return table diff --git a/utama_core/tests/engine/test_tournament_summary.py b/utama_core/tests/engine/test_tournament_summary.py index fe8c2873..985bbd76 100644 --- a/utama_core/tests/engine/test_tournament_summary.py +++ b/utama_core/tests/engine/test_tournament_summary.py @@ -1,4 +1,5 @@ -from tools.evaluation.round_robin import foul_table, stall_incidents, strategy_table +from tools.evaluation.round_robin import foul_table, stall_incidents +from utama_core.analysis.strategy_table import strategy_table def _result(a: str, b: str, score_a: int, score_b: int) -> dict: From f39d35e4209a0139be765b8621ac3b68b09aa64f Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:31:53 +0100 Subject: [PATCH 03/14] Remove unused defense, referee, rsim and obstacle helpers Delete align_defenders, to_defense_parametric, find_likely_enemy_shooter, velocity_to_orientation, and RSimVSS, is_our_command, to_polygons: each was referenced only by its own definition (git grep -w). Also drop the helpers only they used (predict_goal_y_location, clamp_to_parametric, ccw, ang_between, step_curve, EPS) and the imports they orphaned. Co-Authored-By: Claude Opus 5.5 --- utama_core/custom_referee/actions.py | 11 -- .../motion_planning/src/planning/obstacles.py | 5 - .../rsoccer_simulator/src/Simulators/rsim.py | 45 +---- utama_core/skills/src/utils/defense_utils.py | 158 +----------------- 4 files changed, 3 insertions(+), 216 deletions(-) diff --git a/utama_core/custom_referee/actions.py b/utama_core/custom_referee/actions.py index dd31f28a..262bd6af 100644 --- a/utama_core/custom_referee/actions.py +++ b/utama_core/custom_referee/actions.py @@ -24,7 +24,6 @@ ) from utama_core.custom_referee.geometry import RefereeGeometry from utama_core.entities.data.vector import Vector2D -from utama_core.entities.referee.referee_command import RefereeCommand from utama_core.global_utils.math_utils import ( detour_around_circle, distance_point_to_segment, @@ -961,13 +960,3 @@ def update(self) -> None: self.blackboard, ball_keep_dist=BALL_KEEP_OUT_DISTANCE, ) - - -# --------------------------------------------------------------------------- -# Helper: resolve bilateral commands -# --------------------------------------------------------------------------- - - -def is_our_command(command: RefereeCommand, our_command: RefereeCommand, their_command: RefereeCommand) -> bool: - """Not used directly — bilateral resolution is done in tree.py via command sets.""" - return command == our_command diff --git a/utama_core/motion_planning/src/planning/obstacles.py b/utama_core/motion_planning/src/planning/obstacles.py index 2988ebf5..00106f48 100644 --- a/utama_core/motion_planning/src/planning/obstacles.py +++ b/utama_core/motion_planning/src/planning/obstacles.py @@ -34,11 +34,6 @@ def from_polygon(cls, polygon: np.ndarray) -> "ObstacleRegion": return cls(polygon=polygon, rect=AxisAlignedRectangle(min_x, max_x, min_y, max_y)) -def to_polygons(obstacles: Iterable[ObstacleRegion]) -> List[np.ndarray]: - """Return the list of polygon arrays for the given obstacles.""" - return [obs.polygon for obs in obstacles] - - def to_rectangles(obstacles: Iterable[ObstacleRegion]) -> List[AxisAlignedRectangle]: """Return the list of bounding rectangles for the given obstacles.""" return [obs.rect for obs in obstacles] diff --git a/utama_core/rsoccer_simulator/src/Simulators/rsim.py b/utama_core/rsoccer_simulator/src/Simulators/rsim.py index d430031f..dee09f71 100644 --- a/utama_core/rsoccer_simulator/src/Simulators/rsim.py +++ b/utama_core/rsoccer_simulator/src/Simulators/rsim.py @@ -2,7 +2,7 @@ import numpy as np -from utama_core.rsoccer_simulator.src.Entities import Field, Frame, FrameSSL, FrameVSS +from utama_core.rsoccer_simulator.src.Entities import Field, Frame, FrameSSL from utama_core.rsoccer_simulator.src.Simulators.robosim.robosim_wrapper import ( RSimSubprocessWrapper, acquire_simulator, @@ -105,49 +105,6 @@ def _init_simulator( raise NotImplementedError -class RSimVSS(RSim): - def send_commands(self, commands): - sim_commands = np.zeros((self.n_robots_blue + self.n_robots_yellow, 2), dtype=np.float64) - - for cmd in commands: - if cmd.yellow: - rbt_id = self.n_robots_blue + cmd.id - else: - rbt_id = cmd.id - sim_commands[rbt_id][0] = cmd.v_wheel0 - sim_commands[rbt_id][1] = cmd.v_wheel1 - self._last_state = self.simulator.step(sim_commands) - - def get_frame(self) -> FrameVSS: - # Reuse the state `step()` already returned this tick instead of a - # second, separate `get_state()` round-trip — see the `_last_state` - # comment in `RSim.__init__`/`reset()` for why this is also a - # correctness fix, not just avoiding redundant I/O. Fall back to a - # real fetch when there's no cached step yet (first call after - # construction, or right after a `reset()`). - state = self._last_state if self._last_state is not None else self.simulator.get_state() - # Update frame with new state - frame = FrameVSS() - frame.parse(state, self.n_robots_blue, self.n_robots_yellow) - - return frame - - def _init_simulator( - self, - field_type, - n_robots_blue, - n_robots_yellow, - time_step_ms, - ) -> RSimSubprocessWrapper: - return acquire_simulator( - sim_type="VSS", - n_blue=n_robots_blue, - n_yellow=n_robots_yellow, - field_type=field_type, - time_step_ms=time_step_ms, - ) - - class RSimSSL(RSim): def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) diff --git a/utama_core/skills/src/utils/defense_utils.py b/utama_core/skills/src/utils/defense_utils.py index ef98ed4a..01664498 100644 --- a/utama_core/skills/src/utils/defense_utils.py +++ b/utama_core/skills/src/utils/defense_utils.py @@ -1,12 +1,9 @@ -from typing import Dict, List, NamedTuple, Optional, Tuple +from typing import NamedTuple import numpy as np from utama_core.entities.data.vector import Vector2D -from utama_core.entities.game import Ball, Game, Robot -from utama_core.rsoccer_simulator.src.ssl.envs.standard_ssl import SSLStandardEnv - -EPS = 1e-5 +from utama_core.entities.game import Game CURVE_MARGIN = 0.1 CURVE_SHAPE_R = 2.1 @@ -40,65 +37,6 @@ def _defense_geometry(game: Game) -> DefenseGeometry: ) -def align_defenders( - game: Game, - defender_parametric_pos: float, - attacker_position: Vector2D, - attacker_orientation: Optional[float], - env: Optional[SSLStandardEnv], -) -> Tuple[float, float]: - """Calculates the next point on the defense area that the robots should go to defender_position is in terms of t on - the parametric curve.""" - - NO_MOVE_THRES = 1.5 - - # Start by getting the current position of the defenders - defender_pos = calculate_defense_area(game, defender_parametric_pos) - - geo = _defense_geometry(game) - goal_centre_x = geo.goal_x - - if attacker_orientation is None or attacker_orientation == 0: - # In case there is no ball velocity or attackers, use centre of goal - predicted_goal_position = Vector2D(goal_centre_x, 0) - else: - predicted_goal_position = Vector2D( - goal_centre_x, - clamp_to_goal_width( - predict_goal_y_location(game, attacker_position, attacker_orientation), - geo.goal_half_width, - ), - ) - - if env: - env.draw_line([predicted_goal_position, attacker_position], width=1, color="green") - env.draw_line([predicted_goal_position, defender_pos], width=1, color="yellow") - - poly = [] - for t in range(round(1000 * np.pi / 2), round(1000 * 3 * np.pi / 2) + 1): - poly.append(calculate_defense_area(game, clamp_to_parametric(t / 1000))) - env.draw_polygon(poly, width=3) - - goal_to_defender = defender_pos - predicted_goal_position - goal_to_attacker = attacker_position - predicted_goal_position - - side = ccw(goal_to_defender, goal_to_attacker) - angle = ang_between(goal_to_defender, goal_to_attacker) - - if not game.my_team_is_right: - side *= -1 - - if np.rad2deg(angle) > NO_MOVE_THRES: - # Move to the correct side - next_t = step_curve(defender_parametric_pos, side) - # logger.debug( - # f"RAW NEXT {calculate_defense_area(game, clamp_to_parametric(next_t))} {side} {angle}" - # ) - return calculate_defense_area(game, next_t) - else: - return calculate_defense_area(game, defender_parametric_pos) - - def calculate_defense_area(game: Game, t: float) -> Vector2D: """Defenders' path around the goal in the form of a rounded rectangle. @@ -138,103 +76,11 @@ def make_relative_to_goal_centre(goal_centre_x: float, p: Vector2D) -> Vector2D: return Vector2D(goal_centre_x + p.x, p.y) -def predict_goal_y_location(game: Game, shooter_position: Vector2D, orientation: float) -> float: - dx, dy = np.cos(orientation), np.sin(orientation) - gx, _ = game.field.my_goal_line[0] - if dx == 0: - return float("inf") - t = (gx - shooter_position[0]) / dx - return shooter_position[1] + t * dy - - -def to_defense_parametric(game: Game, p: Vector2D) -> float: - """Given a point p on the defenders' parametric curve (as defined by calculate_defense_area), returns the parameter - value t which would give rise to this point.""" - - # Ternary search the paramater, minimising the Euclidean distance between - # the point corresponding to the predicted t and the actual point. We - # could potentially use length along the curve (I think you can get this - # from polar coordinates? But for a semicircle ish curve this works fine) - lo = np.pi / 2 - hi = 3 * np.pi / 2 - EPS = 1e-6 - - while (hi - lo) > EPS: - mi1 = lo + (hi - lo) / 3 - mi2 = lo + 2 * (hi - lo) / 3 - - pred1 = calculate_defense_area(game, mi1) - pred2 = calculate_defense_area(game, mi2) - - dist1 = p.distance_to(pred1) - dist2 = p.distance_to(pred2) - - if dist1 < dist2: - hi = mi2 - else: - lo = mi1 - - t = lo - return clamp_to_parametric(t) - - -def find_likely_enemy_shooter(enemy_robots: Dict[int, Robot], ball: Ball) -> List[Robot]: - unique_shooters: Dict[int, Robot] = {} - - for robot_id, robot in enemy_robots.items(): - if np.linalg.norm(robot.p - ball.p.to_2d()) < 0.2: - unique_shooters[robot_id] = robot - - return list(unique_shooters.values()) - - -def step_curve(t: float, direction: int): - STEP_SIZE = 0.0872665 * 2 - if direction == 0: - return t - return direction * STEP_SIZE + t - - def clamp_to_goal_width(y: float, goal_half_width: float) -> float: return max(min(y, goal_half_width), -goal_half_width) -def clamp_to_parametric(t: float) -> float: - # parametric is between pi /2 and 3pi / 2 - return min(3 * np.pi / 2, max(t, np.pi / 2)) - - -def ccw(v1: Vector2D, v2: Vector2D) -> int: - # 1 if v1 is c-cw of v2, -1 if v1 is cw of v2, 0 if colinear - mag = np.cross(v1, v2) - if abs(mag) < EPS: - return 0 - if mag > 0: - return 1 - else: - return -1 - - # Repeated I will remove -def ang_between(v1: Vector2D, v2: Vector2D) -> float: - res = np.dot(v1, v2) / (v1.mag() * v2.mag()) - if res > 0: - res -= EPS - else: - res += EPS - assert -1 <= res <= 1, f"{v1} {v2} {res}" - - return np.arccos(res) - - -def velocity_to_orientation(p: Tuple[float, float]) -> float: - # Takes a velocity and converts to orientation in radians identical to robot orientation - res = np.atan2(round(p[1], 3), round(p[0], 3)) - if res < 0: - res += 2 * np.pi - return res - - # --------------------------------------------------------------------------- # Shared shadow-geometry helpers (used by both goalkeep and defend_parameter) # --------------------------------------------------------------------------- From 7316a0c555fc4c6878304d6ec22a14453f731955 Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:32:41 +0100 Subject: [PATCH 04/14] Remove unused scenario banks v5 and v6 Only bank_v8 is loaded (tools/scenario_bench.py, bench_vs_standings.py, docs). v5/v6 stay in git history; docs mentioning them as calibration history are unchanged. Co-Authored-By: Claude Opus 5.5 --- utama_core/scenario_bench/banks/bank_v5.json | 105757 ---------------- utama_core/scenario_bench/banks/bank_v6.json | 105507 --------------- 2 files changed, 211264 deletions(-) delete mode 100644 utama_core/scenario_bench/banks/bank_v5.json delete mode 100644 utama_core/scenario_bench/banks/bank_v6.json diff --git a/utama_core/scenario_bench/banks/bank_v5.json b/utama_core/scenario_bench/banks/bank_v5.json deleted file mode 100644 index 478acb36..00000000 --- a/utama_core/scenario_bench/banks/bank_v5.json +++ /dev/null @@ -1,105757 +0,0 @@ -{ - "bank_id": "bank_v5", - "schema_version": 1, - "n_scenarios": 846, - "scenarios": [ - { - "scenario_id": "kickoff_center_v1", - "lifecycle": "candidate", - "lead_in_s": 0.0, - "provenance": { - "source_run_id": "hand_authored", - "evaluator_version": "53a03c17", - "trigger": "hand_authored", - "family": "kickoff", - "anchor_tick": null, - "source_replay": null, - "perspective": "candidate_kicking" - }, - "scenario": { - "sim_time": 0.0, - "ball_x": 0.0, - "ball_y": 0.0, - "ball_vx": 0.0, - "ball_vy": 0.0, - "friendly_robots": [ - { - "id": 0, - "x": -4.2, - "y": 0.0, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 1, - "x": -0.5, - "y": 0.0, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 2, - "x": -1.5, - "y": 1.5, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 3, - "x": -1.5, - "y": -1.5, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 4, - "x": -3.0, - "y": 1.0, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 5, - "x": -3.0, - "y": -1.0, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - } - ], - "enemy_robots": [ - { - "id": 0, - "x": 4.2, - "y": 0.0, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 1, - "x": 1.5, - "y": 0.0, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 2, - "x": 1.5, - "y": 1.5, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 3, - "x": 1.5, - "y": -1.5, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 4, - "x": 3.0, - "y": 1.0, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 5, - "x": 3.0, - "y": -1.0, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - } - ], - "referee_command": "NORMAL_START", - "config_a_name": null, - "config_b_name": null, - "frame_ts": 0.0 - } - }, - { - "scenario_id": "direct_free_defending_near_box_v1", - "lifecycle": "candidate", - "lead_in_s": 0.0, - "provenance": { - "source_run_id": "hand_authored", - "evaluator_version": "53a03c17", - "trigger": "hand_authored", - "family": "direct_free_defending", - "anchor_tick": null, - "source_replay": null, - "perspective": "candidate_defending" - }, - "scenario": { - "sim_time": 0.0, - "ball_x": -2.3, - "ball_y": 0.0, - "ball_vx": 0.0, - "ball_vy": 0.0, - "friendly_robots": [ - { - "id": 0, - "x": -4.2, - "y": 0.0, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 1, - "x": -3.3, - "y": 0.6, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 2, - "x": -3.3, - "y": -0.6, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 3, - "x": -1.0, - "y": 1.5, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 4, - "x": -0.5, - "y": -2.0, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 5, - "x": 1.0, - "y": 0.0, - "orientation": 0.0, - "vx": 0.0, - "vy": 0.0 - } - ], - "enemy_robots": [ - { - "id": 0, - "x": 4.2, - "y": 0.0, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 1, - "x": -2.3, - "y": 0.0, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 2, - "x": -1.5, - "y": 2.0, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 3, - "x": -1.5, - "y": -2.0, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 4, - "x": 0.0, - "y": 1.0, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - }, - { - "id": 5, - "x": 2.0, - "y": 0.5, - "orientation": 3.14159, - "vx": 0.0, - "vy": 0.0 - } - ], - 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"frame_ts": 63.5 - } - } - ] -} \ No newline at end of file From 6fff9dac91a9665b2b17a0c937cdbc4e7475cbad Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:32:46 +0100 Subject: [PATCH 05/14] Split strategy_runner into side, sim-recovery, vision-stream and live-status modules Pure move, no logic change: SideRuntime and the _turned/_mirrored frame transforms go to run/side_runtime.py; the rsim teleport-settle, placement and frozen-field recovery to run/sim_recovery.py (SimRecoveryMixin); the browser vision stream and its commentary/roster to run/vision_stream_status.py (VisionStreamStatusMixin); and the rich live status panel to run/live_status.py (LiveStatusMixin). StrategyRunner inherits the mixins, and the names tests import stay importable from strategy_runner. Co-Authored-By: Claude Opus 5.5 --- utama_core/run/live_status.py | 72 +++ utama_core/run/side_runtime.py | 73 ++++ utama_core/run/sim_recovery.py | 213 +++++++++ utama_core/run/strategy_runner.py | 583 +------------------------ utama_core/run/vision_stream_status.py | 260 +++++++++++ 5 files changed, 633 insertions(+), 568 deletions(-) create mode 100644 utama_core/run/live_status.py create mode 100644 utama_core/run/side_runtime.py create mode 100644 utama_core/run/sim_recovery.py create mode 100644 utama_core/run/vision_stream_status.py diff --git a/utama_core/run/live_status.py b/utama_core/run/live_status.py new file mode 100644 index 00000000..e4a7be7d --- /dev/null +++ b/utama_core/run/live_status.py @@ -0,0 +1,72 @@ +"""Live terminal status panel for `StrategyRunner`, mixed in as `LiveStatusMixin`: one rich `Live` +line with FPS, referee command, stage, score and time left, refreshed every `FPS_PRINT_INTERVAL` seconds.""" + +import time + +from rich.text import Text + +from utama_core.config.settings import FPS_PRINT_INTERVAL +from utama_core.custom_referee import CustomReferee +from utama_core.run.referee_source import OfficialReferee + + +class LiveStatusMixin: + """`StrategyRunner` methods for the live status panel; they read runner state set in `__init__`.""" + + def _stop_fps_live(self): + if self._fps_live: + self._fps_live.stop() + self._fps_live = None + + def _update_live_status(self, frame_start: float) -> None: + """Count this frame and, once per `FPS_PRINT_INTERVAL`, refresh the live status line. + + Called at the end of `_run_step` only when `show_live_status` is set. + """ + frame_end = time.perf_counter() + frame_dt = frame_end - frame_start + + self.elapsed_time += frame_dt + self.num_frames_elapsed += 1 + + if self.elapsed_time >= FPS_PRINT_INTERVAL: + fps = self.num_frames_elapsed / self.elapsed_time + + ref = self.referee_refiner + stage_secs = ref.stage_time_left + stage_min = int(stage_secs // 60) + stage_sec = int(stage_secs % 60) + display = Text() + display.append(f"FPS: {fps:.1f}", style="bold cyan") + display.append(" | ") + display.append(ref.last_command.name, style="bold yellow") + if ref.last_next_command: + display.append(" -> ") + display.append(ref.last_next_command.name, style="yellow") + display.append(" | ") + display.append(ref.stage.name.replace("_", " ").title()) + display.append(" | Blue ") + display.append(str(ref.blue_team.score), style="bold blue") + display.append(" - ") + display.append(str(ref.yellow_team.score), style="bold yellow") + display.append(" Yellow") + display.append(f" | {stage_min}:{stage_sec:02d} left") + display.append(" | Ref: ") + if isinstance(self.referee, CustomReferee): + display.append("custom", style="bold magenta") + display.append(" (") + display.append(self.referee.profile_name, style="magenta") + display.append(")") + elif isinstance(self.referee, OfficialReferee): + display.append("official", style="bold magenta") + else: + display.append("none", style="bold magenta") + + if ref.last_status_message: + display.append(f" | {ref.last_status_message}", style="dim") + + self._fps_live.update(display) + self._fps_live.refresh() + + self.elapsed_time = 0.0 + self.num_frames_elapsed = 0 diff --git a/utama_core/run/side_runtime.py b/utama_core/run/side_runtime.py new file mode 100644 index 00000000..e768ca7b --- /dev/null +++ b/utama_core/run/side_runtime.py @@ -0,0 +1,73 @@ +"""Per-side runtime state (`SideRuntime`) and the frame transforms used when the teams change +ends (`_turned`) or when the opponent's view of a frame is needed in sim PVP (`_mirrored`).""" + +import dataclasses +import math +from dataclasses import dataclass, field +from typing import Optional + +from utama_core.data_processing.refiners import ( + PositionRefiner, + RobotInfoRefiner, + VelocityRefiner, +) +from utama_core.engine.abstract_strategy import AbstractStrategy +from utama_core.entities.data.vector import Vector2D +from utama_core.entities.game import Game, GameFrame, GameHistory, Robot +from utama_core.entities.game.field import FieldBounds +from utama_core.motion_planning.src.common.motion_controller import MotionController + + +def _turned(robot: Robot, bounds: FieldBounds) -> Robot: + """`robot` half a turn about the centre spot, at rest: where it stands after changing ends. + Kept within `bounds`: a robot in the run-off past a line comes back onto it, since the sim + refuses to teleport a robot outside the field (a match crashed at half-time that way).""" + (left, top), (right, bottom) = bounds.top_left, bounds.bottom_right + return dataclasses.replace( + robot, + p=Vector2D(min(max(-robot.p.x, left), right), min(max(-robot.p.y, bottom), top)), + v=Vector2D(0.0, 0.0), + a=Vector2D(0.0, 0.0), + orientation=math.remainder(robot.orientation + math.pi, 2 * math.pi), + ) + + +def _mirrored(frame: GameFrame) -> GameFrame: + """`frame` as the other team sees it: the same absolute coordinates, friendly and enemy swapped.""" + + def flip(robots: dict[int, Robot]) -> dict[int, Robot]: + return {i: Robot(r.id, not r.is_friendly, r.has_ball, r.p, r.v, r.a, r.orientation) for i, r in robots.items()} + + return GameFrame( + frame.ts, + not frame.my_team_is_yellow, + not frame.my_team_is_right, + flip(frame.enemy_robots), + flip(frame.friendly_robots), + frame.ball, + frame.referee, + ) + + +@dataclass(slots=True) +class SideRuntime: + """Encapsulates all per-side (my team / opponent) runtime state. + + Args: + strategy (AbstractStrategy): The strategy for this side. + position_refiner (PositionRefiner): Position refiner for this side. + velocity_refiner (VelocityRefiner): Velocity refiner for this side. + robot_info_refiner (RobotInfoRefiner): Robot info refiner for this side. + motion_controller (type[MotionController]): Motion controller factory for this side. + """ + + strategy: AbstractStrategy + position_refiner: PositionRefiner + velocity_refiner: VelocityRefiner + robot_info_refiner: RobotInfoRefiner + motion_controller: type[MotionController] + control_scheme: str = "fpp" + + game: Optional[Game] = field(init=False, default=None) + game_history: Optional[GameHistory] = field(init=False, default=None) + current_game_frame: Optional[GameFrame] = field(init=False, default=None) diff --git a/utama_core/run/sim_recovery.py b/utama_core/run/sim_recovery.py new file mode 100644 index 00000000..a3d9c729 --- /dev/null +++ b/utama_core/run/sim_recovery.py @@ -0,0 +1,213 @@ +"""Sim-only recovery from quirks of the native rsim engine, mixed into `StrategyRunner` +(`SimRecoveryMixin`): settling a teleported ball, holding a placement teleport off robots, and the +frozen-field watchdog. Each constant's rationale is in its comment below and on the method it serves.""" + +import math + +from utama_core.config.enums import Mode +from utama_core.config.physical_constants import BALL_RADIUS, ROBOT_RADIUS +from utama_core.entities.referee.referee_command import RefereeCommand + +# sim-only: `sim_controller.teleport_ball()` (used to instantly simulate a +# ball placement/free-kick reposition, since robots cannot physically +# retrieve an out-of-bounds ball in simulation) is meant to place the ball at +# rest at the designated position. Traced live in a tournament run +# (replays/tournament_20260905_002133/counter_flow_vs_zone_fluid_LK, 2026-09-05): +# the underlying native reset (`SSLWorld::replace()`) does correctly zero the +# ball's ODE body velocity at the instant of reset, but the very next physics +# step afterward produces a large spurious velocity (tens of m/s observed) — +# a contact-resolution artifact, not something teleport_ball's caller +# controls. That single spike is enough to send the ball rolling metres away +# from the placement target before it settles, so +# `GameStateMachine._ball_placement_done()` (gated purely on ball-to-target +# distance) never sees the ball close enough to auto-advance the restart — +# the match then sits in BALL_PLACEMENT_*/DIRECT_FREE_* for the rest of the +# match (RESTART_STALL in MatchStats.stall_events). Re-pinning the ball to +# the same target for a few ticks after every teleport absorbs that one-tick +# transient before it can accumulate into real displacement, without needing +# a fix in the vendored native engine. +_TELEPORT_SETTLE_TICKS = 3 +# Ball speed (m/s) below which the settle window is allowed to close -- +# i.e. the ball is considered genuinely at rest, not merely past the initial +# reset-artifact transient. The native engine's post-teleport spike (tens of +# m/s, see `_TELEPORT_SETTLE_TICKS`'s docstring) decays *through* a range of +# still-real, few-m/s speeds on its way to zero, and releasing the re-pin as +# soon as it first dips low is still enough for the ball to coast meters away +# over the following seconds before `_ball_placement_done()`'s distance gate +# can catch it -- a rolling SSL ball loses speed very slowly. Confirmed live, +# 2026-09-12: a teleport spike of ~13 m/s decayed to 0.83 m/s two ticks +# later (an earlier version of this constant released the window at any +# speed under 3.0 m/s, right where this case landed), and the ball then +# drifted, still slowing but never stopping, for the next ~14 seconds and +# ~2.5m before wedging against the field boundary in a corner -- the actual +# mechanism behind every "double-axis corner overshoot" RESTART_STALL traced +# this session (e.g. overload_flow_vs_tiki_taka's BALL_PLACEMENT_BLUE at +# t=24.2s), not a genuinely unreachable placement target. 0.05 m/s is +# comfortably above rsim's steady-state numerical noise floor (~1e-3 m/s +# once actually at rest, per _SIM_FROZEN_FIELD_VELOCITY_TOL_MPS's docstring) +# while still well below any speed that could carry the ball a visible +# distance before the next tick's re-pin. +_TELEPORT_SETTLE_SPEED_MPS = 0.05 +# Cap on how many times the settle window can be extended by a detected +# spike, so a genuinely fast in-flight ball at the moment of a teleport +# (rather than the reset artifact) can't stall the re-pin loop indefinitely. +_TELEPORT_SETTLE_MAX_EXTENSIONS = 10 +# sim-only: a BALL_PLACEMENT_* teleport is held back while any robot stands +# within this distance of the placement target. Teleporting the ball into a +# robot's body gets it shoved out by contact resolution faster than the +# settle re-pin can hold it: traced in +# tournament_20260924_082230/give_and_go_solo_vs_high_line_zone (t=37.1), +# where the ball landed 0.07m from a blue robot, was pushed off at ~1.5m/s +# and rolled into the goal net behind the line -- unreachable without +# entering the defense area, so DIRECT_FREE_YELLOW stalled for the rest of +# the match. The non-placing team clears the placement area during +# BALL_PLACEMENT_*, so the teleport fires as soon as the spot is free. +_PLACEMENT_TELEPORT_CLEARANCE_M = ROBOT_RADIUS + BALL_RADIUS + 0.02 + +# sim-only: recovery for a rare native-engine hang, distinct from the +# post-teleport velocity spike above. Traced live (tournament_20260905_083358, +# tiki_taka_vs_zone_fluid_Lk, 189s RESTART_STALL during DIRECT_FREE_BLUE): +# immediately after a mid-match `teleport_ball`-triggered `RSim.reset()` +# (from a BALL_PLACEMENT_BLUE placement), every robot AND the ball froze +# bit-for-bit (position std ~1e-13m, velocity exactly 0.0) for the rest of +# the match — the vendored native `robosim` subprocess kept returning valid +# JSON state each `step()` (no exception, no protocol desync), but the +# physics itself silently stopped advancing. Application-level command +# computation was verified correct and unrelated: the kicker's tactic, PID, +# and rotation math all produced real, correctly-directed, nonzero commands +# every tick throughout the stall — the freeze is entirely on the native +# engine's side, downstream of everything this codebase controls. Not +# reproducible live from any cold-teleported starting point (tried both +# mid-stall and pre-foul), so it can't be root-caused or fixed at the +# source — only detected and recovered from, the same trade-off already +# made for `_SIM_HALT_AUTO_RESUME_SECONDS` (no human GC in a sim tournament +# to intervene). If literally every robot and the ball report zero velocity +# for this long during live play (`current_command` neither paused nor mid- +# restart — those already legitimately hold everything still), force a +# fresh `teleport_ball` to the ball's own current position: `teleport_ball` +# always resets the *entire* frame (see `SSLBaseEnv.teleport_ball`'s +# docstring), not just the ball, so this is the cheapest way to re-issue a +# full-frame `RSim.reset()` and give the native engine another chance to +# resume advancing, without changing anyone's actual position. +_SIM_FROZEN_FIELD_AUTO_RECOVER_SECONDS = 8.0 +# Exactly 0.0, not a small tolerance: ordinary rsim noise/refiner jitter +# never lands two consecutive ticks at bit-identical velocity, so this can +# only fire on the genuine native-engine freeze this exists to catch, never +# on a robot/ball that is merely moving slowly. +_SIM_FROZEN_FIELD_VELOCITY_TOL_MPS = 0.0 + + +class SimRecoveryMixin: + """`StrategyRunner` methods for the sim-only recovery above; they read and write runner state set in `__init__`.""" + + def _teleport_ball_and_settle(self, x: float, y: float) -> None: + """`sim_controller.teleport_ball(x, y)`, plus arming the re-pin window + `_run_step` uses to counter the native engine's post-reset velocity + spike (see `_TELEPORT_SETTLE_TICKS`'s module docstring). + """ + self.sim_controller.teleport_ball(x, y) + self._teleport_settle_target = (x, y) + self._teleport_settle_ticks_left = _TELEPORT_SETTLE_TICKS + self._teleport_settle_extensions_left = _TELEPORT_SETTLE_MAX_EXTENSIONS + + def _tick_pending_placement_teleport(self) -> None: + """Fire the pending BALL_PLACEMENT_* teleport once no robot is within + `_PLACEMENT_TELEPORT_CLEARANCE_M` of the target (see its docstring).""" + if self._pending_placement_teleport is None: + return + x, y = self._pending_placement_teleport + frame = self.my.current_game_frame + robots = (*frame.friendly_robots.values(), *frame.enemy_robots.values()) + if any(math.hypot(r.p.x - x, r.p.y - y) < _PLACEMENT_TELEPORT_CLEARANCE_M for r in robots): + return + self._pending_placement_teleport = None + self._teleport_ball_and_settle(x, y) + + def _tick_teleport_settle(self) -> None: + """One tick of the re-pin window `_teleport_ball_and_settle` arms. + + Traced live in a tournament run (see `_TELEPORT_SETTLE_TICKS`'s + docstring): the native rsim engine's post-teleport velocity spike + doesn't decay with repeated resets — it simply waits for the first + real physics step *without* a reset immediately before it, however + many resets preceded it. So this doesn't just re-pin for a fixed + number of ticks: it keeps extending the window (bounded by + `_TELEPORT_SETTLE_MAX_EXTENSIONS`) for as long as the ball's most + recent velocity still reads as unsettled, and only stops once a tick + is observed with the window closed AND the ball has actually settled + (`_TELEPORT_SETTLE_SPEED_MPS`'s docstring has the full rationale for + why this needs to be a strict "at rest" check, not just "no longer + looks like the initial reset spike"). + + Reads the ball's velocity via `self.rsim_env.frame.ball` (the raw sim + state, refreshed every physics `step()`), not `current_game_frame` — + the latter is the *refined* frame `_step_game` builds once per tick, + so at the point this runs (after the referee block, before + `_step_game`) it is always one tick stale and would see last tick's + already-corrected velocity instead of this tick's live spike. + """ + if self.sim_controller is None or self._teleport_settle_target is None: + return + raw_ball = self.rsim_env.frame.ball if self.mode == Mode.RSIM and self.rsim_env is not None else None + ball_speed = math.hypot(raw_ball.v_x, raw_ball.v_y) if raw_ball is not None else 0.0 + settled = ball_speed <= _TELEPORT_SETTLE_SPEED_MPS + # The tick whose re-pin drove `_teleport_settle_ticks_left` to 0 + # still needs one more check here — its own `step()` (this tick, + # further down in `_run_step`) is what actually produces or clears + # the spike, and that only becomes observable next tick. So don't + # drop `_teleport_settle_target` (and stop checking) until a tick is + # seen with the window closed AND (settled OR out of extensions — + # a ball that never actually settles must still terminate the loop + # eventually rather than re-pin forever). + if self._teleport_settle_ticks_left <= 0 and (settled or self._teleport_settle_extensions_left <= 0): + self._teleport_settle_target = None + return + if not settled and self._teleport_settle_extensions_left > 0: + self._teleport_settle_ticks_left += 1 + self._teleport_settle_extensions_left -= 1 + x, y = self._teleport_settle_target + self.sim_controller.teleport_ball(x, y) + self._teleport_settle_ticks_left = max(0, self._teleport_settle_ticks_left - 1) + + def _tick_frozen_field_watchdog(self) -> None: + """Recover from the rare native-engine hang described in + `_SIM_FROZEN_FIELD_AUTO_RECOVER_SECONDS`'s module docstring. + + Runs once per tick, after `_step_game` has refreshed + `self.my.current_game_frame` for this tick. Only meaningful in sim + (`Mode.HALT` has its own dedicated auto-resume timer above, and a + real match has no `sim_controller` to recover through — `HALT` is + additionally excluded on purpose, since it's the one live-play state + where every robot legitimately holds zero velocity by design). + """ + if self.sim_controller is None or self.mode != Mode.RSIM: + return + frame = self.my.current_game_frame + if frame is None or frame.ball is None: + self._frozen_field_since = None + return + referee = getattr(frame, "referee", None) + current_command = getattr(referee, "referee_command", None) if referee is not None else None + if current_command == RefereeCommand.HALT: + self._frozen_field_since = None + return + + tol = _SIM_FROZEN_FIELD_VELOCITY_TOL_MPS + all_still = frame.ball.v.mag() <= tol and all( + robot.v.mag() <= tol for robot in (*frame.friendly_robots.values(), *frame.enemy_robots.values()) + ) + if not all_still: + self._frozen_field_since = None + return + + if self._frozen_field_since is None: + self._frozen_field_since = frame.ts + elif frame.ts - self._frozen_field_since >= _SIM_FROZEN_FIELD_AUTO_RECOVER_SECONDS: + self.logger.warning( + "Frozen-field watchdog: every robot and the ball reported exactly zero " + "velocity for %.1fs (native-engine hang, see _SIM_FROZEN_FIELD_AUTO_RECOVER_SECONDS) " + "— forcing a full-frame reset via teleport_ball to recover.", + frame.ts - self._frozen_field_since, + ) + self.sim_controller.teleport_ball(frame.ball.p.x, frame.ball.p.y) + self._frozen_field_since = None diff --git a/utama_core/run/strategy_runner.py b/utama_core/run/strategy_runner.py index 5696a9f2..5a327901 100644 --- a/utama_core/run/strategy_runner.py +++ b/utama_core/run/strategy_runner.py @@ -1,29 +1,21 @@ import cProfile import dataclasses import logging -import math import signal import threading import time import warnings from collections import deque -from dataclasses import dataclass, field +from dataclasses import dataclass from typing import TYPE_CHECKING, FrozenSet, List, Optional, Tuple, Union from rich.live import Live -from rich.text import Text from utama_core.config.enums import Mode, mode_str_to_enum from utama_core.config.field_params import STANDARD_FIELD_DIMS, FieldDimensions from utama_core.config.formations import FormationType, get_formations -from utama_core.config.physical_constants import ( - BALL_RADIUS, - MAX_ROBOT_ID, - MAX_ROBOTS, - ROBOT_RADIUS, -) +from utama_core.config.physical_constants import MAX_ROBOT_ID, MAX_ROBOTS from utama_core.config.settings import ( - FPS_PRINT_INTERVAL, MAX_CAMERAS, MAX_GAME_HISTORY, ROBOT_FEEDBACK_CONNECTION_TIMEOUT_SECONDS, @@ -42,8 +34,7 @@ from utama_core.engine.match_stats import MatchStatsAccumulator from utama_core.entities.data.command import RobotCommand, RobotResponse from utama_core.entities.data.raw_vision import RawVisionData -from utama_core.entities.data.vector import Vector2D -from utama_core.entities.game import Game, GameFrame, GameHistory, Robot +from utama_core.entities.game import Game, GameFrame, GameHistory from utama_core.entities.game.field import Field, FieldBounds from utama_core.entities.referee.referee_command import RefereeCommand from utama_core.global_utils.mapping_utils import ( @@ -53,7 +44,6 @@ ) from utama_core.global_utils.math_utils import assert_valid_bounding_box from utama_core.motion_planning.src.common.control_schemes import get_control_scheme -from utama_core.motion_planning.src.common.motion_controller import MotionController from utama_core.replay.columnar_writer import ( ColumnarReplayWriter, ColumnarReplayWriterConfig, @@ -62,8 +52,18 @@ from utama_core.rsoccer_simulator.src.ssl.envs import SSLStandardEnv from utama_core.rsoccer_simulator.src.Utils.gaussian_noise import RsimGaussianNoise from utama_core.run import GameGater +from utama_core.run.live_status import LiveStatusMixin from utama_core.run.referee_source import OfficialReferee, RefereeSource +from utama_core.run.side_runtime import SideRuntime, _mirrored, _turned +from utama_core.run.sim_recovery import _PLACEMENT_TELEPORT_CLEARANCE_M # noqa: F401 +from utama_core.run.sim_recovery import _TELEPORT_SETTLE_MAX_EXTENSIONS # noqa: F401 +from utama_core.run.sim_recovery import _TELEPORT_SETTLE_TICKS # noqa: F401 +from utama_core.run.sim_recovery import ( # noqa: F401; noqa: F401 (re-exported for tests) + _SIM_FROZEN_FIELD_AUTO_RECOVER_SECONDS, + SimRecoveryMixin, +) from utama_core.run.vision_stream import GameFrameRenderer, RSimVisionStreamServer +from utama_core.run.vision_stream_status import VisionStreamStatusMixin from utama_core.shared.pass_and_score_geometry import reset_possession_state from utama_core.skills.src.shielding import reset_shield_state from utama_core.team_controller.src.controllers import ( @@ -84,7 +84,6 @@ from utama_core.entities.data.referee import RefereeData _GEOMETRY_MATCH_TOLERANCE_M = 0.001 # mm-precision integers from vision → 1 mm tolerance -_VS_KICK_THRESHOLD = 0.5 # m/s — ball speed above this triggers kick commentary _SIM_HALT_AUTO_RESUME_SECONDS = 5.0 # sim-only: no human GC to resume a HALT, see below # sim-only: a second grace window after a HALT auto-resumes into STOP, # before forcing NORMAL_START — gives StopStep a few ticks to actively clear @@ -98,93 +97,6 @@ # window closed), so this carries real margin rather than the bare minimum. _SIM_HALT_RESUME_CLEAR_SECONDS = 4.0 -# sim-only: `sim_controller.teleport_ball()` (used to instantly simulate a -# ball placement/free-kick reposition, since robots cannot physically -# retrieve an out-of-bounds ball in simulation) is meant to place the ball at -# rest at the designated position. Traced live in a tournament run -# (replays/tournament_20260905_002133/counter_flow_vs_zone_fluid_LK, 2026-09-05): -# the underlying native reset (`SSLWorld::replace()`) does correctly zero the -# ball's ODE body velocity at the instant of reset, but the very next physics -# step afterward produces a large spurious velocity (tens of m/s observed) — -# a contact-resolution artifact, not something teleport_ball's caller -# controls. That single spike is enough to send the ball rolling metres away -# from the placement target before it settles, so -# `GameStateMachine._ball_placement_done()` (gated purely on ball-to-target -# distance) never sees the ball close enough to auto-advance the restart — -# the match then sits in BALL_PLACEMENT_*/DIRECT_FREE_* for the rest of the -# match (RESTART_STALL in MatchStats.stall_events). Re-pinning the ball to -# the same target for a few ticks after every teleport absorbs that one-tick -# transient before it can accumulate into real displacement, without needing -# a fix in the vendored native engine. -_TELEPORT_SETTLE_TICKS = 3 -# Ball speed (m/s) below which the settle window is allowed to close -- -# i.e. the ball is considered genuinely at rest, not merely past the initial -# reset-artifact transient. The native engine's post-teleport spike (tens of -# m/s, see `_TELEPORT_SETTLE_TICKS`'s docstring) decays *through* a range of -# still-real, few-m/s speeds on its way to zero, and releasing the re-pin as -# soon as it first dips low is still enough for the ball to coast meters away -# over the following seconds before `_ball_placement_done()`'s distance gate -# can catch it -- a rolling SSL ball loses speed very slowly. Confirmed live, -# 2026-09-12: a teleport spike of ~13 m/s decayed to 0.83 m/s two ticks -# later (an earlier version of this constant released the window at any -# speed under 3.0 m/s, right where this case landed), and the ball then -# drifted, still slowing but never stopping, for the next ~14 seconds and -# ~2.5m before wedging against the field boundary in a corner -- the actual -# mechanism behind every "double-axis corner overshoot" RESTART_STALL traced -# this session (e.g. overload_flow_vs_tiki_taka's BALL_PLACEMENT_BLUE at -# t=24.2s), not a genuinely unreachable placement target. 0.05 m/s is -# comfortably above rsim's steady-state numerical noise floor (~1e-3 m/s -# once actually at rest, per _SIM_FROZEN_FIELD_VELOCITY_TOL_MPS's docstring) -# while still well below any speed that could carry the ball a visible -# distance before the next tick's re-pin. -_TELEPORT_SETTLE_SPEED_MPS = 0.05 -# Cap on how many times the settle window can be extended by a detected -# spike, so a genuinely fast in-flight ball at the moment of a teleport -# (rather than the reset artifact) can't stall the re-pin loop indefinitely. -_TELEPORT_SETTLE_MAX_EXTENSIONS = 10 -# sim-only: a BALL_PLACEMENT_* teleport is held back while any robot stands -# within this distance of the placement target. Teleporting the ball into a -# robot's body gets it shoved out by contact resolution faster than the -# settle re-pin can hold it: traced in -# tournament_20260924_082230/give_and_go_solo_vs_high_line_zone (t=37.1), -# where the ball landed 0.07m from a blue robot, was pushed off at ~1.5m/s -# and rolled into the goal net behind the line -- unreachable without -# entering the defense area, so DIRECT_FREE_YELLOW stalled for the rest of -# the match. The non-placing team clears the placement area during -# BALL_PLACEMENT_*, so the teleport fires as soon as the spot is free. -_PLACEMENT_TELEPORT_CLEARANCE_M = ROBOT_RADIUS + BALL_RADIUS + 0.02 - -# sim-only: recovery for a rare native-engine hang, distinct from the -# post-teleport velocity spike above. Traced live (tournament_20260905_083358, -# tiki_taka_vs_zone_fluid_Lk, 189s RESTART_STALL during DIRECT_FREE_BLUE): -# immediately after a mid-match `teleport_ball`-triggered `RSim.reset()` -# (from a BALL_PLACEMENT_BLUE placement), every robot AND the ball froze -# bit-for-bit (position std ~1e-13m, velocity exactly 0.0) for the rest of -# the match — the vendored native `robosim` subprocess kept returning valid -# JSON state each `step()` (no exception, no protocol desync), but the -# physics itself silently stopped advancing. Application-level command -# computation was verified correct and unrelated: the kicker's tactic, PID, -# and rotation math all produced real, correctly-directed, nonzero commands -# every tick throughout the stall — the freeze is entirely on the native -# engine's side, downstream of everything this codebase controls. Not -# reproducible live from any cold-teleported starting point (tried both -# mid-stall and pre-foul), so it can't be root-caused or fixed at the -# source — only detected and recovered from, the same trade-off already -# made for `_SIM_HALT_AUTO_RESUME_SECONDS` (no human GC in a sim tournament -# to intervene). If literally every robot and the ball report zero velocity -# for this long during live play (`current_command` neither paused nor mid- -# restart — those already legitimately hold everything still), force a -# fresh `teleport_ball` to the ball's own current position: `teleport_ball` -# always resets the *entire* frame (see `SSLBaseEnv.teleport_ball`'s -# docstring), not just the ball, so this is the cheapest way to re-issue a -# full-frame `RSim.reset()` and give the native engine another chance to -# resume advancing, without changing anyone's actual position. -_SIM_FROZEN_FIELD_AUTO_RECOVER_SECONDS = 8.0 -# Exactly 0.0, not a small tolerance: ordinary rsim noise/refiner jitter -# never lands two consecutive ticks at bit-identical velocity, so this can -# only fire on the genuine native-engine freeze this exists to catch, never -# on a robot/ball that is merely moving slowly. -_SIM_FROZEN_FIELD_VELOCITY_TOL_MPS = 0.0 logging.basicConfig( filename="Utama.log", @@ -260,62 +172,7 @@ def _build_robot_feedback_snapshot( return snapshot -def _turned(robot: Robot, bounds: FieldBounds) -> Robot: - """`robot` half a turn about the centre spot, at rest: where it stands after changing ends. - Kept within `bounds`: a robot in the run-off past a line comes back onto it, since the sim - refuses to teleport a robot outside the field (a match crashed at half-time that way).""" - (left, top), (right, bottom) = bounds.top_left, bounds.bottom_right - return dataclasses.replace( - robot, - p=Vector2D(min(max(-robot.p.x, left), right), min(max(-robot.p.y, bottom), top)), - v=Vector2D(0.0, 0.0), - a=Vector2D(0.0, 0.0), - orientation=math.remainder(robot.orientation + math.pi, 2 * math.pi), - ) - - -def _mirrored(frame: GameFrame) -> GameFrame: - """`frame` as the other team sees it: the same absolute coordinates, friendly and enemy swapped.""" - - def flip(robots: dict[int, Robot]) -> dict[int, Robot]: - return {i: Robot(r.id, not r.is_friendly, r.has_ball, r.p, r.v, r.a, r.orientation) for i, r in robots.items()} - - return GameFrame( - frame.ts, - not frame.my_team_is_yellow, - not frame.my_team_is_right, - flip(frame.enemy_robots), - flip(frame.friendly_robots), - frame.ball, - frame.referee, - ) - - -@dataclass(slots=True) -class SideRuntime: - """Encapsulates all per-side (my team / opponent) runtime state. - - Args: - strategy (AbstractStrategy): The strategy for this side. - position_refiner (PositionRefiner): Position refiner for this side. - velocity_refiner (VelocityRefiner): Velocity refiner for this side. - robot_info_refiner (RobotInfoRefiner): Robot info refiner for this side. - motion_controller (type[MotionController]): Motion controller factory for this side. - """ - - strategy: AbstractStrategy - position_refiner: PositionRefiner - velocity_refiner: VelocityRefiner - robot_info_refiner: RobotInfoRefiner - motion_controller: type[MotionController] - control_scheme: str = "fpp" - - game: Optional[Game] = field(init=False, default=None) - game_history: Optional[GameHistory] = field(init=False, default=None) - current_game_frame: Optional[GameFrame] = field(init=False, default=None) - - -class StrategyRunner: +class StrategyRunner(SimRecoveryMixin, VisionStreamStatusMixin, LiveStatusMixin): """Main class to run the robot controller and strategy. Args: @@ -614,22 +471,6 @@ def __init__( self.profiler_name = profiler_name self.profiler = cProfile.Profile() if profiler_name else None - def _start_vision_stream(self, http_port: int) -> None: - """Start the browser stream that mirrors refined game frames.""" - try: - self._vision_stream_renderer = GameFrameRenderer(self.full_field_dims, scale=300.0) - self.vision_stream = RSimVisionStreamServer( - http_port=http_port, - ) - self.vision_stream.start() - self._publish_vision_stream_frame() - self.logger.info("Vision stream available at %s", self.vision_stream.url) - print(f"Vision stream available at {self.vision_stream.url}") - except Exception: - self.vision_stream = None - self._vision_stream_renderer = None - self.logger.warning("Vision stream could not be started; continuing without browser video.", exc_info=True) - def _validate_vision_to_cmd_mapping(self, mapping: Optional[dict[int, int]], is_yellow: bool) -> dict[int, int]: if self.mode == Mode.REAL: is_my_team_color = is_yellow == self.my_team_is_yellow @@ -722,11 +563,6 @@ def _handle_sigint(self, sig, frame): self._stop_fps_live() print("\nStopping gracefully. Press Ctrl+C again to force quit.", flush=True) - def _stop_fps_live(self): - if self._fps_live: - self._fps_live.stop() - self._fps_live = None - def _load_mode(self, mode_str: str) -> Mode: """Convert a mode string to a Mode enum value. @@ -929,118 +765,6 @@ def _push_robot_feedback_to_referee(self) -> None: if isinstance(self.referee, CustomReferee): self.referee.set_robot_feedback_data(self._robot_feedback_snapshot) - def _teleport_ball_and_settle(self, x: float, y: float) -> None: - """`sim_controller.teleport_ball(x, y)`, plus arming the re-pin window - `_run_step` uses to counter the native engine's post-reset velocity - spike (see `_TELEPORT_SETTLE_TICKS`'s module docstring). - """ - self.sim_controller.teleport_ball(x, y) - self._teleport_settle_target = (x, y) - self._teleport_settle_ticks_left = _TELEPORT_SETTLE_TICKS - self._teleport_settle_extensions_left = _TELEPORT_SETTLE_MAX_EXTENSIONS - - def _tick_pending_placement_teleport(self) -> None: - """Fire the pending BALL_PLACEMENT_* teleport once no robot is within - `_PLACEMENT_TELEPORT_CLEARANCE_M` of the target (see its docstring).""" - if self._pending_placement_teleport is None: - return - x, y = self._pending_placement_teleport - frame = self.my.current_game_frame - robots = (*frame.friendly_robots.values(), *frame.enemy_robots.values()) - if any(math.hypot(r.p.x - x, r.p.y - y) < _PLACEMENT_TELEPORT_CLEARANCE_M for r in robots): - return - self._pending_placement_teleport = None - self._teleport_ball_and_settle(x, y) - - def _tick_teleport_settle(self) -> None: - """One tick of the re-pin window `_teleport_ball_and_settle` arms. - - Traced live in a tournament run (see `_TELEPORT_SETTLE_TICKS`'s - docstring): the native rsim engine's post-teleport velocity spike - doesn't decay with repeated resets — it simply waits for the first - real physics step *without* a reset immediately before it, however - many resets preceded it. So this doesn't just re-pin for a fixed - number of ticks: it keeps extending the window (bounded by - `_TELEPORT_SETTLE_MAX_EXTENSIONS`) for as long as the ball's most - recent velocity still reads as unsettled, and only stops once a tick - is observed with the window closed AND the ball has actually settled - (`_TELEPORT_SETTLE_SPEED_MPS`'s docstring has the full rationale for - why this needs to be a strict "at rest" check, not just "no longer - looks like the initial reset spike"). - - Reads the ball's velocity via `self.rsim_env.frame.ball` (the raw sim - state, refreshed every physics `step()`), not `current_game_frame` — - the latter is the *refined* frame `_step_game` builds once per tick, - so at the point this runs (after the referee block, before - `_step_game`) it is always one tick stale and would see last tick's - already-corrected velocity instead of this tick's live spike. - """ - if self.sim_controller is None or self._teleport_settle_target is None: - return - raw_ball = self.rsim_env.frame.ball if self.mode == Mode.RSIM and self.rsim_env is not None else None - ball_speed = math.hypot(raw_ball.v_x, raw_ball.v_y) if raw_ball is not None else 0.0 - settled = ball_speed <= _TELEPORT_SETTLE_SPEED_MPS - # The tick whose re-pin drove `_teleport_settle_ticks_left` to 0 - # still needs one more check here — its own `step()` (this tick, - # further down in `_run_step`) is what actually produces or clears - # the spike, and that only becomes observable next tick. So don't - # drop `_teleport_settle_target` (and stop checking) until a tick is - # seen with the window closed AND (settled OR out of extensions — - # a ball that never actually settles must still terminate the loop - # eventually rather than re-pin forever). - if self._teleport_settle_ticks_left <= 0 and (settled or self._teleport_settle_extensions_left <= 0): - self._teleport_settle_target = None - return - if not settled and self._teleport_settle_extensions_left > 0: - self._teleport_settle_ticks_left += 1 - self._teleport_settle_extensions_left -= 1 - x, y = self._teleport_settle_target - self.sim_controller.teleport_ball(x, y) - self._teleport_settle_ticks_left = max(0, self._teleport_settle_ticks_left - 1) - - def _tick_frozen_field_watchdog(self) -> None: - """Recover from the rare native-engine hang described in - `_SIM_FROZEN_FIELD_AUTO_RECOVER_SECONDS`'s module docstring. - - Runs once per tick, after `_step_game` has refreshed - `self.my.current_game_frame` for this tick. Only meaningful in sim - (`Mode.HALT` has its own dedicated auto-resume timer above, and a - real match has no `sim_controller` to recover through — `HALT` is - additionally excluded on purpose, since it's the one live-play state - where every robot legitimately holds zero velocity by design). - """ - if self.sim_controller is None or self.mode != Mode.RSIM: - return - frame = self.my.current_game_frame - if frame is None or frame.ball is None: - self._frozen_field_since = None - return - referee = getattr(frame, "referee", None) - current_command = getattr(referee, "referee_command", None) if referee is not None else None - if current_command == RefereeCommand.HALT: - self._frozen_field_since = None - return - - tol = _SIM_FROZEN_FIELD_VELOCITY_TOL_MPS - all_still = frame.ball.v.mag() <= tol and all( - robot.v.mag() <= tol for robot in (*frame.friendly_robots.values(), *frame.enemy_robots.values()) - ) - if not all_still: - self._frozen_field_since = None - return - - if self._frozen_field_since is None: - self._frozen_field_since = frame.ts - elif frame.ts - self._frozen_field_since >= _SIM_FROZEN_FIELD_AUTO_RECOVER_SECONDS: - self.logger.warning( - "Frozen-field watchdog: every robot and the ball reported exactly zero " - "velocity for %.1fs (native-engine hang, see _SIM_FROZEN_FIELD_AUTO_RECOVER_SECONDS) " - "— forcing a full-frame reset via teleport_ball to recover.", - frame.ts - self._frozen_field_since, - ) - self.sim_controller.teleport_ball(frame.ball.p.x, frame.ball.p.y) - self._frozen_field_since = None - def _remove_rsim_ball(self): """Removes the ball from the RSim environment by teleporting it off-field.""" self.sim_controller.remove_ball() @@ -1943,234 +1667,7 @@ def _run_step(self): # --- end of frame --- if self.show_live_status: - frame_end = time.perf_counter() - frame_dt = frame_end - frame_start - - self.elapsed_time += frame_dt - self.num_frames_elapsed += 1 - - if self.elapsed_time >= FPS_PRINT_INTERVAL: - fps = self.num_frames_elapsed / self.elapsed_time - - ref = self.referee_refiner - stage_secs = ref.stage_time_left - stage_min = int(stage_secs // 60) - stage_sec = int(stage_secs % 60) - display = Text() - display.append(f"FPS: {fps:.1f}", style="bold cyan") - display.append(" | ") - display.append(ref.last_command.name, style="bold yellow") - if ref.last_next_command: - display.append(" -> ") - display.append(ref.last_next_command.name, style="yellow") - display.append(" | ") - display.append(ref.stage.name.replace("_", " ").title()) - display.append(" | Blue ") - display.append(str(ref.blue_team.score), style="bold blue") - display.append(" - ") - display.append(str(ref.yellow_team.score), style="bold yellow") - display.append(" Yellow") - display.append(f" | {stage_min}:{stage_sec:02d} left") - display.append(" | Ref: ") - if isinstance(self.referee, CustomReferee): - display.append("custom", style="bold magenta") - display.append(" (") - display.append(self.referee.profile_name, style="magenta") - display.append(")") - elif isinstance(self.referee, OfficialReferee): - display.append("official", style="bold magenta") - else: - display.append("none", style="bold magenta") - - if ref.last_status_message: - display.append(f" | {ref.last_status_message}", style="dim") - - self._fps_live.update(display) - self._fps_live.refresh() - - self.elapsed_time = 0.0 - self.num_frames_elapsed = 0 - - def _publish_vision_stream_frame(self) -> None: - """Publish the latest refined game frame to the browser stream.""" - if self.vision_stream is None or self._vision_stream_renderer is None or self.my.current_game_frame is None: - return - if not self.vision_stream.is_due(): - return - self.vision_stream.publish_status(self._vision_stream_status()) - frame = self._vision_stream_renderer.render(self.my.current_game_frame) - self.vision_stream.publish_rgb_frame(frame) - - _VS_TEAM_NAMES = [ - "FC Recursion", - "Real Segfault", - "Borussia Debugmund", - "Manchester Bytecode", - "Inter Malloc", - "Atletico del Stack", - "Null Pointer United", - "Schalke 0x04", - "Deportivo Kernel", - "Racing Club de Runtime", - "Galactic Overhead", - "Ajax Exception", - "Off-by-One City", - "SV Deadlock", - "Infinite Loop FC", - ] - - _VS_IDLE_LINES = [ - "The robots are thinking...", - "Calculating optimal trajectory", - "Both sides plotting their next move", - "The crowd holds its breath", - "Pure silicon determination out there", - "No human reflexes required", - "Running at full clock speed", - "Algorithms at war", - "404: defence not found", - "This is peak robot football", - ] - - _VS_KICK_LINES = [ - "What a strike!", - "They've let it fly!", - "Big boot from the robot!", - "The ball is moving!", - "Powerful kick!", - "Sending it downfield!", - ] - - _VS_GOAL_LINES_YELLOW = [ - "GOAL! Yellow draws blood!", - "Yellow scores! Unbelievable!", - "The yellow machine delivers!", - "Yellow puts it in the net!", - ] - - _VS_GOAL_LINES_BLUE = [ - "GOAL! Blue strikes back!", - "Blue finds the net!", - "Brilliant from the blue side!", - "Blue pulls one back!", - ] - - _VS_FOOTBALLER_NAMES = [ - "Martin", - "Fred", - "Joel", - "Louis", - ] - - @staticmethod - def _assign_team_names() -> tuple[str, str]: - import random - - pool = list(StrategyRunner._VS_TEAM_NAMES) - random.shuffle(pool) - return pool[0], pool[1] - - def _update_vs_commentary(self, ball_speed: float | None, score_blue: int, score_yellow: int) -> None: - import random - - now = time.monotonic() - score = (score_blue, score_yellow) - - # Goal scored — highest priority - if score != self._vs_prev_score: - if score[1] > self._vs_prev_score[1]: - line = random.choice(self._VS_GOAL_LINES_YELLOW) - else: - line = random.choice(self._VS_GOAL_LINES_BLUE) - self._vs_commentary = line - self._vs_commentary_until = now + 5.0 - self._vs_prev_score = score - self._vs_prev_ball_speed = ball_speed or 0.0 - return - - self._vs_prev_score = score - - # Kick detected - prev_spd = self._vs_prev_ball_speed - cur_spd = ball_speed or 0.0 - self._vs_prev_ball_speed = cur_spd - if cur_spd > _VS_KICK_THRESHOLD and prev_spd <= _VS_KICK_THRESHOLD: - if now >= self._vs_commentary_until: - self._vs_commentary = random.choice(self._VS_KICK_LINES) - self._vs_commentary_until = now + 2.5 - - # Idle rotation - if now >= self._vs_idle_next: - if now >= self._vs_commentary_until: - self._vs_commentary = self._VS_IDLE_LINES[self._vs_idle_index % len(self._VS_IDLE_LINES)] - self._vs_idle_index += 1 - self._vs_idle_next = now + 6.0 - - def _vision_stream_status(self) -> dict[str, object]: - """Build status metadata shown above the browser stream.""" - stage_secs = max(0.0, self.referee_refiner.stage_time_left) - stage_min = int(stage_secs // 60) - stage_sec = int(stage_secs % 60) - - blue = self.referee_refiner.blue_team - yellow = self.referee_refiner.yellow_team - - ball = self.my.current_game_frame.ball if self.my.current_game_frame else None - ball_speed = (ball.v.x**2 + ball.v.y**2) ** 0.5 if ball is not None else None - - name_yellow, name_blue = ( - self._vs_team_names if self.my_team_is_yellow else (self._vs_team_names[1], self._vs_team_names[0]) - ) - self._update_vs_commentary(ball_speed, blue.score, yellow.score) - - return { - "time_left": f"{stage_min}:{stage_sec:02d}", - "score_blue": blue.score, - "score_yellow": yellow.score, - "yellow_cards_blue": blue.yellow_cards, - "yellow_cards_yellow": yellow.yellow_cards, - "red_cards_blue": blue.red_cards, - "red_cards_yellow": yellow.red_cards, - "team_blue": name_blue, - "team_yellow": name_yellow, - "mode": self.mode.value, - "ball_speed": round(ball_speed, 2) if ball_speed is not None else None, - "commentary": self._vs_commentary, - "annotations": self._vision_stream_annotations(), - "roster": self._vision_stream_roster(), - } - - def _get_robot_name(self, is_friendly: bool, robot_id: int) -> str: - key = (is_friendly, robot_id) - if key not in self._vs_robot_names: - used = set(self._vs_robot_names.values()) - pool = [n for n in self._VS_FOOTBALLER_NAMES if n not in used] - if not pool: - pool = self._VS_FOOTBALLER_NAMES - import random - - self._vs_robot_names[key] = random.choice(pool) - return self._vs_robot_names[key] - - def _vision_stream_annotations(self) -> list[dict]: - """Build per-robot label annotations (footballer name) for the overlay canvas.""" - renderer = self._vision_stream_renderer - game_frame = self.my.current_game_frame - if renderer is None or game_frame is None: - return [] - - annotations = [] - for robot in game_frame.friendly_robots.values(): - name = self._get_robot_name(True, robot.id) - px, py = renderer._pos_transform(robot.p.x, -robot.p.y) - annotations.append({"id": robot.id, "team": "friendly", "px": px, "py": py, "label": name}) - - for robot in game_frame.enemy_robots.values(): - name = self._get_robot_name(False, robot.id) - px, py = renderer._pos_transform(robot.p.x, -robot.p.y) - annotations.append({"id": robot.id, "team": "enemy", "px": px, "py": py, "label": name}) - - return annotations + self._update_live_status(frame_start) def _push_debug_status_to_referee(self) -> None: """Push per-robot debug status to CustomReferee for GUI display. @@ -2235,56 +1732,6 @@ def _committed_tactics(self) -> Optional[dict]: if info["committed"] and info["robots"] } - def _vision_stream_roster(self) -> list[dict]: - """Build the player roster list shown below the scoreboard.""" - game_frame = self.my.current_game_frame - if game_frame is None: - return [] - - _ROLE_LABELS = { - "GOALKEEPER": "Goalkeeper", - "DEFENDER": "Defender", - "STRIKER": "Striker", - "MIDFIELDER": "Midfielder", - "UNASSIGNED": "On field", - } - - role_map: dict = {} - passer_id: int | None = None - receiver_id: int | None = None - try: - bb = self.my.strategy.blackboard - if bb is not None: - role_map = bb.role_map or {} - passer_id = bb.get("passer_id") - receiver_id = bb.get("receiver_id") - except Exception: - pass - - roster = [] - for robot in game_frame.friendly_robots.values(): - name = self._get_robot_name(True, robot.id) - if robot.id == passer_id: - status = "Passing" - elif robot.id == receiver_id: - status = "Receiving" - else: - role = role_map.get(robot.id) - status = _ROLE_LABELS.get(role.name, "On field") if role else "On field" - roster.append( - {"name": name, "team": "yellow" if game_frame.my_team_is_yellow else "blue", "status": status} - ) - - for robot in game_frame.enemy_robots.values(): - name = self._get_robot_name(False, robot.id) - role = role_map.get(robot.id) - status = _ROLE_LABELS.get(role.name, "On field") if role else "On field" - roster.append( - {"name": name, "team": "blue" if game_frame.my_team_is_yellow else "yellow", "status": status} - ) - - return roster - def _draw_rsim_field_bounds_overlay(self) -> None: """Draw active field bounds overlay in RSIM human render mode.""" if self.mode != Mode.RSIM or not self.rsim_env: diff --git a/utama_core/run/vision_stream_status.py b/utama_core/run/vision_stream_status.py new file mode 100644 index 00000000..c2acb61a --- /dev/null +++ b/utama_core/run/vision_stream_status.py @@ -0,0 +1,260 @@ +"""Browser vision stream for `StrategyRunner`, mixed in as `VisionStreamStatusMixin`: starting it, +and the status it shows (scoreboard, commentary, footballer names and roster) built from the referee +and the current game frame.""" + +import time + +from utama_core.run.vision_stream import GameFrameRenderer, RSimVisionStreamServer + +_VS_KICK_THRESHOLD = 0.5 # m/s — ball speed above this triggers kick commentary + + +class VisionStreamStatusMixin: + """`StrategyRunner` methods for the browser vision stream; they read runner state set in `__init__`.""" + + def _start_vision_stream(self, http_port: int) -> None: + """Start the browser stream that mirrors refined game frames.""" + try: + self._vision_stream_renderer = GameFrameRenderer(self.full_field_dims, scale=300.0) + self.vision_stream = RSimVisionStreamServer( + http_port=http_port, + ) + self.vision_stream.start() + self._publish_vision_stream_frame() + self.logger.info("Vision stream available at %s", self.vision_stream.url) + print(f"Vision stream available at {self.vision_stream.url}") + except Exception: + self.vision_stream = None + self._vision_stream_renderer = None + self.logger.warning("Vision stream could not be started; continuing without browser video.", exc_info=True) + + def _publish_vision_stream_frame(self) -> None: + """Publish the latest refined game frame to the browser stream.""" + if self.vision_stream is None or self._vision_stream_renderer is None or self.my.current_game_frame is None: + return + if not self.vision_stream.is_due(): + return + self.vision_stream.publish_status(self._vision_stream_status()) + frame = self._vision_stream_renderer.render(self.my.current_game_frame) + self.vision_stream.publish_rgb_frame(frame) + + _VS_TEAM_NAMES = [ + "FC Recursion", + "Real Segfault", + "Borussia Debugmund", + "Manchester Bytecode", + "Inter Malloc", + "Atletico del Stack", + "Null Pointer United", + "Schalke 0x04", + "Deportivo Kernel", + "Racing Club de Runtime", + "Galactic Overhead", + "Ajax Exception", + "Off-by-One City", + "SV Deadlock", + "Infinite Loop FC", + ] + + _VS_IDLE_LINES = [ + "The robots are thinking...", + "Calculating optimal trajectory", + "Both sides plotting their next move", + "The crowd holds its breath", + "Pure silicon determination out there", + "No human reflexes required", + "Running at full clock speed", + "Algorithms at war", + "404: defence not found", + "This is peak robot football", + ] + + _VS_KICK_LINES = [ + "What a strike!", + "They've let it fly!", + "Big boot from the robot!", + "The ball is moving!", + "Powerful kick!", + "Sending it downfield!", + ] + + _VS_GOAL_LINES_YELLOW = [ + "GOAL! Yellow draws blood!", + "Yellow scores! Unbelievable!", + "The yellow machine delivers!", + "Yellow puts it in the net!", + ] + + _VS_GOAL_LINES_BLUE = [ + "GOAL! Blue strikes back!", + "Blue finds the net!", + "Brilliant from the blue side!", + "Blue pulls one back!", + ] + + _VS_FOOTBALLER_NAMES = [ + "Martin", + "Fred", + "Joel", + "Louis", + ] + + @staticmethod + def _assign_team_names() -> tuple[str, str]: + import random + + pool = list(VisionStreamStatusMixin._VS_TEAM_NAMES) + random.shuffle(pool) + return pool[0], pool[1] + + def _update_vs_commentary(self, ball_speed: float | None, score_blue: int, score_yellow: int) -> None: + import random + + now = time.monotonic() + score = (score_blue, score_yellow) + + # Goal scored — highest priority + if score != self._vs_prev_score: + if score[1] > self._vs_prev_score[1]: + line = random.choice(self._VS_GOAL_LINES_YELLOW) + else: + line = random.choice(self._VS_GOAL_LINES_BLUE) + self._vs_commentary = line + self._vs_commentary_until = now + 5.0 + self._vs_prev_score = score + self._vs_prev_ball_speed = ball_speed or 0.0 + return + + self._vs_prev_score = score + + # Kick detected + prev_spd = self._vs_prev_ball_speed + cur_spd = ball_speed or 0.0 + self._vs_prev_ball_speed = cur_spd + if cur_spd > _VS_KICK_THRESHOLD and prev_spd <= _VS_KICK_THRESHOLD: + if now >= self._vs_commentary_until: + self._vs_commentary = random.choice(self._VS_KICK_LINES) + self._vs_commentary_until = now + 2.5 + + # Idle rotation + if now >= self._vs_idle_next: + if now >= self._vs_commentary_until: + self._vs_commentary = self._VS_IDLE_LINES[self._vs_idle_index % len(self._VS_IDLE_LINES)] + self._vs_idle_index += 1 + self._vs_idle_next = now + 6.0 + + def _vision_stream_status(self) -> dict[str, object]: + """Build status metadata shown above the browser stream.""" + stage_secs = max(0.0, self.referee_refiner.stage_time_left) + stage_min = int(stage_secs // 60) + stage_sec = int(stage_secs % 60) + + blue = self.referee_refiner.blue_team + yellow = self.referee_refiner.yellow_team + + ball = self.my.current_game_frame.ball if self.my.current_game_frame else None + ball_speed = (ball.v.x**2 + ball.v.y**2) ** 0.5 if ball is not None else None + + name_yellow, name_blue = ( + self._vs_team_names if self.my_team_is_yellow else (self._vs_team_names[1], self._vs_team_names[0]) + ) + self._update_vs_commentary(ball_speed, blue.score, yellow.score) + + return { + "time_left": f"{stage_min}:{stage_sec:02d}", + "score_blue": blue.score, + "score_yellow": yellow.score, + "yellow_cards_blue": blue.yellow_cards, + "yellow_cards_yellow": yellow.yellow_cards, + "red_cards_blue": blue.red_cards, + "red_cards_yellow": yellow.red_cards, + "team_blue": name_blue, + "team_yellow": name_yellow, + "mode": self.mode.value, + "ball_speed": round(ball_speed, 2) if ball_speed is not None else None, + "commentary": self._vs_commentary, + "annotations": self._vision_stream_annotations(), + "roster": self._vision_stream_roster(), + } + + def _get_robot_name(self, is_friendly: bool, robot_id: int) -> str: + key = (is_friendly, robot_id) + if key not in self._vs_robot_names: + used = set(self._vs_robot_names.values()) + pool = [n for n in self._VS_FOOTBALLER_NAMES if n not in used] + if not pool: + pool = self._VS_FOOTBALLER_NAMES + import random + + self._vs_robot_names[key] = random.choice(pool) + return self._vs_robot_names[key] + + def _vision_stream_annotations(self) -> list[dict]: + """Build per-robot label annotations (footballer name) for the overlay canvas.""" + renderer = self._vision_stream_renderer + game_frame = self.my.current_game_frame + if renderer is None or game_frame is None: + return [] + + annotations = [] + for robot in game_frame.friendly_robots.values(): + name = self._get_robot_name(True, robot.id) + px, py = renderer._pos_transform(robot.p.x, -robot.p.y) + annotations.append({"id": robot.id, "team": "friendly", "px": px, "py": py, "label": name}) + + for robot in game_frame.enemy_robots.values(): + name = self._get_robot_name(False, robot.id) + px, py = renderer._pos_transform(robot.p.x, -robot.p.y) + annotations.append({"id": robot.id, "team": "enemy", "px": px, "py": py, "label": name}) + + return annotations + + def _vision_stream_roster(self) -> list[dict]: + """Build the player roster list shown below the scoreboard.""" + game_frame = self.my.current_game_frame + if game_frame is None: + return [] + + _ROLE_LABELS = { + "GOALKEEPER": "Goalkeeper", + "DEFENDER": "Defender", + "STRIKER": "Striker", + "MIDFIELDER": "Midfielder", + "UNASSIGNED": "On field", + } + + role_map: dict = {} + passer_id: int | None = None + receiver_id: int | None = None + try: + bb = self.my.strategy.blackboard + if bb is not None: + role_map = bb.role_map or {} + passer_id = bb.get("passer_id") + receiver_id = bb.get("receiver_id") + except Exception: + pass + + roster = [] + for robot in game_frame.friendly_robots.values(): + name = self._get_robot_name(True, robot.id) + if robot.id == passer_id: + status = "Passing" + elif robot.id == receiver_id: + status = "Receiving" + else: + role = role_map.get(robot.id) + status = _ROLE_LABELS.get(role.name, "On field") if role else "On field" + roster.append( + {"name": name, "team": "yellow" if game_frame.my_team_is_yellow else "blue", "status": status} + ) + + for robot in game_frame.enemy_robots.values(): + name = self._get_robot_name(False, robot.id) + role = role_map.get(robot.id) + status = _ROLE_LABELS.get(role.name, "On field") if role else "On field" + roster.append( + {"name": name, "team": "blue" if game_frame.my_team_is_yellow else "yellow", "status": status} + ) + + return roster From 690f8179c4098ac197d2c82dac9e9ea3c7ed9453 Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:33:35 +0100 Subject: [PATCH 06/14] Share one git_revision helper between the benchmark and scenario-bench tools motion_planning_benchmark and scenario_bench each had an identical _git_revision (short HEAD, None outside a checkout). Move it to utama_core/global_utils/git_utils.py. The scenario_bench copy in hand_authored_scenarios.py returns "unknown" instead of None, so it stays. Co-Authored-By: Claude Opus 5.5 --- tools/motion_planning_benchmark.py | 17 ++--------------- tools/scenario_bench.py | 15 +++------------ utama_core/global_utils/git_utils.py | 10 ++++++++++ 3 files changed, 15 insertions(+), 27 deletions(-) create mode 100644 utama_core/global_utils/git_utils.py diff --git a/tools/motion_planning_benchmark.py b/tools/motion_planning_benchmark.py index b544bd49..8b8870e3 100644 --- a/tools/motion_planning_benchmark.py +++ b/tools/motion_planning_benchmark.py @@ -19,7 +19,6 @@ import math import random import statistics -import subprocess import sys import time from dataclasses import asdict, dataclass, field @@ -45,6 +44,7 @@ from utama_core.entities.data.command import RobotCommand from utama_core.entities.data.vector import Vector2D from utama_core.entities.game import Game +from utama_core.global_utils.git_utils import git_revision from utama_core.motion_planning.src.common.motion_controller import MotionController from utama_core.run import StrategyRunner from utama_core.skills.src.utils.move_utils import move @@ -971,19 +971,6 @@ def _percentile(values: list[float], fraction: float) -> float | None: return ordered[math.ceil(fraction * len(ordered)) - 1] -def _git_revision() -> str | None: - try: - result = subprocess.run( - ["git", "rev-parse", "--short", "HEAD"], - check=True, - capture_output=True, - text=True, - ) - except (OSError, subprocess.CalledProcessError): - return None - return result.stdout.strip() or None - - def run_case(scheme: str, scenario: Scenario, repeat: int, timing_warmup_calls: int) -> dict: manager = BenchmarkManager(scenario) my_strategy = _go_to_targets_strategy(scenario.friendly_targets, scenario.friendly_target_trajectories) @@ -1226,7 +1213,7 @@ def main() -> int: payload = { "schema_version": SCHEMA_VERSION, "generated_at_utc": generated_at.isoformat(), - "git_revision": _git_revision(), + "git_revision": git_revision(), "mode": "rsim", "headless": True, "schemes": list(args.schemes), diff --git a/tools/scenario_bench.py b/tools/scenario_bench.py index 0ecaccc2..8e870849 100644 --- a/tools/scenario_bench.py +++ b/tools/scenario_bench.py @@ -147,6 +147,7 @@ from tools.replay_trace import trace from utama_core.analysis.goal_ledger import TYPES, WINDOW_S, per_match from utama_core.config.settings import REPLAY_BASE_PATH +from utama_core.global_utils.git_utils import git_revision from utama_core.replay import match_cache from utama_core.replay.fingerprint import CodeGraph, bench_key from utama_core.rsoccer_simulator.src.Simulators.robosim.robosim_wrapper import ( @@ -178,16 +179,6 @@ DEFAULT_WEIGHTS = BANKS / "situation_rates_real.json" -def _git_revision() -> str | None: - import subprocess - - try: - result = subprocess.run(["git", "rev-parse", "--short", "HEAD"], check=True, capture_output=True, text=True) - except (OSError, subprocess.CalledProcessError): - return None - return result.stdout.strip() or None - - def _parallel_map(fn: Callable, items: Iterable, workers: int) -> Iterator: """`map`, over `workers` processes when more than one (results stay in order).""" if workers <= 1: @@ -212,7 +203,7 @@ def _load_bank(args: argparse.Namespace) -> tuple[list[BenchScenario], list[Benc elif args.harvest_from is not None: scenarios, harvest_report = harvest_run_dir( args.harvest_from, - evaluator_version=_git_revision() or "unknown", + evaluator_version=git_revision() or "unknown", per_situation=args.per_situation, workers=args.workers, ) @@ -1126,7 +1117,7 @@ def main() -> int: payload = { "schema_version": SCHEMA_VERSION, "generated_at_utc": generated_at.isoformat(), - "git_revision": _git_revision(), + "git_revision": git_revision(), "candidate": args.candidate, "baseline": args.baseline, "against": against_source, diff --git a/utama_core/global_utils/git_utils.py b/utama_core/global_utils/git_utils.py new file mode 100644 index 00000000..9e78573e --- /dev/null +++ b/utama_core/global_utils/git_utils.py @@ -0,0 +1,10 @@ +import subprocess + + +def git_revision() -> str | None: + """Short git commit of the checkout the process runs from, or None outside a git checkout.""" + try: + result = subprocess.run(["git", "rev-parse", "--short", "HEAD"], check=True, capture_output=True, text=True) + except (OSError, subprocess.CalledProcessError): + return None + return result.stdout.strip() or None From 9968ff43e97f2095127d9cbc2e997dd87ea547fb Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:34:05 +0100 Subject: [PATCH 07/14] Point the real-robots work-area row at its doc and the real data_processing path The Doc column named a TODO and a bare data_processing/ path. Point it at utama_core/team_controller/README.md (brief) and fix the path to utama_core/data_processing/. CLAUDE.md is a symlink to AGENTS.md. Co-Authored-By: Claude Opus 5.5 --- AGENTS.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/AGENTS.md b/AGENTS.md index 4f415150..eb5c087d 100644 --- a/AGENTS.md +++ b/AGENTS.md @@ -21,7 +21,7 @@ exists yet: say so in your change rather than guessing. | Referee | `utama_core/custom_referee/` | `docs/custom_referee.md` | | | Motion planning | `utama_core/motion_planning/`, `tools/motion_planning_benchmark.py` | `docs/motion_planning_comparison.md` | | | Simulation | `utama_core/rsoccer_simulator/`, `vendor/rSim/` | `vendor/rSim/FORK_NOTES.md` | `vendor/rSim` is the C++ physics fork; `rsoccer_simulator` is the Python env on top of it | -| Real robots (radio, vision, controllers) | `utama_core/team_controller/`, `data_processing/` | `TODO` (see `team_controller/README.md`) | | +| Real robots (radio, vision, controllers) | `utama_core/team_controller/`, `utama_core/data_processing/` | `utama_core/team_controller/README.md` (brief) | | ## Glossary From 47c92966a70b042405aaf207df9eb29249262e67 Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:34:09 +0100 Subject: [PATCH 08/14] Drop duplicate linux-64 main task and document build-planner pixi.toml defined main = "python -m main" both at the root and again under [target.linux-64.tasks] with the identical command, so the target entry changed nothing and is removed. docs/tools.md's task table gains the build-planner task. Co-Authored-By: Claude Opus 5.5 --- docs/tools.md | 1 + pixi.toml | 3 --- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/docs/tools.md b/docs/tools.md index c6e0636f..c450436d 100644 --- a/docs/tools.md +++ b/docs/tools.md @@ -13,6 +13,7 @@ Every script in the repository, by what it is for. Run them from the repository | `lint` | the whole pre-commit stack (black, ruff, isort) on every file | | `precommit-install` / `precommit-uninstall` | install or remove the pre-commit hook | | `main` | `main.py`: watch one match between two strategies in rsim (below) | +| `build-planner` | build the C++ fast-path planner (`utama_core/motion_planning/src/fastpathplanning/cpp`) into `build/fpp` with cmake | | `replay [-n NAME] [-p]` | play a legacy pickle replay `replays/NAME.pkl` in the rSoccer viewer (newest if no name; `-p` step by step). Today's `.npz` replays open in the dashboard instead | | `runs` | list the tournament runs in `replays/`: start time, commit, matches, stalls, arguments | | `debug-robots` | keyboard/click teleoperation GUI for real robots over the serial radio | diff --git a/pixi.toml b/pixi.toml index b74eed48..8ec788d1 100644 --- a/pixi.toml +++ b/pixi.toml @@ -59,6 +59,3 @@ precommit-uninstall = "pre-commit uninstall" [environments] robosim = { features = ["robosim"], no-default-feature = true } - -[target.linux-64.tasks] -main = "python -m main" From bb017c5134c884c7b0bce2863aa1f91f6c7f25c1 Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:35:13 +0100 Subject: [PATCH 09/14] Replace vector.py's __main__ self-check with a unit assertion The block printed values test_vector.py already asserts. The one check it added, Vector2D.dot as a method, is now an assertion in test_vector2d_operations. Co-Authored-By: Claude Opus 5.5 --- utama_core/entities/data/vector.py | 16 ---------------- utama_core/tests/entities/test_vector.py | 1 + 2 files changed, 1 insertion(+), 16 deletions(-) diff --git a/utama_core/entities/data/vector.py b/utama_core/entities/data/vector.py index 20b0de08..5fac85ab 100644 --- a/utama_core/entities/data/vector.py +++ b/utama_core/entities/data/vector.py @@ -226,19 +226,3 @@ def to_2d(self) -> Vector2D: def __repr__(self): return f"Vector3D(x={self.x}, y={self.y}, z={self.z})" - - -if __name__ == "__main__": - import numpy as np - - v2d = Vector2D(3, 4) - v2d2 = Vector2D(1, 2) - print(np.dot(v2d, v2d2)) # Should print 11.0 - print(v2d.dot(v2d2)) # Should print 11.0 - - print(v2d.angle_to(v2d2)) # Should print -2.356194490192345 - print(np.arctan2(v2d2.y - v2d.y, v2d2.x - v2d.x)) # Should print -2.356194490192345 - - d = v2d2 - v2d - print(np.linalg.norm(d)) # Should print 2.8284271247461903 - print(v2d.distance_to(v2d2)) # Should print 2.8284271247461903 diff --git a/utama_core/tests/entities/test_vector.py b/utama_core/tests/entities/test_vector.py index 81ed006b..e43af0a0 100644 --- a/utama_core/tests/entities/test_vector.py +++ b/utama_core/tests/entities/test_vector.py @@ -28,6 +28,7 @@ def test_vector2d_operations(): # Test dot product dot_product = np.dot(v1, v2) assert dot_product == 11 + assert v1.dot(v2) == 11 # Test distance distance = v1.distance_to(v2) From e7ecd25ce6616efbd72e36add3991ec6a6da2026 Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:35:14 +0100 Subject: [PATCH 10/14] Remove unreferenced pipeline.drawio.png diagram Nothing references assets/images/pipeline.drawio.png; the README and docs/pipeline_method.md use pipeline_new.drawio.png. 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z{`i$7<4VutuW;~TqG7{PX60_AH!FWA(i#pj^xB!z{E;c44LIS(E29AU@p)2;R2rvq zdU>d{zdRT6MSw{1VHuKz z6Idx{srU76WeqRd`FVBlh&=$p5n8LtBPRwKI3@kZg)(>rE_+GM{T2YBGFS`)0(=yT zA(jB72-RE$@HdLbh3^m%0r_JE)fgvaG@pg~sDASF9x`HDXK-clChhnGg!;EL6dE+4 zyoGR*ULE=##dOn=G5o7IqLg6(N-$c}K|6c=2`T@Jd2;^CxPLZt;vA$dznp$QK`-Nh zS7f)G4rPQ6z&c#~w9#}8*A@67+xB69lHp61ue2SaC)J3gU+Ft22;0kw{du+*VILU{ za%JGC+$0|38rer5Vzf`D{5bRoPrR-g68(VcdFRpiW76;%V#c;?>F_=QAMC`>qTj~> zUJlf%Bw7L+ARz)Rmj+UN(_Da*``5)+x%)vc0D?(p{G`+#hz8h@UtPnIS9g3PV(nU9bDfo)x zh9%OGoq34p2LkhL^s8x-P-%AfAIS zrvquFGN2$nJRb1aqp%_uJKL|T2UI~#K-D$28sT@+vlPI<_mO_VO;rRRzXB~8Z9puj z1x5W&Fx#jNy1LIa_XIxw!U@UCSCdZVVye>^<3C57jJSSw#3(^1NFBQee(rVPP(-*C z?8jpQkq#ZUPYD#Z0H^c|zxyQ}lIqqlB1HvwN2i`0llll{if>B&D1&cn7jW65XmlL3 jGy4h8{E>KtK4)AaL-RDXbB7M&!2d8er9@MO??3rJA!UnS From d49d5cef752980f48ef0e180a11360e84dc5f3c0 Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:35:44 +0100 Subject: [PATCH 11/14] Remove leftover commented-out class signatures and a stub kalman.py had type-signature comments above three call sites, and game.py had a stray '# def predict_/' stub. None of it is code. Co-Authored-By: Claude Opus 5.5 --- utama_core/data_processing/refiners/filters/kalman.py | 7 ------- utama_core/entities/game/game.py | 2 -- 2 files changed, 9 deletions(-) diff --git a/utama_core/data_processing/refiners/filters/kalman.py b/utama_core/data_processing/refiners/filters/kalman.py index 1c91aae6..d48221cd 100644 --- a/utama_core/data_processing/refiners/filters/kalman.py +++ b/utama_core/data_processing/refiners/filters/kalman.py @@ -136,9 +136,6 @@ def _step_xy( """ - # class Robot: id: int; is_friendly: bool; has_ball: bool - # p: Vector2D; v: Vector2D; a: Vector2D; orientation: float - # x and y are filtered as two independent scalar Kalman filters (see __init__ for why # that's mathematically equivalent to the 2D matrix form here), using the same # closed-form update as _step_th below. @@ -258,7 +255,6 @@ def filter_data( and orientation, packaged as a VisionRobotData object. """ - # class VisionRobotData: id: int; x: float; y: float; orientation: float xy_tuple = (data.x, data.y) if data is not None else None x_f, y_f = self._step_xy(xy_tuple, last_frame, time_elapsed) th_f = self._step_th( @@ -341,8 +337,6 @@ def _step( returned to the filter_data function for packaging. """ - # class Ball: p: Vector3D; v: Vector3D; a: Vector3D - # Phase 0: Initialised with the 1st valid GameFrame (only on initialisation) if self.state is None: self.state = np.array((last_ball.p.x, last_ball.p.y, last_ball.p.z)) @@ -406,7 +400,6 @@ def filter_data(self, data: Optional[Ball], last_frame: Ball, time_elapsed: floa acceleration. """ - # class Ball: p: Vector3D, v: Vector3D, a: Vector3D if data is not None: new_data = (data.p.x, data.p.y, data.p.z) velocity, acceleration = data.v, data.a diff --git a/utama_core/entities/game/game.py b/utama_core/entities/game/game.py index 44d7054d..2d359b83 100644 --- a/utama_core/entities/game/game.py +++ b/utama_core/entities/game/game.py @@ -16,8 +16,6 @@ def add_game_frame(self, game_frame: GameFrame): self._current_game_standard_frame = game_frame self.current = CurrentGameFrame(game_frame) - # def predict_/ - @property def ts(self) -> float: return self.current.ts From 863ccf08377d63cc3172d72f2e04c315945ef60d Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:35:54 +0100 Subject: [PATCH 12/14] Remove the duplicate referee GUI demo from the test tree utama_core/tests/referee/demo_referee_gui_rsim.py is an older copy of examples/demo_referee_gui_rsim.py (WanderingTactic instead of tiki_taka_plus). It is not a test (pytest would not collect it), nothing imports it, and only its own docstring names it. wandering_strategy.py stays: other files import it. Co-Authored-By: Claude Opus 5.5 --- .../tests/referee/demo_referee_gui_rsim.py | 73 ------------------- 1 file changed, 73 deletions(-) delete mode 100644 utama_core/tests/referee/demo_referee_gui_rsim.py diff --git a/utama_core/tests/referee/demo_referee_gui_rsim.py b/utama_core/tests/referee/demo_referee_gui_rsim.py deleted file mode 100644 index caaf51cf..00000000 --- a/utama_core/tests/referee/demo_referee_gui_rsim.py +++ /dev/null @@ -1,73 +0,0 @@ -"""demo_referee_gui_rsim.py — CustomReferee + web GUI + StrategyRunner (RSim). - -Run: - pixi run python utama_core/tests/referee/demo_referee_gui_rsim.py - # RSim window opens; open http://localhost:8080 in a browser - -What it does: - - Creates a CustomReferee (human profile) and attaches it to the browser - dashboard's referee tab. - - Passes the referee to StrategyRunner via referee=. StrategyRunner - calls referee.step() on every tick and handles ball teleports on STOP - automatically — no patching required. - - WanderingTactic is used as the base strategy so robots visibly move and - you can watch RefereeOverride interrupt them when you issue - commands from the dashboard (Halt, Kickoff Yellow, etc.). - -Operator workflow: - 1. Open http://localhost:8080 in a browser. - 2. Robots start moving under WanderingTactic. - 3. Click any command button (Halt, Stop, Kickoff Yellow…) — robots reposition. - 4. Click Normal Start to resume free play. - 5. With the human profile, the referee stays in STOP after a goal until the operator advances play. -""" - -from utama_core.custom_referee import CustomReferee -from utama_core.custom_referee.profiles.profile_loader import load_profile -from utama_core.dashboard import attach_dashboard -from utama_core.dashboard.views import referee as referee_view -from utama_core.run import StrategyRunner -from utama_core.tests.referee.wandering_strategy import wandering_strategy - -# --------------------------------------------------------------------------- -# Configuration -# --------------------------------------------------------------------------- - -PROFILE = "human" # "human" or "simulation" -DASHBOARD_PORT = 8080 -N_ROBOTS = 3 # robots per side -MY_TEAM_IS_YELLOW = True -MY_TEAM_IS_RIGHT = True - -# --------------------------------------------------------------------------- -# Entry point -# --------------------------------------------------------------------------- - - -def main() -> None: - profile = load_profile(PROFILE) - - referee = CustomReferee(profile, n_robots_yellow=N_ROBOTS, n_robots_blue=N_ROBOTS) - - # attach_dashboard() starts the HTTP server in a background daemon - # thread; referee.step() is called by StrategyRunner on every tick, and - # the referee tab receives state automatically after each call. - server = attach_dashboard(port=DASHBOARD_PORT) - referee_view.attach(server, referee, profile) - - runner = StrategyRunner( - strategy=wandering_strategy(tuple(range(N_ROBOTS))), - my_team_is_yellow=MY_TEAM_IS_YELLOW, - my_team_is_right=MY_TEAM_IS_RIGHT, - mode="rsim", - exp_friendly=N_ROBOTS, - exp_enemy=N_ROBOTS, - referee=referee, # StrategyRunner drives referee.step() each tick - show_live_status=True, - ) - - runner.run() - - -if __name__ == "__main__": - main() From 15780addea7dd9827c15e06a5291fdbc64363e4a Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Wed, 14 Oct 2026 17:38:46 +0100 Subject: [PATCH 13/14] Drop motion_stats' unused Optional import Co-Authored-By: Claude Opus 5.5 --- utama_core/analysis/motion_stats.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/utama_core/analysis/motion_stats.py b/utama_core/analysis/motion_stats.py index 199a3820..8d068d41 100644 --- a/utama_core/analysis/motion_stats.py +++ b/utama_core/analysis/motion_stats.py @@ -8,7 +8,7 @@ import json from pathlib import Path -from typing import Dict, Optional, Union +from typing import Dict, Union import numpy as np From 0459b0a19a1624ec6ea377260232e99f651565e0 Mon Sep 17 00:00:00 2001 From: isaac0804 Date: Sun, 11 Oct 2026 20:40:36 +0100 Subject: [PATCH 14/14] STRATEGY_DEVELOPMENT.md: resolve leftover merge-conflict markers Keeps HEAD's wording; the other side still described the status labels removed on 2026-10-10. Co-Authored-By: Claude Opus 5.5 Claude-Session: https://claude.ai/code/session_01ECXiwf3VYxBTMmrLaexRQK --- docs/STRATEGY_DEVELOPMENT.md | 7 ------- 1 file changed, 7 deletions(-) diff --git a/docs/STRATEGY_DEVELOPMENT.md b/docs/STRATEGY_DEVELOPMENT.md index 9f5ec3f8..a986b909 100644 --- a/docs/STRATEGY_DEVELOPMENT.md +++ b/docs/STRATEGY_DEVELOPMENT.md @@ -182,17 +182,10 @@ whoever runs it. spatially. Use raw frames only for an exact number once the picture has localized the issue. - **`render_clip()`** (`analysis/render_clip.py`) — MP4 of a window for humans, ball-following or full-pitch camera; sim ball teleports are never shown. Needs `ffmpeg`. Commands behind -<<<<<<< HEAD committed clips: `assets/clips/README.md`. - **`docs/strategies.md`** — every factory, whether a round-robin plays it or it is retired, and the latest results. - **`tools/evaluation/round_robin.py`** — round-robin runner (`--max-workers N`, `--both-sides`, -======= - committed clips: `assets/clips/README.md`. -- **`docs/strategies.md`** — every factory's status and the latest results. `baseline` - strategies aren't meant to win; don't tune them to. -- **`tools/evaluation/round_robin.py`** — round-robin runner (`--max-workers N`, `--both-sides`, ->>>>>>> repo-cleanup `--strict`, `--stop-at-first-stall`, `--fuzz-restarts SEED`, `--fuzz-interval LO HI`, `--no-save`, `--pair A B` for one fixture with A as config_a — reruns a stalled match from a round-robin; see the determinism caveat below).