3304: Limit number of crease defenders

src/proto/parameters.proto

@@ -525,6 +525,10 @@ message DefensePlayConfig
             (bounds).min_double_value = 0.0,
             (bounds).max_double_value = 10.0
         ];
+
+        // The max number of crease defender can be created at a moment
+        required uint32 max_num_crease_defenders = 6
+            [default = 1, (bounds).min_int_value = 1, (bounds).max_int_value = 3];
     }
 
     // The distance at which a threat is considered "immediate" if there is only 1
@@ -634,12 +638,13 @@ message NetworkConfig
 
 message CreaseDefenderConfig
 {
+    // Unique steal config for crease defenders
+    required DefenderStealConfig defender_steal_config = 1;
+
     // The additional buffer length for each side of the goal
     // to determine if crease defender chipping is "towards goal"
     required double goal_post_offset_chipping = 4
         [default = 0.5, (bounds).min_double_value = 0.0, (bounds).max_double_value = 2.0];
-    // Unique steal config for crease defenders
-    required DefenderStealConfig defender_steal_config = 1;
 }
 
 message PassDefenderConfig

src/software/ai/hl/stp/play/defense/defense_play_fsm.cpp

@@ -14,15 +14,20 @@ void DefensePlayFSM::defendAgainstThreats(const Update& event)
         event.common.world_ptr->field(), event.common.world_ptr->friendlyTeam(),
         event.common.world_ptr->enemyTeam(), event.common.world_ptr->ball(), false);
 
+    auto defender_assignment_config =
+        ai_config.defense_play_config().defender_assignment_config();
     auto assignments = getAllDefenderAssignments(
         enemy_threats, event.common.world_ptr->field(), event.common.world_ptr->ball(),
-        ai_config.defense_play_config().defender_assignment_config());
+        defender_assignment_config);
 
     if (assignments.size() == 0)
     {
         return;
     }
 
+    unsigned int max_num_crease_defenders =
+        defender_assignment_config.max_num_crease_defenders();
+
     // Choose which defender assignments to assign defenders to based on number
     // of tactics available to set
     std::vector<DefenderAssignment> crease_defender_assignments;
@@ -42,17 +47,19 @@ void DefensePlayFSM::defendAgainstThreats(const Update& event)
             defender_assignment = assignments.front();
         }
 
-        if (defender_assignment.type == CREASE_DEFENDER)
+        if (defender_assignment.type == CREASE_DEFENDER && max_num_crease_defenders > 0)
         {
             crease_defender_assignments.emplace_back(defender_assignment);
+            max_num_crease_defenders--;
 
             // If we have at least two available defenders, two defenders should
             // be assigned to the highest scoring crease defender assignment to better
             // block the shot cone of the most threatening enemy
-            if (i == 0 && event.common.num_tactics >= 2)
+            if (i == 0 && event.common.num_tactics >= 2 && max_num_crease_defenders > 0)
             {
                 crease_defender_assignments.emplace_back(defender_assignment);
                 i++;
+                max_num_crease_defenders--;
             }
         }
         else

src/software/ai/hl/stp/tactic/defender/defender_fsm_base.cpp

@@ -9,48 +9,48 @@ bool DefenderFSMBase::ballNearbyWithoutThreat(
     const TbotsProto::BallStealMode& ball_steal_mode,
     const TbotsProto::DefenderStealConfig& defender_steal_config)
 {
+    if (ball_steal_mode == TbotsProto::BallStealMode::IGNORE)
+    {
+        // Do nothing if stealing is disabled
+        return false;
+    }
+
     Point robot_position = robot.position();
     Point ball_position  = world_ptr->ball().position();
 
     std::optional<Robot> nearest_friendly_to_ball =
         world_ptr->friendlyTeam().getNearestRobot(ball_position);
     std::optional<Robot> nearest_enemy_to_ball =
         world_ptr->enemyTeam().getNearestRobot(robot_position);
-    if (ball_steal_mode == TbotsProto::BallStealMode::IGNORE)
-    {
-        // Do nothing if stealing is disabled
-        return false;
-    }
-    else if (nearest_friendly_to_ball.has_value() &&
-             robot.id() != nearest_friendly_to_ball.value().id())
+
+    if (nearest_friendly_to_ball.has_value() &&
+        robot.id() != nearest_friendly_to_ball.value().id())
     {
         // Do nothing if this robot is not the closest to the ball. Resolves issue of
         // multiple simultaneous steals
         return false;
     }
-    if (nearest_enemy_to_ball.has_value())
-    {
-        // Get the ball if ball is closer to robot than enemy threat by threshold ratio
-        // and within max range
-        double ball_distance_to_friendly = distance(robot_position, ball_position);
-        double ball_distance_to_enemy =
-            distance(nearest_enemy_to_ball.value().position(), ball_position);
-
-        bool ball_is_near_friendly =
-            ball_distance_to_friendly <
-            ball_distance_to_enemy *
-                (1.0 - defender_steal_config.max_get_ball_ratio_threshold());
-        bool ball_is_within_max_range =
-            ball_distance_to_friendly <= defender_steal_config.max_get_ball_radius_m();
-        bool ball_is_slow = world_ptr->ball().velocity().length() <=
-                            defender_steal_config.max_ball_speed_to_get_m_per_s();
 
-        return ball_is_near_friendly && ball_is_within_max_range && ball_is_slow;
-    }
-    else
+    if (!nearest_enemy_to_ball.has_value())
     {
         return true;
     }
+
+    // Get the ball if ball is closer to robot than enemy threat by threshold ratio
+    // and within max range
+    double ball_distance_to_friendly = distance(robot_position, ball_position);
+    double ball_distance_to_enemy =
+        distance(nearest_enemy_to_ball.value().position(), ball_position);
+
+    bool ball_is_near_friendly =
+        ball_distance_to_friendly <
+        ball_distance_to_enemy * defender_steal_config.max_get_ball_ratio_threshold();
+    bool ball_is_within_max_range =
+        ball_distance_to_friendly <= defender_steal_config.max_get_ball_radius_m();
+    bool ball_is_slow = world_ptr->ball().velocity().length() <=
+                        defender_steal_config.max_ball_speed_to_get_m_per_s();
+
+    return ball_is_near_friendly && ball_is_within_max_range && ball_is_slow;
 }
 
 void DefenderFSMBase::prepareGetPossession(