Free kick play tests and validation added

src/software/ai/hl/stp/play/free_kick/free_kick_play_test.py

@@ -1,26 +1,247 @@
 import pytest
-import software.python_bindings as tbots_cpp
 
+import software.python_bindings as tbots_cpp
 from proto.import_all_protos import *
-
 from proto.play_pb2 import PlayName
 from proto.ssl_gc_common_pb2 import Team
-
 from proto.message_translation.tbots_protobuf import create_world_state
-from software.simulated_tests.validation.friendly_team_scored import (
-    FriendlyTeamEventuallyScored,
+from software.simulated_tests.simulated_test_fixture import pytest_main
+from software.simulated_tests.validation.ball_enters_region import (
+    BallAlwaysStaysInRegion,
 )
-from software.simulated_tests.validation.robot_enters_region import (
-    RobotEventuallyEntersRegion,
+from software.simulated_tests.validation.ball_is_off_ground import (
+    BallIsEventuallyOffGround,
 )
 from software.simulated_tests.validation.ball_kicked_in_direction import (
     BallEventuallyKickedInDirection,
 )
-from software.simulated_tests.simulated_test_fixture import (
-    pytest_main,
+from software.simulated_tests.validation.ball_speed_threshold import (
+    BallSpeedEventuallyAtOrAboveThreshold,
+)
+from software.simulated_tests.validation.friendly_has_ball_possession import (
+    FriendlyEventuallyHasBallPossession,
+)
+from software.simulated_tests.validation.friendly_team_scored import (
+    FriendlyTeamEventuallyScored,
+)
+from software.simulated_tests.validation.robot_enters_region import (
+    RobotEventuallyEntersRegion,
 )
 
 
+def setup_free_kick_play(
+    simulated_test_runner, blue_bots, yellow_bots, ball_initial_pos
+):
+    """Set world state and issue a blue-team direct free kick."""
+    simulated_test_runner.set_world_state(
+        create_world_state(
+            yellow_robot_locations=yellow_bots,
+            blue_robot_locations=blue_bots,
+            ball_location=ball_initial_pos,
+            ball_velocity=tbots_cpp.Vector(0, 0),
+        )
+    )
+    simulated_test_runner.send_gamecontroller_command(
+        gc_command=Command.Type.STOP, team=Team.UNKNOWN
+    )
+    simulated_test_runner.send_gamecontroller_command(
+        gc_command=Command.Type.NORMAL_START, team=Team.BLUE
+    )
+    simulated_test_runner.send_gamecontroller_command(
+        gc_command=Command.Type.DIRECT, team=Team.BLUE
+    )
+
+    simulated_test_runner.set_plays(
+        blue_play=PlayName.FreeKickPlay, yellow_play=PlayName.HaltPlay
+    )
+
+
+def test_free_kick_play_direct_shot(simulated_test_runner):
+    """Ball in enemy half with no enemies blocking the goal so kicker shoots directly.
+    FSM: SetupPositionState -> ShootState -> X
+    Triggers: setupDone=True, shotFound=True, shotDone=True
+    Validates: FriendlyTeamEventuallyScored.
+    """
+    field = tbots_cpp.Field.createSSLDivisionBField()
+    ball_initial_pos = tbots_cpp.Point(1.5, 0.0)
+
+    blue_bots = [
+        tbots_cpp.Point(-4.5, 0),
+        tbots_cpp.Point(1.3, 0.3),
+        tbots_cpp.Point(-1.0, 1.5),
+        tbots_cpp.Point(-1.0, -1.5),
+        tbots_cpp.Point(0.5, 2.0),
+        tbots_cpp.Point(0.5, -2.0),
+    ]
+
+    yellow_bots = [
+        tbots_cpp.Point(0.0, 3.0),
+        tbots_cpp.Point(0.0, -3.0),
+        tbots_cpp.Point(-2.0, 2.0),
+        tbots_cpp.Point(-2.0, -2.0),
+        tbots_cpp.Point(-3.0, 1.0),
+        tbots_cpp.Point(-3.0, -1.0),
+    ]
+
+    def setup(*args):
+        setup_free_kick_play(
+            simulated_test_runner, blue_bots, yellow_bots, ball_initial_pos
+        )
+
+    simulated_test_runner.run_test(
+        setup=setup,
+        inv_always_validation_sequence_set=[
+            [BallAlwaysStaysInRegion(regions=[field.fieldLines()])]
+        ],
+        inv_eventually_validation_sequence_set=[[FriendlyTeamEventuallyScored()]],
+        ag_always_validation_sequence_set=[[]],
+        ag_eventually_validation_sequence_set=[[FriendlyTeamEventuallyScored()]],
+        test_timeout_s=15,
+    )
+
+
+def test_free_kick_play_pass_completes(simulated_test_runner):
+    """Goal is blocked by enemy robots and blue receivers are open in the enemy half. Pass will be made.
+     FSM path: SetupPositionState -> AttemptPassState -> PassState -> X
+    Triggers: setupDone=True, shotFound=False, passFound=True, passDone=True
+    Validates: Receiver eventually gets possession.
+    """
+    field = tbots_cpp.Field.createSSLDivisionBField()
+    ball_initial_pos = tbots_cpp.Point(-0.5, 0.0)
+
+    blue_bots = [
+        tbots_cpp.Point(-4.5, 0),
+        tbots_cpp.Point(-0.7, 0.2),  # kicker near ball
+        tbots_cpp.Point(2.5, 1.5),
+        tbots_cpp.Point(2.5, -1.5),
+        tbots_cpp.Point(-2.0, 1.0),
+        tbots_cpp.Point(-2.0, -1.0),
+    ]
+
+    yellow_bots = [
+        field.enemyGoalCenter(),
+        field.enemyDefenseArea().negXNegYCorner(),
+        field.enemyDefenseArea().negXPosYCorner(),
+        tbots_cpp.Point(3.5, 0.5),
+        tbots_cpp.Point(3.5, -0.5),
+        tbots_cpp.Point(3.5, 0.0),
+    ]
+
+    def setup(*args):
+        setup_free_kick_play(
+            simulated_test_runner, blue_bots, yellow_bots, ball_initial_pos
+        )
+
+    simulated_test_runner.run_test(
+        setup=setup,
+        inv_always_validation_sequence_set=[
+            [BallAlwaysStaysInRegion(regions=[field.fieldLines()])]
+        ],
+        inv_eventually_validation_sequence_set=[
+            [FriendlyEventuallyHasBallPossession(tolerance=0.15)]
+        ],
+        ag_always_validation_sequence_set=[[]],
+        ag_eventually_validation_sequence_set=[
+            [FriendlyEventuallyHasBallPossession(tolerance=0.15)]
+        ],
+        test_timeout_s=20,
+    )
+
+
+def test_free_kick_play_abort_pass_and_retry(simulated_test_runner):
+    """Ball in friendly half so shotFound is reliably False.
+    A yellow robot sits directly on the pass lane from the ball to receiver B,
+    so ratePass() scores the found pass below abs_min_pass_score (0.05).
+    FSM path: SetupPositionState -> AttemptPassState -> PassState -> AttemptPassState -> ... -> X (chip or second pass)
+    Triggers: passFound=True, shouldAbortPass=True
+    Validates: ball eventually moves via chip or a cleared second-attempt pass.
+    """
+    field = tbots_cpp.Field.createSSLDivisionBField()
+    # (-0.5, 0) shot angle to enemy goal about 4 < min_open_angle_for_shot_deg (6)
+    ball_initial_pos = tbots_cpp.Point(-0.5, 0.0)
+
+    blue_bots = [
+        tbots_cpp.Point(-4.5, 0),
+        tbots_cpp.Point(-0.7, 0.2),  # kicker near ball
+        tbots_cpp.Point(2.0, 0.5),  # receiver A in enemy half
+        tbots_cpp.Point(0.5, 2.0),  # receiver B near midfield
+        tbots_cpp.Point(-2.0, 1.5),
+        tbots_cpp.Point(-2.0, -1.5),
+    ]
+
+    yellow_bots = [
+        field.enemyGoalCenter(),
+        field.enemyDefenseArea().negXNegYCorner(),
+        field.enemyDefenseArea().negXPosYCorner(),
+        tbots_cpp.Point(0.0, 1.0),  # directly on pass lane to receiver B
+        tbots_cpp.Point(3.5, 0.5),
+        tbots_cpp.Point(3.5, -0.5),
+    ]
+
+    def setup(*args):
+        setup_free_kick_play(
+            simulated_test_runner, blue_bots, yellow_bots, ball_initial_pos
+        )
+
+    simulated_test_runner.run_test(
+        setup=setup,
+        inv_always_validation_sequence_set=[
+            [BallAlwaysStaysInRegion(regions=[field.fieldLines()])]
+        ],
+        inv_eventually_validation_sequence_set=[
+            [BallSpeedEventuallyAtOrAboveThreshold(0.05)]
+        ],
+        ag_always_validation_sequence_set=[[]],
+        ag_eventually_validation_sequence_set=[
+            [BallSpeedEventuallyAtOrAboveThreshold(0.05)]
+        ],
+        test_timeout_s=25,
+    )
+
+
+def test_free_kick_play_chip_on_timeout(simulated_test_runner):
+    """Goal is blocked and all receiver zones are covered by enemies. passFound never becomes True,
+    so timeExpired fires and the FSM chips.
+    FSM path: SetupPositionState -> AttemptPassState -> ChipState -> X
+    Triggers: setupDone=True, shotFound=False, passFound=False (timeout), chipDone=True
+    Validates: Ball eventually moves above a threshold speed.
+    """
+    field = tbots_cpp.Field.createSSLDivisionBField()
+    ball_initial_pos = tbots_cpp.Point(-1.0, 0.0)
+
+    blue_bots = [
+        tbots_cpp.Point(-4.5, 0),
+        tbots_cpp.Point(-1.2, 0.2),
+        tbots_cpp.Point(-3.0, 1.5),
+        tbots_cpp.Point(-3.0, -1.5),
+        tbots_cpp.Point(-3.5, 0.5),
+        tbots_cpp.Point(-3.5, -0.5),
+    ]
+
+    yellow_bots = [
+        field.enemyGoalCenter(),
+        field.enemyDefenseArea().negXNegYCorner(),
+        field.enemyDefenseArea().negXPosYCorner(),
+        tbots_cpp.Point(1.0, 0.0),
+        tbots_cpp.Point(1.0, 1.5),
+        tbots_cpp.Point(1.0, -1.5),
+    ]
+
+    def setup(*args):
+        setup_free_kick_play(
+            simulated_test_runner, blue_bots, yellow_bots, ball_initial_pos
+        )
+
+    simulated_test_runner.run_test(
+        setup=setup,
+        inv_always_validation_sequence_set=[[]],
+        inv_eventually_validation_sequence_set=[[BallIsEventuallyOffGround()]],
+        ag_always_validation_sequence_set=[[]],
+        ag_eventually_validation_sequence_set=[[BallIsEventuallyOffGround()]],
+        test_timeout_s=20,
+    )
+
+
 @pytest.mark.parametrize(
     "ball_initial_pos,must_score",
     [
@@ -97,5 +318,62 @@ def setup(*args):
     )
 
 
+@pytest.mark.parametrize(
+    "ball_initial_pos,must_score",
+    [
+        (tbots_cpp.Point(1.5, 0.0), True),  # Enemy half, near sideline for direct shot
+        (
+            tbots_cpp.Point(-1.5, -2.75),
+            False,
+        ),  # Friendly half, near sideline for pass or chip
+        (tbots_cpp.Point(1.5, -3.0), False),  # Near corner for pass or chip
+        (tbots_cpp.Point(1.5, -0.5), True),  # Enemy half, center for direct shot likely
+    ],
+)
+def test_free_kick_play_near_sideline(
+    simulated_test_runner, ball_initial_pos, must_score
+):
+    """Parametric generalized free kick tests. Requires score if must_score is True, otherwise moving the ball will pass the test."""
+    field = tbots_cpp.Field.createSSLDivisionBField()
+
+    blue_bots = [
+        tbots_cpp.Point(-4.5, 0),
+        tbots_cpp.Point(-3.0, 1.5),
+        tbots_cpp.Point(-3.0, 0.5),
+        tbots_cpp.Point(-3.0, -0.5),
+        tbots_cpp.Point(-3.0, -1.5),
+        tbots_cpp.Point(4.0, -2.5),
+    ]
+    yellow_bots = [
+        tbots_cpp.Point(1.0, 0),
+        tbots_cpp.Point(1.0, 2.5),
+        tbots_cpp.Point(1.0, -2.5),
+        field.enemyGoalCenter(),
+        field.enemyDefenseArea().negXNegYCorner(),
+        field.enemyDefenseArea().negXPosYCorner(),
+    ]
+
+    def setup(*args):
+        setup_free_kick_play(
+            simulated_test_runner, blue_bots, yellow_bots, ball_initial_pos
+        )
+
+    if must_score:
+        eventually_validations = [[FriendlyTeamEventuallyScored()]]
+    else:
+        eventually_validations = [[BallSpeedEventuallyAtOrAboveThreshold(0.05)]]
+
+    simulated_test_runner.run_test(
+        setup=setup,
+        inv_always_validation_sequence_set=[
+            [BallAlwaysStaysInRegion(regions=[field.fieldLines()])]
+        ],
+        inv_eventually_validation_sequence_set=eventually_validations,
+        ag_always_validation_sequence_set=[[]],
+        ag_eventually_validation_sequence_set=eventually_validations,
+        test_timeout_s=15,
+    )
+
+
 if __name__ == "__main__":
     pytest_main(__file__)