Dev/train decision test

maps/train_map.yaml

@@ -0,0 +1,7 @@
+image: train_map.png
+mode: trinary
+resolution: 0.05
+origin: [-1.2, -6.3, 0.0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

src/lua/api.lua

@@ -13,7 +13,7 @@ local util = require("util.native")
 --- @field fuck fun(message: string)
 ---
 --- @field send_target fun(x: number, y: number)
---- @field update_gimbal_direction fun(angle: number)
+--- @field update_gimbal_direction fun(angle: number) 
 --- @field update_gimbal_dominator fun(name: string)
 --- @field update_chassis_mode fun(mode: string)
 --- @field update_chassis_vel fun(x: number, y: number)

src/lua/blackboard.lua

@@ -15,28 +15,82 @@ local function create_default_blackboard()
 			x = 0,
 			y = 0,
 			yaw = 0,
+
+			mode = "UNKNOWN",
+
 		},
 		game = {
 			stage = "UNKNOWN",
+
+			outpost_health = 0, -- 前哨站血量
+			base_health = 0, -- 基地血量
+
+			hero_health = 150,
+			infantry_1_health = 150,
+			infantry_2_health = 150,
+			engineer_health = 250,
+
+			remaining_time = 0, -- 比赛剩余时间
+			gold_coin = 0, -- 队伍剩余金币数
+			exchangeable_ammunition_quantity = 0, -- 队伍 17mm 允许发弹量的剩余可兑换数
+
+			our_dart_nmber_of_hits = 0, -- 己方飞镖击中次数
+			double_damage_activated = false, -- 雷达双倍易伤是否开启
+			fortress_occupied = false, -- 己方堡垒是否被占领
+			big_energy_mechanism_activated = false, -- 大能量机关是否被激活
+			small_energy_mechanism_activated = false, -- 小能量机关是否被激活
+
+
 		},
 		play = {
 			rswitch = "UNKNOWN",
 			lswitch = "UNKNOWN",
 		},
 		meta = {
 			timestamp = 0, -- 秒
+			fsm_state = "unknown",
+			fsm_phase = "none",
 		},
 
 		-- Static Information
 		rule = {
 			decision = "auxiliary",
 
-			-- 状态类规则
+			-- 自身状态类规则
+
+			health_limit = 210,
+			health_ready = 400,
+			bullet_limit = 40,
+			bullet_ready = 300,
+			mode = "movement",
+
+			-- 其他状态类规则
+
+			-- 比赛相关
+			time_of_the_competition = 420, --比赛剩余时间
 
-			health_limit = 0,
-			health_ready = 0,
-			bullet_limit = 0,
-			bullet_ready = 0,
+			-- 队伍资源相关
+			exchangeable_ammunition_quantity = 1000, -- 队伍 17mm 允许发弹量的剩余可兑换数
+			gold_coin = 400, -- 队伍剩余金币数
+
+			-- 前哨站相关
+			outpost_health_ready = 1500,
+			outpost_health_red_line = 1500,
+
+			-- 基地相关
+			base_health_ready = 5000,
+			base_health_red_line = 2000,
+
+			-- 友方机器人相关
+			hero_health_ready = 150,
+			infantry_1_health_ready = 150,
+			infantry_2_health_ready = 150,
+			engineer_health_ready = 250,
+
+			hero_health_ready_red_line = 50,
+			infantry_1_health_ready_red_line = 50,
+			infantry_2_health_ready_red_line = 50,
+			engineer_health_ready_red_line = 50,
 
 			-- 坐标类规则
 			-- 定义顺序：ours = 0，them = 1
@@ -50,14 +104,20 @@ local function create_default_blackboard()
 			launch_ramp_final = PointPair { { 0, 0 }, { 0, 0 } },
 			outpost_resupply = PointPair { { 0, 0 }, { 0, 0 } }, -- 前哨站补给点
 			assembly_zone = PointPair { { 0, 0 }, { 0, 0 } },
+			central_highland_near_fluctuant_road = PointPair { { 0, 0 }, { 0, 0 } }, -- 中央高地靠近起伏路一侧
+			central_highland_near_doghole =  PointPair { { 0, 0 }, { 0, 0 } }, -- 中央高地靠近狗洞一侧
+			central_highland_gain_pount = PointPair { { 0, 0 }, { 0, 0 } }, -- 中央高地增益点
+			central_highland_near_two_steps_and_outpost = PointPair { { 0, 0 }, { 0, 0 } }, -- 中央高地靠近二级台阶（二级台阶增益点和前哨站中间）
 
 			-- 特殊跨越地形坐标
 			road_tunnel_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 公路隧道
 			road_tunnel_final = PointPair { { 0, 0 }, { 0, 0 } },
-			one_step_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 一级台阶
-			one_step_final = PointPair { { 0, 0 }, { 0, 0 } },
-			two_step_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 二级台阶
+			one_step_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 一级台阶高点
+			one_step_final = PointPair { { 0, 0 }, { 0, 0 } }, -- 一级台阶低点
+			two_step_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 二级台阶高点
 			two_step_final = PointPair { { 0, 0 }, { 0, 0 } },
+			fluctuant_road_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 起伏路段
+			fluctuant_road_final = PointPair { { 0, 0 }, { 0, 0 } },
 			common_elevated_ground_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 普通高地（飞坡起点那个高地）
 			common_elevated_ground_final = PointPair { { 0, 0 }, { 0, 0 } },
 		},
@@ -83,6 +143,34 @@ local function create_default_blackboard()
 			return result.user.bullet >= result.rule.bullet_ready
 		end,
 
+		base_in_danger = function ()
+			return result.game.base_health <= result.rule.base_health_red_line
+		end,
+
+		oupost_survival = function ()
+			return result.game.outpost_health > 0
+		end,
+
+		dart_hit_first_time = function ()
+			return result.game.our_dart_nmber_of_hits == 1
+		end,
+
+		double_damage_activated = function ()
+			return result.game.double_damage_activated
+		end,
+
+		fortress_occupied = function ()
+			return result.game.fortress_occupied
+		end,
+
+		big_energy_mechanism_activated = function ()
+			return result.game.big_energy_mechanism_activated
+		end,
+
+		small_energy_mechanism_activated = function ()
+			return result.game.small_energy_mechanism_activated
+		end,
+
 		--- @param target {x: number, y: number}
 		--- @param tolerance? number|{x: number, y: number}
 		near = function(target, tolerance)

src/lua/endpoint/test.lua

@@ -60,4 +60,4 @@ end
 --- 由 NAV2 发布的目标速度值，在此处理回调
 on_control = function(x, y, _)
 	action:update_chassis_vel(x, y)
-end
+end