Merge branch 'dev' into throwBenchmark

CHANGELOG.md

@@ -1,3 +1,7 @@
+Version 3.2 (to be relesaed)
+---------------------
+- added Throw In Challenge for RoboCup 2024
+
 Version 3.1 (RoboCup 2023)
 ---------------------
 - Rolling Ball Challenge: add rule to prevent player from moving too far

pom.xml

@@ -5,7 +5,7 @@
     <groupId>magmaoffenburg</groupId>
     <artifactId>magmachallenge</artifactId>
     <packaging>jar</packaging>
-    <version>3.1</version>
+    <version>3.2-beta1</version>
     <name>magmaChallenge</name>
     <url>https://github.com/magmaOffenburg/magmaChallenge</url>
 
@@ -35,11 +35,6 @@
             <artifactId>commons-math3</artifactId>
             <version>3.6.1</version>
         </dependency>
-        <dependency>
-            <groupId>org.apache.commons</groupId>
-            <artifactId>commons-lang3</artifactId>
-            <version>3.13.0</version>
-        </dependency>
     </dependencies>
 
     <build>

src/main/java/magma/tools/benchmark/ChallengeType.java

@@ -18,7 +18,8 @@
 import magma.tools.benchmark.view.bench.runchallenge.RunBenchmarkTableView;
 import magma.tools.benchmark.view.bench.throwinchallenge.ThrowInBenchmarkTableView;
 
-public enum ChallengeType {
+public enum ChallengeType
+{
 	RUN("Run", server -> new RunBenchmark(server, false), RunBenchmarkTableView::getInstance),
 
 	KICK("Kick", KickBenchmark::new, KickBenchmarkTableView::getInstance),
@@ -32,9 +33,9 @@ public enum ChallengeType {
 	GOALIE("Goalie", GoalieBenchmark::new, GoalieBenchmarkTableView::getInstance),
 
 	ROLLING_BALL("Rolling Ball", RollingBallBenchmark::new, RollingBallBenchmarkTableView::getInstance),
-	
+
 	THROW_IN("Throw In", ThrowInBenchmark::new, ThrowInBenchmarkTableView::getInstance);
-	
+
 	public static final ChallengeType DEFAULT = THROW_IN;
 
 	public final String name;

src/main/java/magma/tools/benchmark/UserInterface.java

@@ -1,3 +1,7 @@
 package magma.tools.benchmark;
 
-public enum UserInterface { GUI, CLI }
+public enum UserInterface
+{
+	GUI,
+	CLI
+}

src/main/java/magma/tools/benchmark/controller/BenchmarkController.java

@@ -69,8 +69,9 @@ public static void run(String[] args, UserInterface userInterface)
 		StringArgument defaultPathArgument =
 				new StringArgument("defaultPath", "examples", "the initial path to use for file dialogs");
 
-		IntegerArgument defaultRandomSeed = new IntegerArgument("randomSeed", (int) BenchmarkConfiguration.DEFAULT_RANDOM_SEED, 0, "the random seed to use");
-
+		IntegerArgument defaultRandomSeed = new IntegerArgument(
+				"randomSeed", (int) BenchmarkConfiguration.DEFAULT_RANDOM_SEED, 0, "the random seed to use");
+
 		new HelpArgument(challengeArgument, startScriptFolderArgument, roboVizServerArgument, defaultPathArgument)
 				.parse(args);
 

src/main/java/magma/tools/benchmark/model/IModelReadOnly.java

@@ -29,7 +29,8 @@
  *
  * @author kdorer
  */
-public interface IModelReadOnly {
+public interface IModelReadOnly
+{
 	/**
 	 * @return the results per team
 	 */

src/main/java/magma/tools/benchmark/model/IModelReadWrite.java

@@ -27,7 +27,8 @@
  *
  * @author kdorer
  */
-public interface IModelReadWrite extends IModelReadOnly {
+public interface IModelReadWrite extends IModelReadOnly
+{
 	void resetModel();
 
 	void start(BenchmarkConfiguration config, List<TeamConfiguration> teamConfig);

src/main/java/magma/tools/benchmark/model/ISingleResult.java

@@ -1,6 +1,7 @@
 package magma.tools.benchmark.model;
 
-public interface ISingleResult {
+public interface ISingleResult
+{
 	boolean isFallen();
 
 	/**
@@ -11,7 +12,6 @@ public interface ISingleResult {
 	boolean isValid();
 
 	String getStatusText();
-
-	double getScore();
 
+	double getScore();
 }

src/main/java/magma/tools/benchmark/model/ITeamResult.java

@@ -1,6 +1,6 @@
 package magma.tools.benchmark.model;
 
-public interface ITeamResult extends ISingleResult 
+public interface ITeamResult extends ISingleResult
 {
 	void addResult(ISingleResult result);
 

src/main/java/magma/tools/benchmark/model/bench/BenchmarkMain.java

@@ -401,16 +401,16 @@ protected boolean performAverageOutRuns(TeamConfiguration currentTeamConfig, Run
 						if (runsInIDE()) {
 							serverStartScript = "scripts/startServer.sh";
 						}
-						Runtime.getRuntime().exec(serverStartScript + " " + config.getServerPort() +
-																	  " " + config.getTrainerPort() + " " + scriptPath);
+						Runtime.getRuntime().exec(serverStartScript + " " + config.getServerPort() + " " +
+												  config.getTrainerPort() + " " + scriptPath);
 					}
 
 					try {
 						Thread.sleep(1000);
 					} catch (InterruptedException e) {
 						e.printStackTrace();
 					}
-					
+
 					boolean success = startTrainer(config, currentTeamConfig, runInfo, roboVizServer);
 					if (success) {
 						collectResults(currentRunResult);
@@ -427,7 +427,8 @@ protected boolean performAverageOutRuns(TeamConfiguration currentTeamConfig, Run
 				}
 			}
 			String marker = "---------------------------";
-			System.out.println(marker + "\nAverage " + avgRuns + " Score: " + currentRunResult.getScore() + "\n" + marker);
+			System.out.println(
+					marker + "\nAverage " + avgRuns + " Score: " + currentRunResult.getScore() + "\n" + marker);
 			return stopped;
 		}
 
@@ -442,7 +443,8 @@ public void stopTeam()
 		}
 	}
 
-	private boolean runsInIDE() {
+	private boolean runsInIDE()
+	{
 		String absPath = getClass().getProtectionDomain().getCodeSource().getLocation().getPath();
 		String libPath = absPath.substring(0, absPath.lastIndexOf(File.separator));
 		return libPath.substring(libPath.lastIndexOf(File.separator)).equals(File.separator + "classes");

src/main/java/magma/tools/benchmark/model/bench/RunInformation.java

@@ -48,7 +48,8 @@ public RunInformation(int runID, double ballX, double ballY, double ballVelX, do
 		this(runID, 0, 0, ballX, ballY, ballVelX, ballVelY, ballVelZ);
 	}
 
-	public RunInformation(int runID, double beamX, double beamY, double ballX, double ballY, double ballVelX, double ballVelY, double ballVelZ)
+	public RunInformation(int runID, double beamX, double beamY, double ballX, double ballY, double ballVelX,
+			double ballVelY, double ballVelZ)
 	{
 		super();
 		this.runID = runID;

src/main/java/magma/tools/benchmark/model/bench/SinglePlayerLauncher.java

@@ -23,10 +23,10 @@
 
 import hso.autonomy.util.file.StreamBufferer;
 import hso.autonomy.util.misc.CommandUtil;
-
 import java.io.File;
-import org.apache.commons.lang3.ArrayUtils;
-import org.apache.commons.lang3.StringUtils;
+import java.util.Arrays;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
 
 public class SinglePlayerLauncher
 {
@@ -112,8 +112,9 @@ private void runScript(String scriptName, Object[] arguments)
 			return;
 		}
 
-		Object[] commands = ArrayUtils.addAll(new Object[] {"bash", fullPath.getPath()}, arguments);
-		String command = StringUtils.join(commands, " ");
+		String command =
+				Stream.concat(Stream.of("bash", fullPath.getPath()), Arrays.stream(arguments).map(Object::toString))
+						.collect(Collectors.joining(" "));
 		System.out.println(command);
 
 		Process ps = CommandUtil.launch(command, null, workingDir);

src/main/java/magma/tools/benchmark/model/bench/SingleResult.java

@@ -30,7 +30,7 @@
 public class SingleResult implements ISingleResult
 {
 	private final double score;
-	
+
 	private final boolean fallen;
 
 	private final boolean penalty;

src/main/java/magma/tools/benchmark/model/bench/passingchallenge/PassingBenchmarkReferee.java

@@ -32,7 +32,12 @@ public class PassingBenchmarkReferee extends BenchmarkRefereeBase
 
 	private AgentState agentStates[] = new AgentState[PassingBenchmark.PLAYERS];
 
-	private enum AgentState { NEUTRAL, TOUCHED, PASSED }
+	private enum AgentState
+	{
+		NEUTRAL,
+		TOUCHED,
+		PASSED
+	}
 
 	private boolean goal;
 

src/main/java/magma/tools/benchmark/model/bench/passingchallenge/PassingBenchmarkTeamResult.java

@@ -22,7 +22,7 @@ public double getScore()
 		for (ISingleResult result : results) {
 			scores.add(result.getScore());
 		}
-		
+
 		Collections.sort(scores);
 
 		int end = PassingBenchmark.AVG_OUT_OF_BEST;

src/main/java/magma/tools/benchmark/model/bench/rollingballchallenge/RollingBallBenchmark.java

@@ -21,10 +21,9 @@
 
 package magma.tools.benchmark.model.bench.rollingballchallenge;
 
-import java.util.Random;
-
 import hso.autonomy.util.geometry.Angle;
 import hso.autonomy.util.geometry.Pose2D;
+import java.util.Random;
 import magma.monitor.general.impl.MonitorComponentFactory;
 import magma.monitor.referee.IReferee.RefereeState;
 import magma.tools.benchmark.model.BenchmarkConfiguration;
@@ -105,16 +104,17 @@ protected RunInformation createRunInformation(Random rand, int runID)
 		double beamX = -12;
 		double beamY = 0;
 		Pose2D beamPose = new Pose2D(beamX, beamY);
-		
+
 		Vector2D direction = angle.applyTo(new Vector2D(1, 0));
-		Vector2D destinationBallPosition = beamPose.getPosition().add(new Vector2D(0.15 + noise(rand, 0.05), 0 + noise(rand, 0.05)));
+		Vector2D destinationBallPosition =
+				beamPose.getPosition().add(new Vector2D(0.15 + noise(rand, 0.05), 0 + noise(rand, 0.05)));
 		Vector2D ballStart = destinationBallPosition.add(direction.scalarMultiply(radius));
 		double ballX = ballStart.getX();
 		double ballY = ballStart.getY();
-		
+
 		double speedX = -direction.getX() * speedFactor;
 		double speedY = -direction.getY() * speedFactor;
-		
+
 		return new RunInformation(runID, beamX, beamY, ballX, ballY, speedX, speedY, 0);
 	}
 

src/main/java/magma/tools/benchmark/model/bench/rollingballchallenge/RollingBallBenchmarkMonitorComponentFactory.java

@@ -35,8 +35,9 @@ public RollingBallBenchmarkMonitorComponentFactory(
 	public IReferee createReferee(IMonitorWorldModel worldModel, IServerCommander serverCommander)
 	{
 		BenchmarkFactoryParameters params = (BenchmarkFactoryParameters) this.params;
-		SinglePlayerLauncher launcher = new SinglePlayerLauncher(params.getServerIP(), params.getAgentPort(),
-				params.getTeamPath(), params.getStartScriptName(), ChallengeType.ROLLING_BALL.startScriptArgument, false);
+		SinglePlayerLauncher launcher =
+				new SinglePlayerLauncher(params.getServerIP(), params.getAgentPort(), params.getTeamPath(),
+						params.getStartScriptName(), ChallengeType.ROLLING_BALL.startScriptArgument, false);
 		return new RollingBallBenchmarkReferee(worldModel, serverCommander, params.getServerPid(), launcher,
 				params.getDropHeight(), runInfo, roboVizServer);
 	}

src/main/java/magma/tools/benchmark/model/bench/rollingballchallenge/RollingBallBenchmarkReferee.java

@@ -1,5 +1,7 @@
 package magma.tools.benchmark.model.bench.rollingballchallenge;
 
+import hso.autonomy.util.geometry.Angle;
+import java.awt.Color;
 import magma.common.spark.PlayMode;
 import magma.monitor.command.IServerCommander;
 import magma.monitor.worldmodel.IMonitorWorldModel;
@@ -8,14 +10,9 @@
 import magma.tools.benchmark.model.bench.SinglePlayerLauncher;
 import magma.util.roboviz.RoboVizDraw;
 import magma.util.roboviz.RoboVizParameters;
-
-import java.awt.Color;
-
 import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
 import org.apache.commons.math3.geometry.euclidean.twod.Vector2D;
 
-import hso.autonomy.util.geometry.Angle;
-
 public class RollingBallBenchmarkReferee extends BenchmarkRefereeBase
 {
 	/**
@@ -44,8 +41,9 @@ public class RollingBallBenchmarkReferee extends BenchmarkRefereeBase
 
 	private int ballNotMoving;
 
-	public RollingBallBenchmarkReferee(IMonitorWorldModel mWorldModel, IServerCommander serverCommander, String serverPid,
-			SinglePlayerLauncher launcher, float dropHeight, RunInformation runInfo, String roboVizServer)
+	public RollingBallBenchmarkReferee(IMonitorWorldModel mWorldModel, IServerCommander serverCommander,
+			String serverPid, SinglePlayerLauncher launcher, float dropHeight, RunInformation runInfo,
+			String roboVizServer)
 	{
 		// ignoring passed runtime since the check should anyhow not fire
 		super(mWorldModel, serverCommander, serverPid, launcher, 20, runInfo, false);
@@ -77,7 +75,7 @@ protected boolean onStartBenchmark()
 		serverCommander.beamBall((float) runInfo.getBallX(), (float) runInfo.getBallY());
 
 		roboVizDraw.drawMeterMarkers(false, Color.BLACK, (int) runInfo.getBeamX(), Angle.ZERO, 20);
-		
+
 		return true;
 	}
 
@@ -95,7 +93,7 @@ protected boolean onDuringBenchmark()
 		if (hasFallen()) {
 			hasFallen = true;
 		}
-		
+
 		if (currentTime > runTime) {
 			// finished this run
 			runTime = currentTime;
@@ -117,7 +115,7 @@ protected boolean onDuringBenchmark()
 				oldBallPos = ballNow;
 				return false;
 			}
-			
+
 			if (!ballRolling) {
 				serverCommander.beamBall((float) runInfo.getBallX(), (float) runInfo.getBallY(), 0.0f,
 						(float) runInfo.getBallVelX(), (float) runInfo.getBallVelY(), (float) runInfo.getBallVelZ());
@@ -136,12 +134,12 @@ protected boolean onDuringBenchmark()
 					ballNotMoving = 0;
 				}
 			}
-			
+
 			// stop if player is moving too much
 			if (posPlayer.getX() > playerInitial.getX() + 1.5) {
 				return true;
 			}
-			
+
 			// stop if playmode changes (e.g. because someone scored an own goal)
 			if (worldModel.getPlayMode() != PlayMode.PLAY_ON) {
 				return true;
@@ -157,7 +155,7 @@ protected void onStopBenchmark()
 	{
 		// evaluation function
 		Vector2D start = new Vector2D(runInfo.getBeamX(), runInfo.getBeamY());
-		
+
 		distance = 0;
 		if (oldBallPos.getX() > start.getX()) {
 			// only count forward movement of ball

src/main/java/magma/tools/benchmark/model/bench/rollingballchallenge/RollingBallBenchmarkSingleResult.java

@@ -32,8 +32,8 @@ public class RollingBallBenchmarkSingleResult extends SingleResult
 	private final double distance;
 	private final double deltaY;
 
-	public RollingBallBenchmarkSingleResult(boolean valid, boolean fallen, boolean penalty, String statusText, 
-			double distance, double deltaY)
+	public RollingBallBenchmarkSingleResult(
+			boolean valid, boolean fallen, boolean penalty, String statusText, double distance, double deltaY)
 	{
 		super(calculateScore(distance, deltaY, fallen), valid, fallen, penalty, statusText);
 		this.distance = distance;
@@ -42,7 +42,7 @@ public RollingBallBenchmarkSingleResult(boolean valid, boolean fallen, boolean p
 
 	private static double calculateScore(double distance, double deltaY, boolean fallen)
 	{
-		return distance - deltaY - 3 * ((fallen) ?1 :0);
+		return distance - deltaY - 3 * ((fallen) ? 1 : 0);
 	}
 
 	public double getDistance()