From 8374293e17b335bf11bc65a4798c19a455a8dcfe Mon Sep 17 00:00:00 2001
From: Hannes Braun <hannesbraun@mail.de>
Date: Mon, 4 Apr 2022 16:19:18 +0200
Subject: [PATCH] Prevent kicks disrupting the game flow

---
 .../decision/behavior/basic/MonitorKick.java  | 28 +++++++++++++++++++
 .../impl/SoccerDecisionMaker.java             |  3 ++
 2 files changed, 31 insertions(+)

diff --git a/src/main/java/magma/agent/decision/behavior/basic/MonitorKick.java b/src/main/java/magma/agent/decision/behavior/basic/MonitorKick.java
index 6f7fe8c..b7be24c 100644
--- a/src/main/java/magma/agent/decision/behavior/basic/MonitorKick.java
+++ b/src/main/java/magma/agent/decision/behavior/basic/MonitorKick.java
@@ -228,6 +228,34 @@ public boolean checkBallDistance(double distance)
 		return distance <= KICKABLE_MARGIN;
 	}
 
+	/**
+	 * check if kicking is allowed in the current play mode
+	 *
+	 * @return true, if the kick is currently allowed
+	 */
+	public boolean checkPlaymode()
+	{
+		switch (getThoughtModel().getMonitorRuntime().getWorldModel().getPlayMode()) {
+		case BEFORE_KICK_OFF:
+		case GOAL_LEFT:
+		case GOAL_RIGHT:
+			return false;
+		case KICK_OFF_LEFT:
+		case KICK_OFF_RIGHT:
+			IThisPlayer thisPlayer = getWorldModel().getThisPlayer();
+			if (getPlayer(thisPlayer.getTeamname(), thisPlayer.getID()).getPosition().distance(new Vector3D(0, 0, 0)) >
+					2) {
+				// Assumption: the kick off always happens at (0, 0) -> a bit hacky, but it should work for our purposes
+				// If the player is far away from the middle of the field, he's not going to do the kick off.
+				// -> Forbid the kick. The goalie may otherwise be able to execute a kick in the first cycle of the
+				// kick off because he may have missed the update of the ball position or something similar.
+				return false;
+			}
+		default:
+			return true;
+		}
+	}
+
 	// TODO: this method rather belongs into magmaMonitor!
 	public ISoccerAgent getPlayer(String team, int number)
 	{
diff --git a/src/main/java/magma/agent/decision/decisionmaker/impl/SoccerDecisionMaker.java b/src/main/java/magma/agent/decision/decisionmaker/impl/SoccerDecisionMaker.java
index 40348da..0c05868 100644
--- a/src/main/java/magma/agent/decision/decisionmaker/impl/SoccerDecisionMaker.java
+++ b/src/main/java/magma/agent/decision/decisionmaker/impl/SoccerDecisionMaker.java
@@ -234,6 +234,9 @@ protected String move()
 	private String determineKick(float[] values)
 	{
 		MonitorKick kick = (MonitorKick) behaviors.get(IBehaviorConstants.MONITOR_KICK);
+		if (!kick.checkPlaymode()) {
+			return IBehaviorConstants.GET_READY;
+		}
 		if (!kick.checkBallDistance()) {
 			Walk walk = (Walk) behaviors.get(IBehaviorConstants.WALK);
 			walk.walk(10, 0, 0);