From adcc0a814835e7ffab9095cd62779127581370ef Mon Sep 17 00:00:00 2001
From: vagrant <hgynai732@gmail.com>
Date: Fri, 18 Jun 2021 03:34:33 +0000
Subject: [PATCH] maid typo fixes, and fixed the recieve action to work
 properly

---
 rj_gameplay/rj_gameplay/action/receive.py   | 4 +++-
 rj_gameplay/rj_gameplay/play/test_pass.py   | 2 +-
 rj_gameplay/rj_gameplay/skill/capture.py    | 5 +++--
 rj_gameplay/rj_gameplay/skill/pivot_kick.py | 6 +++---
 4 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/rj_gameplay/rj_gameplay/action/receive.py b/rj_gameplay/rj_gameplay/action/receive.py
index 66657bd8dc3..942b3c6d6f1 100644
--- a/rj_gameplay/rj_gameplay/action/receive.py
+++ b/rj_gameplay/rj_gameplay/action/receive.py
@@ -26,7 +26,9 @@ def tick(self, intent) -> None:
         return intent
 
     def is_done(self, world_state) -> bool:
+        if self.robot_id is None:
+            return False
         #TODO: Use local params for this threshold
-        if np.linalg.norm(world_state.ball.vel) < 0.005:
+        if world_state.our_robots[self.robot_id].has_ball_sense or np.linalg.norm(world_state.ball.vel) < 10**(-6):
             return True
         return False
diff --git a/rj_gameplay/rj_gameplay/play/test_pass.py b/rj_gameplay/rj_gameplay/play/test_pass.py
index 20b04ccbc9b..b5974041410 100644
--- a/rj_gameplay/rj_gameplay/play/test_pass.py
+++ b/rj_gameplay/rj_gameplay/play/test_pass.py
@@ -49,5 +49,5 @@ def tick(
 
         return (skill_dict, skills)
 
-    def is_done(self ,world_state):
+    def is_done(self, world_state: rc.WorldState):
         return self.pass_tactic.is_done(world_state)
\ No newline at end of file
diff --git a/rj_gameplay/rj_gameplay/skill/capture.py b/rj_gameplay/rj_gameplay/skill/capture.py
index 5be01ab2526..d8b8c50655c 100644
--- a/rj_gameplay/rj_gameplay/skill/capture.py
+++ b/rj_gameplay/rj_gameplay/skill/capture.py
@@ -12,6 +12,7 @@
 from rj_gameplay.action import capture
 from stp.skill.action_behavior import ActionBehavior
 import stp.rc as rc
+from typing import Optional
 
 class ICapture(skill.ISkill, ABC):
     ...
@@ -22,8 +23,8 @@ class ICapture(skill.ISkill, ABC):
 """
 class Capture(ICapture):
     
-    def __init__(self):
-        self.robot: rc.Robot = None
+    def __init__(self, robot: Optional[rc.Robot]=None):
+        self.robot = robot
         self.__name__ = 'Capture'
         self.capture = capture.Capture()
         self.capture_behavior = ActionBehavior('Capture', self.capture, self.robot)
diff --git a/rj_gameplay/rj_gameplay/skill/pivot_kick.py b/rj_gameplay/rj_gameplay/skill/pivot_kick.py
index 8ea0899a44e..5c525a0010b 100644
--- a/rj_gameplay/rj_gameplay/skill/pivot_kick.py
+++ b/rj_gameplay/rj_gameplay/skill/pivot_kick.py
@@ -24,11 +24,11 @@ class PivotKick(IPivotKick):
     A pivot kick skill
     """
 
-    def __init__(self, target_point:np.array, chip:bool, kick_speed:float, robot:rc.Robot=None) -> None:
-        #TODO: Have something which automatically determines kick speed based on targert point distance
+    def __init__(self, target_point: np.array, chip: bool, kick_speed: float, robot: rc.Robot=None) -> None:
+        #TODO: Have something which automatically determines kick speed based on target point distance
         self.__name__ = 'pivot kick'
         self.robot = robot
-        self.chip= chip
+        self.chip = chip
         self.kick_speed = kick_speed
         self.root = Sequence("Sequence")
         self.target_point = target_point