From 8c291c84ca10a5646bd707435febee279515746f Mon Sep 17 00:00:00 2001 From: Sid Parikh <parikhsid16@gmail.com> Date: Wed, 6 Nov 2024 11:31:03 -0500 Subject: [PATCH 1/3] delete legacy code Signed-off-by: Sid Parikh <parikhsid16@gmail.com> --- .pre-commit-config.yaml | 4 +- CMakeLists.txt | 1 - Dockerfile => Dockerfile.ci | 0 Dockerfile.comp | 24 - README.md | 117 +- changelog.txt | 49 - config.docif | 127 - modeling/.gitignore | 6 - .../BLDC/Aprox_PWM_Motor_Driver_Circu.slx | Bin 17383 -> 0 bytes .../BLDC/Aprox_PWM_Motor_Driver_Circu_msf.exp | 2 - .../BLDC/Aprox_PWM_Motor_Driver_Circu_msf.lib | Bin 316 -> 0 bytes modeling/BLDC/BLDC.slx | Bin 25158 -> 0 bytes modeling/BLDC/BLDCTest.slx | Bin 16820 -> 0 bytes modeling/BLDC/PWM_Generator.slx | Bin 17102 -> 0 bytes modeling/BLDC/PWM_Motor_Driver_Circuit.slx | Bin 17180 -> 0 bytes modeling/BLDC/motorParams.m | 53 - modeling/BLDC/readme.md | 3 - modeling/BLDC/simplifiedPWMandHalfBridge.slx | Bin 17459 -> 0 bytes modeling/Global2Body.m | 35 - 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add_subdirectory(rj_geometry) add_subdirectory(rj_config) add_subdirectory(rj_common) -add_subdirectory(rj_gameplay) add_subdirectory(rj_vision_receiver) add_subdirectory(soccer) diff --git a/Dockerfile b/Dockerfile.ci similarity index 100% rename from Dockerfile rename to Dockerfile.ci diff --git a/Dockerfile.comp b/Dockerfile.comp deleted file mode 100644 index 6b6a6789d45..00000000000 --- a/Dockerfile.comp +++ /dev/null @@ -1,24 +0,0 @@ -FROM robocupssl/ubuntu-vnc:latest - -USER root - -# setup apt tools and other goodies we want -RUN apt-get update --fix-missing && \ - apt-get -y install udev locales git ssh software-properties-common \ - sudo tzdata keyboard-configuration lsb-release ca-certificates apt-transport-https \ - && apt-get clean -RUN DEBIAN_FRONTEND=noninteractive apt-get install tzdata - -# Prevent bugging us later about timezones -RUN ln -fs /usr/share/zoneinfo/America/New_York /etc/localtime && dpkg-reconfigure --frontend noninteractive tzdata - -# Use UTF-8 -RUN locale-gen en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 -ENV LANG en_US.UTF-8 - -COPY --chown=default . /robocup-software -WORKDIR /robocup-software - -RUN SUDO_USER=default ./util/ubuntu-setup --yes --no-submodules - -USER default diff --git a/README.md b/README.md index 012673b14bd..430a1483660 100644 --- a/README.md +++ b/README.md @@ -1,118 +1,7 @@ -# GT RoboJackets RoboCup SSL +# Georgia Tech Robojackets Software for the RoboCup Small-Sized League -## NEW DOCUMENTATION: https://rj-rc-software.rtfd.io - -## Everything below this line is extremely out of date. - -------------------------------------------------------- - -[![16.04 Build Status](https://circleci.com/gh/RoboJackets/robocup-software.svg?&style=shield)](https://circleci.com/gh/RoboJackets/robocup-software) [![Coverage Status](https://coveralls.io/repos/RoboJackets/robocup-software/badge.svg?branch=master&service=github)](https://coveralls.io/github/RoboJackets/robocup-software?branch=master) - -[![Riot](https://img.shields.io/badge/matrix-riot%20chat-blue.svg)](https://riot.im/app/#/room/%23robocup-software:matrix.org) [![Join the chat at https://gitter.im/RoboJackets/robocup-software](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/RoboJackets/robocup-software?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge) - -The Georgia Tech RoboJackets team competes in the annual RoboCup Small Size League (SSL) competition. This repository contains all of the software that we run on the main field laptop and on our robots. - -More information on how our software works can be found on our [documentation -page](http://robojackets.github.io/robocup-software/), our -[wiki](http://wiki.robojackets.org/w/RoboCup_Software) or on our -[website](http://www.robojackets.org/). Also, check out our [2014 qualification -video](https://www.youtube.com/watch?v=H3F9HexPLT0) to see our robots in -action! - -Here is a screenshot of our 'soccer' program: -![Screenshot of the 'soccer' program](doc/images/soccer.png "Soccer") - -TODO: fix above^ - - -## The Competition - -The soccer game is played between two teams of six robots each on a field with overhead cameras. The field vision computer processes images from the cameras and sends out (x,y) coordinates of the ball and the robots. Each team has a laptop that accepts the data from the vision computer and uses it to strategize, then send commands to robots on the field. - -The official [RoboCup site](http://robocupssl.cpe.ku.ac.th/) has more information on the competition. - - -## Project Layout - -`robocup-software` is split into 3 parts, [software](https://github.com/RoboJackets/robocup-software), [firmware](https://github.com/RoboJackets/robocup-firmware), and a [common](https://github.com/RoboJackets/robocup-common) part, used by both software and firmware. This repository contains the software portion of our codebase, the part that runs on our laptops, running high level plays. - -### soccer/ - -The soccer folder contains the code to build the 'soccer' program, which is the main program in control when running our robots. - - -### common/ - -Code that's shared between the software and firmware sections of our codebase is stored here, as a [git submodule](https://git-scm.com/book/en/v2/Git-Tools-Submodules). See RoboJackets/robocup-common. - -### external/ - -External dependencies that our code relies on, stored as git submodules. To initialize these, please run `git submodule update --init --recursive`. - -### run/ - -Compiled programs and some configuration files are stored here. - - -## Setup - -### OUTDATED (since ROS2 rewrite) - -**Read the docs in `docs/src/getting_started/index.rst` instead.** - -Here's a quick guide to getting this RoboCup project setup on your computer. We recommend and only provide directions for installing on 20.04 Ubuntu Linux due to the limitations of ROS2. - -1) Clone the repository - -```sh -git clone git://github.com/RoboJackets/robocup-software -``` - - -2) Install the necessary software - -There are a few setup scripts in the util directory for installing required packages, setting up udev rules, etc. See `ubuntu-setup`, `arch-setup`, and `osx-setup` for more info. - -```sh -$ cd robocup-software -$ util/<SYSTEM>-setup -``` - -3) Build the project - -TODO(1521): Fix makefile scripts. -```sh -mkdir build && cd build -source /opt/ros/foxy/setup.sh -export CMAKE_PREFIX_PATH=/opt/ros/foxy -cmake -GNinja -DCMAKE_INSTALL_PREFIX=../install -DCMAKE_EXPORT_COMPILE_COMMANDS=ON .. -ninja install -``` - -We use CMake as our build system ~~and have a simple `makefile` setup that invokes CMake~~. - -~~After running `make`, several programs will be placed in the **run** folder. See the [soccer docs](http://robojackets.github.io/robocup-software/md_soccer_doc__soccer.html) for instructions on running the soccer program.~~ - -To run simulation: -```sh -source /opt/ros/foxy/setup.sh -source install/setup.sh -ros2 launch rj_robocup sim.launch.py -``` - -## Documentation - -We use [Doxygen](www.doxygen.org) for documentation. This allows us to convert specially-formatted comments within code files into a nifty website that lets us easily see how things are laid out. Our compiled doxygen documentation for software can be found here: - -http://robojackets.github.io/robocup-software/ - -Note: The doxygen documentation site above is updated automacally using circle-ci. See our autoupdate-docs.sh file for more info. - -## Testing -We use [gtest](https://code.google.com/p/googletest/) for unit-testing our software, which can be run by running `make tests`. To add a test to be run with the rest of the bunch, add a new file in soccer/tests. - -The soccer tests can be run using `make test-soccer` or firmware tests with `make test-firmware`. -The TESTS name filter to run only certain tests. For example `make test-soccer TESTS=Point*` runs only the tests for the Point class. +For full documentation, please refer to: +[https://rj-rc-software.readthedocs.io/en/latest/](https://rj-rc-software.readthedocs.io/en/latest/) ## License diff --git a/changelog.txt b/changelog.txt deleted file mode 100644 index c251ec1316a..00000000000 --- a/changelog.txt +++ /dev/null @@ -1,49 +0,0 @@ -Important changes were made when upgrading the stack to ROS2 Humble. A list -of changes and the reasoning behind them is listed below: - -As of Nov 19, 2023: -1. The makefile was changed to work with the newer version of CMake - that installs by default on Ubuntu 22.04. In particular, the - cmake commands no longer need the --target flag. The CMAKE_PREFIX_PATH - variable at the beginning of the file has also been changed. - -############## This change is important ############### -2. install/setup.bash - This has not been changed, but it is important - to note that distutils is deprecated and slated for removal in - Python 3.12. There are no direct replacements for distutils, so - a ticket should be opened ASAP to fix this. However, there is no - immediate issue with leaving it as is because Ubuntu 22.04 comes with - Python 3.10 by default. Do note that this is also the case in - install/setup.zsh. - -3. source.bash - Source commands now reference humble and Ubuntu 22.04 - instead of foxy and Ubuntu 20.04. - -4. rj_common/testing/rj_common_convert_test.cpp - the rclcpp::Duration - class no longer accepts a single integer argument for milliseconds. - Updated a line referencing this outdated constructor to use - a std::chrono::milliseconds instead. - -5. rj_common/include/rj_common/time.hpp - Changed for similar reasons to (4) - -6. rj_utils/src/logging.cpp - RCLCPP_DEBUG and similar macros accept - C strings now; updated calls to these macros - -7. rj_config/CMakeLists.txt - added find_package(fmt), this change complements - change number 6. - -8. soccer/src/soccer/strategy/agent/agent_action_client.cpp and hpp - - Updated lines 211 to 219 to use lambda expressions instead of std::bind, - Changed a method to take in a different parameter type. - Previously took a future template holding a GoalHandleRobotMove::SharedPtr, - Now just takes in the GoalHandleRobotMove::SharedPtr. - -9. soccer/src/soccer/ui/field_view.cpp - Added a preprocessor directive - to include QPainterPath, which has been separated into its own namespace. - Qt5 likely has other changes as well - -10. soccer/src/soccer/ui/robot_status_widget.hpp - Added a preprocessor - directive to include the std::optional namespace. - -This changelog should be updated to reflect any further changes completed -before this upgrade is fully adopted. diff --git a/config.docif b/config.docif deleted file mode 100755 index 57b8356839b..00000000000 --- a/config.docif +++ /dev/null @@ -1,127 +0,0 @@ -#!/bin/bash -# -# A sample config file for DoCIF -# This is just a shell file that is sourced by DoCIF scripts. - -# @REQUIRED -# A docker baseimage repostiory. Create one on the docker hub -BASEIMAGE_REPO="robojackets/robocup-baseimage" - -# If true, ${BASEIMAGE_REPO}:master is pushed when on master. -# Defaults to false. -PUSH_BASEIMAGE="true" - -# @REQUIRED -# The github repository location, for sendings status updates to -# This is CASE SENSITIVE!! -GITHUB_REPO='RoboJackets/robocup-software' - -# The url to point to when a status check is pending. -# Will point to https://github.com/jgkamat/DoCIF if unset. -PENDING_URL="https://github.com/jgkamat/DoCIF" - -# A custom dockerfile, for advanced setup -# DO NOT SET THIS IF YOU ARE A FIRST TIME USER. -# See ./commands/Dockerfile for the default dockerfile -# This file is in relation to you'r project's root. -CUSTOM_DOCKERFILE="./util/docker/baseimage/Dockerfile" - -############################## Variable Names ################################## - -# These are the variables that will hold secrets and such. -# In this example, DOCKER_PASS needs to be set to the docker hub password -# This can be done through the CircleCi GUI or Travis CI secrets -DOCKER_PASSWORD_VAR="DOCKER_PASS" -DOCKER_EMAIL_VAR="DOCKER_EMAIL" -DOCKER_USER_VAR="DOCKER_USER" -# This would be insecure, but you can do it below. You should add these vars to -# circle protected environment variables if you are concerned about security -# DOCKER_EMAIL="help@gmail.com" - -# Status token is used for updating status -GH_STATUS_TOKEN_VAR="GH_STATUS_TOKEN" -# Variable holing the username of the Status Token -GH_USER_VAR="GIT_USERNAME" -# Variable holing the email of the Status Token -GH_EMAIL_VAR="GIT_EMAIL" - -# The project root INSIDE THE DOCKER CONTAINER -# Recommended to leave as default (not set) -# This will act as the 'current directory' within the project -# This will need to be changed in the dockerfile as well to take effect. (use a custom one!) -DOCKER_PROJECT_ROOT="/home/developer/project" - -# The home dir of the user running the docker commands (used for caching when using ~) -DOCKER_PROJECT_HOME="/home/developer" - -# The git clone root INSIDE THE DOCKER CONTAINER -GIT_CLONE_ROOT="${DOCKER_PROJECT_ROOT}" - -################################################################################ - -# Cache directories, not required. -# Directories to link to the docker container for each build and persist between builds. Add to circle.yml as well. -# for caching on their servers -# YOU MUST USE ~ IN YOUR PATH (NO $HOME), SO WE KNOW WHERE TO LINK TO INSIDE THE CONTAINER. -# This directory MUST BE ADDED TO circle.yml AS WELL IN ORDER FOR ACTUAL CACHING TO TAKE PLACE -CACHE_DIRECTORIES=() -CACHE_DIRECTORIES+=('~/.ccache') -CACHE_DIRECTORIES+=('~/.ssh') -CACHE_DIRECTORIES+=("${CIRCLE_ARTIFACTS}") - - -################################# COMMANDS ##################################### - -# The script to set up the environment, by default ubuntu. -# YOU WILL NEED TO USE SUDO TO GET ROOT PRIVLEGES HERE - -# We want the GOPATH variable to persist into this script, so we pass it in. -SETUP_COMMAND='sudo GOPATH=$GOPATH ./util/ubuntu-setup --yes && sudo ccache -M 1G' -# SETUP_COMMAND="./ubuntu-setup-script" - -# DOCIF can cache baseimages, if you give it files that will force a rebuild if changed. -# Include the setup script itself, as well as any dependency files -# Leaving this blank will turn off caching -SETUP_SHA_FILES=() - # This file should be included unless you leave this variable completely blank, forcing a rebuild when DoCIF is updated -SETUP_SHA_FILES+=("./.gitmodules") -SETUP_SHA_FILES+=("./circle.yml") -SETUP_SHA_FILES+=("./config.docif") -SETUP_SHA_FILES+=("./util/ubuntu-setup") -SETUP_SHA_FILES+=("./util/requirements2.txt") -SETUP_SHA_FILES+=("./util/requirements3.txt") -SETUP_SHA_FILES+=("./util/ubuntu-packages.txt") -SETUP_SHA_FILES+=("./util/docker/baseimage/Dockerfile") - -# @REQUIRED -# Commands to run when testing. Each index will have it's own status token -# Commands are in this format -# COMMAND; SHORT_NAME; DESCRIPTION -TEST_COMMANDS=() -TEST_COMMANDS+=( 'make;compile;Compile/sanity check.' ) -TEST_COMMANDS+=( 'make test-soccer;test-soccer;A check to see if soccer tests pass' ) -TEST_COMMANDS+=( 'git fetch origin && STYLIZE_DIFFBASE=origin/master make checkstyle;style;Style checks.' ) -TEST_COMMANDS+=( 'make test-python;test-python;Python tests.' ) -TEST_COMMANDS+=( 'make pylint;python-pylint;Python static code analysis.' ) -TEST_COMMANDS+=( 'make mypy;python-mypy;Python static type analysis.' ) -TEST_COMMANDS+=( 'make coverage;coverage;Coverage build task.' ) - -# @RECOMMENDED -# Clean command. Cleans the build files so there is no way the previous build can interfere. Add if you run -# into issues -CLEAN_COMMAND="make clean || true" -# Other options are `gradle clean`, `mvn clean`, or `rm -rf build` - -# Environmental variables to make available to the build environment -ENV_VARS=() -ENV_VARS+=("GH_TOKEN") # To be used by autoupdating script -ENV_VARS+=("COVERALLS_REPO_TOKEN") -ENV_VARS+=("CIRCLE_BUILD_NUM") -ENV_VARS+=("CIRCLE_BRANCH") -ENV_VARS+=("CIRCLE_SHA1") - -# Command to run when deploying. Leave blank for no deploy. -# Make sure any secrets these commands need are added to ENV_VARS -DEPLOY_COMMAND="./autoupdate-docs.sh" - -################################################################################ diff --git a/modeling/.gitignore b/modeling/.gitignore deleted file mode 100644 index 009c4ab53f3..00000000000 --- a/modeling/.gitignore +++ /dev/null @@ -1,6 +0,0 @@ -*.mexw64 -*.mexmaci64 -*.mexa64 -slprj -*.autosave -*.asv diff --git a/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu.slx b/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu.slx deleted file mode 100644 index 9ffc88da23a2d8d5989e3408378930acfc81b85c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 17383 zcmZUaQ;=Xmx24OrZQHhO+qTUvyQ<5!ZQHhO+nT=jM$F7V6LBIR&f{7cduOivwt_S; z2nqlI00aO}mV($zu>-XhAOJus5C8!7zrVJoE`}zCE{62R_D-e>PWBF_PA-<F&U7BO zHZe-`a={EJ->3`j7MPn^uyrD-yzN62Vu#wa?$Hw33oC^F_J#q<uY20wGw1E4uR9*! zlvKA68-Jz9C}1ES1e}sn8zknGTb|X&m{Z2HRHcN1v>3*;OBrh^)v<1xD+D)@qEDlX 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b/modeling/BLDC/motorParams.m deleted file mode 100644 index a2301ce980f..00000000000 --- a/modeling/BLDC/motorParams.m +++ /dev/null @@ -1,53 +0,0 @@ -%Params for 3 phase, Y-Connected, Trapezoidal Brushess DC Motor -%Model Built from this Doc: http://www.ijaestonline.com/admin/post_image/1387172494_State-Space_Based_Simulink_Modeling_of_BLDC_Motor_and_its_Speed_Control.pdf -%Motor Spec Sheet: http://www.maxonmotorusa.com/medias/sys_master/root/8813854326814/14-232-EN-Jun.pdf - - -poles = 16; %%number of motor poles (NOT pole pairs) -p = poles; -r = 1.03/2; %% phase resistance of stator winding -l = (0.572/2)/1000; %% phase inductance of stator winding -j = .000001; %% combined rotor and wheel moment of inirtia (Kg*m2) -b = 8.921e-6; %%Dynamic Frictional Torque Constant (Nm/rad/sec)(will need to determine w/ tests) -ke = 1/(285*2*pi/60); %% Motor Back-emf Constant (V/rad/sec) -c0 = .001; %%Static Frictional Torque of BLDC Motor -kt = 33.5e-3;%% Torque Constant Nm/A -Vcc = 24; %%Maximum Voltage of system -encoderResolution = 12; %%Measured in bits -encoderSampleTime = .001; %%Measured in seconds -pwmResolution = 8; %% number of bits of resolution for duty cycle -pwmClockPeriod = .00001; %%in seconds. How often the PWM counter updates -%%pwmFreq = 1/(2^pwmResolution*pwmClockPeriod); -pwmApprox = 1; %%Tells sim to use approx version of PWM, speeds up sim - - -%% X' = AX + BU -%% Y = CX - -%% Y = [ia, ib, ic, omega, theta]' -%% X = [ia, ib, omega, theta]' -%% U = [Vab - emfab, Vbc - emfbc, Te - Tl]' - -A = [-r/l,0,0,0; - 0,-r/l,0,0; - 0,0,-b/j,0; - 0,0,1,0]; - - B = [2/(3*l),1/(3*l),0; - -1/(3*l),1/(3*l),0; - 0,0,1/j; - 0,0,0]; - - C = [1,0,0,0; - 0,1,0,0; - -1,-1,0,0; - 0,0,1,0; - 0,0,0,1]; - - D = [0,0,0; - 0,0,0; - 0,0,0; - 0,0,0; - 0,0,0]; - - \ No newline at end of file diff --git a/modeling/BLDC/readme.md b/modeling/BLDC/readme.md deleted file mode 100644 index a361a0b3d31..00000000000 --- a/modeling/BLDC/readme.md +++ /dev/null @@ -1,3 +0,0 @@ -# BLDC Motor Modeling - -This directory contains MATLAB/Simulink files for modeling brushless DC (BLDC) motors. 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zEfa<yY_Vf6!F9_V1J<a_7Lm=NfW!9oCV~r&!sFcR|N74F+3_DMpi>zk$1_-ZE{KrD z;@tw=owJ9hFDN03$3R*FU`JB;+<Ezb=E9i0Tk!ej6>N!;2d>VF-zxT4V^N8w@b(lh z)ui0yjaG|iUYu0-=68B*opHj+koH1`Xannf1DPE`GcO3NFc$MJ)qNcmemZ~VzZqNV z%6(I(om;Zv=<)ssm3GS}ItAaf(GC6LwLb1*cKu3|){?&)cdh^D|E$kuQQ^G(p<f>T z-K`(s%?M05xQ}Q6h7AKSjGzF|feq*ep&u^*G67;xFOY&8gzc~abfeHW>cd>az|aSD zJKQLgZTskEpl{tkIOl)>Qp*rM;?a#kZ#g53=`cq!275ai-7xg_DZ;RP3nar(TC3=0 zpck(QGrrhjEo{*ZKrcTK287t7lqTpJ(X$XjW0wPx>+xi$0B=?{kS<OjtO3U4LPrn} E0K^}i_W%F@ diff --git a/modeling/Global2Body.m b/modeling/Global2Body.m deleted file mode 100644 index d57cd9cf6a7..00000000000 --- a/modeling/Global2Body.m +++ /dev/null @@ -1,35 +0,0 @@ -% A simple block that converts from global velocity to body velocity. -classdef Global2Body < matlab.System - - methods (Access = protected) - % Inputs = global velocity, phi (robot global angle) - function num = getNumInputsImpl(~) - num = 2; - end - - % output: body velocity - function num = getNumOutputsImpl(~) - num = 1; - end - - function [in1name, in2name] = getInputNamesImpl(~) - in1name = 'Global Velocity'; - in2name = 'Robot angle'; - end - - function [out1name] = getOutputNamesImpl(~) - out1name = 'Body Velocity'; - end - - function body = stepImpl(obj, globalVel, phi) - % rotation matrix that converts from body frame to globalVel frame - gbR = [cos(phi), -sin(phi), 0; - sin(phi), cos(phi), 0; - 0, 0, 1]; - - % Inversion of the usual equation: Global = gbR*body - body = pinv(gbR)*globalVel; - end - end - -end diff --git a/modeling/Robot.m b/modeling/Robot.m deleted file mode 100644 index 08ca15940cd..00000000000 --- a/modeling/Robot.m +++ /dev/null @@ -1,177 +0,0 @@ - -% This class models the dynamics of a single RoboCup SSL Robot -% -% Robot Coordinate System -% +y -% ^ -% | -% | -% w_1/-----\w_0 -% / mouth \ -% | | ---> +x -% \ / -% w_2\-----/w_3 -% -% note: a good example of custom System blocks can be found at: -% http://www.mathworks.com/help/simulink/ug/system-design-in-simulink-using-system-objects.html -% We inherit from the Propagates mixin because the output depends on the -% current state, not the inputs directly. -classdef Robot < matlab.System & matlab.system.mixin.CustomIcon & matlab.system.mixin.Nondirect & matlab.system.mixin.Propagates - - % The state of the robot is its global location and its body velocity - properties (DiscreteState) - X_g; - X_b_dot; - end - - - methods (Access = protected) - - % indicate that the output doesn't depend on the input directly, - % only on the current state - function [flag1, flag2, flag3, flag4, flag5] = isInputDirectFeedthroughImpl(~, ~, ~, ~, ~, ~) - flag1 = false; - flag2 = false; - flag3 = false; - flag4 = false; - flag5 = false; - end - - - function resetImpl(obj) - obj.X_g = [0 0 0]'; - obj.X_b_dot = [0 0 0]'; - end - - % Specify the number of inputs to the step() method. - % inputs: u, dt - function num = getNumInputsImpl(~) - num = 5; - end - - % outputs: X_g, X_b_dot - function num = getNumOutputsImpl(~) - num = 2; - end - - - function [sz_X_g, sz_X_b_dot] = getOutputSizeImpl(~) - sz_X_g = [3 1]; - sz_X_b_dot = [3 1]; - end - - - function [flag1, flag2] = isOutputFixedSizeImpl(obj) - flag1 = true; - flag2 = true; - end - - - function [t1, t2] = getOutputDataTypeImpl(obj) - t1 = 'double'; - t2 = 'double'; - end - - - function [flag1, flag2] = isOutputComplexImpl(obj) - flag1 = false; - flag2 = false; - end - - - function [X_g, X_b_dot] = outputImpl(obj, ~, ~, ~, ~, ~) - X_g = obj.X_g; - X_b_dot = obj.X_b_dot; - end - - - function [sz, dt, cp] = getDiscreteStateSpecificationImpl(obj, name) - sz = [3 1]; - dt = 'double'; - cp = false; % not complex - end - - - function validateInputsImpl(~, u, dt, A_1, A_2, B) - sz = size(u); - if ~(sz(1) == 4 && sz(2) == 1) - error('Wrong dimensions for input, should be [4, 1]') - end - - if dt < 0 - error('dt must be positive') - end - end - - function updateImpl(obj, u, dt, A_1, A_2, B) - % Our plant equation is of the form X_dot = A*X + B*u (after - % linearization), so we have an equation for the system's - % derivative in terms of its current state and control inputs. - % To calculate future velocities and positions, we numerically - % integrate this derivative using one of MATLAB's builtin ODE - % solvers. This uses a function that we've provided - % (calculate_bot_accel) to provide the derivative at a given - % time, which it integrates to get the solution. - tspan = [0, dt]; - options = odeset; - [t, xa] = ode45(@calculate_bot_accel, tspan, [obj.X_g; obj.X_b_dot], options, obj, u, A_1, A_2, B); - - % The ODE solver will run for many micro timesteps to calculate - % the result at the end of the macro timestep provided. The - % results of all of the in-between calculations are stored in - % xa, so we take the last one to get the state of the system at - % the end of the macro timestep. - result = xa(end, :); - obj.X_g = result(1:3)'; - obj.X_b_dot = result(4:6)'; - end - end - - - - % input and output names - methods (Access = protected) - function [in1name, in2name, in3name, in4name, in5name] = getInputNamesImpl(~) - in1name = 'Motor Voltages'; - in2name = 'dt'; - in3name = 'A_1'; - in4name = 'A_2'; - in5name = 'B'; - end - - function [out1name, out2name] = getOutputNamesImpl(~) - out1name = 'Robot pose'; - out2name = 'Robot velocity'; - end - end - - - % Custom name for the block in SimuLink - methods (Access = protected) - function icon = getIconImpl(~) - icon = sprintf('RoboCup Robot\nDynamics'); - end - end - -end - - -% Calculate X_b_dot_dot, the acceleration in the body frame, -% and X_g_dot the velocity of the robot in the global frame. -function accel = calculate_bot_accel(t, y, obj, u, A_1, A_2, B) - X_g = y(1:3); - X_b_dot = y(4:6); - - % angle of the robot - phi = X_g(3); - - % rotation matrix that converts from body frame to global frame - gbR = [cos(phi), -sin(phi), 0; - sin(phi), cos(phi), 0; - 0, 0, 1]; - - dPhiDt = X_b_dot(3); - - X_b_dot_dot = A_1*X_b_dot + A_2*X_b_dot*dPhiDt + B*u; - accel = [gbR*X_b_dot; X_b_dot_dot]; -end diff --git a/modeling/RobotLqr.m b/modeling/RobotLqr.m deleted file mode 100644 index a80b7e1808d..00000000000 --- a/modeling/RobotLqr.m +++ /dev/null @@ -1,132 +0,0 @@ - -% Linear Quadratic Tracking Regulator controller for the robot -classdef RobotLqr < matlab.System & matlab.system.mixin.Propagates - - % These values determine Q and R for the LQR controller - properties - % Translational velocity error weight - trans_vel_weight = 1; - - % Rotational velocity error weight - % Be careful not to set this too high or the system will become - % unstable and theta will oscillate ridiculously - rot_vel_weight = 0.1; - - % Control voltage weight - u_weight = 1; - end - - - properties (Dependent = true) - Q; - R; - end - - - methods - function Q = get.Q(obj) - Q = [obj.trans_vel_weight, 0, 0; - 0, obj.trans_vel_weight, 0; - 0 0, obj.rot_vel_weight]; - end - - function R = get.R(obj) - R = eye(4) * obj.u_weight; - end - end - - - methods (Access = protected) - - % input: command body velocity - function num = getNumInputsImpl(~) - num = 5; - end - - % output: voltages for motors - function num = getNumOutputsImpl(~) - num = 1; - end - - function sz = getOutputSizeImpl(~) - sz = [4 1]; - end - - function t1 = getOutputDataTypeImpl(~) - t1 = 'double'; - end - - function [in1name, in2name, in3name, in4name, in5name] = getInputNamesImpl(~) - in1name = 'Cmd Velocity'; - in2name = 'Curr. Velocity'; - in3name = 'A_1'; - in4name = 'A_2'; - in5name = 'B'; - end - - function name = getOutputNamesImpl(~) - name = 'u'; - end - - - function fixedout = isOutputFixedSizeImpl(~) - fixedout = true; - end - - - function flag1 = isOutputComplexImpl(~) - flag1 = false; - end - - - % TODO: implement parameter validator - - - function u = stepImpl(obj, cmdVel, currVel, A_1, A_2, B) - % Plant Equations: - % X = x_b_dot % state of the system is body velocity - % X_dot = A_1*x_b_dot + A_2*dPhiDt*x_b_dot + B*u - % y = x_b_dot = eye(3)*x_b_dot - - - % linearize by evaluating at current state - A = A_1 + A_2*currVel(3); % note: currVel(3) = dPhi/dt - - % y = Cx + Du - C = eye(3); - D = zeros(3, 4); % no feed-forward - - - % We use LQR to calculate K, the optimal gain matrix, given our - % plant model and weighting matrices Q and R - [K, S, E] = lqr(A, B, obj.Q, obj.R); - - % Standard LQR is used to bring the system to rest (X = 0, u = 0). - % However, in our case, we want to bring the robot to a - % particular command velocity (a 'reference' in controls - % speak). To do this, instead of setting u = -K*X, we take - % into account what control u would need to be applied when the - % system is settled at the desired cmdVel. When the system is - % settled, there is no acceleration, so: - % X_dot = A*cmdVel + B*u = 0 - % Solving for u, we get: - % u = -pinv(B)*A*cmdVel - % We add this value to -K*(currVel-cmdVel) to get our final - % control values. - u = -K*(currVel-cmdVel) - pinv(B)*A*cmdVel; - - % Go here and see the info on set-points: - % http://www.academia.edu/6945404/Undergraduate_Lecture_Notes_on_LQG_LQR_controller_design - - % Nonlinear LQT based on this paper: - % http://www.cs.berkeley.edu/~pabbeel/cs287-fa12/slides/LQR.pdf - - % Here's a good explanation of Lagrange multipliers: - % http://www.slimy.com/~steuard/teaching/tutorials/Lagrange.html - - % Good (but long) intro to controls and LQR/LQT: - % https://math.berkeley.edu/~evans/control.course.pdf - end - end - -end diff --git a/modeling/RobotParams.m b/modeling/RobotParams.m deleted file mode 100644 index 7342f7a4cde..00000000000 --- a/modeling/RobotParams.m +++ /dev/null @@ -1,124 +0,0 @@ -% Contains robot hardware parameters used in the model -classdef RobotParams < matlab.System - - % Note: The default values for the below properties are garbage - if - % you want to set them, double-click on the RobotParams block in the - % Simulink block-diagram model file. - properties - % Mass of bot (Kg) - M_bot = 1; - - % Moment of inertia of bot about the z (vertical) axis through the center of mass (Kg*m^2) - I_bot = 1; - - % Gear ratio of motor to wheel. w_motor * g = w_wheel - g = 2.0 / 7.0; - - % Radius of omni-wheels (meters) - r = 0.03; - - % Distance from the center of wheel to the center of the robot (meters) - L = 0.1; - - % Resistance of motor from terminal to terminal (ohms) - Rt = 1; - - % Back-emf constant of motor (V/(rad/s)) - % Maxon lists the "Speed Constant" in rpm/V as 380 - % invert this to get 1/380 V/rpm - % multiply by 60 to get 60/380 V/rps - % divide by 2pi to get 30/380pi V/(rad/s) - K_e = 30.0/(380*pi); - - % Torque constant of motor (N*m/A) - K_t = 1; - - % Viscous friction coefficient of wheel assembly (N*m/(rad/s)). Tau_friction = w_motor * K_f - K_f = 1; - - % Moment of inertia of wheel assembly. Tau_accel = I_asm*w_dot_motor - I_asm = 1; - - % Max voltage applied to the motor phases (Volts) - V = 1; - - % Angle of each wheel axis relative to the +x axis (radians) - wheel_angles = (pi/4 + (pi/2)*(0:3))'; - end - - - properties (Dependent = true) - % Inertial matrix - J; - - % Geometry matrix - maps wheel velocities to body velocity - G; - - % matrices for final nonlinear state equation - % x_b_dot_dot = A_1*x_b_dot + A_2*dphidt*x_b_dot + B*u - A_1; - A_2; - B; - end - - - methods - function J = get.J(obj) - J = [obj.M_bot, 0, 0; - 0, obj.M_bot, 0; - 0, 0, obj.I_bot]; - end - - function G = get.G(obj) - G = [-sin(obj.wheel_angles(1)), -sin(obj.wheel_angles(2)), -sin(obj.wheel_angles(3)), -sin(obj.wheel_angles(4)); - cos(obj.wheel_angles(1)), cos(obj.wheel_angles(2)), cos(obj.wheel_angles(3)), cos(obj.wheel_angles(4)); - 1/obj.L, 1/obj.L, 1/obj.L, 1/obj.L]; - end - - function A_1 = get.A_1(obj) - A_1 = - (obj.K_e*obj.K_t/obj.Rt + obj.K_f) / (obj.M_bot*obj.g^2*obj.r^2 + obj.I_asm) * eye(3); - end - - function A_2 = get.A_2(obj) - A_2 = (obj.M_bot*obj.g^2*obj.r^2)/(obj.M_bot*obj.g^2*obj.r^2 + obj.I_asm) * [0, 1, 0; -1, 0, 0; 0, 0, 0]; - end - - function B = get.B(obj) - B = obj.g*obj.r*obj.K_t*obj.G / obj.Rt / (obj.M_bot*obj.g^2*obj.r^2 + obj.I_asm); - end - end - - - methods (Access = protected) - function num = getNumOutputsImpl(~) - num = 3; - end - - function num = getNumInputsImpl(~) - num = 0; - end - - function [A_1, A_2, B] = stepImpl(obj) - A_1 = obj.A_1; - A_2 = obj.A_2; - B = obj.B; - end - - function [out1name, out2name, out3name] = getOutputNamesImpl(~) - out1name = 'A_1'; - out2name = 'A_2'; - out3name = 'B'; - end - - function [sz_A_1, sz_A_2, sz_B] = getOutputSizeImpl(~) - sz_A_1 = [3 3]; - sz_A_2 = [3 3]; - sz_B = [3 4]; - end - - function fixedout = isOutputFixedSizeImpl(~) - fixedout = true; - end - end - -end diff --git a/modeling/derive.m b/modeling/derive.m deleted file mode 100644 index 1436654ea0d..00000000000 --- a/modeling/derive.m +++ /dev/null @@ -1,55 +0,0 @@ -% This script defines the robot parameters as symbols, then derives the -% A_1, A_2, and B matrices in terms of them. This continues from the -% derivation I did on paper - I made it fairly far with that, but switched -% to MATLAB for the heavy symbol crunching. The matrices derived here got -% copied into RobotParams.m as derived outputs. Eventually, I'll put the -% full derivation in here for reference. -% note: this script will take a while to run... -% - Justin - - -syms theta0 theta1 theta2 theta3 -syms L R r g I_asm -syms phi -syms M_bot -syms I_bot -syms K_e K_t K_f - - -G = [-sin(theta0), -sin(theta1), -sin(theta2), -sin(theta3); - cos(theta0), cos(theta1), cos(theta2), cos(theta3); - 1/L, 1/L, 1/L, 1/L]; - -J = [M_bot, 0, 0; - 0, M_bot, 0; - 0, 0, I_bot]; - -gbR = [cos(phi), -sin(phi), 0; - sin(phi), cos(phi), 0; - 0, 0, 1]; - - -syms dPhiDt -gbR_dot = diff(gbR, 'phi') * dPhiDt; - - - - -M = 1/(g*r) * inv(J) * gbR * G; -M = simplify(M) - -N = M*I_asm*pinv(G) / (g*r) + gbR; -N = simplify(N) - - -A_1 = -pinv(N) * ( (M*pinv(G)*K_e*K_t / (g*r*R)) + (M*K_f*pinv(G) / (g*r)) ); -A_1 = simplify(A_1) - - -A_2 = -pinv(N)*gbR_dot; -A_2 = simplify(A_2) - - -B = pinv(N)*M*K_t / R; -B = simplify(B) - diff --git a/modeling/readme.md b/modeling/readme.md deleted file mode 100644 index a095066ed3f..00000000000 --- a/modeling/readme.md +++ /dev/null @@ -1,49 +0,0 @@ - -# MATLAB / Simulink Robot Control Modeling - -The files in this directory are for a robot dynamics and control simulation in MATLAB Simulink. Open the [robocup_model.mdl](robocup_model.mdl) file in Simulink to view the block diagram shown below. - -![Simulink Model Screenshot](../doc/images/modeling/simulink-block-diagram.png "Simulink") - - -## Running the simulation - -Open the Simulink block diagram and click the "Run" item under the "Simulation" menu or click the green run button in the toolbar. To see the robot's tracking performance, click on the "Tracking" scope block in the bottom left. - -## Robot Parameters - -There is a custom Simulink block called [RobotParams](RobotParams.m) that contains information such as the mass of the robot, moment of inertia, motor properties, etc. These can all be set for the robot you wish to simulate. - - -## Robot Dynamics Model - -The dynamics of the system are modeled by the "RoboCup Robot Dynamics" block in the diagram, which is implemented in the [Robot.m](Robot.m) file. It accepts the robot parameters and motor control voltages as inputs, then evolves the system over the given time step. It then outputs the new global position of the robot and the robot's body velocity. - - -## LQR Controller - -The robot in the simulation is controlled by a Linear Quadratic (LQR) controller which calculates the "optimal" control input to the motors based on a cost function. You control this cost function by providing weights for the state and control inputs. You can find more info on how this works on [wikipedia](http://en.wikipedia.org/wiki/Linear-quadratic_regulator). In our simulation, the values of Q and R can be tuned by double-clicking on the RobotLqr block in the diagram. - -The robot receives a command body velocity over radio from soccer, then feeds this into the LQR Controller to calculate motor voltages. The LQR Controller is implemented in the [RobotLqr.m](RobotLqr.m) MATLAB file. - -Below is a graph of the output control voltages over time, as calculated by the LQR Controller for an example path: - -![Control Voltages](../doc/images/modeling/motor-voltages-example-path.png) - - -## Paths - -There is a block in the model for setting the desired path for the robot. The block takes in dynamic constraints for the robot and the current time and returns a position (x, y, theta column vector). Double click on this block to view or modify the path. - -Below is an example path that the controller was tested against: - -![Example Path](../doc/images/modeling/example-path.png) - - -## Scopes - -Simulink has blocks called "scopes" that plot a signal over time. There are several scopes scattered throughout the diagram to view different parts of the simulation. Double click on a scope block to show the graph. Probably the most useful graph in the simulation is the one labeled "tracking", which plots the desired position vs the robot's actual position. - -Below is a graph of the robot's tracking performance over time. When running Simulink, clicking the settings button in the corner will tell you what value each colored line corresponds to since they're not labeled in the graph. The tracking performance int his example is very good, as can be seen by the fact that there are three pairs of lines that only deviate slightly at the points where acceleration changes. - -![Tracking Performance Graph](../doc/images/modeling/robot-tracking-simulation-graph.png) diff --git a/modeling/robocup_model.mdl b/modeling/robocup_model.mdl deleted file mode 100644 index f6d35eb6e6d..00000000000 --- a/modeling/robocup_model.mdl +++ /dev/null @@ -1,2440 +0,0 @@ -Model { - Name "robocup_model" - Version 8.5 - MdlSubVersion 0 - SavedCharacterEncoding "UTF-8" - GraphicalInterface { - NumRootInports 0 - NumRootOutports 0 - ParameterArgumentNames "" - ComputedModelVersion "1.110" - NumModelReferences 0 - NumTestPointedSignals 0 - } - ScopeRefreshTime 0.035000 - OverrideScopeRefreshTime off - DisableAllScopes off - DataTypeOverride "UseLocalSettings" - DataTypeOverrideAppliesTo "AllNumericTypes" - MinMaxOverflowLogging "UseLocalSettings" - MinMaxOverflowArchiveMode "Overwrite" - FPTRunName "Run 1" - MaxMDLFileLineLength 120 - Object { - $PropName "BdWindowsInfo" - $ObjectID 1 - $ClassName "Simulink.BDWindowsInfo" - Object { - $PropName "WindowsInfo" - $ObjectID 2 - $ClassName "Simulink.WindowInfo" - IsActive [1] - Location [2887.0, 12.0, 941.0, 521.0] - Object { - $PropName "ModelBrowserInfo" - $ObjectID 3 - $ClassName "Simulink.ModelBrowserInfo" - Visible [0] - DockPosition "Left" - Width [50] - Height [50] - Filter [9] - } - Object { - $PropName "ExplorerBarInfo" - $ObjectID 4 - $ClassName "Simulink.ExplorerBarInfo" - Visible [1] - } - Object { - $PropName "EditorsInfo" - $ObjectID 5 - $ClassName "Simulink.EditorInfo" - IsActive [1] - ViewObjType "SimulinkTopLevel" - LoadSaveID "0" - Extents [905.0, 385.0] - ZoomFactor [0.6] - Offset [355.681930921834, 226.38770712385093] - } - } - } - Created "Wed Mar 11 00:32:14 2015" - Creator "justbuchanan" - UpdateHistory "UpdateHistoryNever" - ModifiedByFormat "%<Auto>" - LastModifiedBy "justbuchanan" - ModifiedDateFormat "%<Auto>" - LastModifiedDate "Wed Jun 24 01:16:17 2015" - 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PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "100" - SIDHighWatermark "27" - Block { - BlockType Inport - Name "TransVelLimit" - SID "43::21" - Position [20, 101, 40, 119] - ZOrder 12 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "RotVelLimit" - SID "43::22" - Position [20, 136, 40, 154] - ZOrder 13 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "TransAccelLimit" - SID "43::23" - Position [20, 171, 40, 189] - ZOrder 14 - Port "3" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "RotAccelLimit" - SID "43::24" - Position [20, 206, 40, 224] - ZOrder 15 - Port "4" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "t" - SID "43::20" - Position [20, 246, 40, 264] - ZOrder 11 - Port "5" - IconDisplay "Port number" - } - Block { - BlockType Demux - Name " Demux " - SID "43::26" - Ports [1, 1] - Position [270, 230, 320, 270] - ZOrder 17 - Outputs "1" - } - Block { - BlockType S-Function - Name " SFunction " - SID "43::25" - Tag "Stateflow S-Function robocup_model 2" - Ports [5, 2] - Position [180, 100, 230, 220] - ZOrder 16 - FunctionName "sf_sfun" - PortCounts "[5 2]" - EnableBusSupport on - Port { - PortNumber 2 - Name "pos" - RTWStorageClass "Auto" - DataLoggingNameMode "SignalName" - } - } - Block { - BlockType Terminator - Name " Terminator " - SID "43::27" - Position [460, 241, 480, 259] - ZOrder 18 - } - Block { - BlockType Outport - Name "pos" - SID "43::5" - Position [460, 101, 480, 119] - ZOrder -5 - IconDisplay "Port number" - } - Line { - ZOrder 75 - SrcBlock "TransVelLimit" - SrcPort 1 - DstBlock " SFunction " - DstPort 1 - } - Line { - ZOrder 76 - SrcBlock "RotVelLimit" - SrcPort 1 - DstBlock " SFunction " - DstPort 2 - } - Line { - ZOrder 77 - SrcBlock "TransAccelLimit" - SrcPort 1 - DstBlock " SFunction " - DstPort 3 - } - Line { - ZOrder 78 - SrcBlock "RotAccelLimit" - SrcPort 1 - DstBlock " SFunction " - DstPort 4 - } - Line { - ZOrder 79 - SrcBlock "t" - SrcPort 1 - DstBlock " SFunction " - DstPort 5 - } - Line { - Name "pos" - ZOrder 80 - Labels [0, 0] - SrcBlock " SFunction " - SrcPort 2 - DstBlock "pos" - DstPort 1 - } - Line { - ZOrder 81 - SrcBlock " Demux " - SrcPort 1 - DstBlock " Terminator " - DstPort 1 - } - Line { - ZOrder 82 - SrcBlock " SFunction " - SrcPort 1 - DstBlock " Demux " - DstPort 1 - } - } - } - Block { - BlockType Scope - Name "Path Scope" - SID "120" - Ports [1] - Position [419, 140, 451, 170] - ZOrder 100 - BlockRotation 270 - Floating off - Location [2546, 39, 3827, 340] - Open off - NumInputPorts "1" - List { - ListType AxesTitles - axes1 "%<SignalLabel>" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - SaveName "ScopeData5" - } - Block { - BlockType Scope - Name "Path Vel Scope" - SID "99" - Ports [1] - Position [574, 135, 606, 165] - ZOrder 79 - BlockRotation 270 - Floating off - Location [287, 202, 1191, 678] - Open off - NumInputPorts "1" - ZoomMode "xonly" - List { - ListType AxesTitles - axes1 "%<SignalLabel>" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - SaveName "ScopeData6" - } - Block { - BlockType Scope - Name "Pos Error" - SID "100" - Ports [1] - Position [464, 365, 496, 395] - ZOrder 80 - BlockRotation 270 - BlockMirror on - NamePlacement "alternate" - Floating off - Location [226, 214, 915, 569] - Open off - NumInputPorts "1" - List { - ListType AxesTitles - axes1 "%<SignalLabel>" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - SaveName "ScopeData7" - } - Block { - BlockType Scope - Name "Pos Scope" - SID "92" - Ports [1] - Position [1770, 309, 1800, 341] - ZOrder 72 - Floating off - Location [1931, 39, 2532, 1065] - Open off - NumInputPorts "1" - ZoomMode "yonly" - List { - ListType AxesTitles - axes1 "%<SignalLabel>" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - SaveName "ScopeData2" - } - Block { - BlockType Constant - Name "RotAccelLimit" - SID "91" - Position [660, 85, 690, 115] - ZOrder 71 - BlockRotation 270 - } - Block { - BlockType Constant - Name "RotVelLimit" - SID "88" - Position [440, 85, 470, 115] - ZOrder 68 - BlockRotation 270 - } - Block { - BlockType SignalSpecification - Name "Signal Specification" - SID "93" - Position [1350, 263, 1455, 287] - ZOrder 73 - OutDataTypeStr "double" - Dimensions "[4 1]" - VarSizeSig "No" - } - Block { - BlockType Sum - Name "Subtract" - SID "47" - Ports [2, 1] - Position [415, 267, 445, 298] - ZOrder 42 - Inputs "+-" - InputSameDT off - OutDataTypeStr "Inherit: Inherit via internal rule" - SaturateOnIntegerOverflow off - Port { - PortNumber 1 - Name "Position Error" - RTWStorageClass "Auto" - DataLoggingNameMode "SignalName" - } - } - Block { - BlockType Sum - Name "Subtract1" - SID "102" - Ports [2, 1] - Position [1265, 527, 1295, 558] - ZOrder 82 - Inputs "+-" - InputSameDT off - OutDataTypeStr "Inherit: Inherit via internal rule" - SaturateOnIntegerOverflow off - Port { - PortNumber 1 - Name "dt" - RTWStorageClass "Auto" - DataLoggingNameMode "SignalName" - } - } - Block { - BlockType Scope - Name "Tracking" - SID "118" - Ports [1] - Position [369, 690, 401, 720] - ZOrder 98 - BlockRotation 270 - BlockMirror on - NamePlacement "alternate" - Floating off - Location [1931, 39, 2872, 1065] - Open on - NumInputPorts "1" - List { - ListType AxesTitles - axes1 "%<SignalLabel>" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - SaveName "ScopeData8" - } - Block { - BlockType Constant - Name "TransAccelLimit" - SID "90" - Position [555, 85, 585, 115] - ZOrder 70 - BlockRotation 270 - Value "2" - } - Block { - BlockType Constant - Name "TransVelLimit" - SID "89" - Position [325, 85, 355, 115] - ZOrder 69 - BlockRotation 270 - Value "3" - } - Block { - BlockType Scope - Name "Vel Scope" - SID "87" - Ports [1] - Position [1775, 369, 1805, 401] - ZOrder 67 - Floating off - Location [2546, 39, 3827, 340] - Open off - NumInputPorts "1" - ZoomMode "yonly" - List { - ListType AxesTitles - axes1 "%<SignalLabel>" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - } - Block { - BlockType Saturate - Name "Voltage Limit" - SID "119" - Ports [1, 1] - Position [1475, 260, 1505, 290] - ZOrder 99 - InputPortMap "u0" - UpperLimit "18" - LowerLimit "-18" - } - Block { - BlockType Scope - Name "Voltage Scope" - SID "111" - Ports [1] - Position [1529, 160, 1561, 190] - ZOrder 91 - BlockRotation 270 - Floating off - Location [442, 210, 1553, 797] - Open off - NumInputPorts "1" - List { - ListType AxesTitles - axes1 "%<SignalLabel>" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - SaveName "ScopeData3" - } - Block { - BlockType Constant - Name "Zero Pos Correction\nfor Open Loop" - SID "105" - Position [560, 365, 590, 395] - ZOrder 85 - BlockRotation 270 - Value "[0 0 0]'" - } - Block { - BlockType Scope - Name "Scope" - SID "73" - Ports [] - Position [185, 14, 215, 46] - ZOrder 57 - IOType "viewer" - Floating off - Location [376, 294, 700, 533] - Open off - NumInputPorts "1" - List { - ListType AxesTitles - axes1 "%<SignalLabel>" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - SaveName "ScopeData1" - DataFormat "StructureWithTime" - SampleTime "0" - } - Line { - ZOrder 32 - SrcBlock "Derivative" - SrcPort 1 - Points [75, 0] - Branch { - ZOrder 538 - DstBlock "Add" - DstPort 1 - } - Branch { - ZOrder 537 - DstBlock "Path Vel Scope" - DstPort 1 - } - } - Line { - ZOrder 33 - SrcBlock "Path (sampled @ 60Hz)" - SrcPort 1 - Points [5, 0] - Branch { - ZOrder 470 - Points [60, 0] - Branch { - ZOrder 550 - DstBlock "Path Scope" - DstPort 1 - } - Branch { - ZOrder 549 - DstBlock "Derivative" - DstPort 1 - } - } - Branch { - ZOrder 128 - Points [0, 65] - Branch { - ZOrder 469 - DstBlock "Subtract" - DstPort 1 - } - Branch { - ZOrder 424 - DstBlock "Mux" - DstPort 1 - } - } - } - Line { - Name "Position Error" - ZOrder 40 - Labels [0, 0] - SrcBlock "Subtract" - SrcPort 1 - Points [30, 0] - Branch { - ZOrder 548 - DstBlock "PID Controller" - DstPort 1 - } - Branch { - ZOrder 257 - DstBlock "Pos Error" - DstPort 1 - } - } - Line { - Name "Command Global Vel" - ZOrder 68 - Labels [0, 0] - SrcBlock "Add" - SrcPort 1 - DstBlock "MATLAB System" - DstPort 1 - } - Line { - Name "dt" - ZOrder 263 - Labels [1, 1] - SrcBlock "Subtract1" - SrcPort 1 - Points [114, 0; 0, -215] - DstBlock "Dynamics" - DstPort 2 - } - Line { - ZOrder 72 - SrcBlock "Params" - SrcPort 1 - Points [0, -65] - Branch { - ZOrder 386 - Points [0, -80] - DstBlock "Controller" - DstPort 3 - } - Branch { - ZOrder 135 - DstBlock "Dynamics" - DstPort 3 - } - } - Line { - ZOrder 73 - SrcBlock "Params" - SrcPort 2 - Points [0, -40] - Branch { - ZOrder 385 - Points [0, -85] - DstBlock "Controller" - DstPort 4 - } - Branch { - ZOrder 136 - DstBlock "Dynamics" - DstPort 4 - } - } - Line { - ZOrder 74 - SrcBlock "Params" - SrcPort 3 - Points [0, -15] - Branch { - ZOrder 387 - Points [0, -90] - DstBlock "Controller" - DstPort 5 - } - Branch { - ZOrder 133 - DstBlock "Dynamics" - DstPort 5 - } - } - Line { - Name "Robot pose (from ssl-vision)" - ZOrder 93 - SrcBlock "Dynamics" - SrcPort 1 - Points [24, 0] - Branch { - ZOrder 541 - DstBlock "Pos Scope" - DstPort 1 - } - Branch { - ZOrder 146 - Labels [2, 1] - Points [0, 318; -1025, 0] - Branch { - ZOrder 615 - Points [0, -338] - DstBlock "Demux" - DstPort 1 - } - Branch { - ZOrder 614 - Points [-329, 0] - Branch { - ZOrder 485 - Points [-1, 0; 0, -353] - DstBlock "Subtract" - DstPort 2 - } - Branch { - ZOrder 422 - DstBlock "Mux" - DstPort 2 - } - } - } - } - Line { - ZOrder 94 - SrcBlock "Dynamics" - SrcPort 2 - Points [9, 0] - Branch { - ZOrder 540 - DstBlock "Vel Scope" - DstPort 1 - } - Branch { - ZOrder 312 - Points [0, 220; -708, 0; 0, -350] - DstBlock "Controller" - DstPort 2 - } - } - Line { - ZOrder 129 - SrcBlock "TransVelLimit" - SrcPort 1 - Points [0, -13; -160, 0] - DstBlock "Path (sampled @ 60Hz)" - DstPort 1 - } - Line { - ZOrder 130 - SrcBlock "RotVelLimit" - SrcPort 1 - Points [0, -31; -293, 0; 0, 141] - DstBlock "Path (sampled @ 60Hz)" - DstPort 2 - } - Line { - ZOrder 131 - SrcBlock "TransAccelLimit" - SrcPort 1 - Points [0, -48; -424, 0; 0, 178] - DstBlock "Path (sampled @ 60Hz)" - DstPort 3 - } - Line { - ZOrder 132 - SrcBlock "RotAccelLimit" - SrcPort 1 - Points [0, -64; -545, 0; 0, 214] - DstBlock "Path (sampled @ 60Hz)" - DstPort 4 - } - Line { - ZOrder 157 - SrcBlock "Controller" - SrcPort 1 - DstBlock "Signal Specification" - DstPort 1 - } - Line { - ZOrder 182 - SrcBlock "Clock" - SrcPort 1 - Points [71, 0] - Branch { - ZOrder 488 - Points [0, 300; 1025, 0] - Branch { - ZOrder 293 - Points [0, -29; 59, 0] - DstBlock "Subtract1" - DstPort 1 - } - Branch { - ZOrder 261 - DstBlock "Memory" - DstPort 1 - } - } - Branch { - ZOrder 487 - DstBlock "Path (sampled @ 60Hz)" - DstPort 5 - } - } - Line { - ZOrder 260 - SrcBlock "Memory" - SrcPort 1 - DstBlock "Subtract1" - DstPort 2 - } - Line { - ZOrder 308 - SrcBlock "Open Loop Switch" - SrcPort 1 - Points [9, 0; 0, -70] - DstBlock "Add" - DstPort 2 - } - Line { - ZOrder 309 - SrcBlock "PID Controller" - SrcPort 1 - DstBlock "Open Loop Switch" - DstPort 1 - } - Line { - ZOrder 310 - SrcBlock "Zero Pos Correction\nfor Open Loop" - SrcPort 1 - Points [0, -55] - DstBlock "Open Loop Switch" - DstPort 2 - } - Line { - ZOrder 158 - SrcBlock "Signal Specification" - SrcPort 1 - DstBlock "Voltage Limit" - DstPort 1 - } - Line { - ZOrder 539 - SrcBlock "Mux" - SrcPort 1 - DstBlock "Tracking" - DstPort 1 - } - Line { - ZOrder 542 - SrcBlock "Voltage Limit" - SrcPort 1 - Points [35, 0] - Branch { - ZOrder 547 - DstBlock "Voltage Scope" - DstPort 1 - } - Branch { - ZOrder 546 - DstBlock "Dynamics" - DstPort 1 - } - } - Line { - ZOrder 600 - SrcBlock "MATLAB System" - SrcPort 1 - Points [85, 0] - Branch { - ZOrder 611 - DstBlock "Controller" - DstPort 1 - } - Branch { - ZOrder 610 - DstBlock "Cmd Scope" - DstPort 1 - } - } - Line { - ZOrder 613 - SrcBlock "Demux" - SrcPort 3 - Points [23, 0; 0, -65] - DstBlock "MATLAB System" - DstPort 2 - } - } -} -#Finite State Machines -# -# Stateflow 80000005 -# -# -Stateflow { - machine { - id 1 - name "robocup_model" - created "11-Mar-2015 01:21:21" - isLibrary 0 - firstTarget 13 - sfVersion 80000005 - } - chart { - id 2 - name "Path (sampled @ 60Hz)" - windowPosition [422 539.941 189 413] - viewLimits [0 156.75 0 153.75] - screen [1 1 3600 1200 1.180555555555556] - treeNode [0 3 0 0] - firstTransition 11 - firstJunction 10 - viewObj 2 - machine 1 - ssIdHighWaterMark 10 - decomposition CLUSTER_CHART - type EML_CHART - firstData 4 - chartFileNumber 2 - disableImplicitCasting 1 - eml { - name "path" - } - } - state { - id 3 - labelString "eML_blk_kernel()" - position [18 64.5 118 66] - fontSize 12 - chart 2 - treeNode [2 0 0 0] - superState SUBCHART - subviewer 2 - ssIdNumber 1 - type FUNC_STATE - decomposition CLUSTER_STATE - eml { - isEML 1 - script "function pos = path(TransVelLimit, RotVelLimit, TransAccelLimit, RotAccelLimit, t)\n%#codegen\n\n" - "pos = [0 0 0]';\n\naccel = [0 1 0.9]';\n\n\nrampTime = TransVelLimit/TransAccelLimit;\nflatTime = 2;\n\n\n% ramp" - "-up\npos = pos + 0.5*accel*min(t,rampTime)^2;\n\n% const speed\nif t > rampTime\n vel = accel*rampTime;\n " - "pos = pos + min(t-rampTime, flatTime)*vel;\nend\n\n% ramp-down\nif t > rampTime + flatTime\n vi = accel*rampT" - "ime;\n rampDownT = min(t-rampTime-flatTime, rampTime);\n pos = pos + -0.5*accel*rampDownT^2 + vi*rampDownT" - ";\nend\n" - editorLayout "100 M4x1[10 5 700 500]" - } - } - data { - id 4 - ssIdNumber 7 - name "TransVelLimit" - linkNode [2 0 5] - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - } - dataType "Inherit: Same as Simulink" - } - data { - id 5 - ssIdNumber 8 - name "RotVelLimit" - linkNode [2 4 6] - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - } - dataType "Inherit: Same as Simulink" - } - data { - id 6 - ssIdNumber 9 - name "TransAccelLimit" - linkNode [2 5 7] - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - } - dataType "Inherit: Same as Simulink" - } - data { - id 7 - ssIdNumber 10 - name "RotAccelLimit" - linkNode [2 6 8] - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - } - dataType "Inherit: Same as Simulink" - } - data { - id 8 - ssIdNumber 5 - name "pos" - linkNode [2 7 9] - scope OUTPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_NO - } - dataType "Inherit: Same as Simulink" - } - data { - id 9 - ssIdNumber 6 - name "t" - linkNode [2 8 0] - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - } - dataType "Inherit: Same as Simulink" - } - junction { - id 10 - position [23.5747 49.5747 7] - chart 2 - linkNode [2 0 0] - subviewer 2 - ssIdNumber 3 - type CONNECTIVE_JUNCTION - } - transition { - id 11 - labelString "{eML_blk_kernel();}" - labelPosition [28.125 13.875 102.544 14.964] - fontSize 12 - src { - intersection [0 0 1 0 23.5747 14.625 0 0] - } - dst { - id 10 - intersection [1 0 -1 0 23.5747 42.5747 0 0] - } - midPoint [23.5747 24.9468] - chart 2 - linkNode [2 0 0] - dataLimits [21.175 25.975 14.625 42.575] - subviewer 2 - drawStyle SMART - slide { - sticky BOTH_STICK - } - executionOrder 1 - ssIdNumber 2 - } - instance { - id 12 - name "Path (sampled @ 60Hz)" - machine 1 - chart 2 - } - target { - id 13 - name "sfun" - description "Default Simulink S-Function Target." - machine 1 - linkNode [1 0 0] - } -} diff --git a/modeling/visualize.m b/modeling/visualize.m deleted file mode 100644 index 7617242050f..00000000000 --- a/modeling/visualize.m +++ /dev/null @@ -1,38 +0,0 @@ -% plots a robot's trajectory vs its desired trajectory over time in a cool animation -function visualize(target_pos, actual_pos) - -dt = 0.01; % amount of time between successive points - -figure(1) -pbaspect([6,9,1]) % square aspect ratio for display -title('Robot Trajectory-Tracking Animation') -xlabel('FieldPos.x (meters)') -ylabel('FieldPos.y (meters)') -hold on - -% draw black circle for robot -bot_radius = 0.09; -bot_loc = [1, 1]'; -rect = [bot_loc(1)-bot_radius, bot_loc(2)-bot_radius, bot_radius*2, bot_radius*2]; -robot = rectangle('Position', rect, 'Curvature', [1,1], 'FaceColor', 'k'); - -% draw desired trajectory -plot(target_pos(1,:), target_pos(2,:), 'Color', 'b') - -[m, n] = size(target_pos); -for i = 1:n - % update robot location - % TODO: include robot orientation - bot_loc = actual_pos(:,i); - rect = [bot_loc(1)-bot_radius, bot_loc(2)-bot_radius, bot_radius*2, bot_radius*2]; - set(robot, 'Position', rect); - - % draw robot position history - plot(actual_pos(1,1:i), actual_pos(2,1:i), 'Color', 'k') - - % Set to field dimensions - % we do this at each iteration because MATLAB tries to adjust them to fit the data - axis([-3 3 0 9]) - - pause(dt); -end diff --git a/modeling/visualize_test.m b/modeling/visualize_test.m deleted file mode 100644 index 953fecef2bc..00000000000 --- a/modeling/visualize_test.m +++ /dev/null @@ -1,6 +0,0 @@ - -% example trajectory -xx = [linspace(1, 3) linspace(3, 2)]; -yy = [linspace(4, 0) linspace(0, 5)]; -thth = [linspace(0,0) linspace(0,0)]; -visualize([xx; yy; thth], [xx; yy; thth]); diff --git a/old_docs/BuildSystems.md b/old_docs/BuildSystems.md deleted file mode 100644 index 3e0e9ae4dcd..00000000000 --- a/old_docs/BuildSystems.md +++ /dev/null @@ -1,25 +0,0 @@ - -# Build Systems - -A build system or tool is a program that is responsible for compiling code into the desired output programs and libraries, as well as automating certain tasks. Rather than executing the compiler directly, you tell the build system what files you'd like compiled and let it handle the compiling. - - -## CMake - -We use [CMake](http://www.cmake.org/) as our main build system. This is configured using CMakeLists.txt files spread throughout our project. CMake works by turning the CMakeLists.txt files into a set of makefiles, which are then executed by the `make` program. - -To build the project using CMake, you could do: - -1. `mkdir build` -2. `cd build` -3. `cmake ..` -4. `make` - -Assuming everything ran successfully, this would place `soccer`, `simulator`, and our other targets in the output folder `run`. - -Rather than executing these commands each time we want to rebuild the project, we've added a shortcut using a `makefile`. This makefile specifies the above set of commands under the default target, so you can now just run `make` in the root directory to build everything. This makefile also has targets for a few other things. Open it up in a text editor if you're curious. - - -## Scons - -[Scons](http://scons.org) is another build system that we use. It serves a similar purpose to CMake, but is based on the python programming language and rather than CMakeLists.txt files, Scons uses SConscript files to specify builds. We use Scons to build our robot and radio base station firmware. We could fairly easily port this to CMake too, but as of now it's still written with Scons. diff --git a/old_docs/Documentation.md b/old_docs/Documentation.md deleted file mode 100644 index 4c2cf0d6054..00000000000 --- a/old_docs/Documentation.md +++ /dev/null @@ -1,72 +0,0 @@ - -# Documentation - -It's important to keep software projects well-documented so that newcomers can quickly get up-to-speed and have a reference when questions arise. One common problem with software documentation is that it is easy for the documentation to get out-of-sync with the code, since the code is constantly updated and documenting it is often an afterthought. - -One way to help with this is to put the documentation inline with the code, which is what we do for this project. We use a program called [Doxygen](http://www.stack.nl/~dimitri/doxygen/) that parses specially-formatted comments in our code and turns them into a searchable [website](http://robojackets.github.io/robocup-software/) that can be easily viewed. Note that this is very similar to a program called [javadoc](http://en.wikipedia.org/wiki/Javadoc) that many GT students are probably familiar with using in class. - -Another way to improve documentation practices is by requiring code to be well-documented before merging GitHub [pull-requests](https://help.github.com/articles/using-pull-requests), which is something we're getting better at doing. - - -## Doxygen Comment Formats - -Doxygen has support for many different languages, but the comment syntax differs a bit. Below are a couple examples, but you should check out the [official Doxygen docs](http://www.stack.nl/~dimitri/doxygen/manual/docblocks.html) for more info. - - -### C++ - -\code -/** - * a normal member taking two arguments and returning an integer value. - * @param a an integer argument. - * @param s a constant character pointer. - * @see Test() - * @see ~Test() - * @see testMeToo() - * @see publicVar() - * @return The test results - */ - int testMe(int a,const char *s); -\endcode - - -### Python - -\code{.py} -## Documentation for a class. -# -# More details. -class PyClass: - - ## The constructor. - def __init__(self): - self._memVar = 0; - - ## Documentation for a method. - # @param self The object pointer. - def PyMethod(self): - pass - - ## A class variable. - classVar = 0; - - ## @var _memVar - # a member variable -\endcode - -## Additional Documentation - -In addition to turning inline code comments into documentation, Doxygen can also include docs in other formats. This page that you are viewing right now and several others are written in [Markdown](http://daringfireball.net/projects/markdown/syntax). See the files in `doc` for examples. - - -## Compiling the documentation - -To build the documentation website, run `doxygen` from the root of the robocup-software project. This will place a bunch of files in `api_docs/html`. Open the `index.html` file in a browser to view the site. - -Our documentation website automagically updates every time someone pushes the master branch of the repository. This is setup through [circle-ci](https://circleci.com) - see the `autoupdate-docs.sh` script to see how this is done. - - -## Further configuration - -Doxgen looks at the `Doxyfile` in the root of our project to configure things such as which files to include and how to display the output. - diff --git a/old_docs/Doxyfile b/old_docs/Doxyfile deleted file mode 100644 index ee5de723e96..00000000000 --- a/old_docs/Doxyfile +++ /dev/null @@ -1,2355 +0,0 @@ -# Doxyfile 1.8.6 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project. -# -# All text after a double hash (##) is considered a comment and is placed in -# front of the TAG it is preceding. -# -# All text after a single hash (#) is considered a comment and will be ignored. -# The format is: -# TAG = value [value, ...] -# For lists, items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (\" \"). - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all text -# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv -# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv -# for the list of possible encodings. -# The default value is: UTF-8. - -DOXYFILE_ENCODING = UTF-8 - -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by -# double-quotes, unless you are using Doxywizard) that should identify the -# project for which the documentation is generated. This name is used in the -# title of most generated pages and in a few other places. -# The default value is: My Project. - -PROJECT_NAME = "GT RoboCup SSL" - -# The PROJECT_NUMBER tag can be used to enter a project or revision number. This -# could be handy for archiving the generated documentation or if some version -# control system is used. - -PROJECT_NUMBER = - -# Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer a -# quick idea about the purpose of the project. Keep the description short. - -PROJECT_BRIEF = "Soccer software, robot firmware" - -# With the PROJECT_LOGO tag one can specify an logo or icon that is included in -# the documentation. The maximum height of the logo should not exceed 55 pixels -# and the maximum width should not exceed 200 pixels. Doxygen will copy the logo -# to the output directory. - -PROJECT_LOGO = doc/images/rj_logo.png - -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path -# into which the generated documentation will be written. If a relative path is -# entered, it will be relative to the location where doxygen was started. If -# left blank the current directory will be used. - -OUTPUT_DIRECTORY = api_docs - -# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 4096 sub- -# directories (in 2 levels) under the output directory of each output format and -# will distribute the generated files over these directories. Enabling this -# option can be useful when feeding doxygen a huge amount of source files, where -# putting all generated files in the same directory would otherwise causes -# performance problems for the file system. -# The default value is: NO. - -CREATE_SUBDIRS = NO - -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, -# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), -# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, -# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), -# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, -# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, -# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, -# Ukrainian and Vietnamese. -# The default value is: English. - -OUTPUT_LANGUAGE = English - -# If the BRIEF_MEMBER_DESC tag is set to YES doxygen will include brief member -# descriptions after the members that are listed in the file and class -# documentation (similar to Javadoc). Set to NO to disable this. -# The default value is: YES. - -BRIEF_MEMBER_DESC = YES - -# If the REPEAT_BRIEF tag is set to YES doxygen will prepend the brief -# description of a member or function before the detailed description -# -# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the -# brief descriptions will be completely suppressed. -# The default value is: YES. - -REPEAT_BRIEF = YES - -# This tag implements a quasi-intelligent brief description abbreviator that is -# used to form the text in various listings. Each string in this list, if found -# as the leading text of the brief description, will be stripped from the text -# and the result, after processing the whole list, is used as the annotated -# text. Otherwise, the brief description is used as-is. If left blank, the -# following values are used ($name is automatically replaced with the name of -# the entity):The $name class, The $name widget, The $name file, is, provides, -# specifies, contains, represents, a, an and the. - -ABBREVIATE_BRIEF = "The $name class" \ - "The $name widget" \ - "The $name file" \ - is \ - provides \ - specifies \ - contains \ - represents \ - a \ - an \ - the - -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# doxygen will generate a detailed section even if there is only a brief -# description. -# The default value is: NO. - -ALWAYS_DETAILED_SEC = NO - -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all -# inherited members of a class in the documentation of that class as if those -# members were ordinary class members. Constructors, destructors and assignment -# operators of the base classes will not be shown. -# The default value is: NO. - -INLINE_INHERITED_MEMB = NO - -# If the FULL_PATH_NAMES tag is set to YES doxygen will prepend the full path -# before files name in the file list and in the header files. If set to NO the -# shortest path that makes the file name unique will be used -# The default value is: YES. - -FULL_PATH_NAMES = YES - -# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. -# Stripping is only done if one of the specified strings matches the left-hand -# part of the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the path to -# strip. -# -# Note that you can specify absolute paths here, but also relative paths, which -# will be relative from the directory where doxygen is started. -# This tag requires that the tag FULL_PATH_NAMES is set to YES. - -STRIP_FROM_PATH = - -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the -# path mentioned in the documentation of a class, which tells the reader which -# header file to include in order to use a class. If left blank only the name of -# the header file containing the class definition is used. Otherwise one should -# specify the list of include paths that are normally passed to the compiler -# using the -I flag. - -STRIP_FROM_INC_PATH = - -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but -# less readable) file names. This can be useful is your file systems doesn't -# support long names like on DOS, Mac, or CD-ROM. -# The default value is: NO. - -SHORT_NAMES = NO - -# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the -# first line (until the first dot) of a Javadoc-style comment as the brief -# description. If set to NO, the Javadoc-style will behave just like regular Qt- -# style comments (thus requiring an explicit @brief command for a brief -# description.) -# The default value is: NO. - -JAVADOC_AUTOBRIEF = YES - -# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first -# line (until the first dot) of a Qt-style comment as the brief description. If -# set to NO, the Qt-style will behave just like regular Qt-style comments (thus -# requiring an explicit \brief command for a brief description.) -# The default value is: NO. - -QT_AUTOBRIEF = NO - -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a -# multi-line C++ special comment block (i.e. a block of //! or /// comments) as -# a brief description. This used to be the default behavior. The new default is -# to treat a multi-line C++ comment block as a detailed description. Set this -# tag to YES if you prefer the old behavior instead. -# -# Note that setting this tag to YES also means that rational rose comments are -# not recognized any more. -# The default value is: NO. - -MULTILINE_CPP_IS_BRIEF = NO - -# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the -# documentation from any documented member that it re-implements. -# The default value is: YES. - -INHERIT_DOCS = YES - -# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce a -# new page for each member. If set to NO, the documentation of a member will be -# part of the file/class/namespace that contains it. -# The default value is: NO. - -SEPARATE_MEMBER_PAGES = NO - -# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen -# uses this value to replace tabs by spaces in code fragments. -# Minimum value: 1, maximum value: 16, default value: 4. - -TAB_SIZE = 4 - -# This tag can be used to specify a number of aliases that act as commands in -# the documentation. An alias has the form: -# name=value -# For example adding -# "sideeffect=@par Side Effects:\n" -# will allow you to put the command \sideeffect (or @sideeffect) in the -# documentation, which will result in a user-defined paragraph with heading -# "Side Effects:". You can put \n's in the value part of an alias to insert -# newlines. - -ALIASES = - -# This tag can be used to specify a number of word-keyword mappings (TCL only). -# A mapping has the form "name=value". For example adding "class=itcl::class" -# will allow you to use the command class in the itcl::class meaning. - -TCL_SUBST = - -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources -# only. Doxygen will then generate output that is more tailored for C. For -# instance, some of the names that are used will be different. The list of all -# members will be omitted, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_FOR_C = NO - -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or -# Python sources only. Doxygen will then generate output that is more tailored -# for that language. For instance, namespaces will be presented as packages, -# qualified scopes will look different, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_JAVA = NO - -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources. Doxygen will then generate output that is tailored for Fortran. -# The default value is: NO. - -OPTIMIZE_FOR_FORTRAN = NO - -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for VHDL. -# The default value is: NO. - -OPTIMIZE_OUTPUT_VHDL = NO - -# Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given -# extension. Doxygen has a built-in mapping, but you can override or extend it -# using this tag. The format is ext=language, where ext is a file extension, and -# language is one of the parsers supported by doxygen: IDL, Java, Javascript, -# C#, C, C++, D, PHP, Objective-C, Python, Fortran, VHDL. For instance to make -# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C -# (default is Fortran), use: inc=Fortran f=C. -# -# Note For files without extension you can use no_extension as a placeholder. -# -# Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. - -EXTENSION_MAPPING = - -# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments -# according to the Markdown format, which allows for more readable -# documentation. See http://daringfireball.net/projects/markdown/ for details. -# The output of markdown processing is further processed by doxygen, so you can -# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in -# case of backward compatibilities issues. -# The default value is: YES. - -MARKDOWN_SUPPORT = YES - -# When enabled doxygen tries to link words that correspond to documented -# classes, or namespaces to their corresponding documentation. Such a link can -# be prevented in individual cases by by putting a % sign in front of the word -# or globally by setting AUTOLINK_SUPPORT to NO. -# The default value is: YES. - -AUTOLINK_SUPPORT = NO -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should set this -# tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); -# versus func(std::string) {}). This also make the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. -# The default value is: NO. - -BUILTIN_STL_SUPPORT = YES - -# If you use Microsoft's C++/CLI language, you should set this option to YES to -# enable parsing support. -# The default value is: NO. - -CPP_CLI_SUPPORT = NO - -# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: -# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen -# will parse them like normal C++ but will assume all classes use public instead -# of private inheritance when no explicit protection keyword is present. -# The default value is: NO. - -SIP_SUPPORT = NO - -# For Microsoft's IDL there are propget and propput attributes to indicate -# getter and setter methods for a property. Setting this option to YES will make -# doxygen to replace the get and set methods by a property in the documentation. -# This will only work if the methods are indeed getting or setting a simple -# type. If this is not the case, or you want to show the methods anyway, you -# should set this option to NO. -# The default value is: YES. - -IDL_PROPERTY_SUPPORT = YES - -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. -# The default value is: NO. - -DISTRIBUTE_GROUP_DOC = NO - -# Set the SUBGROUPING tag to YES to allow class member groups of the same type -# (for instance a group of public functions) to be put as a subgroup of that -# type (e.g. under the Public Functions section). Set it to NO to prevent -# subgrouping. Alternatively, this can be done per class using the -# \nosubgrouping command. -# The default value is: YES. - -SUBGROUPING = YES - -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions -# are shown inside the group in which they are included (e.g. using \ingroup) -# instead of on a separate page (for HTML and Man pages) or section (for LaTeX -# and RTF). -# -# Note that this feature does not work in combination with -# SEPARATE_MEMBER_PAGES. -# The default value is: NO. - -INLINE_GROUPED_CLASSES = NO - -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions -# with only public data fields or simple typedef fields will be shown inline in -# the documentation of the scope in which they are defined (i.e. file, -# namespace, or group documentation), provided this scope is documented. If set -# to NO, structs, classes, and unions are shown on a separate page (for HTML and -# Man pages) or section (for LaTeX and RTF). -# The default value is: NO. - -INLINE_SIMPLE_STRUCTS = NO - -# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or -# enum is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically be -# useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. -# The default value is: NO. - -TYPEDEF_HIDES_STRUCT = NO - -# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This -# cache is used to resolve symbols given their name and scope. Since this can be -# an expensive process and often the same symbol appears multiple times in the -# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small -# doxygen will become slower. If the cache is too large, memory is wasted. The -# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range -# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 -# symbols. At the end of a run doxygen will report the cache usage and suggest -# the optimal cache size from a speed point of view. -# Minimum value: 0, maximum value: 9, default value: 0. - -LOOKUP_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. Private -# class members and static file members will be hidden unless the -# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. -# Note: This will also disable the warnings about undocumented members that are -# normally produced when WARNINGS is set to YES. -# The default value is: NO. - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class will -# be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal -# scope will be included in the documentation. -# The default value is: NO. - -EXTRACT_PACKAGE = NO - -# If the EXTRACT_STATIC tag is set to YES all static members of a file will be -# included in the documentation. -# The default value is: NO. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) defined -# locally in source files will be included in the documentation. If set to NO -# only classes defined in header files are included. Does not have any effect -# for Java sources. -# The default value is: YES. - -EXTRACT_LOCAL_CLASSES = NO - -# This flag is only useful for Objective-C code. When set to YES local methods, -# which are defined in the implementation section but not in the interface are -# included in the documentation. If set to NO only methods in the interface are -# included. -# The default value is: NO. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base name of -# the file that contains the anonymous namespace. By default anonymous namespace -# are hidden. -# The default value is: NO. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all -# undocumented members inside documented classes or files. If set to NO these -# members will be included in the various overviews, but no documentation -# section is generated. This option has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. If set -# to NO these classes will be included in the various overviews. This option has -# no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend -# (class|struct|union) declarations. If set to NO these declarations will be -# included in the documentation. -# The default value is: NO. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any -# documentation blocks found inside the body of a function. If set to NO these -# blocks will be appended to the function's detailed documentation block. -# The default value is: NO. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation that is typed after a -# \internal command is included. If the tag is set to NO then the documentation -# will be excluded. Set it to YES to include the internal documentation. -# The default value is: NO. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file -# names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. -# The default value is: system dependent. - -CASE_SENSE_NAMES = NO - -# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with -# their full class and namespace scopes in the documentation. If set to YES the -# scope will be hidden. -# The default value is: NO. - -HIDE_SCOPE_NAMES = NO - -# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of -# the files that are included by a file in the documentation of that file. -# The default value is: YES. - -SHOW_INCLUDE_FILES = NO - -# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each -# grouped member an include statement to the documentation, telling the reader -# which file to include in order to use the member. -# The default value is: NO. - -SHOW_GROUPED_MEMB_INC = NO - -# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include -# files with double quotes in the documentation rather than with sharp brackets. -# The default value is: NO. - -FORCE_LOCAL_INCLUDES = NO - -# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the -# documentation for inline members. -# The default value is: YES. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the -# (detailed) documentation of file and class members alphabetically by member -# name. If set to NO the members will appear in declaration order. -# The default value is: YES. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief -# descriptions of file, namespace and class members alphabetically by member -# name. If set to NO the members will appear in declaration order. Note that -# this will also influence the order of the classes in the class list. -# The default value is: NO. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the -# (brief and detailed) documentation of class members so that constructors and -# destructors are listed first. If set to NO the constructors will appear in the -# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. -# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief -# member documentation. -# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting -# detailed member documentation. -# The default value is: NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy -# of group names into alphabetical order. If set to NO the group names will -# appear in their defined order. -# The default value is: NO. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by -# fully-qualified names, including namespaces. If set to NO, the class list will -# be sorted only by class name, not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the alphabetical -# list. -# The default value is: NO. - -SORT_BY_SCOPE_NAME = NO - -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper -# type resolution of all parameters of a function it will reject a match between -# the prototype and the implementation of a member function even if there is -# only one candidate or it is obvious which candidate to choose by doing a -# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still -# accept a match between prototype and implementation in such cases. -# The default value is: NO. - -STRICT_PROTO_MATCHING = NO - -# The GENERATE_TODOLIST tag can be used to enable ( YES) or disable ( NO) the -# todo list. This list is created by putting \todo commands in the -# documentation. -# The default value is: YES. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the -# test list. This list is created by putting \test commands in the -# documentation. -# The default value is: YES. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable ( YES) or disable ( NO) the bug -# list. This list is created by putting \bug commands in the documentation. -# The default value is: YES. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable ( YES) or disable ( NO) -# the deprecated list. This list is created by putting \deprecated commands in -# the documentation. -# The default value is: YES. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional documentation -# sections, marked by \if <section_label> ... \endif and \cond <section_label> -# ... \endcond blocks. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the -# initial value of a variable or macro / define can have for it to appear in the -# documentation. If the initializer consists of more lines than specified here -# it will be hidden. Use a value of 0 to hide initializers completely. The -# appearance of the value of individual variables and macros / defines can be -# controlled using \showinitializer or \hideinitializer command in the -# documentation regardless of this setting. -# Minimum value: 0, maximum value: 10000, default value: 30. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at -# the bottom of the documentation of classes and structs. If set to YES the list -# will mention the files that were used to generate the documentation. -# The default value is: YES. - -SHOW_USED_FILES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This -# will remove the Files entry from the Quick Index and from the Folder Tree View -# (if specified). -# The default value is: YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces -# page. This will remove the Namespaces entry from the Quick Index and from the -# Folder Tree View (if specified). -# The default value is: YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command command input-file, where command is the value of the -# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided -# by doxygen. Whatever the program writes to standard output is used as the file -# version. For an example see the documentation. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. To create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. You can -# optionally specify a file name after the option, if omitted DoxygenLayout.xml -# will be used as the name of the layout file. -# -# Note that if you run doxygen from a directory containing a file called -# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE -# tag is left empty. - -LAYOUT_FILE = doc/DoxygenLayout.xml - -# The CITE_BIB_FILES tag can be used to specify one or more bib files containing -# the reference definitions. This must be a list of .bib files. The .bib -# extension is automatically appended if omitted. This requires the bibtex tool -# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. -# For LaTeX the style of the bibliography can be controlled using -# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the -# search path. Do not use file names with spaces, bibtex cannot handle them. See -# also \cite for info how to create references. - -CITE_BIB_FILES = - -#--------------------------------------------------------------------------- -# Configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated to -# standard output by doxygen. If QUIET is set to YES this implies that the -# messages are off. -# The default value is: NO. - -QUIET = NO - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES -# this implies that the warnings are on. -# -# Tip: Turn warnings on while writing the documentation. -# The default value is: YES. - -WARNINGS = YES - -# If the WARN_IF_UNDOCUMENTED tag is set to YES, then doxygen will generate -# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag -# will automatically be disabled. -# The default value is: YES. - -WARN_IF_UNDOCUMENTED = YES - -# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some parameters -# in a documented function, or documenting parameters that don't exist or using -# markup commands wrongly. -# The default value is: YES. - -WARN_IF_DOC_ERROR = YES - -# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that -# are documented, but have no documentation for their parameters or return -# value. If set to NO doxygen will only warn about wrong or incomplete parameter -# documentation, but not about the absence of documentation. -# The default value is: NO. - -WARN_NO_PARAMDOC = NO - -# The WARN_FORMAT tag determines the format of the warning messages that doxygen -# can produce. The string should contain the $file, $line, and $text tags, which -# will be replaced by the file and line number from which the warning originated -# and the warning text. Optionally the format may contain $version, which will -# be replaced by the version of the file (if it could be obtained via -# FILE_VERSION_FILTER) -# The default value is: $file:$line: $text. - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning and error -# messages should be written. If left blank the output is written to standard -# error (stderr). - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# Configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag is used to specify the files and/or directories that contain -# documented source files. You may enter file names like myfile.cpp or -# directories like /usr/src/myproject. Separate the files or directories with -# spaces. -# Note: If this tag is empty the current directory is searched. - -INPUT = soccer \ - firmware/robot2015 \ - firmware/common2015 \ - common \ - doc \ - doc/training2016 - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses -# libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: http://www.gnu.org/software/libiconv) for the list of -# possible encodings. -# The default value is: UTF-8. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and -# *.h) to filter out the source-files in the directories. If left blank the -# following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii, -# *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, -# *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, -# *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf, -# *.qsf, *.as and *.js. - -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cpp \ - *.c++ \ - *.d \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.idl \ - *.odl \ - *.cs \ - *.php \ - *.php3 \ - *.inc \ - *.m \ - *.mm \ - *.dox \ - *.py \ - *.f90 \ - *.f \ - *.for \ - *.vhd \ - *.vhdl \ - *.md - -# The RECURSIVE tag can be used to specify whether or not subdirectories should -# be searched for input files as well. -# The default value is: NO. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# -# Note that relative paths are relative to the directory from which doxygen is -# run. - -EXCLUDE = old - -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded -# from the input. -# The default value is: NO. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories for example use the pattern */test/* - -EXCLUDE_PATTERNS = */readme.md */README.md - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories use the pattern */test/* - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or directories -# that contain example code fragments that are included (see the \include -# command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and -# *.h) to filter out the source-files in the directories. If left blank all -# files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude commands -# irrespective of the value of the RECURSIVE tag. -# The default value is: NO. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or directories -# that contain images that are to be included in the documentation (see the -# \image command). - -IMAGE_PATH = doc/images - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command: -# -# <filter> <input-file> -# -# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the -# name of an input file. Doxygen will then use the output that the filter -# program writes to standard output. If FILTER_PATTERNS is specified, this tag -# will be ignored. -# -# Note that the filter must not add or remove lines; it is applied before the -# code is scanned, but not when the output code is generated. If lines are added -# or removed, the anchors will not be placed correctly. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: pattern=filter -# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how -# filters are used. If the FILTER_PATTERNS tag is empty or if none of the -# patterns match the file name, INPUT_FILTER is applied. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER ) will also be used to filter the input files that are used for -# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). -# The default value is: NO. - -FILTER_SOURCE_FILES = NO - -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and -# it is also possible to disable source filtering for a specific pattern using -# *.ext= (so without naming a filter). -# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. - -FILTER_SOURCE_PATTERNS = - -# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that -# is part of the input, its contents will be placed on the main page -# (index.html). This can be useful if you have a project on for instance GitHub -# and want to reuse the introduction page also for the doxygen output. - -USE_MDFILE_AS_MAINPAGE = doc/mainpage.md - -#--------------------------------------------------------------------------- -# Configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will be -# generated. Documented entities will be cross-referenced with these sources. -# -# Note: To get rid of all source code in the generated output, make sure that -# also VERBATIM_HEADERS is set to NO. -# The default value is: NO. - -SOURCE_BROWSER = NO - -# Setting the INLINE_SOURCES tag to YES will include the body of functions, -# classes and enums directly into the documentation. -# The default value is: NO. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any -# special comment blocks from generated source code fragments. Normal C, C++ and -# Fortran comments will always remain visible. -# The default value is: YES. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES then for each documented -# function all documented functions referencing it will be listed. -# The default value is: NO. - -REFERENCED_BY_RELATION = NO - -# If the REFERENCES_RELATION tag is set to YES then for each documented function -# all documented entities called/used by that function will be listed. -# The default value is: NO. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set -# to YES, then the hyperlinks from functions in REFERENCES_RELATION and -# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will -# link to the documentation. -# The default value is: YES. - -REFERENCES_LINK_SOURCE = YES - -# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the -# source code will show a tooltip with additional information such as prototype, -# brief description and links to the definition and documentation. Since this -# will make the HTML file larger and loading of large files a bit slower, you -# can opt to disable this feature. -# The default value is: YES. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -SOURCE_TOOLTIPS = YES - -# If the USE_HTAGS tag is set to YES then the references to source code will -# point to the HTML generated by the htags(1) tool instead of doxygen built-in -# source browser. The htags tool is part of GNU's global source tagging system -# (see http://www.gnu.org/software/global/global.html). You will need version -# 4.8.6 or higher. -# -# To use it do the following: -# - Install the latest version of global -# - Enable SOURCE_BROWSER and USE_HTAGS in the config file -# - Make sure the INPUT points to the root of the source tree -# - Run doxygen as normal -# -# Doxygen will invoke htags (and that will in turn invoke gtags), so these -# tools must be available from the command line (i.e. in the search path). -# -# The result: instead of the source browser generated by doxygen, the links to -# source code will now point to the output of htags. -# The default value is: NO. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a -# verbatim copy of the header file for each class for which an include is -# specified. Set to NO to disable this. -# See also: Section \class. -# The default value is: YES. - -VERBATIM_HEADERS = YES - -#--------------------------------------------------------------------------- -# Configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all -# compounds will be generated. Enable this if the project contains a lot of -# classes, structs, unions or interfaces. -# The default value is: YES. - -ALPHABETICAL_INDEX = YES - -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in -# which the alphabetical index list will be split. -# Minimum value: 1, maximum value: 20, default value: 5. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all classes will -# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag -# can be used to specify a prefix (or a list of prefixes) that should be ignored -# while generating the index headers. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES doxygen will generate HTML output -# The default value is: YES. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. -# The default directory is: html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each -# generated HTML page (for example: .htm, .php, .asp). -# The default value is: .html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a user-defined HTML header file for -# each generated HTML page. If the tag is left blank doxygen will generate a -# standard header. -# -# To get valid HTML the header file that includes any scripts and style sheets -# that doxygen needs, which is dependent on the configuration options used (e.g. -# the setting GENERATE_TREEVIEW). It is highly recommended to start with a -# default header using -# doxygen -w html new_header.html new_footer.html new_stylesheet.css -# YourConfigFile -# and then modify the file new_header.html. See also section "Doxygen usage" -# for information on how to generate the default header that doxygen normally -# uses. -# Note: The header is subject to change so you typically have to regenerate the -# default header when upgrading to a newer version of doxygen. For a description -# of the possible markers and block names see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each -# generated HTML page. If the tag is left blank doxygen will generate a standard -# footer. See HTML_HEADER for more information on how to generate a default -# footer and what special commands can be used inside the footer. See also -# section "Doxygen usage" for information on how to generate the default footer -# that doxygen normally uses. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style -# sheet that is used by each HTML page. It can be used to fine-tune the look of -# the HTML output. If left blank doxygen will generate a default style sheet. -# See also section "Doxygen usage" for information on how to generate the style -# sheet that doxygen normally uses. -# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as -# it is more robust and this tag (HTML_STYLESHEET) will in the future become -# obsolete. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_STYLESHEET = doxygen.css - -# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional user- -# defined cascading style sheet that is included after the standard style sheets -# created by doxygen. Using this option one can overrule certain style aspects. -# This is preferred over using HTML_STYLESHEET since it does not replace the -# standard style sheet and is therefor more robust against future updates. -# Doxygen will copy the style sheet file to the output directory. For an example -# see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_STYLESHEET = - -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that the -# files will be copied as-is; there are no commands or markers available. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_FILES = doc/firmware-sounds/0-startup.m4a \ - doc/firmware-sounds/1-failure.m4a \ - doc/firmware-sounds/2-overvoltage.m4a \ - doc/firmware-sounds/3-undervoltage.m4a \ - doc/firmware-sounds/4-fuse-blown.m4a \ - doc/firmware-sounds/5-victory.m4a \ - doc/firmware-sounds/6-still-alive.ogg - -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen -# will adjust the colors in the stylesheet and background images according to -# this color. Hue is specified as an angle on a colorwheel, see -# http://en.wikipedia.org/wiki/Hue for more information. For instance the value -# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 -# purple, and 360 is red again. -# Minimum value: 0, maximum value: 359, default value: 220. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_HUE = 220 - -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors -# in the HTML output. For a value of 0 the output will use grayscales only. A -# value of 255 will produce the most vivid colors. -# Minimum value: 0, maximum value: 255, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_SAT = 100 - -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the -# luminance component of the colors in the HTML output. Values below 100 -# gradually make the output lighter, whereas values above 100 make the output -# darker. The value divided by 100 is the actual gamma applied, so 80 represents -# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not -# change the gamma. -# Minimum value: 40, maximum value: 240, default value: 80. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_GAMMA = 80 - -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting this -# to NO can help when comparing the output of multiple runs. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_TIMESTAMP = YES - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_SECTIONS = YES - -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries -# shown in the various tree structured indices initially; the user can expand -# and collapse entries dynamically later on. Doxygen will expand the tree to -# such a level that at most the specified number of entries are visible (unless -# a fully collapsed tree already exceeds this amount). So setting the number of -# entries 1 will produce a full collapsed tree by default. 0 is a special value -# representing an infinite number of entries and will result in a full expanded -# tree by default. -# Minimum value: 0, maximum value: 9999, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_INDEX_NUM_ENTRIES = 100 - -# If the GENERATE_DOCSET tag is set to YES, additional index files will be -# generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: http://developer.apple.com/tools/xcode/), introduced with -# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a -# Makefile in the HTML output directory. Running make will produce the docset in -# that directory and running make install will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at -# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html -# for more information. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_DOCSET = NO - -# This tag determines the name of the docset feed. A documentation feed provides -# an umbrella under which multiple documentation sets from a single provider -# (such as a company or product suite) can be grouped. -# The default value is: Doxygen generated docs. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# This tag specifies a string that should uniquely identify the documentation -# set bundle. This should be a reverse domain-name style string, e.g. -# com.mycompany.MyDocSet. Doxygen will append .docset to the name. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style -# string, e.g. com.mycompany.MyDocSet.documentation. -# The default value is: org.doxygen.Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_ID = org.doxygen.Publisher - -# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. -# The default value is: Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_NAME = Publisher - -# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three -# additional HTML index files: index.hhp, index.hhc, and index.hhk. The -# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on -# Windows. -# -# The HTML Help Workshop contains a compiler that can convert all HTML output -# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML -# files are now used as the Windows 98 help format, and will replace the old -# Windows help format (.hlp) on all Windows platforms in the future. Compressed -# HTML files also contain an index, a table of contents, and you can search for -# words in the documentation. The HTML workshop also contains a viewer for -# compressed HTML files. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_HTMLHELP = NO - -# The CHM_FILE tag can be used to specify the file name of the resulting .chm -# file. You can add a path in front of the file if the result should not be -# written to the html output directory. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_FILE = - -# The HHC_LOCATION tag can be used to specify the location (absolute path -# including file name) of the HTML help compiler ( hhc.exe). If non-empty -# doxygen will try to run the HTML help compiler on the generated index.hhp. -# The file has to be specified with full path. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -HHC_LOCATION = - -# The GENERATE_CHI flag controls if a separate .chi index file is generated ( -# YES) or that it should be included in the master .chm file ( NO). -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -GENERATE_CHI = NO - -# The CHM_INDEX_ENCODING is used to encode HtmlHelp index ( hhk), content ( hhc) -# and project file content. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_INDEX_ENCODING = - -# The BINARY_TOC flag controls whether a binary table of contents is generated ( -# YES) or a normal table of contents ( NO) in the .chm file. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members to -# the table of contents of the HTML help documentation and to the tree view. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that -# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help -# (.qch) of the generated HTML documentation. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify -# the file name of the resulting .qch file. The path specified is relative to -# the HTML output folder. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help -# Project output. For more information please see Qt Help Project / Namespace -# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_NAMESPACE = org.doxygen.Project - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt -# Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- -# folders). -# The default value is: doc. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_VIRTUAL_FOLDER = doc - -# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom -# filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's filter section matches. Qt Help Project / Filter Attributes (see: -# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_SECT_FILTER_ATTRS = - -# The QHG_LOCATION tag can be used to specify the location of Qt's -# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the -# generated .qhp file. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHG_LOCATION = - -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be -# generated, together with the HTML files, they form an Eclipse help plugin. To -# install this plugin and make it available under the help contents menu in -# Eclipse, the contents of the directory containing the HTML and XML files needs -# to be copied into the plugins directory of eclipse. The name of the directory -# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. -# After copying Eclipse needs to be restarted before the help appears. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_ECLIPSEHELP = NO - -# A unique identifier for the Eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have this -# name. Each documentation set should have its own identifier. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. - -ECLIPSE_DOC_ID = org.doxygen.Project - -# If you want full control over the layout of the generated HTML pages it might -# be necessary to disable the index and replace it with your own. The -# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top -# of each HTML page. A value of NO enables the index and the value YES disables -# it. Since the tabs in the index contain the same information as the navigation -# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -DISABLE_INDEX = NO - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. If the tag -# value is set to YES, a side panel will be generated containing a tree-like -# index structure (just like the one that is generated for HTML Help). For this -# to work a browser that supports JavaScript, DHTML, CSS and frames is required -# (i.e. any modern browser). Windows users are probably better off using the -# HTML help feature. Via custom stylesheets (see HTML_EXTRA_STYLESHEET) one can -# further fine-tune the look of the index. As an example, the default style -# sheet generated by doxygen has an example that shows how to put an image at -# the root of the tree instead of the PROJECT_NAME. Since the tree basically has -# the same information as the tab index, you could consider setting -# DISABLE_INDEX to YES when enabling this option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_TREEVIEW = YES - -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that -# doxygen will group on one line in the generated HTML documentation. -# -# Note that a value of 0 will completely suppress the enum values from appearing -# in the overview section. -# Minimum value: 0, maximum value: 20, default value: 4. -# This tag requires that the tag GENERATE_HTML is set to YES. - -ENUM_VALUES_PER_LINE = 4 - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used -# to set the initial width (in pixels) of the frame in which the tree is shown. -# Minimum value: 0, maximum value: 1500, default value: 250. -# This tag requires that the tag GENERATE_HTML is set to YES. - -TREEVIEW_WIDTH = 250 - -# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open links to -# external symbols imported via tag files in a separate window. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -EXT_LINKS_IN_WINDOW = NO - -# Use this tag to change the font size of LaTeX formulas included as images in -# the HTML documentation. When you change the font size after a successful -# doxygen run you need to manually remove any form_*.png images from the HTML -# output directory to force them to be regenerated. -# Minimum value: 8, maximum value: 50, default value: 10. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_FONTSIZE = 10 - -# Use the FORMULA_TRANPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are not -# supported properly for IE 6.0, but are supported on all modern browsers. -# -# Note that when changing this option you need to delete any form_*.png files in -# the HTML output directory before the changes have effect. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_TRANSPARENT = YES - -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see -# http://www.mathjax.org) which uses client side Javascript for the rendering -# instead of using prerendered bitmaps. Use this if you do not have LaTeX -# installed or if you want to formulas look prettier in the HTML output. When -# enabled you may also need to install MathJax separately and configure the path -# to it using the MATHJAX_RELPATH option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -USE_MATHJAX = NO - -# When MathJax is enabled you can set the default output format to be used for -# the MathJax output. See the MathJax site (see: -# http://docs.mathjax.org/en/latest/output.html) for more details. -# Possible values are: HTML-CSS (which is slower, but has the best -# compatibility), NativeMML (i.e. MathML) and SVG. -# The default value is: HTML-CSS. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_FORMAT = HTML-CSS - -# When MathJax is enabled you need to specify the location relative to the HTML -# output directory using the MATHJAX_RELPATH option. The destination directory -# should contain the MathJax.js script. For instance, if the mathjax directory -# is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax -# Content Delivery Network so you can quickly see the result without installing -# MathJax. However, it is strongly recommended to install a local copy of -# MathJax from http://www.mathjax.org before deployment. -# The default value is: http://cdn.mathjax.org/mathjax/latest. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest - -# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax -# extension names that should be enabled during MathJax rendering. For example -# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_EXTENSIONS = - -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces -# of code that will be used on startup of the MathJax code. See the MathJax site -# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an -# example see the documentation. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_CODEFILE = - -# When the SEARCHENGINE tag is enabled doxygen will generate a search box for -# the HTML output. The underlying search engine uses javascript and DHTML and -# should work on any modern browser. Note that when using HTML help -# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) -# there is already a search function so this one should typically be disabled. -# For large projects the javascript based search engine can be slow, then -# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to -# search using the keyboard; to jump to the search box use <access key> + S -# (what the <access key> is depends on the OS and browser, but it is typically -# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down -# key> to jump into the search results window, the results can be navigated -# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel -# the search. The filter options can be selected when the cursor is inside the -# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys> -# to select a filter and <Enter> or <escape> to activate or cancel the filter -# option. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -SEARCHENGINE = YES - -# When the SERVER_BASED_SEARCH tag is enabled the search engine will be -# implemented using a web server instead of a web client using Javascript. There -# are two flavours of web server based searching depending on the -# EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for -# searching and an index file used by the script. When EXTERNAL_SEARCH is -# enabled the indexing and searching needs to be provided by external tools. See -# the section "External Indexing and Searching" for details. -# The default value is: NO. -# This tag requires that the tag SEARCHENGINE is set to YES. - -SERVER_BASED_SEARCH = NO - -# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP -# script for searching. Instead the search results are written to an XML file -# which needs to be processed by an external indexer. Doxygen will invoke an -# external search engine pointed to by the SEARCHENGINE_URL option to obtain the -# search results. -# -# Doxygen ships with an example indexer ( doxyindexer) and search engine -# (doxysearch.cgi) which are based on the open source search engine library -# Xapian (see: http://xapian.org/). -# -# See the section "External Indexing and Searching" for details. -# The default value is: NO. -# This tag requires that the tag SEARCHENGINE is set to YES. - -EXTERNAL_SEARCH = NO - -# The SEARCHENGINE_URL should point to a search engine hosted by a web server -# which will return the search results when EXTERNAL_SEARCH is enabled. -# -# Doxygen ships with an example indexer ( doxyindexer) and search engine -# (doxysearch.cgi) which are based on the open source search engine library -# Xapian (see: http://xapian.org/). See the section "External Indexing and -# Searching" for details. -# This tag requires that the tag SEARCHENGINE is set to YES. - -SEARCHENGINE_URL = - -# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed -# search data is written to a file for indexing by an external tool. With the -# SEARCHDATA_FILE tag the name of this file can be specified. -# The default file is: searchdata.xml. -# This tag requires that the tag SEARCHENGINE is set to YES. - -SEARCHDATA_FILE = searchdata.xml - -# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the -# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is -# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple -# projects and redirect the results back to the right project. -# This tag requires that the tag SEARCHENGINE is set to YES. - -EXTERNAL_SEARCH_ID = - -# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen -# projects other than the one defined by this configuration file, but that are -# all added to the same external search index. Each project needs to have a -# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of -# to a relative location where the documentation can be found. The format is: -# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ... -# This tag requires that the tag SEARCHENGINE is set to YES. - -EXTRA_SEARCH_MAPPINGS = - -#--------------------------------------------------------------------------- -# Configuration options related to the LaTeX output -#--------------------------------------------------------------------------- - -# If the GENERATE_LATEX tag is set to YES doxygen will generate LaTeX output. -# The default value is: YES. - -GENERATE_LATEX = NO - -# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. -# The default directory is: latex. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -LATEX_OUTPUT = latex - -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be -# invoked. -# -# Note that when enabling USE_PDFLATEX this option is only used for generating -# bitmaps for formulas in the HTML output, but not in the Makefile that is -# written to the output directory. -# The default file is: latex. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -LATEX_CMD_NAME = latex - -# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate -# index for LaTeX. -# The default file is: makeindex. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -MAKEINDEX_CMD_NAME = makeindex - -# If the COMPACT_LATEX tag is set to YES doxygen generates more compact LaTeX -# documents. This may be useful for small projects and may help to save some -# trees in general. -# The default value is: NO. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -COMPACT_LATEX = NO - -# The PAPER_TYPE tag can be used to set the paper type that is used by the -# printer. -# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x -# 14 inches) and executive (7.25 x 10.5 inches). -# The default value is: a4. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -PAPER_TYPE = a4 - -# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names -# that should be included in the LaTeX output. To get the times font for -# instance you can specify -# EXTRA_PACKAGES=times -# If left blank no extra packages will be included. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -EXTRA_PACKAGES = - -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the -# generated LaTeX document. The header should contain everything until the first -# chapter. If it is left blank doxygen will generate a standard header. See -# section "Doxygen usage" for information on how to let doxygen write the -# default header to a separate file. -# -# Note: Only use a user-defined header if you know what you are doing! The -# following commands have a special meaning inside the header: $title, -# $datetime, $date, $doxygenversion, $projectname, $projectnumber. Doxygen will -# replace them by respectively the title of the page, the current date and time, -# only the current date, the version number of doxygen, the project name (see -# PROJECT_NAME), or the project number (see PROJECT_NUMBER). -# This tag requires that the tag GENERATE_LATEX is set to YES. - -LATEX_HEADER = - -# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the -# generated LaTeX document. The footer should contain everything after the last -# chapter. If it is left blank doxygen will generate a standard footer. -# -# Note: Only use a user-defined footer if you know what you are doing! -# This tag requires that the tag GENERATE_LATEX is set to YES. - -LATEX_FOOTER = - -# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the LATEX_OUTPUT output -# directory. Note that the files will be copied as-is; there are no commands or -# markers available. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -LATEX_EXTRA_FILES = - -# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is -# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will -# contain links (just like the HTML output) instead of page references. This -# makes the output suitable for online browsing using a PDF viewer. -# The default value is: YES. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -PDF_HYPERLINKS = YES - -# If the LATEX_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate -# the PDF file directly from the LaTeX files. Set this option to YES to get a -# higher quality PDF documentation. -# The default value is: YES. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -USE_PDFLATEX = YES - -# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode -# command to the generated LaTeX files. This will instruct LaTeX to keep running -# if errors occur, instead of asking the user for help. This option is also used -# when generating formulas in HTML. -# The default value is: NO. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -LATEX_BATCHMODE = NO - -# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the -# index chapters (such as File Index, Compound Index, etc.) in the output. -# The default value is: NO. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -LATEX_HIDE_INDICES = NO - -# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source -# code with syntax highlighting in the LaTeX output. -# -# Note that which sources are shown also depends on other settings such as -# SOURCE_BROWSER. -# The default value is: NO. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -LATEX_SOURCE_CODE = NO - -# The LATEX_BIB_STYLE tag can be used to specify the style to use for the -# bibliography, e.g. plainnat, or ieeetr. See -# http://en.wikipedia.org/wiki/BibTeX and \cite for more info. -# The default value is: plain. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -LATEX_BIB_STYLE = plain - -#--------------------------------------------------------------------------- -# Configuration options related to the RTF output -#--------------------------------------------------------------------------- - -# If the GENERATE_RTF tag is set to YES doxygen will generate RTF output. The -# RTF output is optimized for Word 97 and may not look too pretty with other RTF -# readers/editors. -# The default value is: NO. - -GENERATE_RTF = NO - -# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. -# The default directory is: rtf. -# This tag requires that the tag GENERATE_RTF is set to YES. - -RTF_OUTPUT = rtf - -# If the COMPACT_RTF tag is set to YES doxygen generates more compact RTF -# documents. This may be useful for small projects and may help to save some -# trees in general. -# The default value is: NO. -# This tag requires that the tag GENERATE_RTF is set to YES. - -COMPACT_RTF = NO - -# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will -# contain hyperlink fields. The RTF file will contain links (just like the HTML -# output) instead of page references. This makes the output suitable for online -# browsing using Word or some other Word compatible readers that support those -# fields. -# -# Note: WordPad (write) and others do not support links. -# The default value is: NO. -# This tag requires that the tag GENERATE_RTF is set to YES. - -RTF_HYPERLINKS = NO - -# Load stylesheet definitions from file. Syntax is similar to doxygen's config -# file, i.e. a series of assignments. You only have to provide replacements, -# missing definitions are set to their default value. -# -# See also section "Doxygen usage" for information on how to generate the -# default style sheet that doxygen normally uses. -# This tag requires that the tag GENERATE_RTF is set to YES. - -RTF_STYLESHEET_FILE = - -# Set optional variables used in the generation of an RTF document. Syntax is -# similar to doxygen's config file. A template extensions file can be generated -# using doxygen -e rtf extensionFile. -# This tag requires that the tag GENERATE_RTF is set to YES. - -RTF_EXTENSIONS_FILE = - -#--------------------------------------------------------------------------- -# Configuration options related to the man page output -#--------------------------------------------------------------------------- - -# If the GENERATE_MAN tag is set to YES doxygen will generate man pages for -# classes and files. -# The default value is: NO. - -GENERATE_MAN = NO - -# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. A directory man3 will be created inside the directory specified by -# MAN_OUTPUT. -# The default directory is: man. -# This tag requires that the tag GENERATE_MAN is set to YES. - -MAN_OUTPUT = man - -# The MAN_EXTENSION tag determines the extension that is added to the generated -# man pages. In case the manual section does not start with a number, the number -# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is -# optional. -# The default value is: .3. -# This tag requires that the tag GENERATE_MAN is set to YES. - -MAN_EXTENSION = .3 - -# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it -# will generate one additional man file for each entity documented in the real -# man page(s). These additional files only source the real man page, but without -# them the man command would be unable to find the correct page. -# The default value is: NO. -# This tag requires that the tag GENERATE_MAN is set to YES. - -MAN_LINKS = NO - -#--------------------------------------------------------------------------- -# Configuration options related to the XML output -#--------------------------------------------------------------------------- - -# If the GENERATE_XML tag is set to YES doxygen will generate an XML file that -# captures the structure of the code including all documentation. -# The default value is: NO. - -GENERATE_XML = NO - -# The XML_OUTPUT tag is used to specify where the XML pages will be put. 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<friends title=""/> - </memberdef> - <authorsection visible="yes"/> - </group> - - <!-- Layout definition for a directory page --> - <directory> - <briefdescription visible="yes"/> - <directorygraph visible="yes"/> - <memberdecl> - <dirs visible="yes"/> - <files visible="yes"/> - </memberdecl> - <detaileddescription title=""/> - </directory> -</doxygenlayout> diff --git a/old_docs/Gameplay.md b/old_docs/Gameplay.md deleted file mode 100644 index 5f9ba4bac4c..00000000000 --- a/old_docs/Gameplay.md +++ /dev/null @@ -1,191 +0,0 @@ - -# Gameplay - -This document covers the basics of our high-level soccer code including Plays, Behaviors, and game state evaluation. -This code resides in [soccer/gameplay](https://github.com/RoboJackets/robocup-software/tree/master/soccer/gameplay). - -As with any complex system, it's important to have some well-defined structure to keep things manageable. -The `soccer` program is split up into several different layers for this purpose, with the gameplay layer being the most high-level. -The gameplay layer is managed by the \ref GameplayModule and evaluates the current state of the field (where the robots and ball are) and the state of the game (is it a kickoff, penalty kick, etc). -This information is contained in the c++ \ref SystemState "SystemState" class and the \ref GameState "GameState class", respectively. -The result of running the \ref GameplayModule is a motion command for each of the robots as well as kick and dribble commands. -Layers of the software stack below the gameplay layer ideally don't know anything about soccer and just orchestrate robot motion, radio communication, network communication, etc. - -When the gameplay module is running, its job is to select the best play from a list of enabled plays by choosing the one with the lowest \ref gameplay.play.Play.score() "score()" value. -Plays are enabled and disabled through the GUI with the checkboxes next to play names. -See the annotated screenshot below for more info. - - -<img src="soccer-with-gameplay-annotations.png" width="1000"></img> - -## Play Structure - -The high-level strategy code is organized to be as modular as possible. -To do this, it's been split up into three main parts: [Skills](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/skills), [Tactics](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/tactics), and [Plays](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/plays). -There is one Goalie (optionally) and one \ref gameplay.play.Play "Play" object. - -**Skills** are behaviors that apply to a single robot. -They include things like \ref gameplay.skills.capture.Capture "capturing the ball", \ref gameplay.skills.move.Move "moving to a particular position on the field", and \ref gameplay.skills.pivot_kick.PivotKick "kicking the ball". - -**Tactics** can coordinate a single robot or many and generally encapsulate more complex behavior than **skills**. -This includes things such as \ref gameplay.tactics.coordinated_pass.CoordinatedPass "passing", \ref gameplay.tactics.defense.Defense "defense", and \ref gameplay.tactics.positions.goalie.Goalie "the goalie". - -**Plays** are responsible for coordinating the whole team of robots (although some robots may be unused). -At a given time, the `soccer` program is running at most one play. - -Used together, skills, tactics, and plays form a tree structure with the Play at the root and other behaviors below it. -The C++ `GameplayModule` tells the current play to run, which in turn tells each of its sub-behaviors to run. - - -## Gameplay structure - -Every behavior in soccer is a state machine that subclasses the main \ref gameplay.fsm.StateMachine "StateMachine class". -This class has methods for adding states and transitions between them as well as utility methods for showing textual and graphical descriptions of a state machine and it's sub-machines. -One nifty usage of this feature is that we can easily view a diagram of every skill, tactic, and play in our library. - -~~~{.sh} -# Run this in a terminal in the robocup-software folder to make the diagrams -$ make behavior-diagrams -~~~ - -After running the above command, open up the `soccer/gameplay/diagrams` folder and browse around to see a diagram for each behavior. -Below is the state diagram for the \ref gameplay.skills.pivot_kick.PivotKick "PivotKick" behavior. -A good exercise if you're new to writing plays is to compare the PivotKick __init__() method's state machine declarations to what you see in the diagram below. - -![PivotKick state diagram](PivotKick-state-diagram.png) - - -## Creating a Play - -Making a new play is as simple as adding a new python file somewhere inside the `soccer/gameplay/plays` directory and creating a subclass of `Play` inside of it. -There is no need to register the play, soccer will see the file in that folder and display it in the Plays tab in `soccer`. -Generally when writing a new play, it's a good idea to base its initial structure on an existing play. -A good example play to look at is the \ref gameplay.plays.testing.line_up "LineUp play". - -Every play begins by declaring a python class that subclasses the Play class: - -~~~{.py} -import play - -class MyNewPlay(play.Play): - def __init__(self): - # call superclass constructor - super().__init__(continuous=False) - - # TODO: declare states and transitions if needed - # see fsm.py for more info on these methods. - - # Most plays transition from Start to Running right away - self.add_transition(behavior.Behavior.State.start, - behavior.Behavior.State.running, - lambda: True, - 'immediately') -~~~ - -After declaring the play, it's time to add in the appropriate states and state transitions to your play. -Every subclass of \ref gameplay.behavior.Behavior "the Behavior class" automatically inherits some pre-defined states including `Start`, `Running`, and `Completed` and is initially started in the `Start` state. -It's your job as the writer of a new play to define a state transition from `Start` to `Running` or a substate of `Running`. - -The gameplay system automatically declares three methods for every state added to a behavior: on_enter_<NAME>, on_exit_<NAME>, execute_<NAME>. -Where <NAME> is the name of the state. -This allows us to conveniently execute code whenever we transition states or have code run repeatedly while we're in the state. - -An incredibly simple example of a play that just moves a robot to a certain position on the field could be implemented as follows: - -~~~{.py} -import play -import skills.move -import robocup - -class MoveOneRobot(play.Play): - def __init__(self): - super().__init__(continuous=False) - - self.add_transition(behavior.Behavior.State.start, - behavior.Behavior.State.running, - lambda: True, - 'immediately') - - def on_enter_running(self): - # Add a "Move" subbehavior that tells a robot to a specified (x, y) location - m = skills.move.Move(robocup.Point(0, 2)) - self.add_subbehavior(m, name='move', required=True) - - def on_exit_running(self): - # When the running state is over, we remove the subbehavior - self.remove_subbehavior('move') -~~~ - -## Behavior Sequences - -Behavior Sequences are an alternative to the state-machine based logic found elsewhere in Soccer. Many times we don't need complex transition functions, and simply want to execute behaviors in sequence. We simply model the behavior sequence as a list of behaviors to be executed in order. We can then use these sequences in Plays or Complex behaviors. There are also SingleRobot Behavior Sequences which only allow SingleRobot behaviors. - -We can view the lifecycle of the class in its __init__ method: -~~~{.py} -class BehaviorSequence(composite_behavior.CompositeBehavior): - def __init__(self, behaviors= []): - super().__init__( - continuous=True - ) # Note: we don't know if the sequence will be continuous or not, so we assume it is to be safe - - self.behaviors = behaviors - - self._current_behavior_index = -1 - - self.add_transition( - behavior.Behavior.State.start, behavior.Behavior.State.running, - lambda: len(self.behaviors) > 0, 'has subbehavior sequence') - - self.add_transition( - behavior.Behavior.State.running, behavior.Behavior.State.completed, - lambda: self._current_behavior_index >= len(self.behaviors), - 'all subbehaviors complete') - - self.add_transition( - behavior.Behavior.State.running, behavior.Behavior.State.failed, - lambda: self.current_behavior != None and self.current_behavior.is_in_state(behavior.Behavior.State.failed), - 'subbehavior failed') -~~~ - -The behaviors are added to the sequence, and it executes them one by one. When they are all complete, the sequence ends. Alternatively, if one of the behaviors in the sequence fails then the sequence transitions to the failed state and stops executing behaviors immediately. - -## Role Assignment - -When writing a play, you are defining a set of actions that should be taken by different robots on the field. -One important thing to note though is that you don't choose which robots will fulfill these roles directly. -Instead, you can define what attributes a robot should have in order for them to be a good fit for the role. -At each iteration of the main run loop, the \ref gameplay.role_assignment "role assignment system" examines the role requirements for each running behavior and uses an optimal matching algorithm (the [hungarian algorithm](https://en.wikipedia.org/wiki/Hungarian_algorithm)) to find the best robot to assign to each role. -In order to implement custom assignment logic for your behavior, you'll need to override the \ref gameplay.behavior.Behavior.role_requirements "role_requirements() method". - - -## RoboCup python module - -We use a 3rd-party library called Boost Python to create an interface between the C++ code that makes up the majority of our `soccer` program and the gameplay system that's written in python. -Boost Python is used to create a python module called "robocup" that python code can *import* in order to access our C++ classes and functions. -The C++ classes and functions available to the python interface are created through "wrappers" in the [robocup-py.cpp](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/robocup-py.cpp) file. -The "robocup" python module is compiled as a part of our project when you run `make` and is placed in the `run` directory as `robocup.so`. -This can be imported like any other python module like so: - -~~~{.sh} -cd robocup-software - -# Ensure that the latest version of the 'robocup' python module is built -make - -# The python module is placed in the 'run' directory as 'robocup.so' -cd run - -# Run python interpreter and import the module -python3 -import robocup - -# Use the help function to see a list of available classes and functions -help(robocup) -~~~ - - -## Visualization - -Many plays provide visualizations for the actions they are performing to make it easier for the user to quickly see what's happening. -For example, the Defense tactic draws red triangles from opponent robots and the ball to our goal to help visualize our defense's effective coverage. -This functionality is provided by the many drawing methods provided by the \ref SystemState class. diff --git a/old_docs/Keyboard_Shortcuts.md b/old_docs/Keyboard_Shortcuts.md deleted file mode 100644 index e6686acb11f..00000000000 --- a/old_docs/Keyboard_Shortcuts.md +++ /dev/null @@ -1,13 +0,0 @@ -|Key | Action | -|------------------|------------------------| -| q | quicksave | -| e | quickload | -| p | play | -| s | stop | -| h | halt | -| space | pause/play | -| left arrow | previous frame | -| right arrow | next frame | -| shift/left arrow | reverse speed increase | -| shift/right arrow| play faster | - diff --git a/old_docs/Mathematical_Optimization.md b/old_docs/Mathematical_Optimization.md deleted file mode 100644 index 74b86f7ed40..00000000000 --- a/old_docs/Mathematical_Optimization.md +++ /dev/null @@ -1,46 +0,0 @@ - -# Mathematical Optimization - -Mathematical optimization involves the maximization or minimization of a function through clever choices of the input variables and the analysis of the the output. They are mostly iterative as the underlying function is not easily analysed. - -Below is the comparison of the optimization algorithms that we use and their general use cases. - -## Gradient Ascent - -Gradient Ascent involves using the first order derivative to choose the next point. It will then move in the direction of the fastest increasing or decreasing gradient. As it passes the maximum, the step size decreases. Once the gradient is close enough to zero or the step size is small enough, the optmization algorithm exits. - -Pros: - * Very good at finding the the optimum point of a smooth unimodal function. - * Parallelizable - * Various configurable attributes to speed up convergence - -Cons: - * The gradient must be known at all points. - * Has trouble with noisy functions - * Can become stuck in local optimums. - * Somewhat slow in convergence - -## Parallel Gradient Ascent - -Parallel Gradient Ascent combines multiple independent Gradient Ascents together and operates on them as a set. If two inputs are near to each other, the two Gradient Ascents are combined into one. - -Pros: - * Starting points can be pre-calculated to increase convergence speed - * Can be multithreaded - -Cons: - * The general location of the critical point must be known to find the global optimum - * Initialization is cumbersome - -## Nelder-Mead - -Nelder-Mead involves using a simplex to "flip" its way up a hill, shrinking and expanding when necessary. The simplex has N+1 vertices in N dimensions. For example, in the two dimensional case, the simplex is a triangle. - -Pros: - * Minimizes the number of function calls - * Somewhat fast in convergence - -Cons: - * Finding the global or local optimum is determined by the starting step size - * May converge to a non-stationary point - * Has trouble with noisy functions \ No newline at end of file diff --git a/old_docs/MotionControl.md b/old_docs/MotionControl.md deleted file mode 100644 index 57d8a57358c..00000000000 --- a/old_docs/MotionControl.md +++ /dev/null @@ -1,39 +0,0 @@ - -# Motion Control - -## Intro - -Motion Control encompasses the tasks related to moving physical robots on the field. - - -## Computer-side - -The following classes play a role in motion control on the computer: - -* MotionConstraints -* OurRobot -* MotionControl -* Pid - - - -Here's a basic outline of how the motion control system currently works: - -* `Processor.run()` - * `GameplayModule.run()` - * `Play.run()` - * `Behavior.run()` - * `OurRobot.move(2dpoint)` - * sets `targetPos` in `OurRobot._motionConstraints` - * `OurRobot.replanIfNeeded()` - * looks at _motionConstraints and uses RRTPlanner to generate a new plan if needed - * `OurRobot.motionControl().run()` - * sets body_x, body_y, and body_w on the robot's `RadioTx::Robot` packet - * `Processor.sendRadioData()` - * builds the RadioTx packet by conglomerating each `OurRobot`'s `RadioTx::Robot` packet - - - -## Robot-side - -The robots receive instructions from the field computer in the form of protobuf packets sent over the radio. See control.{h, c} to see how the motion control code works. The control code is called from the main() runloop. diff --git a/old_docs/PlaysTacticsSkillsSummary.md b/old_docs/PlaysTacticsSkillsSummary.md deleted file mode 100644 index 4bc008da2f0..00000000000 --- a/old_docs/PlaysTacticsSkillsSummary.md +++ /dev/null @@ -1,69 +0,0 @@ -# Plays, Tactics, and Skills Summary -This document will highlight all the plays, tactics, and skills we use in our higher level play system and give a short description of the action it will take as well as a rule of thumb for use. If you want more specific information about individual plays, the next place to look is in the code itself. - -## Plays -Adaptive Formation and Basic 122 are the two main plays we run at competition. Adaptive is the more advanced one, but it has not been tested as much. Additionally, it requires passing to be possible on the physical robots. Basic 122 is much simpler, but will have more trouble scoring. - -| Offensive Plays | Description | -| ------------------ | ----------- | -| Adaptive Formation | Repeatedly finds the best pass, until it has a good shot on goal | -| Basic 122 | One robot will always try to get the ball and shoot while the others defend | -| Two Side Attack | Places two static receiver robots in the middle of the field and decides whether to pass to them or shoot | - -## Tactics -For higher level plays, only Coordinated Pass and Defense are really used. - -| Tactics | Description | Use When ... | -| ---------------------- | ----------- | ------------ | -| Advance Zone Midfielder| Moves one robot to the best position to receive the ball, and moves another robot to the best position to receive the ball from that position. | Use it when need to move robots on a downfield attack at goal. | -| Coordinated Pass | Moves one robot to the ball and the other to the receive point. When they both are ready, they will pass | Use when you want to pass the ball from one robot to another | -| Defense | Basic 2 robot defense that stays on the goalie box. Clears the ball when it comes close. | Use in most cases unless you are writing your own defense | -| Defense Old | Same as Defense, but significantly harder to read code-wise | Don't use | -| Defensive Forward | Commands 2 of the 3 offensive robots to block while the 3rd tries to take control of the ball | Use when you're trying to capture the ball and have nothing for the other robots to do | -| Forward Pass | Basically the same as Coordinated Pass, but ball capture is slightly different | Don't use since the new ball capture needs more testing / tuning | -| Line Up | Lines up all robots in a specified line | Use when you need robots out of the way for testing purposes | -| One Touch Pass | Finds the best point in front of the opponent goal to pass to and one touch it in | Don't use since it hasn't been tested / tuned | -| Our Placement | Places the ball according to the auto-ref commands | Don't use unless trying to change ball placement code | -| Penalty | Takes the penalty and tries to shoot | Don't use unless trying to change Our Penalty code | -| Simple Zone Midfielder | Commands 2 of the 3 offensive robots to stay at specific positions behind the ball. It just gets the out of the way so they aren't just sitting there on the field | Don't use unless there is nothing better to do | -| Tune PID | Moves one robot back and forth to tune the motion control | Don't use unless you are trying to tune the motion control | - -## Positions -These are in the tactic folder, but slightly higher level than normal tactics. They contain the AI for a single position (or group) on the field. - -Defender and Goalie are really only used on some specific restarts. Submissive Defender and Submissive Goalie are used in Defense. Defensive Forward and Simple Zone Midfielder are used in adaptive formation. - -| Positions | Description | -| ---------------------- | ----------- | -| Coach | The most important tactic we have. It yells strategic messages at the other robots, celebrates on goals, and follows the play from the side of the field. | -| Defender | Defends specific areas of the field. Only used on restarts | -| Goalie | Standalone goalie which does not coordinate with other robots. In most cases, it is better to add the Defense tactic, which implements the Submissive Goalie, or use the Submissive Goalie itself. | -| Submissive Defender | Takes marking targets from the parent play. Used for more coordinated defensive plays | -| Submissive Goalie | Takes marking targets from the parent play. Used for more coordinated defensive plays | - -## Skills -There are a large number of skills, but many are not used in the higher level plays. Only Capture, Mark, Move, and Pivot/Line Kick are constantly used. - -If you want to get the ball, use Capture. If you want to block an opponent robot, use Mark. To Move, use Move. To shoot, use Pivot Kick. - - -| Skills | Description | Use When ... | -| ----------------- | ----------- | ------------ | -| _Kick | Superclass to both Pivot Kick and Line Kick | Don't use as it's an abstract class | -| Aim | Holds the ball and aims towards a specific target | Use in lower level plays to control the ball and face a specific direction | -| Angle Receive | Receives the ball while facing a specific direction to speed up play | Use when you know what direction you want to receive the pass towards in coordinated pass. Much less consistent than the normal receive though | -| Bump | Bumps the ball towards a certain direction | Probably best not to use as it's not very consistent | -| Capture | Moves to intercept and collect the ball | Use whenever you want a robot to go grab the ball | -| Dribble | Dribbles the ball in front of the robot towards a specific point | Use when you want to dribble short distances | -| Face | Causes the robot to face a target point | Use when you know the robot should be facing a certain direction in the future. Helps improve motion control | -| Intercept | Tries to intercept the ball at the given point as quickly as possible | Use in situations where capture would be a detriment (eg: the goalie) | -| Line Kick | Moves into the ball and kicks | Use when you have some time to kick a stopped ball | -| Line Kick Old | Same as line kick, but in python | Don't use | -| Line Kick Receive | Uses the same path planner as line kick to receive a pass | Don't use as it is not completely tested on real bots | -| Mark | Places one of our robots on the given line/point/robot to block any shots/passes | Use to cover opponent robots on the defensive side of things | -| Move | Moves a robot to a specific position | Use when you want to move robots | -| Move Direct | Moves to a point without the path planner | Don't use unless you have a very specific reason to | -| Move Tuning | Very simplified movement command to do PID tuning | Don't use unless you are trying to tune motion control | -| Pass Receive | Simple receiver for a pass | Use when you just want to receive a pass normally in coordinated pass | -| Pivot Kick | Stops the ball, circles around it, then shoots in the target direction | Use in general when you want to kick the ball during play | -| Touch Ball | Simplified capture where the ball will roll towards the robot | Use in similar situations to one touch, where you don't want to move towards the ball while it's being passed to you | diff --git a/old_docs/RunningOnFieldComp.md b/old_docs/RunningOnFieldComp.md deleted file mode 100644 index 7d2de9432ce..00000000000 --- a/old_docs/RunningOnFieldComp.md +++ /dev/null @@ -1,100 +0,0 @@ -# How to Run Things on the Field Computer - -This guide assumes you know basic terminal usage (how to cd, run commands, -etc). Otherwise, everything is explicitly laid out. Note: when the -instructions say "new terminal", a new tab will also do. - -## Switch Branches - -In a new terminal, run `cd ~/robocup-software`, then run `git checkout ros2`. - -## Manual Control - -In a new terminal: - -1. `cd ~/robocup-software` -2. Source ROS2 and our build files: -``` -. ./source.bash -``` -3. Launch soccer in manual control mode -``` -make run-manual -``` - -In a second new terminal: - -1. `cd ~/robocup-software` -2. Source everything (see above) -3. Run the utility script to connect a controller to a robot: -``` -./util/manual_control_connect.bash -``` - -This will output a help message. In nearly every case you will only have to -change the robot ID, like so: -``` -./util/manual_control_connect.bash -r 1 -``` -Other options for args can be found in the source code: `soccer/src/soccer/joystick/`. - -After you run this utility script, you will see printed confirmation in the -first terminal where you launched soccer. - -For keyboard control, keep focus on the small black window (as in, you should -click on that window if you can't see it). - - WASD to move - - QE to pivot - - K to kick - - J to chip - - Spacebar to dribble - -## Launching Soccer - -In a new terminal, run the following lines one-by-one: - -``` -source /opt/ros/foxy/setup.bash -make perf -source install/setup.bash -ros2 launch rj_robocup soccer.launch.py -``` - -This should open soccer, good for testing radio connection. If you want to run -gameplay, you have to start autoref and vision (keep scrolling). - -## Open Ref - -In a new terminal: -1. `cd ~/ssl-game-controller` -2. `./ssl-game-controller_v2.12.7_linux_amd64` (Just hit tab after typing ssl) -3. Click open link on the line that states `UI is available at http://...` -4. Make sure at least one team is named RoboJackets. If not, click the top left - gear, click pen next to one of the names and find RoboJackets in the - dropdown. - -## Starting Vision - -Assuming you have soccer running (see top section), you need the -league-provided vision software to give our gameplay system what it needs to -work. - -In a new terminal: `cd ~/ssl-vision` `./bin/vision ` - -This should pull up a GUI of the ssl-vision system. In said GUI, start capture -by going to the left sidebar and clicking the arrows to dropdown: - -`Thread 0 -> Image Capture -> Capture Control -> Start Capture` - -Then push the `start` button. (If you can't see this button, try scrolling to the right with the bar on bottom.) -Do the same for Thread 1 for full-field coverage. - -If our system isn't picking up on vision's input, try: -1. restarting soccer -2. launching the graphical client (`cd ~/ssl-vision && ./bin/graphicalClient`) - -If the graphical client doesn't show any robots, vision is broken and something -is terribly wrong. Give an experienced software member a shout. - -If you are the experienced member or there is not an experienced member to help, you can try using [this guide](https://github.com/RoboJackets/robocup-computer-config/blob/main/ssl-vision/config-howto.md) in our computer-config repo to fix vision. - diff --git a/old_docs/Soccer.md b/old_docs/Soccer.md deleted file mode 100644 index e7c589b0057..00000000000 --- a/old_docs/Soccer.md +++ /dev/null @@ -1,58 +0,0 @@ - -# Soccer - -The 'soccer' program is responsible for receiving data from the vision and referee computers and using the information to strategically command the robots on the field (or in the simulator). - -![Screenshot of the 'soccer' program](soccer.png "Soccer") - - -## Running with the simulator - -Start both soccer and the simulator from the terminal: - -~~~~~~~~~~~~~~~{.sh} -$ cd run -$ ./simulator & -$ ./soccer -sim -~~~~~~~~~~~~~~~ - - -In the simulator, you can move the robots and ball around by clicking and dragging. The ball can also be given a velocity by right-clicking and dragging on it. - - -## Running with real robots - -Start soccer: - -~~~~~~~~~{.sh} -$ cd run -$ ./soccer -~~~~~~~~~ - -Also, make sure that the cameras and vision system are on. If so, robots should show up within the soccer window at their correct locations. - - -### Manual Control - -To run without using the AI/vision system, click the 'Manual' dropdown in the upper right of soccer and select the shell number of the robot you want to control with the joystick. - -Here's a diagram of the button layout for gamepad joystick control: - -![Joystick](joystick-layout.png "Joystick Controls") - -In addition to the Logitech Gamepad joystick, you can also use the SpaceNavigator 3d mouse. In order to do so, you have to have the spacenavd userspace driver daemon running. Do this with: - -~~~~~{.sh} -$ sudo spacenavd -~~~~~ - -You can also use the systemd service file included with the libspnav source to have spacenavd run at bootup. - -See the docs for SpaceNavJoystick for more info and button layouts. - - -### Graphing - -The soccer program has a feature that allows graphing any of the numeric values in the 'Tree' tab. Simply right-click on a value field, then click 'New Chart' or 'Add to ____' and a graph view will be shown at the bottom of the window. - -![Graphing](soccer-graphing.png "Graphing") diff --git a/old_docs/Style.md b/old_docs/Style.md deleted file mode 100644 index 40fb2619202..00000000000 --- a/old_docs/Style.md +++ /dev/null @@ -1,68 +0,0 @@ - -# Style - -RoboCup Software uses Google Style guides for the most part, which can be found [at this website for c++](https://google.github.io/styleguide/cppguide.html), and [at this website for python](https://google.github.io/styleguide/pyguide.html). This docs page will cover a basic overview of these rules, as well as some of the differences between google and our style guides. - -Our style configs for the code formatting programs that we use [are located here](https://github.com/RoboJackets/style-configs). - - -# Overview - -1. Wrap lines at 80 characters -2. Use 4 Spaces for Indentation -3. Comment your code, try to provide comments for every method. - - Doxygen has a specific format for comments. More information on commenting via doxygen [can be found here](doc/Documentation.md). -4. Place spaces between operators - - Ex: `4 + 3`, `(int) i` -5. Write readable code - -Style problems are mostly solved by our formatting scripts, although they can't deal with everything. - -# Autoformatting - -We have two make targets dealing with formatting. - -`make checkstyle` will check to see if your changes are up to style. - -`make pretty` will use an autoformater to try and format your code. - -# Variable Naming Conventions - -## C++ - -``` -// File names should be CamelCase -MyClass.cpp -MyStandaloneHeader.hpp -MyHeader.h - -// Class names are CamelCase -MyClassName a; - -// Variables should be camelCase with a lowercase first letter -myVariable; - -// Private variables should be preceded with an underscore -_privateData; - -// Where possible, avoid C syntax, and use C++ replacements. -printf("Hello world\n"); // bad! -cout << "Hello World" << endl; // good. -``` - -## Python - -``` -# Filenames (and therefore module names) should be lowercase_and_underscore -my_class.py -import my_class - -# Class names should be CamelCase -class MyPythonClass(): - -# object variables should be underscore_seperated -self.my_class_variable = 5 - -# Class or object variables should be CamelCase -ClassVariable = 5 -``` diff --git a/old_docs/Themes.md b/old_docs/Themes.md deleted file mode 100644 index 8840c86222c..00000000000 --- a/old_docs/Themes.md +++ /dev/null @@ -1,31 +0,0 @@ - -# Themes - -RoboCup Software has built in Theme support, via QT Stylesheets. By default no themes will be used. - -# Theme Selection - -To select a theme, from the top bar: - -`View->Change Style Sheet-><Name of Stylesheet>` - -To keep your theme permanently add the following to your bashrc - -```sh -export SOCCER_THEME="ALLCAPSTHEMENAME" -# for example -export SOCCER_THEME="DARK" -``` - -# Writing Themes - -Adding your own theme to soccer takes a few steps: - -1. Write the stylesheet (if starting from scratch, copy an existing stylesheet file from `./soccer/ui/themes`. - - Copy this stylesheet into the `./soccer/ui/themes` folder -2. Edit `MainWindow.ui` to add an entry for your theme in the themes menu. - - You can do this in qtcreator - - Also, you will need to add triggers in MainWindow.cpp to actually trigger your theme. - - In MainWindow.cpp add your new button to the radio group -3. Edit `StyleSheetManager.cpp` and add your theme to the map of tables present there. -4. You're set! See the existing themes for examples. diff --git a/old_docs/UnitTestsAndCI.md b/old_docs/UnitTestsAndCI.md deleted file mode 100644 index 698646a5bd7..00000000000 --- a/old_docs/UnitTestsAndCI.md +++ /dev/null @@ -1,27 +0,0 @@ - -# Testing & Continuous Integration - -When working on a large software project, it's very helpful to have a test suite in place that can be quickly run to verify that key components haven't been broken by new changes. The test suite won't cover everything, but the more it covers, the better. - -Each time you make tests to the codebase, you should run the test suite with `make tests` to ensure that you haven't broken anything that was previously working. Additionally, you should add unit tests for your new code when appropriate. - - -## C++ Unit Tests - -We use the [googletest](https://code.google.com/p/googletest/) unit testing platform for our C++ code. See the `soccer/tests` directory for our current tests. You can run these by running the `test-cpp` executable in the `run` folder after compiling the project. - - -## Python Unit Tests - -We use the standard `unittest` module for testing our python code. Our unit tests are located at `soccer/gameplay/tests` and can be run by running `./run_tests.sh` form the `soccer/gameplay` directory. - - -## Continuous Integration - -We use a free continuous integration service called [CircleCi](http://circleci.com), which recompiles and retests our project every time we push a new commit to our [GitHub repo](http://github.com/robojackets/robocup-software). Circle-ci works by cloning our git repository into a Ubuntu [Docker](https://www.docker.com) Container (similar to a Virtual Machine) each time it receives a notification from GitHub that there are new commits. It then looks at our circle config file [circle.yml](../circle.yml), which runs other scripts that build and test our code. Robocup-Software uses [DoCIF](https://github.com/jgkamat/DoCIF) to manage it's docker-based CI. Triggered by the circle.yml file, DoCIF builds a baseimage for the project (if any setup files changed), runs the tests listed in [config.docif](../config.docif), and sends it's results back to github to be displayed. On pull requests, you can see the individual logs of any test by clicking 'details' on any check. - -There is a build status icon on our GitHub project's main page README that is green when the master branch build succeeds and red when it fails. This lets us quickly ensure that our project build hasn't been broken. Our goal is to make sure the master branch always builds. We push new code to a separate branch, then merge it only once we verify that it passes the tests on circeci. - -## Coverage - -For every build, a separate test is run that checks the percentage of lines in our codebase that are run by tests. The results of this are sent to [Coveralls](https://coveralls.io/github/RoboJackets/robocup-software) so we can read them easily. In addition, the percent coverage of the master branch is displayed on the main github repository alongside the status badge. diff --git a/old_docs/Vision.md b/old_docs/Vision.md deleted file mode 100644 index e4d7b8e91a7..00000000000 --- a/old_docs/Vision.md +++ /dev/null @@ -1,38 +0,0 @@ - -# Vision - -## About - -The RoboCup field has two cameras above the field (one over each half), which are connected to a league-provided 'vision computer'. This computer takes in images from the two cameras (at about 60Hz) and uses the [ssl-vision](https://code.google.com/p/ssl-vision/) program for image processing. It then sends out (x,y) coordinates of all of the robots and the ball over the network (in protobuf packets over UDP) to the two teams' field computers. - -\dot -digraph vision { - rankdir=LR; - - subgraph cluster_vision_computer { - label="Vision Computer"; - - SSL_Vision [label="ssl-vision"]; - } - - {Camera0, Camera1} -> SSL_Vision [label="Firewire"]; - - subgraph cluster_field_computer { - label="Field Computer"; - - soccer; - } - - SSL_Vision -> soccer [label="protobuf over UDP"]; -} -\enddot - - -## Dot Patterns - -Each robot has a dot pattern on top that lets the vision system recognize which team it's on and what robot/shell number it is. The center dot is yellow or blue to indicate team and the surrounding 4 dots are a sort of binary to distinguish robot number. - -Here's an image of all of the dot patterns. Shell number 0 is the upper-left and they increase as they go right, then down. - -![Dot Patterns](dot_patterns.png) - diff --git a/old_docs/VisionFilter.md b/old_docs/VisionFilter.md deleted file mode 100644 index 46c25973dc4..00000000000 --- a/old_docs/VisionFilter.md +++ /dev/null @@ -1,38 +0,0 @@ -# Vision Filter - -Based on a mixture of the Mannheim Tiger's vision filter from their [auto-ref](https://gitlab.tigers-mannheim.de/open-source/AutoReferee) and something known as the [Multi-Hypothesis Extended Kalman Filter (MHEKF)](https://dainamite.github.io/public/publication/qian_master_thesis.pdf) found in a paper from the RoboCup SPL league team DAInamite. The overall goal of this module is to convert the raw vision packet data from SSL-Vision and creates a good estimate of the true robot and ball positions. - -The overall setup is shown in the image below. Vision data is fed into the world object. This world object splits up the vision data by camera ID and feeds it into each corresponding camera object. The camera objects then apply the vision data as measurements to individual kalman filters corresponding to balls and robots. The world object then combines the best kalman filter from each camera for each individual robot and ball. - - -<img src="https://i.imgur.com/BjU5TU8.png" width="800"> - -## SSL-Vision Format - -Each individual camera sends a frame packet. Each frame packet contains one or more balls and one or more robots depending on what is in the camera view. Consequently, the frames are not sent at a consistent rate and you may get more than one camera frame at a time depending on how things work out. A ball may show up on multiple cameras so you may get a measurement in multiple camera frames. Sometimes extra balls and robots will show up for a frame or two due to noise. - -## Kalman Filter - -A kalman filter is a statistical approach to estimating positions/velocities (etc) of different objects. In this specific case, the model assumes constant velocity that integrates down to position. This is for each independent axis (X, Y and in the robot's case, heading). The filter keeps track of the X pos/vel, Y pos/vel (and heading pos/vel) as well as how confident it is in each estimate. - -Every iteration the filter either predicts or predicts and updates. When it predicts, it predicts current positions and velocities given what the position and velocities were last frame. When it predicts and updates, it again predicts it's current positions and velocities, but then compares that to the measurements it receives and updates it's position and velocity. If we are really confident in our current estimates, it doesn't really take into account the measurement. On the flip side, if we aren't confident, we almost completely use the measurement as the truth. Additionally, the confidence of our estimate steadily decreases each time we predict without an update. - -## Camera - -The camera object receives all the measurements for a specific camera ID. The camera then chooses how to apply these measurements to the kalman filters objects it contains. There are two different algorithms to match the measurements to kalman filters, the first is the average kalman filter and the other is the multi-hypothesis kalman filter. - -The average kalman filter averages all the measurements corresponding to that specific object and then applies it to the single kalman filter for that object. For example, the ball object will average the positions of all the measurements from the camera frame and use that as the measurement for the single ball kalman filter. - -The multi-hypothesis kalman filter takes all measurements that are within a specific distance of the object and averages those together. This average is then used as the measurement for that specific kalman filter. Any that are not "claimed" by a kalman filter are used as the initial position for new kalman filters. There can therefor be multiple kalman filters for a specific object like a ball. - -Additionally, we use a simple geometric model to predict how the ball velocity will change when it bounces off of robots to improve the estimation. - -## World - -The world object takes the list of packets from SSL-Vision and splits it into data for each camera. It then sends the data down to the cameras for processing. Once that processing is done, the world object then takes the best kalman filter for each object from each frame. The set of kalman filters corresponding to a single object from all the cameras are merged together based on their confidence. This set of merged objects are referred to with the World* qualifier and are our best estimates of the pos/vel of the objects. - -## VisionFilter - -The vision filter module converts the protobuf format from SSL-Vision to a custom format with the Camera* qualifier. This removes all the extra data that isn't needed and makes it easier to edit code. Additionally, there are operations to push the data from the filter into the system state object. - -The vision filter module is threaded to run at a very specific timing matching the kalman filter predict/update rate. \ No newline at end of file diff --git a/old_docs/contributing.md b/old_docs/contributing.md deleted file mode 100644 index e39ee78cdf3..00000000000 --- a/old_docs/contributing.md +++ /dev/null @@ -1,252 +0,0 @@ -# Contributing Guide -This guide targets new members looking for a guide on contributing to the -project. This guide will focus on the overall picture of effective coding and -contributions. It is not intended to be a technical guide. - -## Initial Notes -Contributing to open source presents a unique set of challenges, especially when -dealing with large projects. Our project is approximately 50-80k lines of code, -and is still very small by some open source standards. - -This should not be discouraging, but rather informative. Most initial -contributions will be small; it takes time to learn the project structure and any -languages and skills each particular project requires. Contributions of any size -will be greatly appreciated, and you should have realistic expectations of what -a first contribution might be (if you don't believe me, you can look at my first -contribution [here](https://github.com/RoboJackets/robocup-software/commit/6ce98fc0f8d88b6d145700779e126c0f1b99bb92#diff-71a3477f37bd5b20744e292eda2e3fbc). It's two lines of 'code'). This guide will help you learn to navigate our code base, and -work toward an initial contribution. - -## Initial Prerequisites -Before starting, you'll need a Unix-like environment. This means you need to be -running OSX or Ubuntu Linux (other flavors of Debian may work, but we do not -officially support them or FedoraCore). - -You'll also need a GitHub account, which you can create [here](http://github.com). -GitHub is a web front-end for a program called Git, which allows multiple people to -work on and contribute to the same code base, at the same time. - -Before you can begin work, you'll need to setup our RoboCup toolchain. You can -run the script located in `util/ubuntu-setup` or which ever script applies to -your operating system. All of the software technical documentation can be found -[here](http://robojackets.github.io/robocup-software/md_doc__build_systems.html). - -## Git -If you don't have an overall idea of what the competition is like and what its -goals are, you can brush up at the [RoboCup Wiki](http://wiki.robojackets.org/w/RoboCup). - -We use Git as our version control system (if you already know git, you can skip -ahead). A Version control system allows many people to code for the same project -at the same time. A "cheat-sheet" of Git commands can be found [here](http://www-rohan.sdsu.edu/acm/git.png). - -To ease new contributors into Git, I'll repeatedly use the analogy of the -classroom test. - -If you simply want to learn about the workflow we use, and are less interested -in learning the relationships between Git elements, you can skip to the "Overall -Workflow" section. - -### Master -If Git is like a test, then you can think of the master branch as the final copy -you submit for grading. This copy should have the correct answer, should contain -the most effective or efficient solution, and should be highly neat and readable -for the graders. You probably shouldn't do any work here, but rather should -explore in other locations such as scrap paper. Once you have several solutions, -you can pick the one you like the best, and more neatly copy the work on to the -test you will hand in. - -Our master branch can be found [here](https://github.com/RoboJackets/robocup-software). -The code in latest master is always neat and untouched. It can always compile. When you -first clone our codebase from git to view the simulator and soccer, you are -using the code in master. It is in all respects, the master copy from which all -other contributions are derived. Even if you are eventually given permission to -write to master, you should never do so. - -### Forks -If the professor puts test questions on the whiteboard for the whole class, you -would not be allowed to solve the problems on the board; you would be expected -to copy any relevant information to your own paper and solve the problems there. -This gives you the freedom to play around with rephrasing and solving questions, -without distuirbing others. - -Forking a repository on GitHub duplicates the project, but you are given full -write access to your own duplicate. Now you can delete, recreate, and add code -relevant to your contribution without harming the progress of others. This -duplicate is known as your repository and every team member has a fork. This is -different from the main repository which belongs to the team rather than an -individual. Don't confuse the main repository with the master branch. The -shared, main repository can have incomplete features being worked on by -everyone. The master in your fork and the master in the main repository should -always remain clean. - -This also works well when you want a feature that only some people want. You -don't have to move every contribution from your fork back into the main -repository. When you have contributed something and want it placed in master, -whoever is reviewing your code will look at your fork of the code and compare -it to the master branch. - -### Branches -Branches are like pieces of scrap paper. You can use them to organize your work -and solutions to the test questions. You should not have work regarding -different problems mixed across several pieces of paper; you may get your -progress confused. You should use one (or several) peices of paper for each -problem you are trying to solve, but should never use one sheet for multiple -questions. - -For RoboCup you should create a new branch for every new item you'd like to work -on and for every bug or issue you have to fix. This ensures your master branch -stays clean. You should never solve more than one issue at a time and you should -never have changes or additions for multiple things in the same branch. You can -look at a typical branching layout. - -![branchingModel](http://justinhileman.info/article/changing-history/git-flow.png) - -### Remotes -If Git is like a test, then remotes would be copying/collabortaion (cheating -to some people). A remote allows you to view the solution(s) of another -classmate, and pull those additions into your repostory as if they were on the -classroom whiteboard. - -In software this can be particularly useful if a team member is working on some -new code that may not be perfect yet, but isn't ready to be folded into master. -This may happen when you cannot continue work without getting the somewhat -related progress from someone else. You should understand that when pulling from -someone else, they take no responsibility for any problems their updates may -cause for you. This is a decently advanced concept for those new to distributed -environments, and won't be used too often. We encourage you learn more about -this independently if interested. - -### Overall Workflow (important) -If you read the previous sections, you may be a little overwhelmed. This section -will describe how these elements interact to form a coherent workflow that will -allow you to make contributions more easily. You can view an overall diagram of -how data moves between team members and GitHub. - -![githubDataFlow](http://www.dalescott.net/wp-content/uploads/2012/09/centralized-github-4.png) - -Ensure you have a fork of the main repository and that you've cloned it onto -your desktop. - -You now have a copy of your repository's master branch available to you. When -you have an idea of what you'd like to contribute, create a new branch before -starting work. Assume you want to write some radio firmware, so you name your -branch radioFirmware. - -Your new branch contains a copy of the content of master. Make your additions -and edits now, they will only affect the radioFirmware branch. When done add -and commit the files. - -You now have a branch with your contribution, but you haven't contributed until -the code makes it into the main repository. This involves several steps. First, -any changes others have made in the team's repository need to be merged into -your code. If there are any conflics Git can't resolve automatically, it is -your job to [resolve](https://help.github.com/articles/resolving-a-merge-conflict-from-the-command-line) those errors. By merging changes into your contribution, -rather than the other way around, you ensure the act of bringing your code into -the team's repository will go smoothly. This helps when another member of the -team reviews your code as well. - -Now that you have a merged branch, you should push the branch to your GitHub. -From GitHub, you can make a [pull request](https://help.github.com/articles/using-pull-requests/) from your repository against the -team's repository. This will notify an older team member that you are ready to -have your contribution reviewed. Requirements for pull request standards are -listed in several sections below. The older team member may ask that you fix -or touch up some things before the request is accepted. This is normal and -common. Once the pull request meets standards, the older member will approve -it, and you changes will be complete. - -Keep in mind, you can have several branches at once. If you need to fix a bug -for an existing contribution while working on a new one, you should checkout -the master branch, and then create a new branch named bug fix. It is -critically important that a pull request only address one thing at a time. If it -does not, the request will not accepted until you have separated the items you -have worked on. - -If you've done all this successfully, you are now an official contributor. - -#### Example (with technical details) -Here we will work through a very possible scenario that may arise while -contributing to the project. At this point, you should have created a GitHub -account and forked the main RoboCup repository. You should also look at -creating a ssh key for GitHub [here](https://help.github.com/articles/generating-ssh-keys/). - -1. Clone your repository. -2. You've decided to write some radio firmware. Create a new branch for radio -development using `git checkout -b radioFirmware`. You will automatically be -switched to the new branch, -3. Start reasearching and coding. -4. A bug in the path planning code has surfaced and the team wants you to try -to fix it. You're still on the radioFirmware branch, but you should never work -on more than one feature per branch. Return to the master branch using -`git checkout master`. Now create a new branch for the bug fix like so -`git checkout -b pathPlanningHotfix`. -5. Fix the buggy code. -6. Commit, push, and submit a pull request for the bug fix. -7. Switch back to the radioFirmware branch with `git checkout radioFirmware`. -You can now (optionally) delete the pathPlanningHotfix branch once the pull -request has been accepted. -8. Continue radio firmware development. If any more urgent problems arises, -you can repeat steps 4-7. -9. Push the new radio firmware and submit a pull request. - -#### You Done Messed Up A-a-ron (and you need some help with Git) -Don't panic! Git saves history every time you commit, and thus you should -always be able to recover and progress you've made and undo mistakes affecting -others. When in doubt consult [this](http://justinhileman.info/article/git-pretty/git-pretty.png). Feel free to ask for help at any time, and always ask for help when attempting -anything in the "DangerZone". - -## Pull Request Requirements -With large projects, organization and structure can break down fairly quickly -resulting in some bad spaghetti code. We want to avoid this as much as -possible. For this reason, every pull request will be reviewed by a more senior -member of the team, currently Justin Buchanan. If your request isn't accepted -right away, don't take it personally. Often your code may work fine, but there -are things you can add or refine. This helps keep our repository clean and will -give you valuable experience participating in a code review process. - -### Continuous Integration -Continuous Integration (CI) is a tool to help auto-detect problems before they -are merged into the main respository and have a chance to cause problems. Every -time you submit a pull request, the CI tool is run and it will assign a passing -or failing mark to the request. If the CI fails, you will need to fix the error -in your code before the code review. If the reason for the failure isn't -obvious or it's a problem in the CI check itself, seek some help. - -### Content -It's important that the content of a pull request be kept clean and small. Pull -requests should be less than 1-2k lines of code. The code changes should -reflect one and only one topic (e.g do not include two bug fixes in one pull -request). Content should generally be kept to code and documentation, binary -content, such as images, may be uploaded elsewhere. - -### Documentation -Code should be documented thoroughly. Generally speaking, you won't be here for -more than 4(ish) years. Many students will come behind you and will need to use -the code you've written. - -Each class or file you create should be documented as to what it contains and -what purpose it serves. - -Each function should have documentation containing it's purpose, what -parameters is takes, and what values it returns. Error handling should be -described as well: what errors will it produce, and what assumptions it makes -regarding the validation the caller performs ahead of time. If relevant, state -if the function may block for extended periods of time. If applicable, state if -the function is reentrant or accquires and releases locks. - -If the overall set of code is complex and new, consider editing or adding to -the wiki. - -C/C++/Python is documented using doxygen. You can view the guide for writing doxygen -comments and documentation [here](http://www.stack.nl/~dimitri/doxygen/manual/docblocks.html). - -Text file types that are not supported by doxygen should still be documented -using what ever commenting style that format supports. - -### Style and Formatting -In order to keep the code more readable, code should be formatted and styled -uniformly. This would be difficult to coordinate across multiple users, so we -have a program that automatically restyles the code for you. If you submit a -pull request before restyling the code, it will likely fail the CI check. You -can auto-format the code by running `make pretty`. If you have a lot of code, -you may have to run this a few times. You can check if the style is passing -by running `make checkstyle`. If there are no errors, then you are good to go. - diff --git a/old_docs/diagrams/.gitignore b/old_docs/diagrams/.gitignore deleted file mode 100644 index 664db108e9f..00000000000 --- a/old_docs/diagrams/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -*.png -*.svg diff --git a/old_docs/diagrams/autorebuild.sh b/old_docs/diagrams/autorebuild.sh deleted file mode 100755 index d3f055fc640..00000000000 --- a/old_docs/diagrams/autorebuild.sh +++ /dev/null @@ -1,5 +0,0 @@ -#!/bin/bash - -# Run this script to rebuild the image files every time a .dot file changes - -filewatcher *.dot make diff --git a/old_docs/diagrams/makefile b/old_docs/diagrams/makefile deleted file mode 100644 index 5fc5a3c56ca..00000000000 --- a/old_docs/diagrams/makefile +++ /dev/null @@ -1,15 +0,0 @@ - -# This makefile build all of the .dot files into image files - -TYPE=png # this can be png or svg (maybe others too...) -SRC=$(wildcard *.dot) -OUT=$(patsubst %.dot, %.$(TYPE), $(SRC)) - -all: $(OUT) - -%.$(TYPE): %.dot - dot -T$(TYPE) $^ -o $@ - -clean: - rm *.png *.svg - diff --git a/old_docs/diagrams/motion.dot b/old_docs/diagrams/motion.dot deleted file mode 100644 index 172d5b4b4ed..00000000000 --- a/old_docs/diagrams/motion.dot +++ /dev/null @@ -1,58 +0,0 @@ -digraph Motion { - label="Motion Dataflow"; - - subgraph cluster_highlevel { - label="High-level Commands"; - - move_cmd [label="move()"]; - pivotTo_cmd [label="pivotTarget()"]; - face_cmd [label="face()"]; - worldVel_cmd [label="worldVel()"]; - stop_cmd [label="stop()"]; - } - - { - node [color=blue]; - - posTarget [label="target S"]; - velTarget [label="target S'"]; - faceTarget [label="target theta"]; - targetAngleVel [label="target theta'"]; - pivotTarget; - } - - path; - - subgraph cluster_RobotCommand { - label="Robot Command"; - - vel [label="S'"]; - angleVel [label="theta'"]; - } - - /*{ - node [shape=rect]; - - path_constraints [label="startSpeed\nmaxSpeed\nendSpeed\nmaxAccel"]; - angleVel_constraints [label="maxAngleVel\nmaxAngleAcc"]; - path_to_vel_constraints [label="error\nPID"]; - targetAngleVel_to_angleVel_constraints [label="PID"]; - }*/ - - move_cmd -> posTarget; - pivotTo_cmd -> pivotTarget; - face_cmd -> {faceTarget}; - worldVel_cmd -> velTarget; - stop_cmd -> {velTarget, targetAngleVel}; - - - velTarget -> vel; - targetAngleVel -> angleVel; - - posTarget -> path; - path -> vel; - - faceTarget -> angleVel; - - pivotTarget -> {vel, angleVel}; -} diff --git a/old_docs/diagrams/readme.md b/old_docs/diagrams/readme.md deleted file mode 100644 index 6f0ffbf7d4c..00000000000 --- a/old_docs/diagrams/readme.md +++ /dev/null @@ -1,5 +0,0 @@ - -# Diagrams - -The .dot files are graph specifications written in graphviz. The makefile turns them into image files which are placed in this directory - diff --git a/old_docs/diagrams/soccer.dot b/old_docs/diagrams/soccer.dot deleted file mode 100644 index a9df423651c..00000000000 --- a/old_docs/diagrams/soccer.dot +++ /dev/null @@ -1,52 +0,0 @@ -digraph Soccer { - node [shape=record]; - - subgraph cluster_3 { - label="Field Computer / soccer"; - - Processor; - VisionReceiver [label="{Vision Receiver | The vision receiver listens for\n vision packets and parses them\n as they come in. Each time a\n packet comes in, the data\n is fed into a set of particle filters.}"]; - - - RefereeeModule [label="{Referee Module | The ref module listens for\n packets from the referee and\n parses them as they come in.\n The parsed ref commands are\n stored in the GameState object}"]; - - RefereeeModule -> GameState; - - - {GameState, Robot, Ball} -> GameplayModule; - - - GameplayModule [label="{GameplayModule | The gameplay module contains a\n python interpreter that runs our\n highlevel code. One play is\n selected at a time and it is\n executed at 60Hz.}"]; - - - GameplayModule -> PathPlanner -> MotionControl; - - subgraph cluster_4 { - label="SystemState"; - - Ball, Robot, GameState; - } - - Joystick -> MotionControl; - - VisionReceiver -> {RobotFilter, BallFilter}; - RobotFilter -> Robot; - BallFilter -> Ball; - } - - - ssl_vision [label="{SSL Vision | The vision system takes\n in images from cameras\n and processes them, resulting\n in x,y coordinates of the\n robots and ball.}"]; - - - ssl_refbox [label="{SSL Refbox | The refbox contains a series of}"]; - - - VisionPacket [label="{Vision Packet | Vision packets are sent\n over UDP formattted as\n Google Protobuf messages}"]; - - RefereePacket [label="{Referee Packet | Referee packets are sent\n over ??? formatted as\n Google Protobuf messages}"]; - - ssl_vision -> VisionPacket -> VisionReceiver; - - - ssl_refbox -> RefereePacket -> RefereeeModule; -} diff --git a/old_docs/doxygen.css b/old_docs/doxygen.css deleted file mode 100644 index 8ddefa2058f..00000000000 --- a/old_docs/doxygen.css +++ /dev/null @@ -1,1410 +0,0 @@ -/* The standard CSS for doxygen 1.8.4 */ - -body, table, div, p, dl { - // font: 400 14px/22px Roboto,sans-serif; - font: 13px "Lucida Grande", "Lucida Sans Unicode", Helvetica, Arial, Verdana, sans-serif; -} - -/* @group Heading Levels */ - -h1.groupheader { - font-size: 28px; - //font-size: 150%; -} - -.title { - //font: 400 14px/28px Roboto,sans-serif; - font-family: "Lucida Grande", "Lucida Sans Unicode", Helvetica, Arial, Verdana, sans-serif; - font-size: 24px; - font-weight: normal; - margin: 10px 2px; -} - -h2.groupheader { - //border-bottom: 1px solid #879ECB; - border-bottom: none; - //color: #354C7B; - color: rgb(60, 76, 108); - font-size: 24px; - font-weight: normal; - //margin-top: 1.75em; - margin: 42px 0px 20px 0px; - margin-bottom: 20px; - //padding-top: 8px; - //padding-bottom: 4px; - padding: 0px; - width: 100%; -} - -h3.groupheader { - font-size: 100%; -} - -h1, h2, 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b/old_docs/mainpage.md deleted file mode 100644 index b68262b8738..00000000000 --- a/old_docs/mainpage.md +++ /dev/null @@ -1,32 +0,0 @@ -# Note: these docs have been deprecated as of the ROS2 rewrite in 2020 -# See our Google Drive, PRs near `#1618` - -Welcome to the GT RoboJackets RoboCup Documentation Page! - - -# Contributing - -There are some areas that are a little sparse and could use a little more info. If you have something to add, we'd love for you to check out the [GitHub repo](https://github.com/RoboJackets/robocup-software) and send us your changes! - - -# Getting Started - -If you're new to our codebase, we'd recommend you start by checking out the following key components: - -* \ref Processor -* \ref Gameplay::GameplayModule -* The python \ref gameplay.play.Play "Play class" -* \ref SystemState -* \ref OurRobot - - -A few other classes that are helpful for more understanding are: - -* \ref Logger -* \ref RobotFilter -* \ref VisionReceiver -* \ref NewRefereeModule -* \ref GameState -* \ref Planning::RRTPlanner -* \ref Planning::Path -* \ref MotionControl diff --git a/old_docs/readme.txt b/old_docs/readme.txt deleted file mode 100644 index 967b5bd2780..00000000000 --- a/old_docs/readme.txt +++ /dev/null @@ -1,3 +0,0 @@ - -The markdown files in this directory are parsed by doxygen and placed in the sidebar of our documentation website. - diff --git a/old_docs/robot-ui.txt b/old_docs/robot-ui.txt deleted file mode 100644 index 8d025dca0a2..00000000000 --- a/old_docs/robot-ui.txt +++ /dev/null @@ -1,29 +0,0 @@ -LEDs, as seen from back of robot: - LR RR - LY RY - LG RG - -LR: Charger - Solid = Charged - 1 flash = Charging - 2 flashes = Charger failure (check kicker power and signal cables) - 3 flashes = ADC failure (check kicker signal cable) -LY: Ball sensor - Solid = Ball present - Off = Ball not present - 1 flash = Dazzled (probably need to change thresholds) - 2 flashes = Detector failure - 3 flashes = LED failure -LG: Power. Depends on motor power (fused), 3.3V, and 5V. - -RR: No radio data -RY: Radio TX (reverse) -RG: Radio RX (forward) - -DIP switches: -DP1: On=2008 base, Off=2011 base -DP2: On=Disable all motors (for electronics debugging), Off=Normal operation -DP3: On=Reload SAM-BA bootloader, Off=Normal operation - Set DP3 ON and power on. Wait 10s. Set DP3 OFF and power cycle. - Use "make robot-prog-samba" to reload firmware. -DP4: On=Secondary radio channel, Off=Primary radio channel diff --git a/old_docs/training2016/1.md b/old_docs/training2016/1.md deleted file mode 100644 index cf03b83cda5..00000000000 --- a/old_docs/training2016/1.md +++ /dev/null @@ -1,259 +0,0 @@ -# Training Summary 1 {#t20161} - - -# Download VM Image - -- [Download Link](https://mega.nz/#!kgFCyC5Y!lETW_2hufOsqxEOUrnjVFD538FvI3qXBLXWiBm9X_xI) (<http://bit.ly/2c61Fkx>) -- Today we will be setting you up to develop RoboCup Software - - -# Introductions - -- Name -- Major/How Many Years at Tech -- What makes you excited about RoboCup Software? - - -# Communication - -- Email List -- Gitter (badge on our repo) -- Docs Site (link on our repo) - - -# Developing RoboCup - -- Running on Ubuntu 16.04 -- Recommended: - - Install our VM - - This comes with all dependencies already installed. -- Supported: - - Install on your pre-existing 16.04 Installation (dual boot/VM) - - Anyone doing this? -- Unsupported, needs a maintainer: - - Mac OS - - -# Create a GitHub Account - -- [<https://github.com/join>](https://github.com/join%0A) -- Please include *at least* your real first name on github - -![img](https://i.imgur.com/0cdXQXW.png) - - -# Fork Our Repo - -- RoboJackets/robocup-software (<http://bit.ly/1L70JbB>) - -![img](https://i.imgur.com/kYzz2oh.png) - - -# RoboCup VM Setup - -- [Link to Guide](https://github.com/RoboJackets/robojackets-images/blob/master/robocup/USAGE.org) (<http://bit.ly/2chLRLd>) - - -## RoboCup Images Usage Guide - -- This document will help you get started using the RoboCup Software Virtualbox Image - - -### Install VirtualBox - -- Install VirtualBox from the [VirtualBox downloads page](https://www.virtualbox.org/wiki/Downloads). - - -### Ensure you have Virtualization turned on in your BIOS - -- [This](http://www.howtogeek.com/213795/how-to-enable-intel-vt-x-in-your-computers-bios-or-uefi-firmware/) is a simple guide of how to do this. -- While this is not 100% necessary, it will make your VM much faster. -- On a Windows host, you may need to turn off Hyper-V as well. - - -### Get a Copy of the built Image - -- First start by downloading the prebuilt image (a link should have been distributed to you) or by manually building the image. - -- See [the README](README.md) for more information about building this project. - - -### Extract Image - -- If you have downloaded the image from a distributed link, simply extract the zip file, which will produce several result files. - -- If you have manually extracted the image, go to `box/virtualbox` and extract the `.box` file there. -- It can be extracted via tar, ex: `tar -xvf ubuntu1604-desktop-nocm-0.1.0.box`. - - -### Import Image into VBox - -1. Go to `File->Import Appliance` - - ![img](https://i.imgur.com/keQmMy4.png) - -2. Select the `.box` file you extracted earlier - - ![img](https://i.imgur.com/3S2Pgt3.png) - -3. Increase the Amount of Memory and CPU's - - Increase the Memory/CPU to your computer's specs. Don't allocate too much memory/cpus! - - ![img](https://i.imgur.com/P8Adm2a.png) - -4. Hit `Import`! - - -### Configure Settings of Imported Image - -1. Right click your new virtualbox entry, and hit `settings` - -2. Increase the Amount of Video RAM, and turn on 3D Acceleration - - If you do not have virtualization, virtualbox may not allow you to turn on 3D Acceleration - - ![img](https://i.imgur.com/YzmNmcM.png) - -3. Turn **OFF** `Remote Display` - - ![img](https://i.imgur.com/cvigW2G.png) - - -### Boot your new VM - -- Double Click the Entry, or Right Click -> Start -> Normal Start - - -### Credentials - -| User | Password | -|------- |-------- | -| vagrant | vagrant | - -The sudo password is `vagrant`. - - -### Testing - -To test out your new RoboCup VM, open a terminal (use the search in the top left), and type these two commands - -```shell -cd ~/robocup-software -make run-sim -``` - - -### You Made It! - -- Have a great time contributing to the largest and most prestigious undergraduate, student-run, autonomous soccer codebase at Georgia Tech. - - -# PostInstall Configuration - - -## Git Config - -- These commands set up git to attribute your changes to you. - - ```shell - git config --global user.name "Your Name" - git config --global user.email "your@email.here" - ``` - - -## Adding Remotes - -- These commands set you up to push to your fork by default, and still be able to receive updates. - -```shell - cd ~/robocup-software - git remote add rj https://github.com/RoboJackets/robocup-software.git - git remote set-url origin https://github.com/<YOUR_GH_USERNAME>/robocup-software.git - - # You can find the link in the last command under the 'clone or download' - # green button on your FORK -``` - - -## Build RoboCup Software - -```shell - cd ~/robocup-software - make - - # Try running robocup-software by running this: - make run-sim -``` - - -## Staying Updated - -```shell - git pull rj master - git push origin master -``` - - -# Soccer Tutorial - -- 'Soccer' is our main program. - - -## Helpful Build Commands - -| Command | Description | -|-------------- |------------------------------------ | -| make | Compiles rc-software | -| make run | Run Soccer with no simulator | -| make run-sim | Run Soccer with a simulator | -| make debug | Run Soccer in a debugger | -| make debug-sim | Run Soccer in a debugger + simulator | - - -## In Depth Tutorial - - -### Soccer Image - -![img](https://i.imgur.com/vgDnpjo.png) - -- To start this tutorial, run `make run-sim` in the root of your project. - - -### Running a Play - -1. Select a play from the plays menu in the lower right (try `RepeatedLineUp` for now). -2. Click the green `Force Start` check mark in the upper left. -3. This should start the play. -4. To stop the play (for debugging or other reasons), click the `Halt` hand in the upper left. - - -### Behavior Tree - -In the upper right, you will see a 'behavior tree' box. This is where important information about the plays you are running shows up. - -To try it out, run a play, and keep a close eye on the behavior tree box. You should see a tree of plays and their properties (which helps to identify where exactly something is going wrong). - - -### Backtracing Through Logs - -While in this section, try looking at the behavior tree while different plays run, and try to get an idea of what's going on! - -1. Try running a play, then press the pause icon in the top center of the screen. This will cause your view of the robots to stop moving, but in reality, soccer is still simulating in the background. -2. Press the `Halt` hand in the upper left to stop the robots in reality (to conserve resources while you play around) -3. Pressing the arrows immediately to the right and left of the pause icon step forward/backward in time by a single frame. -4. Pressing the Arrows outside of the single step arrows move time slowly in that respective direction. -5. You can use the log slider above all these buttons to move coarsely to a speicific time. -6. Pressing the live button to the right of the pause button resets the view to the current time. - - -### Goalie/Manual Selectors - -- The goalie selector in the top right selects our current goalie. This is needed because RoboCup requires we can only use one specific robot for a goalie at a time. -- The Manual selector is used for manually controlling a robot. Select the robot's radio id in this selector and use a joystick to manually control a robot. - - -### Additional Notes - -- Soccer is a very complicated program, but thankfully it is fairly intuitive. Play around with it and see what different options do! diff --git a/old_docs/training2016/2.md b/old_docs/training2016/2.md deleted file mode 100644 index 45742bcd82a..00000000000 --- a/old_docs/training2016/2.md +++ /dev/null @@ -1,347 +0,0 @@ -# Skills, Tactics, Plays - 1 {#t20162} - - -# Python Overview - - -## Using Python - -```shell -$ python3 -Python 3.5.2+ (default, Sep 10 2016, 10:24:58) -[GCC 6.2.0 20160901] on linux -Type "help", "copyright", "credits" or "license" for more information. ->>> print("Hello RoboCup!") -Hello RoboCup! -``` - - -## Basic Syntax - -```python - # Hello world - print("Hello World!") - - # Set a variable - myinteger = 1 - mydouble = 1.0 - mystr = "one" - - print(myinteger) - print(mydouble) - print(mystr) -``` - - -## IF Statements and Conditionals - -```python - if True: - print("I'm going to print out") - if False: - print("I'm never going to run =(") - - if True: - print("RoboCup is Great!") - else: - print("RoboCup Sucks!!!!") - - a = 5 - if a > 2: - print("A was greater than 2!") - if a > 2 and a < 10: - print("A was > 2 and < 5") - print("A is greater than 3" if a > 3 else "A is less than 3") - print("A is greater than 9" if a < 3 else "A is less than 9") -``` - - -## Loops and range() - -```python - a = 10 - while a > 0: - print(a, end=" ") - a = a - 1 - print("") - - print(list(range(10))) - for i in range(10): - print(i * i, end=" ") - print("") -``` - - -## Functions - -```python - def func1(a, b): - return a + b - - print(func1(2, 4)) - - # Lambda Expressions ('advanced' topic) - def secret_func(): - return "RoboCup!" - def welcome(target): - return "Welcome to " + target() - - print(welcome(secret_func)) - print(welcome(lambda: "RoboJackets!")) - # Lambda with arguments - # print(welcome(lambda arg1, arg2: "RoboJackets!")) -``` - - -## Object Oriented Python - -```python - class BaseClass(): - globalVar = 1 - # Constructor - def __init__(self): - print("Initializing a Base") - self.localVar = 2 - - class ChildClass(BaseClass): - def __init__(self): - super().__init__() # call superclass constructor - print("Initializing Child") - print("Our local var is: " + str(self.localVar)) - - # When defining class methods, pass 'self' as the first arg. - # Self refers to the current class instance. - a = BaseClass() - print("---") - a = ChildClass() -``` - - -## Additional Python Resources - -- [lightbot](http://lightbot.com/hocflash.html) - A Introduction to Programming Logic -- [Python Beginner Hub](https://wiki.python.org/moin/BeginnersGuide/NonProgrammers) -- [Python Syntax Overview](https://learnxinyminutes.com/docs/python/) -- [A intro to python](http://thepythonguru.com/) - - -# State Machines - - -## What are they? - -- A state machine is a series of states -- You can transition between them -- A state could have multiple transition -- A state transition only occurs if a condition is fulfilled - - -### Examples - -- A car engine is a state machine, each piston going between different internal states to move the car forward -- A washing machine is a state machine, going between different states to cycle between wash, dry, etc. -- [Wikipedia Page on State Machines](https://en.wikipedia.org/wiki/Finite-state_machine) - - -## Move - -![img](http://i.imgur.com/gmIcPGq.png) - - -### Details - -- Every Play starts in a 'start' state -- Most plays will instantly transition into a running state (in this case `behavior::running`) -- This particular play will go into `behavior::completed` once we reach a target position -- However, if we are ever bumped out of place, we are put back into the running state (to continue moving) -- Another thing to notice here is that every state here is a `behavior::<thing>` state. - - These states are created by the state machine machinery we have set up. - - They are used to determine whether a state can be killed or not, or if it is waiting for something - - Most of the action will be done in a subclass of `bheavior::running` or `behavior::running` itself if you have a simple class. - - -## Pass Receive - -![img](http://i.imgur.com/HAhoMC1.png) - - -### Details - -- This example is a bit more complicated, as we have multiple `running` states -- Each one of these substates are classified as running by our machinery, since they subclass behavior::running -- A brief explanation is: if we are running, and the ball is ever kicked, immediately receive, but if we have some time, try to align yourself properly at the designated receive coordinate. - - -## Passing - -![img](http://i.imgur.com/OhWnSwT.png) - - -### Details - -- Here we have more running substates -- A pass is fairly linear, as it has preparing -> kicking -> receiving states -- However, if we 'timeout' in the preparing or kicking states, we fail the current behavior - - This can happen if our robot is ever stuck - - -## Additional Information on State Machines - -- While you *do not* need to know advanced state machine ideas, you need to be comfortable working with and parsing existing state machines from a diagram or from our code. -- [Wikipedia Article](https://en.wikipedia.org/wiki/Finite-state_machine) -- [A quick block post about state machines](http://blog.markshead.com/869/state-machines-computer-science/) -- [You might be using state machines in a hacky way already…](https://engineering.shopify.com/17488160-why-developers-should-be-force-fed-state-machines) -- [Our Current State Machine Implementation](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/fsm.py) - - -# Plays, Tactics, Skills - -- A Basic Unit in our AI -- Only one Play can run at a time - - -## Skill - -- Involves only *one* robot -- Extremely basic building blocks -- Examples - - Move - - Kick - - Face a direction - - Capture the ball -- Located in `soccer/gameplay/skills/` - - -## Tactics - -- Involves multiple robots -- Contains skills -- Can contain unique behavior (but usually not) -- Examples - - Pass - - Defend - - Line Up -- Located in `soccer/gameplay/tactics/` - - -## Plays - -- Only one can run -- Contains tactics -- Examples - - Basic122 (basic offense) - - Two side attack (basic offense) - - Stopped Play - - Line Up - - Corner Kick -- Located in `soccer/gameplay/plays/*/` - - -### Notes - -- Only plays are actually runnable in our model - - If you want to run a tactic, make a dummy play that runs that tactic on startup -- For now, we'll only look at plays to keep things simple (maybe we'll get more complex later) - - -# Basic Plays and State Machines - -- Every Play is a State Machine as well! -- Plays use State Machines to tell them what to do -- This is a good thing, since we can have very complex behavior in a play - - -## Defining States - -```python - # First create a state Enum (An enum is just a group of names) - class OurState(enum.Enum): - start = 0 - processing = 1 - terminated = 2 - - # Then, register your states in our state machine class - # You must be in a play/tactic/skill for this to work - self.add_state(PlayName.OurState.start, - # This is the superclass of our state. Most of the time, - # this is 'running' (see below) - behavior.Behavior.State.start) - - self.add_state(PlayName.OurState.processing, - behavior.Behavior.State.running) - - self.add_state(PlayName.OurState.terminated, - behavior.Behavior.State.completed) -``` - - -## Defining Transitions - -```python - self.add_transition( - # Start state for this transition - behavior.Behavior.State.start, - # End state for this transition - PlayName.OurState.processing, - # Condition for this transition (Replace 'True' with a conditional) - lambda: True, - # Documentation String - 'immediately') -``` - - -## Defining Actions to Take In A State - -```python - # Assuming we have the PlayName.OurState.processing state - - # Action taken when entering this state - def on_enter_processing(self): - print("We have begun our processing") - - # Action taken every frame we are in the processing state - def execute_processing(self): - print("Processing is Ongoing") - - # Action taken when we exit the processing state - def on_exit_processing(self): - print("Processing is Completed!") -``` - - -# Your Assignment - -- Create a play that prints out which half of the field the ball is currently in -- EX: Print out "TopHalf" when in the top half of the field, and "BottomHalf" otherwise. -- Use state machines to print this out ONLY ON A TRANSITION. (Don't simply print out every frame) -- Extra Credit: Can you come up with another cool thing to do with state machines? - - -## Tips - -- The field coordinates start at 0, 0; Which is our Goal. -- Field Size Docs: ([<http://bit.ly/2cLsUBL>](http://bit.ly/2cLsUBL)) -- Ball Position Docs: ([<http://bit.ly/2damxXA>](http://bit.ly/2damxXA)) -- Move the template starter from `soccer/gameplay/plays/skel/which_half.py` to `soccer/gameplay/plays/testing` -- Start by just printing the Y coordinate of the ball and work up from there - - -## Useful Tools - -```python - # Gets the y position of the ball - main.ball().pos.y - # Gets the field length in meters - constants.Field.Length -``` - - -## Exercise Details - -- [Link to Starter File](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/plays/skel/which_half.py) -- Ask on [gitter](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/plays/skel/which_half.py) for help and answers! - - -## Answers - -- [Which Half Answers](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/plays/testing/which_half.py) diff --git a/old_docs/training2016/3.md b/old_docs/training2016/3.md deleted file mode 100644 index d90f3f7c77e..00000000000 --- a/old_docs/training2016/3.md +++ /dev/null @@ -1,258 +0,0 @@ -# Skills, Tactics, Plays - 2 {#t20163} - - -# Questions about Plays? - -- Last meeting was pretty dense - - We *NEED* to have 1 on 1 time with each of you, so it is *your* responsibility to wave us over if you're stuck! -- Topics Covered: - - Python - - State Machines - - Play/Skill/Tactic Structure -- And today, we're going into… - - -## Additional Information - -- See the previous slide deck and docs for more information, they should be a pretty comprehensive overview of our play system. - - -# Subbehaviors! - -- A Behavior is a generic name for any skill, play, or tactic. -- Last meeting we learned about Plays/Skills/Tactics - - How do we put them together? -- Subbehaviors allow you to reuse our behaviors in many plays. - - Example: We have *one* move play, used by kicker tactics, passing tactics, goalie, etc. - - -## Examples of Subbehaviors - -- Offense Play contains Passing Tactics, and Move Skills -- Passing Tactic Contains Move and Kick Skills - - -## *Behavior* Tree! - -```text -Basic122::running - Mark::running[robot=4] - move(0.767296, 6.51286) - endVelocity(0, 0) - face(0.160718, 9.15305) - PivotKick::capturing - Capture::course_approach[robot=2] - face(0.160718, 9.15305) - avoidBall(-1) - move(0.176939, 9.114) - endVelocity(0, 0) - Mark::running[robot=1] - move(-0.829012, 6.03814) - endVelocity(0, 0) - face(0.160718, 9.15305) -``` - - -### Details - -- Here we have a tree of all the behaviors running -- We have a basic122 play running -- It is running 2 Marks, and a PivotKick in this frame -- The marks are directly running robot commands, like move, and face. -- The PivotKick is running a capture skill, which is running robot commands, like face, move, etc. - - -## *Behavior* Tree! (cont.) - -```text -Basic122::running - Defense::defending - SubmissiveDefender::marking - Move::completed[robot=5] - face(0.160718, 9.15305) - SubmissiveDefender::marking - Move::completed[robot=3] - face(0.160718, 9.15305) - SubmissiveGoalie::block - Move::running[robot=0] - face(0.160718, 9.15305) - move(0.290916, 0.14) - endVelocity(0, 0) -``` - - -### Details - -- Pretty much same thing here -- We've got a Defense tactic running, with SubmissiveDefender and Goalie Skills -- These skills actually run robot commands. - - -# How do I use subbehaviors? - - -## Adding Subbehaviors - -```python - self.add_subbehavior(skill_object, - "Name of Subbehavior", - required=False or True - priority=10) # A higher number is higher priority -``` - - -### Details - -- For more docs on this entire section see [this link.](https://robojackets.github.io/robocup-software/classgameplay_1_1single__robot__composite__behavior_1_1_single_robot_composite_behavior.html) -- These subbehaviors show up in the behavior tree when you run your program. -- This can be extremely useful when debugging state transitions or subbehavior assignments. - - -## Removing Subbehaviors - -```python -self.remove_subbehavior('string name') - -self.remove_all_subbehaviors() -``` - - -## Getting Subbehavior Plays - -```python -a_subbheavior = self.subbehavior_with_name('string name') -``` - - -# Real Examples - - -## CoordinatedPass Tactic - -```python - def on_enter_running(self): - receiver = skills.pass_receive.PassReceive() - receiver.receive_point = self.receive_point - self.add_subbehavior(receiver, - 'receiver', - required=self.receiver_required) - - def on_exit_running(self): - self.remove_subbehavior('receiver') -``` - - -## Line Up Tactic - -- First State Machine is set up, then: - -```python - # Triggered whenever the line changes - self.remove_all_subbehaviors() - for i in range(6): - pt = self._line.get_pt(0) + (self.diff * float(i)) - self.add_subbehavior( - skills.move.Move(pt), - name="robot" + str(i), - required=False, - priority=6 - i) -``` - -```python - def execute_running(self): - for i in range(6): - pt = self._line.get_pt(0) + (self.diff * float(i)) - self.subbehavior_with_name("robot" + str(i)).pos = pt -``` - - -# RoboCup Pro Tip - -- Find some code doing something like what you want -- Tweak it until it works -- It's less effective than working everything out, but it's great for beginners! - - -# How do I get MY Robot?!? - - -## Dynamic Assignment - -- Our role assignment system picks the best robot for the task -- You define your constraints, and we'll give you a robot if we can! -- It's also some black magic… - - -## But I want Robot X! - -- Override Role Requirements to add your constraints! -- This next section is Extra Credit… - - And it's a massive oversimplification - - See `role_assignment.py` for more information. - - -### Get the closest robot - -```python - # From Move - def role_requirements(self): - reqs = super().role_requirements() - # Destination Shape is used for distances to points or segments - reqs.destination_shape = self.pos - return reqs -``` - - -### Get the robot with all the hardware - -```python - def role_requirements(self): - reqs = super().role_requirements() - reqs.require_kicking = True - # try to be near the ball - if main.ball().valid: - reqs.destination_shape = main.ball().pos - return reqs -``` - - -### I really, really, want MY Robot! - -```python - # From Goalie - def role_requirements(self): - reqs = super().role_requirements() - - # This iteration is needed if we have - # subbehaviors we want to have applied as well. - for req in role_assignment \ - .iterate_role_requirements_tree_leaves(reqs): - - req.required_shell_id \ - = self.shell_id if self.shell_id != None else -1 - return reqs -``` - - -# Assignment - -- Create a binary clock play -- Display the current minute in binary on the field - - Use a robot to represent a 1, and lack of a robot to represent a 0 -- Starter code is in `soccer/gameplay/plays/skel/binary_clock.py`. -- Move it to `soccer/gameplay/plays/training` to begin. - - -## Tips - -```python -import time -mins = time.localtime().tm_min -binary = format(mins, '06b') -print(binary) -# Index with binary[0-6] -# THIS INDEX IS A CHARACTER VALUE, NOT AN INT -# USE == '1', not == 1 -``` - - 010001 diff --git a/old_docs/training2016/4.md b/old_docs/training2016/4.md deleted file mode 100644 index a4857022d42..00000000000 --- a/old_docs/training2016/4.md +++ /dev/null @@ -1,130 +0,0 @@ -# Skills, Tactics, Plays - Overview {#t20164} - - -# Communications Recap - -- [Gitter](https://gitter.im/RoboJackets/robocup-software) -- [RoboCup Training Repo](https://github.com/RoboJackets//robocup-training) - - Slides - - Docs - - -# Questions about Plays? - -- We're going to slow down a bit after last meeting - - We're going to catch up everyone who's behind, and give you a chance to work on something real if you're ahead! - - **Plays are not the only area in RoboCup** - - They are a very high impact thing to cover though. -- Topics Covered: - - Subbehaviors - - Role Requirements - - Creating Plays - - -## Additional Information - -- See the previous slide deck and docs for more information, they should be a pretty comprehensive overview of our play system. - - -# Solution to Binary Clock - - -## Solution Links - -- [Binary Clock Soltuion File](https://github.com/RoboJackets/robocup-software/blob/720645581718e52bc174275843fd7d114edf0543/soccer/gameplay/plays/training/binary_clock.py) - - -# Misc Plays Information - - -## Do we have any Subbehaviors? - -```python - # Returns True if we have any subbehaivors - self.has_subbehaviors() -``` - - -## Get all Subbehaviors - -```python - # Returns an array of all subbehaviors - self.all_subbehaviors() -``` - - -## Is a Subbehaivor Done? - -- Done = our completed or failed states - -```python - self.subbehavior_with_name('mybehavior').is_done_running() -``` - - -## Docs - -- [These are docs for this section. Check subclass docs as well!](https://robojackets.github.io/robocup-software/classgameplay_1_1behavior_1_1_behavior.html) - - -# CoordinatedPass Overview - -- Coordinated Pass is a complicated tactic with a lot of different features -- It is used everywhere, and it isn't terribly complicated - - -## Coordinated Pass Behavior Diagram - -[![img](https://i.imgur.com/Det1VDj.png)](https://i.imgur.com/undefined.png) - - -## Let's Look at Code! - -- [Coordinated Pass](https://github.com/RoboJackets/robocup-software/blob/720645581718e52bc174275843fd7d114edf0543/soccer/gameplay/tactics/coordinated_pass.py) - - -## Overview - -- We went through everything in coordinated pass, which is located [here](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/tactics/coordinated_pass.py). -- Using what we learnt in previous sections, this should be fairly self explanitory. -- For a high level overview, check out the [coordinated pass](https://robojackets.github.io/robocup-software/classgameplay_1_1tactics_1_1coordinated__pass_1_1_coordinated_pass.html) docs page. - - -# Wrapping Up - - -## Play Ideas? - -- Offense, Defense, Etc. -- Great Place for Beginners to Start -- (side note: Anyone can begin contributing now if you wish) - - We `<3` contributions! - - Recommend starting with intro issues, then moving on to beginner. - - -## Future Meeting Possibilities - -- *Joint Meeting with Electrical, Intro To Firmware* -- *RRT Path Planning in RoboCup (Maybe a bit of Motion Control)* -- Soccer C++ Internals -- QT Tutorial (develop soccer's UI!) -- Contribution Quickstart Meeting - - Submitting a PR - - Some Git - - Build Systems/CI? -- What do you guys want to learn? - - -## Assignment - -- Create a Triangle Pass Play -- Round up 3 Robots in a Triangle, and pass between them. -- Starter code is in `soccer/gameplay/plays/skel/binary_clock.py` (same as last time). -- Move it to `soccer/gameplay/plays/training/triangle_pass.py` to begin. - - -## Tips - -1. Use Move Skills to move your robots to the triangle initially -2. Use the CoordinatedPass Tactic to pass between, setting receive points as sides of the triangle -3. At a bare minimum, I would make setup and passing states. You may want to have a state for every side of the triangle (or not). diff --git a/old_docs/training2016/6.md b/old_docs/training2016/6.md deleted file mode 100644 index c56431f49d5..00000000000 --- a/old_docs/training2016/6.md +++ /dev/null @@ -1,115 +0,0 @@ -# Path Planning {#t20166} - - -# Plan for today - -- Learn about our path planning system -- Download, compile, and run our RRT repository - - -# High Level Overview - -![img](https://i.imgur.com/4Y3wCJH.jpg) - - -# What is Path Planning - -- Our robots need to know how to get from a start point to an end point -- Our path-planning algorithm of choice is the RRT (Rapidly-Exploring Random Tree) - - -# How the RRT works - -1. Start building our tree by placing a root node at the destination -2. Randomly select some coordinate in the position space -3. Identify existing node in the tree that is nearest to that coordinate -4. Add new node in tree branching from nearest node to random coordinate -5. Repeat 2-4 until a node is created at our destination. The series of connected nodes from root to destination forms the path that the robot will follow -6. Smooth out path with overlaid Bézier curve - - -# Sounds really inefficient - -- Why waste computation time branching out in random directions? -- What advantages could there be in random branching? -- Why not use a less computationally intense algorithm like A\*? - - -## Advantages of RRT - -- Specialized for continuous configuration spaces -- Can handle kinodynamic constraints -- Algorithm can be modified for various needs and preferences - - -# Repository Code - -- rrt-viewer -- rrt - - -## rrt-viewer - -- Displays window for running RRT -- Uses QT for graphics - - -## rrt - -- Contains RRT implementation -- Defines state space -- Bi-RRT - - We execute two RRTs, one rooted at the start node and the other at the end node - - -# Download RRT - -- Our rrt repository is located at <http://github.com/RoboJackets/rrt> -- On your terminal, type in: - -```shell -git clone http://github.com/RoboJackets/rrt rrt -``` - -- DO NOT execute this command in your robocup repository - - -# Compile and run RRT - -```shell -cd rrt -git clone http://github.com/RoboJackets/rrt rrt -make -./build/rrt-viewer -``` - - -# How to use RRT - -- Drag start and end points to desired locations -- Drag around the plane space to draw and remove obstacles -- Click "run" to run until the rrt finds a valid path, or "step" to execute a single rrt iteration -- Click "reset" once to delete the tree, twice to delete the previously calculated path - - -# Tweaking parameters - - -## Biases - -- Increasing Goal Bias - - Random branching has tendency to branch directly towards goal instead -- Increasing Waypoint Bias - - Random branching has tendency to branch towards Bézier curve waypoints of previous paths -- Goal Bias + Waypoing Bias must sum to at most 1.0 - - -## Adaptive Stepsize Control - -- Stepsize now dynamically changes based on whether there are obstacles nearby -- Requires extra computation time to locate nearby obstacles -- Having larger stepsizes when possible reduces total iteration count, which reduces computation time -- Obstacle-light environments benefit the most from this enhancement - - -# Any questions? diff --git a/old_docs/training2016/7.md b/old_docs/training2016/7.md deleted file mode 100644 index 03857440c82..00000000000 --- a/old_docs/training2016/7.md +++ /dev/null @@ -1,59 +0,0 @@ -# QT Introduction {#t20167} - - -# What is QT? - -- QT is a framework for building UI's. -- It makes UI's easy to make and does all the heavy lifting for us. -- soccer uses QT for all it's GUI stuff, as well as a few other things. -- (today will be a project heavy day, so get ready!) - - -# How do we use QT? - - -## Generate a \*.ui file - -- A ui file is a XML file generated by QT -- It specifies the layout of the window -- Adding buttons or changing layout is as simple as editing the UI file -- You can open or generate UI files in QtCreator (installed in your VM's) - - -## Link the UI into your program - -- You will need to program 'handlers' for actions that the UI takes - - Ex: ButtonPressed, SelectedGroup, EnterText -- Your program can respond to these cues by modifying bits of the UI - - -# Build Systems - -- Designed to be as flexible as 'pressing run' in your IDE, while being easily shareable between programmers -- They make it easy to compile and run a large project on many platforms, which could have hundreds of dependencies - - -## What does a Build System do? - -1. Compile only files that need to be compiled - - Don't compile files that have not changed - - Ensure changed files get properly recompiled -2. Let your program easily interact with libraries - - A library, such as QT, would have to be manually specified in gcc without a build system. -3. Speed up compilation by compiling independent files in parallel -4. Bring all compiled files together into one nice, runnable file! - - -## CMake - -- A C/C++ build system, very widely used -- Uses `CMakeLists.txt` files for configuration. -- These files can be nested (so I can copy a CMake project into mine, and automatically use their CMakeLists). - - -# Project: Create a Simple QT App - -- RoboJackets/qt-example(<http://bit.ly/2fTIPfL>) -- This will help you create a basic QT Gui compiled with CMake! -- This is a old project, and it might be confusing, so we'll be here to help you out. -- Let us know if you have questions. diff --git a/old_docs/training2016/8.md b/old_docs/training2016/8.md deleted file mode 100644 index dc9221ab6d5..00000000000 --- a/old_docs/training2016/8.md +++ /dev/null @@ -1,85 +0,0 @@ -# Contribution Overview {#t20168} - - -# Our Repositories - -- RoboJackets/robocup-software - - Our main software stack -- RoboJackets/robocup-firmware - - Firmware for robots - - Firmware for base station -- RoboJackets/robocup-common - - Libraries needed for both firmware and software - - Ex: Geometry, time libraries. -- RoboJackets/rrt - - Path planning - - -# Overview Picture - -![img](https://cloud.githubusercontent.com/assets/4349709/11414363/8936f22e-93c2-11e5-9324-5c9055b1a4e4.jpg) - - -# Overview Of a Contribution - - -## Find an Issue - -- Can be on any of our repos -- **Comment on the issue, let us know you're working on it** -- We'll provide feedback, help you out to get started - - -## Fork the repo, make a branch - -```shell - # Fork the repo - - # Clone your fork - git clone <your fork URL> - - # Checkout a new branch - git checkout -b my-feature -``` - - -## Make your changes - -- **Let us know if you get stuck** -- Use documentation, stack overflow, google, etc -- Test out your solution thoroughly - - -## Add your changes to git - -```shell - # Stage all files in the current directory '.' - git add . - - # Make sure files you want saved are 'green' - git status - - # Try to give a good status message! - git commit -m "Fixed my issue!" -``` - - -## Push your changes up to your fork - -```shell - git push -u origin <branch name> -``` - -- Create a pull request on GitHub from your fork - - -## Fix issues brought up - -- We'll review your changes, and give feedback on improvements that can be made. -- Repeat the commit and push steps to revise your pull request. - - The Pull Request will automatically be updated - - -## Congrats! - -- Pick another issue to work on, or create a new issue! diff --git a/old_docs/training2016/firmware.md b/old_docs/training2016/firmware.md deleted file mode 100644 index 2a3e2d0ce82..00000000000 --- a/old_docs/training2016/firmware.md +++ /dev/null @@ -1,95 +0,0 @@ -# Firmware {#t2016firmware} - - -# Initialization - -- Initialize Kicker(attiny) and FPGA using binary files stored on MBED - - Compilation for these files is separate from firmware MBED runs -- Initialize any other devices (radio, MPU, etc.) -- Start threads - - -# RTOS (Threads) - -- Threads allow us to run multiple segments of code in "parallel" -- MBED only has one core so only one thread executed at once -- RTOS is used to control the running of these threads -- Threads can be running, ready (in queue to be run), or waiting (for some event like a timer or interrupt) - -![img](//developer.mbed.org/media/uploads/emilmont/xthreadstatus.png.pagespeed.ic.c21fE5uss-.jpg) - - -## Main - -- Watchdog (reset MBED if it doesn't go back to main in certain time) -- Control LEDs (neopixel & LEDs connected to IO Expander) -- Respond to buttons/switches(rotary selector & dip switch) - - -## Other threads - -- Console - - Read and write to serial for the console - - Commands for console defined in commands.cpp -- Controller - - Send duty cycles to FPGA to control motor speeds -- Radio - - Two RX threads, one TX thread (see Radio section) - - -# Radio - -- How commands are sent to robot (motor speeds, kick, etc.) -- How information is sent back to the base station (various robot statuses) - - -## CommLink - -- Used as hardware abstraction layer to communicate from higher level firmware to radio hardware (through drivers) -- What we use to call functions to get/send data through radio -- Other radio drivers (cc1201 and decawave) are derived from this in order to implement the specific hardware communication -- Runs RX thread waiting for radio interrupts - - -## CommModule - -- Used to handle packets being sent and received with radio -- RX/TX queues (as threads) waiting for other threads to put packets in the queue that are ready to be sent or have been received and need to be processed - - -# Shared SPI - -- Allows MBED (master) to communicate with multiple devices through same pins -- Devices (slaves) currently used are radio, kicker (ATtiny), and FPGA -- This ensures multiple threads aren't trying to communicate on these shared lines all at once - - -# Hardfault Handler - -- Written in assembly to call function when the mbed hard faults (crashes) -- Used to print out information to console useful for debugging - - -# FPGA (verilog) - -- FPGA is programming logic gates which allows for many parallel operations -- Reads in hall sensors for motors - - Used to determine which phase to power to keeps motors running -- Gets encoder values for how fast motor is spinning - - Given number of encoder steps passed in period of time - - This value can be read by MBED over SPI - -- Powers correct phases for motors (by sending signals to motor drivers) - - Powers the next phase after the current phase given by hall sensors - - Powers the motors using the duty cycle sent from the MBED - - Adjusting the duty cycle allows us to control motor speeds -- Acts as SPI slave to receive motor speeds from MBED and has second SPI communication where it acts as SPI master to communicate with motor drivers -- Pin configurations found in robocup.ucf - - -# Base Station - -- MBED with only radio connected -- Uses MBED serial lines to communicate with computer running soccer -- Commands are sent from soccer to base station then to each robot -- Base station receives replies back from robots then sends this to soccer diff --git a/old_docs/training2016/git.md b/old_docs/training2016/git.md deleted file mode 100644 index a5d67174590..00000000000 --- a/old_docs/training2016/git.md +++ /dev/null @@ -1,600 +0,0 @@ -# Beginner Git {#t2016git} - - -# Prerequisites - -- Have `git` installed via: - - `sudo apt install git` on ubuntu - - [Install for Windows from here](https://git-scm.com/download/win). -- Know the following commands (run in `git bash` or in your terminal) - - `pwd` - - `cd` - - `ls` - - `mkdir` - - `rm` - - Learn these and more [here](https://help.ubuntu.com/community/UsingTheTerminal#File_.26_Directory_Commands)! -- Have a text editor installed and be comfortable using it! - - Gui or terminal does not matter. - - -# `git` - -> The Stupid Content Tracker - -- `git` is *NOT* GitHub. -- GitHub is 'server git' - - -## Why `git` over another VCS? - -- Branching and Merging -- ***FAST*** -- Powerful, and Flexible -- Free (as in freedom, and as in beer) - - -## Why `git` over another client? - -- `git` is the 1st party front-end -- `git` is the way it was designed to be experienced. -- Learning `git` is the easiest way to understand what's going on. -- `git` gives you ultimate, uninhibited access to your repository. - - -## `git` Vocabulary - -| Name | Definition | -|---------- |------------------------------------ | -| commit | version | -| repository | collection of files to track | -| branch | a quick copy of your code to work on | -| remote | any other git repository | -| SHA/Hash | Turns code into a random string | - - -# Basic `git` Commands - -- Follow along on your own computer! - - -## Setting Up Git - -```shell -# Let's git attribute your changes to you! -git config --global user.name "Jay Kamat" -git config --global user.email "yourname@example.com" -``` - - -## Creating a `git` Repo - -```shell -# Create a folder named 'repo' -mkdir repo -# Move inside 'repo' -cd repo -# Create a git repository where we are -# (created inside the repo folder) - -git init -# > Initialized empty Git repository in /tmp/repo/.git/ -git status -# > On branch master -# > Initial commit -# > nothing to commit (create/copy files and use "git add" to track) - -# Use cd .. to move up a directory -``` - - -## Adding *Content* - -```shell -# Create a file called file.txt with some text in it. -# Example: -echo "this is a line to be stored into git" > file.txt -git status -# > Untracked files: -# > (use "git add <file>..." to include in what will be committed) -# > file.txt -git add file.txt -# > Changes to be committed: -# > (use "git rm --cached <file>..." to unstage) -# > new file: file.txt - -# This message should reflect the change. We'll come back to this. -git commit -m "Added a small amount of content" -``` - - -## Staging Area - -![img](https://i.imgur.com/4nql3LO.jpg) - - -## Viewing History - -- `git` versions are 'hashes' - - Something like: `cbbd8d9a5e...` - - You don't need the full hash to refer to a commit - - Only use ~6 chars from the front. - -```shell -# Show the latest commit -git show - -# Show all commits (use q to quit) -git log -``` - - -## `git` History - -- Every git version is linked to it's previous versions: -- `v1 <- v2 <- v3 <- v4` -- A version can have multiple previous versions - - Let's demonstrate this in… - - -# `git` Branching - -- We'll discuss what we're doing in a bit -- Let's create a new feature, but we know it's going to be buggy - - Let's create it in an isolated environment, a branch! - - -## Create a feature branch - -```shell -# Create a myfeature branch -git branch myfeature -# Move to myfeature branch -git checkout myfeature - -# Let's find out where we are -git status -# > On branch myfeature -# > nothing to commit, working tree clean -``` - - -## Add a new 'feature' - -```shell -echo "My new feature!" >> file.txt -git add file.txt -git commit -m 'My new feature is very cool, but buggy!' -``` - - -## There's a bug in the released version! - -- Let's patch the version everyone is on, the master release! - -```shell -# Switch back to the master branch -git checkout master -git status -# Look at the contents of file.txt at this point! - -echo "My critical bugfix!" >> file.txt -git add file.txt -git commit -m "Critical bugfix number 1!" -``` - - -## What just happened? - -- We first created our test file, which is our 'release version' -- Then we created a feature branch, and made some 'buggy changes' -- We then realized we need to fix a bug in the 'release version' - - We switched back to release, and 'fixed the bug' - - -## Let's take a closer look - -```shell -# A much nicer git log that will visualize our history -git log --oneline --graph --all - -git show <commit hash> -``` - - -## Merging - -- Brings divergent branches together -- Let's release our feature by putting it into the master branch - -```shell -# We want to merge INTO master -git checkout master - -# Merge myfeature into master -git merge myfeature -# > Auto-merging file.txt -# > CONFLICT (content): Merge conflict in file.txt -# > Automatic merge failed; fix conflicts and then commit the result. - -# That's not good! -git status -# Edit file.txt to remove >>> <<< and === -git add file.txt -git commit # Just save whatever pops up -git status -``` - - -# `git` Remotes - -- How do we share our code with others? -- Branching is great for me, but what if I want to let my friends work on a branch? - - -## Let's Play With Remotes - -```shell -# let's start in a common state -git checkout master - -# let's make a copy for 'our friend to have' -cd .. -# Clone from the repo folder to the repo2 folder -git clone repo/ repo2/ -cd repo2 -git status -# > On branch master -# > Your branch is up-to-date with 'origin/master'. -# > nothing to commit, working tree clean -git log --oneline --abbrev --graph --all -# * 8f12721 Merge branch 'myfeature' -# |\ -# | * 2716a3b Add a new feature -# * | 625aaf5 Critical bugfix -# |/ -# * cbbd8d9 one small change -``` - - -## Let's Make a Change On 'our computer' - -```shell -# Move into 'our repo' -cd ../repo -git status - -# Edit file.txt with our changes -echo "A change I made on my computer" >> file.txt - -git add file.txt -git commit -m 'Added files from my computer.' -``` - - -## Let's Give This Change To Our Friend - -```shell -# Pull new changes from repo's master into repo2's master -cd ../repo2 -git pull ../repo master -# > From ../repo -# > * branch master -> FETCH_HEAD -# > Updating 8f12721..2b05fa9 -# > Fast-forward -# > file.txt | 1 + -# > 1 file changed, 1 insertion(+) -``` - - -## Shortcuts to make remotes faster - -```shell -# Add a shortcut to interact with ../repo2 -cd ../repo -git remote add repo2 ../repo2 -# same as git pull ../repo2 master -git pull repo2 master -# > From ../repo2 -# > * branch master -> FETCH_HEAD -# > Already up-to-date. - -# List existing remotes -git remote -v -# > repo2 ../repo2 (fetch) -# > repo2 ../repo2 (push) - -# man git-remote for more options, like -# git remote set-url repo2 ../repo2 -# git remote rm repo2 -# git remote show repo2 -``` - - -## A note about `git fetch` - -- `git fetch` updates what we see in a remote without changing our files. -- `git pull` updates our files with changes -- `git fetch` stores those changes made without touching our state. - - -# `git` refs - -- `git` has a suite of commands for interacting with history. - - To use them, you will need to understand refs -- A ref is anything that identifies a commit… - - -## Examples of Refs - -1. A Commit Hash (eg: `cbbd8d9a5e1c64f84`) - - You can shorten with the first few chars -2. Special: `HEAD` - - A Ref to the commit your repository is currently on -3. Branch Names - - `master`, `myfeature` -4. Remotes - - <remote>/<branch> - - `repo2/master`, `origin/master` -5. Tags - - Aliases you can give to commits - - -## Ref Modifiers - -- Using `HEAD` as an example. -- `HEAD~`; One commit before `HEAD` -- `HEAD~~`; Two commits before `HEAD` -- `HEAD~3`; Three commits before `HEAD` -- `HEAD^<N>`; Choose the <Nth> parent if we're on a merge. - - -## Using Refs - -```shell -# Show's the current commit, same as git show -git show HEAD - -# Shows the commit that's one old -git show HEAD~ - -# Shows the commit thats two commits older than repo2's master -git show repo2/master~~ -``` - - -## Quickly See Files in a Ref - -```shell -git checkout <ref> - -# Does nothing, HEAD is our current ref -git checkout HEAD - -# See the commit before head -git checkout HEAD~ -# Warning about detached HEAD - -# checkout to 2 commits before the remote's master branch. -git checkout repo2/master~~ - -# We also use checkout to switch branches (we can edit safely now) -git checkout master -``` - - -## Change Where a Branch 'Points To' - -```shell -# Git reset has many uses -# Run git status yourself! - -# Move our branch to the previous commit, but don't change our files. -# Any diff is staged -git reset --soft HEAD~ -# Go back to where we were -git pull repo2 master - -# Move our branch to the previous commit, and change our files -# No diff is present (since we change files) -git reset --hard HEAD~ -git pull repo2 master - -# Like git reset --soft, but don't stage our files either. -git reset --mixed HEAD~ -git pull repo2 master -# Complaint about unstaged files - -# HEAD is the default if no ref is supplied -# This resets our files to head, trashing our 'unstaged work' -git reset --hard -git pull repo2 master -``` - - -## Find the Diff Between Two Commits - -```shell -# Finds the difference between one commit ago and the current commit -git diff HEAD~ HEAD - -# Finds the difference between myfeature and master -git diff myfeature master - -# Show unstaged changes -git diff - -# Show only staged changes -git diff --staged -``` - - -# Neat Tricks - - -## Quickly Make a Branch - -```shell -git checkout -b mynewbranch - -# Same as -git branch mynewbranch -git checkout mynewbranch -``` - - -## Let Git Remember Your Remotes - -```shell -git checkout master - -# Right now you will need to always do -git push repo2 master - -# If you run: -git push -u repo2 master -# Once, you can do -git push - -# from now on, git will remember the remote and branch -# that you've paired with your local branch! -# See the push.default config option for more info -``` - - -## Git Aliases - -```shell -git config --global alias.s "status" - -git s -# is now the same as -git status -``` - - -## Tagging - -```shell -git tag myrelease - -# now you can do -git checkout myrelease -git reset --hard myrelease -git diff myrelease - -# where myrelease references the commit you were on. -# Use git push --tags to push your tags as well. -# Tags give a name to A SPECIFIC COMMIT, not to a branch. -``` - - -## `git clean` - -- Use `git clean -f` to remove all *unstaged* files from your repo. - - THIS WILL REMOVE FILES ON YOUR FILESYSTEM. - - -# We Only Scratched The Surface - -- `git rebase` -- `git revert` -- `git submodule` -- `git subtree` -- `git reflog` -- `git blame` -- `git stash` -- `git grep` -- `git cherry-pick` -- `git bisect` -- `git apply` -- `git merge-base` -- `git archive` -- `git am` - - -# Additional Resources - -- `man git` -- `man git-command` - - eg: `man git-status` -- [Online `git` Tutorial](https://git-scm.com/doc) - - -# BONUS: GitHub - - -## GitHub is just another remote! - -```shell -git clone <repo url> - -# Git will automatically add a remote for you called 'origin' -git remote -v - -git pull origin master -git push origin master -git show origin/master -``` - - -## Pull Request - -- A PR is a request for a maintainer to pull code into a repo you don't have access to -- First fork the repo (this is a clone from a github repo to a github repo you have write access to) -- Then clone your fork (you will now be able to commit/push to this fork) -- Submit a PR from your fork into the target repo -- Once accepted, the maintainer pulls code from your github fork to the main github repo. - - -## (Advanced) Pull Requests - -- When you make a PR, you can specify some advanced options, such as where you want the maintainer to pull to -- For example, you might want to have your code pulled into a feature branch, instead of master -- The '`base`' is the branch you want to merge into (usually master) - - -## Example - -![img](https://i.imgur.com/Ed8hRhA.png) - - -# BONUS: Commit Messages - - -## `git` commit - -```shell -# What we were using before -git commit -m "Fix memory leak when spacebar was held" - -# How do I add more information, like the cause of the leak? -git commit -# This will launch an editor (you can change this with the $EDITOR variable) -# Add your commit message, save, and quit the editor -``` - - -## Commit Message Conventions - -![img](https://imgs.xkcd.com/comics/git_commit.png) - - -## Commit Message Conventions - -1. Separate body and subject with a blank line -2. Subject line should not be more than 50 chars -3. Capitalize the subject line -4. No period at the end of the subject line -5. Use 'imperative' Language in subject - - Good: `Fix memory leak` - - Bad: `Fixed memory leak` -6. Wrap the body at 72 chars -7. Use the body to explain what/why vs how - - -## Commit Message Conventions - -- Following these guides help maintainers to find where things went wrong and why -- It makes the output of `git log --oneline` pretty! -- Good integration with all git tools -- Makes your repo look professional diff --git a/old_docs/training2016/pathplanning.md b/old_docs/training2016/pathplanning.md deleted file mode 100644 index 837f287c997..00000000000 --- a/old_docs/training2016/pathplanning.md +++ /dev/null @@ -1,216 +0,0 @@ -# Path Planning {#t2016p} - - -# What is Path Planning - -- Our robots need to know how to get from a start point to an end point -- RoboCup uses an RRT (Rapidly-Exploring Random Tree) -- IGVC uses A\* -- STOx's Planner -- D\* -- Path network generation - - -# RRT - -- Continuous search space -- Randomly extend a space-filling tree throughout the search space until we connect the start and goal states - - -# How the RRT works - -1. Start building our tree by placing a root node at the goal state -2. Randomly select some coordinate in the position space -3. Identify existing node in the tree that is nearest to that coordinate -4. Add new node in tree branching from nearest node to random coordinate -5. Repeat 2-4 until a node is created at our destination. The series of connected nodes from root to destination forms the path that the robot will follow -6. Smooth out path with overlaid Bézier curve - - -# How to construct a Bézier curve - - -## Linear curve - -- Bézier curve B(t) -- The t in the function for a linear Bézier curve can be thought of as describing how far B(t) is from P0 to P1 -- For example, when t=0.25, B(t) is one quarter of the way from point P0 to P1. As t varies from 0 to 1, B(t) describes a straight line from P0 to P1 - -![img](https://upload.wikimedia.org/wikipedia/commons/0/00/B%C3%A9zier_1_big.gif) - - -## Quadratic curve - -- For quadratic Bézier curves one can construct intermediate points Q0 and Q1 such that as t increases from 0 to 1 - - Point Q0(t) varies from P0 to P1 and describes a linear Bézier curve. - - Point Q1(t) varies from P1 to P2 and describes a linear Bézier curve. - - Point B(t) is interpolated linearly between Q0(t) to Q1(t) and describes a quadratic Bézier curve. - -![img](https://upload.wikimedia.org/wikipedia/commons/3/3d/B%C3%A9zier_2_big.gif) - - -# Sounds really inefficient - -- Why waste computation time branching out in random directions? -- What advantages could there be in random branching? -- Why not use a less computationally intense algorithm like A\*? - - -## Advantages of RRT - -- Specialized for continuous configuration spaces -- Fast -- Can handle kinodynamic constraints -- Algorithm can be modified for various needs and preferences - - -# RoboCup Modifications - - -## Biases - -- Goal Bias - - Random branching has tendency to branch directly towards goal instead -- Waypoint Bias - - Random branching has tendency to branch towards Bézier curve waypoints of previous paths -- Goal Bias + Waypoint Bias must sum to at most 1.0 - - -## Adaptive Stepsize Control - -- Stepsize now dynamically changes based on whether there are obstacles nearby -- Requires extra computation time to locate nearby obstacles -- Having larger stepsizes when possible reduces total iteration count, which reduces computation time -- Obstacle-light environments benefit the most from this enhancement - - -## k-d Trees - -- Finding the node in the RRT to extend from is computationally expensive -- Binary tree that attempts to maintain balance -- Partitions the state space evenly based on the number of nodes in each partition -- The branch that each node is stored under is determined by comparing that node to the median of the node in that subtree - - -# STOx's Planner - -- Generate a straight line from the start state to end state -- As long as the path intersects an obstacle: - - Generate a subgoal state next to the obstacle - - Now divided into two smaller subproblems - - Recurse! - - -## STOx's Planner - -![img](https://i.imgur.com/Ea040em.png) - - -## STOx's Planner - -- Very fast when obstacle count is low -- Not very flexible - - -# A\* - -- Search space - - Discrete network of nodes - - Traversable edges between nodes -- Generalized Dijkstra's algorithm - - Generalized breadth-first search - - -# BFS - -![img](https://i.imgur.com/FYNyt8T.gif) - - -# Dijkstra's algorithm - -- Like BFS, but acknowledges costs with each edge -- Associates each edge with a distance cost, and assigns each node with a tentative distance cost - -- At each iteration, update the distance to the nodes neighboring the current node -- Select the unvisited node with the smallest tentative distance at the next iteration -- BFS is Dijkstra's algorithm with equal edge weights - - -# A\* - -- Like Dijkstra's but with a heuristic function h(n) -- Cost function f(n) = g(n) + h(n) - - g(n): cost of path from start to n - - h(n): estimate cost of cheapest path from n to goal -- Heuristic must be admissible (no overestimating) - - -# Dynamic A\* Search - -- What if edge weights change during execution? -- Searching backwards from goal to start -- Efficient replanning and backtracking - - -## D\* - -- At each iteration, evaluate current node and propagate changes to its descendants -- When a new obstacle is detected, all affected points are put back into the priority queue of "unvisited" nodes -- For each affected point: - - If node cost can be reduced, update its backpointer - - Propagate change in cost to neighbors - - -# Path Network - -- Transform continuous space into discrete space -- Invisible network of waypoints -- Obstacles represented as polygons - - -## Path Network - -![img](https://i.imgur.com/lM67O8P.png) - - -# Navigation Mesh - -![img](https://i.imgur.com/uoD7ARv.png) - - -## Navigation Mesh - -![img](https://i.imgur.com/ADl3xa3.png) - - -## Navigation Mesh - -- For each point - - Pick two other points - - See if they form a triangle through traversable space - - See if the triangle does not cross an existing triangle in the mesh - - If yes, add triangle to nav mesh - - -## Navigation Mesh - -- For any 2 triangles with a shared edge - - If the merged polygon is convex, replace them with the new polygon -- Repeat for higher order polygons - - -# Generating a path network from a nav mesh - -- For each polygon in the nav mesh, place a path node in its center - -![img](https://i.imgur.com/BQ2I4lH.png) - - -## Generating a path network from a nav mesh - -- Alternatively, place a path node at midpoint of each edge between two adjacent polygons - -![img](https://i.imgur.com/EyNSpgk.png) - - -# Any questions? diff --git a/old_docs/training2016/training_2016.md b/old_docs/training2016/training_2016.md deleted file mode 100644 index 8d4259dd96d..00000000000 --- a/old_docs/training2016/training_2016.md +++ /dev/null @@ -1,14 +0,0 @@ -# Training 2016 - -This page contains links to training documentation available for 2016 - -* @subpage t20161 -* @subpage t20162 -* @subpage t20163 -* @subpage t20164 -* @subpage t2016git -* @subpage t2016firmware -* @subpage t20166 -* @subpage t20167 -* @subpage t20168 -* @subpage t2016p diff --git a/old_docs/training2017/contributions.md b/old_docs/training2017/contributions.md deleted file mode 100644 index 7447c518249..00000000000 --- a/old_docs/training2017/contributions.md +++ /dev/null @@ -1,126 +0,0 @@ -# Contribution Overview {#t20177} - - -# Our Repositories - -- RoboJackets/robocup-software - - Our main software stack -- RoboJackets/robocup-firmware - - Firmware for robots - - Firmware for base station -- RoboJackets/robocup-common - - Libraries needed for both firmware and software - - Ex: Geometry, time libraries. -- RoboJackets/rrt - - Path planning - - -# Big Picture - -![img](https://i.imgur.com/VAK4mLY.png) - - -## Overview Picture - -![img](https://cloud.GitHubusercontent.com/assets/4349709/11414363/8936f22e-93c2-11e5-9324-5c9055b1a4e4.jpg) - - -# Overview Of a Contribution - - -## Find an Issue - -- Can be on any of our repos -- **Comment on the issue, let us know you're working on it** -- Ask us so we can help you out to get started - - -## Fork the repo - -![img]( https://i.imgur.com/FCv2gZH.png) - - -## Make a branch - -```shell -# Clone your fork -git clone <your fork URL> - -# Checkout a new branch -git checkout -b my-feature -``` - - -## Make your changes - -- **Let us know if you get stuck** -- Use documentation, stack overflow, google, etc -- Test out your solution thoroughly -- **Let us know if you get stuck** - - -## Add your changes to git - -```shell - -# Stage all files in the current directory '.' -git add . - -# Make sure files you want saved are 'green' -git status - -# Try to give a good status message! -git commit -m "Fixed my issue!" -``` - - -## Push your changes up to your fork - -```shell -git push -u origin <branch name> -``` - -- Create a pull request on GitHub from your fork - - -## Creating a pull request on GitHub - -![img]( https://i.imgur.com/P3BBw6m.png) - -- 1. Go to the specific RoboJackets repository -- 2. Click on "Pull requests" -- 3. Click on "New pull request" - - -## Creating a pull request on GitHub - -![img]( https://i.imgur.com/KxR8Wtz.png) - -- 1. Click on compare across forks (So you can reference your fork) -- 2. Select the fork and branch on which you're working. -- 3. Click on "Create pull request" - - -## Creating a pull request on GitHub - -![img]( https://i.imgur.com/n2yxtKe.png) - - -## Creating a pull request on GitHub - -- Write out a short description of what you fixed - - Mention the issue number -- Request someone to review your pull request -- Assign yourself so you can keep up - - -## Fix issues brought up - -- We'll review your changes, and give feedback on improvements that can be made. -- Repeat the commit and push steps to revise your pull request. - - The Pull Request will automatically be updated - - -## Congrats! - -- Pick another issue to work on, or create a new issue! diff --git a/old_docs/training2017/intro.md b/old_docs/training2017/intro.md deleted file mode 100644 index 7ac2b780863..00000000000 --- a/old_docs/training2017/intro.md +++ /dev/null @@ -1,261 +0,0 @@ -# Training Summary 1 {#t20171} - - -# Download VM Image - -- [Download Link](https://mega.nz/#!958GxYrB!CIVIHgDFbNXLgfjgxrVmWa8ZkVOvhaXRP_x48-dUO8s) (<http://bit.ly/2yul2Qv>) -- Today we will be setting you up to develop RoboCup Software - - -# Introductions - -- Name -- Major/How Many Years at Tech -- Programming experience - - -# Communication - -- Email List -- Gitter (badge on our repo) -- Docs Site (link on our repo) -- Slack (robojackets.slack.com) - - -# Developing RoboCup - -- Running on Ubuntu 16.04 -- Recommended: - - Install our VM - - This comes with all dependencies already installed. -- Supported: - - Install on your pre-existing 16.04 Installation (dual boot/VM) - - Anyone doing this? -- Unsupported, needs a maintainer: - - Mac OS - - -# Create a GitHub Account - -- [https://github.com/join](https://github.com/join%0A) -- Please include *at least* your real first name on github - -![img](https://i.imgur.com/0cdXQXW.png) - - -# Fork Our Repo - -- RoboJackets/robocup-software (<http://bit.ly/1L70JbB>) - -![img](https://i.imgur.com/kYzz2oh.png) - - -# RoboCup VM Setup - -- [Link to Guide](https://github.com/RoboJackets/robojackets-images/blob/master/robocup/USAGE.org) (<http://bit.ly/2chLRLd>) - - -## RoboCup Images Usage Guide - -- This document will help you get started using the RoboCup Software Virtualbox Image - - -### Install VirtualBox - -- Install VirtualBox from the [VirtualBox downloads page](https://www.virtualbox.org/wiki/Downloads). - - -### Ensure you have Virtualization turned on in your BIOS - -- [This](http://www.howtogeek.com/213795/how-to-enable-intel-vt-x-in-your-computers-bios-or-uefi-firmware/) is a simple guide of how to do this. -- While this is not 100% necessary, it will make your VM much faster. -- On a Windows host, you may need to turn off Hyper-V as well. - - -### Get a Copy of the built Image - -- First start by downloading the prebuilt image (a link should have been distributed to you) or by manually building the image. - -- See [the README](README.md) for more information about building this project. - - -### Extract Image - -- If you have downloaded the image from a distributed link, simply extract the zip file, which will produce several result files. - -- If you have manually extracted the image, go to `box/virtualbox` and extract the `.box` file there. -- It can be extracted via tar, ex: `tar -xvf ubuntu1604-desktop-nocm-0.1.0.box`. - - -### Import Image into VBox - -1. Go to `File->Import Appliance` - - ![img](https://i.imgur.com/keQmMy4.png) - -2. Select the `.box` file you extracted earlier - - ![img](https://i.imgur.com/3S2Pgt3.png) - -3. Increase the Amount of Memory and CPU's - - Increase the Memory/CPU to your computer's specs. Don't allocate too much memory/cpus! - - ![img](https://i.imgur.com/P8Adm2a.png) - -4. Hit `Import`! - - -### Configure Settings of Imported Image - -1. Right click your new virtualbox entry, and hit `settings` - -2. Increase the Amount of Video RAM, and turn on 3D Acceleration - - If you do not have virtualization, virtualbox may not allow you to turn on 3D Acceleration - - ![img](https://i.imgur.com/YzmNmcM.png) - -3. Turn **OFF** `Remote Display` - - ![img](https://i.imgur.com/cvigW2G.png) - - -### Boot your new VM - -- Double Click the Entry, or Right Click -> Start -> Normal Start - - -### Credentials - -| User | Password | -|------- |-------- | -| vagrant | vagrant | - -The sudo password is `vagrant`. - - -### Testing - -To test out your new RoboCup VM, open a terminal (use the search in the top left), and type these two commands - -```shell -cd ~/robocup-software -make run-sim -``` - - -### You Made It! - -- Have a great time contributing to the largest and most prestigious undergraduate, student-run, autonomous soccer codebase at Georgia Tech. - - -# PostInstall Configuration - - -## Git Config - -- These commands set up git to attribute your changes to you. - - ```shell - git config --global user.name "Your Name" - git config --global user.email "your@email.here" - ``` - - -## Adding Remotes - -- These commands set you up to push to your fork by default, and still be able to receive updates. - -```shell -cd ~/robocup-software -git remote add rj https://github.com/RoboJackets/robocup-software.git -git remote set-url origin https://github.com/<YOUR_GH_USERNAME>/robocup-software.git -git remote -v - -# You can find the link in the last command under the 'clone or download' -# green button on your FORK -``` - - -## Build RoboCup Software - -```shell -cd ~/robocup-software -make - -# Try running robocup-software by running this: -make run-sim -``` - - -## Staying Updated - -```shell -git pull rj master -git push origin master -``` - - -# Soccer Tutorial - -- 'Soccer' is our main program. - - -## Helpful Build Commands - -| Command | Description | -|-------------- |------------------------------------ | -| make | Compiles rc-software | -| make run | Run Soccer with no simulator | -| make run-sim | Run Soccer with a simulator | -| make debug | Run Soccer in a debugger | -| make debug-sim | Run Soccer in a debugger + simulator | - - -## In Depth Tutorial - - -### Soccer Image - -![img](https://i.imgur.com/vgDnpjo.png) - -- To start this tutorial, run `make run-sim` in the root of your project. - - -### Running a Play - -1. Select a play from the plays menu in the lower right (try `RepeatedLineUp` for now). -2. Click the green `Force Start` check mark in the upper left. -3. This should start the play. -4. To stop the play (for debugging or other reasons), click the `Halt` hand in the upper left. - - -### Behavior Tree - -In the upper right, you will see a 'behavior tree' box. This is where important information about the plays you are running shows up. - -To try it out, run a play, and keep a close eye on the behavior tree box. You should see a tree of plays and their properties (which helps to identify where exactly something is going wrong). - - -### Backtracing Through Logs - -While in this section, try looking at the behavior tree while different plays run, and try to get an idea of what's going on! - -1. Try running a play, then press the pause icon in the top center of the screen. This will cause your view of the robots to stop moving, but in reality, soccer is still simulating in the background. -2. Press the `Halt` hand in the upper left to stop the robots in reality (to conserve resources while you play around) -3. Pressing the arrows immediately to the right and left of the pause icon step forward/backward in time by a single frame. -4. Pressing the Arrows outside of the single step arrows move time slowly in that respective direction. -5. You can use the log slider above all these buttons to move coarsely to a speicific time. -6. Pressing the live button to the right of the pause button resets the view to the current time. - - -### Goalie/Manual Selectors - -- The goalie selector in the top right selects our current goalie. This is needed because RoboCup requires we can only use one specific robot for a goalie at a time. -- The Manual selector is used for manually controlling a robot. Select the robot's radio id in this selector and use a joystick to manually control a robot. - - -### Additional Notes - -- Soccer is a very complicated program, but thankfully it is fairly intuitive. Play around with it and see what different options do! \ No newline at end of file diff --git a/old_docs/training2017/pathplanning.md b/old_docs/training2017/pathplanning.md deleted file mode 100644 index dbfadb8733d..00000000000 --- a/old_docs/training2017/pathplanning.md +++ /dev/null @@ -1,252 +0,0 @@ -# Path Planning {#t20176} - - -# Plan for today - -- Learn about our path planning system, the Rapidly-Exploring Random Tree (RRT) -- Learn about other path planning algorithms -- Download, compile, and run our RRT repository - - -# High Level Overview - -![img](https://i.imgur.com/4Y3wCJH.jpg) - - -# What is Path Planning - -- Our robots need to know how to get from a start point to an end point -- IGVC uses A\* -- RoboCup uses an RRT (Rapidly-Exploring Random Tree) -- STOx's Planner -- Path network generation - - -# A\* - -- Search space - - Discrete network of nodes - - Traversable edges between nodes -- Generalized Dijkstra's algorithm - - Generalized breadth-first search - - -# BFS - -![img](https://i.imgur.com/FYNyt8T.gif) - - -# Dijkstra's algorithm - -- Like BFS, but acknowledges costs with each edge -- Associates each edge with a distance cost, and assigns each node with a tentative distance cost - -- At each iteration, update the distance to the nodes neighboring the current node -- Select the unvisited node with the smallest tentative distance at the next iteration -- BFS is Dijkstra's algorithm with equal edge weights - - -# A\* - -- Like Dijkstra's but with a heuristic function h(n) -- Cost function f(n) = g(n) + h(n) - - g(n): cost of path from start to n - - h(n): estimate cost of cheapest path from n to goal -- Heuristic must be admissible (no overestimating) - - -# RRT - -- Continuous search space -- Randomly extend a space-filling tree throughout the search space until we connect the start and goal states - - -# How the RRT works - -1. Start building our tree by placing a root node at the destination -2. Randomly select some coordinate in the position space -3. Identify existing node in the tree that is nearest to that coordinate -4. Add new node in tree branching from nearest node to random coordinate -5. Repeat 2-4 until a node is created at our destination. The series of connected nodes from root to destination forms the path that the robot will follow -6. Smooth out path with overlaid Bézier curve - - -# Sounds really inefficient - -- Why waste computation time branching out in random directions? -- What advantages could there be in random branching? -- Why not use a less computationally intense algorithm like A\*? - - -## Advantages of RRT - -- Specialized for continuous configuration spaces -- Can handle kinodynamic constraints -- Algorithm can be modified for various needs and preferences - - -# How to construct a Bézier curve - - -## Linear curve - -- Bézier curve B(t) -- The t in the function for a linear Bézier curve can be thought of as describing how far B(t) is from P0 to P1 -- For example, when t=0.25, B(t) is one quarter of the way from point P0 to P1. As t varies from 0 to 1, B(t) describes a straight line from P0 to P1 - -![img](https://upload.wikimedia.org/wikipedia/commons/0/00/B%C3%A9zier_1_big.gif) - - -## Quadratic curve - -- For quadratic Bézier curves one can construct intermediate points Q0 and Q1 such that as t increases from 0 to 1 - - Point Q0(t) varies from P0 to P1 and describes a linear Bézier curve. - - Point Q1(t) varies from P1 to P2 and describes a linear Bézier curve. - - Point B(t) is interpolated linearly between Q0(t) to Q1(t) and describes a quadratic Bézier curve. - -![img](https://upload.wikimedia.org/wikipedia/commons/3/3d/B%C3%A9zier_2_big.gif) - - -# Repository Code - -- rrt-viewer -- rrt - - -## rrt-viewer - -- Displays window for running RRT -- Uses QT for graphics - - -## rrt - -- Contains RRT implementation -- Defines state space -- Bi-RRT - - We execute two RRTs, one rooted at the start node and the other at the end node - - -# Download RRT - -- Our rrt repository is located at <http://github.com/RoboJackets/rrt> -- On your terminal, type in: - -```shell -git clone https://github.com/RoboJackets/rrt.git -``` - -- DO NOT execute this command in an existing git repository - - -# Compile and run RRT - -```shell -cd rrt -git clone http://github.com/RoboJackets/rrt rrt -make -./build/rrt-viewer -``` - - -# How to use RRT - -- Drag start and end points to desired locations -- Drag around the plane space to draw and remove obstacles -- Click "run" to run until the rrt finds a valid path, or "step" to execute a single rrt iteration -- Click "reset" once to delete the tree, twice to delete the previously calculated path - - -# Tweaking parameters - - -## Biases - -- Increasing Goal Bias - - Random branching has tendency to branch directly towards goal instead -- Increasing Waypoint Bias - - Random branching has tendency to branch towards Bézier curve waypoints of previous paths -- Goal Bias + Waypoing Bias must sum to at most 1.0 - - -## Adaptive Stepsize Control - -- Stepsize now dynamically changes based on whether there are obstacles nearby -- Requires extra computation time to locate nearby obstacles -- Having larger stepsizes when possible reduces total iteration count, which reduces overall computation time -- Obstacle-light environments benefit the most from this enhancement - - -# STOx's Planner - -- Generate a straight line from the start state to end state -- As long as the path intersects an obstacle: - - Generate a subgoal state next to the obstacle - - Now divided into two smaller subproblems - - Recurse! - - -## STOx's Planner - -![img](https://i.imgur.com/Ea040em.png) - - -## STOx's Planner - -- Very fast when obstacle count is low -- Not very flexible - - -# Path Network - -- Transform continuous space into discrete space -- Invisible network of waypoints -- Obstacles represented as polygons - - -## Path Network - -![img](https://i.imgur.com/lM67O8P.png) - - -# Navigation Mesh - -![img](https://i.imgur.com/uoD7ARv.png) - - -## Navigation Mesh - -![img](https://i.imgur.com/ADl3xa3.png) - - -## Navigation Mesh - -- For each point - - Pick two other points - - See if they form a triangle through traversable space - - See if the triangle does not cross an existing triangle in the mesh - - If yes, add triangle to nav mesh - - -## Navigation Mesh - -- For any 2 triangles with a shared edge - - If the merged polygon is convex, replace them with the new polygon -- Repeat for higher order polygons - - -# Generating a path network from a nav mesh - -- For each polygon in the nav mesh, place a path node in its center - -![img](https://i.imgur.com/BQ2I4lH.png) - - -## Generating a path network from a nav mesh - -- Alternatively, place a path node at midpoint of each edge between two adjacent polygons - -![img](https://i.imgur.com/EyNSpgk.png) - - -# Any questions? diff --git a/old_docs/training2017/ptsd.md b/old_docs/training2017/ptsd.md deleted file mode 100644 index 6dfeb320073..00000000000 --- a/old_docs/training2017/ptsd.md +++ /dev/null @@ -1,381 +0,0 @@ -# Skills, Tactics, Plays {#t20172} - - -# Python Overview - - -## Using Python - -```shell -$ python3 -Python 3.5.3 (default, Jan 19 2017, 14:11:04) -[GCC 6.3.0 20170118] on linux -Type "help", "copyright", "credits" or "license" for more information. ->>> print("Hello RoboCup!") -Hello RoboCup! -``` - - -## Basic Syntax - -```python -# Hello world -print("Hello World!") - -# Set a variable -myinteger = 1 -mydouble = 1.0 -mystr = "one" - -print(myinteger) -print(mydouble) -print(mystr) -``` - - Hello World! - 1 - 1.0 - one - - -## IF Statements and Conditionals - -```python -if True: - print("RoboCup is great!") -if False: - print("IGVC is great...") - -if True: - print("RoboCup is the best!") -elif True: - print("RoboRacing is the best...") -else: - print("IGVC is the best...") - -a = 5 -if a > 2: - print("a is greater than 2!") -if a > 2 and a < 10: - print("a is > 2 and < 10") -print("a is greater than 3" if a > 3 else "a is less than 3") -print("a is greater than 9" if a > 9 else "a is less than 9") -``` - - RoboCup is great! - RoboCup is the best! - a is greater than 2! - a is > 2 and < 10 - a is greater than 3 - a is less than 9 - - -## Loops and range() - -```python -a = 10 -while a > 0: - print(a, end=" ") - a = a - 1 -print("") - -print(list(range(10))) -for i in range(10): - print(i * i, end=" ") -print("") -``` - - 10 9 8 7 6 5 4 3 2 1 - [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] - 0 1 4 9 16 25 36 49 64 81 - - -## Functions - -```python -def func1(a, b): - return a + b - -print(func1(2, 4)) - -# Lambda Expressions ('advanced' topic) -def secret_func(): - return "RoboCup!" -def welcome(target): - return "Welcome to " + target() - -print(welcome(secret_func)) -print(welcome(lambda: "RoboJackets!")) -# Lambda with arguments -# print(welcome(lambda arg1, arg2: "RoboJackets!")) -``` - - 6 - Welcome to RoboCup! - Welcome to RoboJackets! - - -## Object Oriented Python - -```python -class BaseClass(): - globalVar = 1 - # Constructor - def __init__(self): - print("Initializing a Base") - self.local_var = 2 - -class ChildClass(BaseClass): - def __init__(self): - super().__init__() # call superclass constructor - print("Initializing Child") - print("Our local var is: " + str(self.local_var)) - -# When defining class methods, pass 'self' as the first arg. -# Self refers to the current class instance. -a = BaseClass() -print("---") -a = ChildClass() -``` - - Initializing a Base - --- - Initializing a Base - Initializing Child - Our local var is: 2 - - -## Additional Python Resources - -- [lightbot](http://lightbot.com/hocflash.html) - A Introduction to Programming Logic -- [Python Beginner Hub](https://wiki.python.org/moin/BeginnersGuide/NonProgrammers) -- [Python Syntax Overview](https://learnxinyminutes.com/docs/python/) -- [A intro to python](http://thepythonguru.com/) - - -# State Machines - - -## What are they? - -- A state machine is a series of states -- You can transition between them -- A state could have multiple transition -- A state transition only occurs if a condition is fulfilled - - -### Examples - -- A car engine is a state machine, each piston going between different internal states to move the car forward -- A washing machine is a state machine, going between different states to cycle between wash, dry, etc. -- [Wikipedia Page on State Machines](https://en.wikipedia.org/wiki/Finite-state_machine) - - -## Elevator - -![img](https://i.imgur.com/KPv5sSk.png) - - -## Move - -![img](http://i.imgur.com/gmIcPGq.png) - - -### Details - -- Every Play starts in a 'start' state -- Most plays will instantly transition into a running state (in this case `behavior::running`) -- This particular play will go into `behavior::completed` once we reach a target position -- However, if we are ever bumped out of place, we are put back into the running state (to continue moving) -- Another thing to notice here is that every state here is a `behavior::<thing>` state. - - These states are created by the state machine machinery we have set up. - - They are used to determine whether a state can be killed or not, or if it is waiting for something - - Most of the action will be done in a subclass of `bheavior::running` or `behavior::running` itself if you have a simple class. - - -## Pass Receive - -![img](http://i.imgur.com/HAhoMC1.png) - - -### Details - -- This example is a bit more complicated, as we have multiple `running` states -- Each one of these substates are classified as running by our machinery, since they subclass behavior::running -- A brief explanation is: if we are running, and the ball is ever kicked, immediately receive, but if we have some time, try to align yourself properly at the designated receive coordinate. - - -## Passing - -![img](http://i.imgur.com/OhWnSwT.png) - - -### Details - -- Here we have more running substates -- A pass is fairly linear, as it has preparing -> kicking -> receiving states -- However, if we 'timeout' in the preparing or kicking states, we fail the current behavior - - This can happen if our robot is ever stuck - - -## Additional Information on State Machines - -- While you *do not* need to know advanced state machine ideas, you need to be comfortable working with and parsing existing state machines from a diagram or from our code. -- [Wikipedia Article](https://en.wikipedia.org/wiki/Finite-state_machine) -- [A quick block post about state machines](http://blog.markshead.com/869/state-machines-computer-science/) -- [You might be using state machines in a hacky way already…](https://engineering.shopify.com/17488160-why-developers-should-be-force-fed-state-machines) -- [Our Current State Machine Implementation](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/fsm.py) - - -# Plays, Tactics, Skills - -- A Basic Unit in our AI -- Only one Play can run at a time - - -## Skill - -- Involves only *one* robot -- Extremely basic building blocks -- Examples - - Move - - Kick - - Face a direction - - Capture the ball -- Located in `soccer/gameplay/skills/` - - -## Tactics - -- Involves multiple robots -- Contains skills -- Can contain unique behavior (but usually not) -- Examples - - Pass - - Defend - - Line Up -- Located in `soccer/gameplay/tactics/` - - -## Plays - -- Only one can run -- Contains tactics -- Examples - - Basic122 (basic offense) - - Two side attack (basic offense) - - Stopped Play - - Line Up - - Corner Kick -- Located in `soccer/gameplay/plays/*/` - - -### Notes - -- Only plays are actually runnable in our model - - If you want to run a tactic, make a dummy play that runs that tactic on startup -- For now, we'll only look at plays to keep things simple (maybe we'll get more complex later) - - -# Basic Plays and State Machines - -- Every Play is a State Machine as well! -- Plays use State Machines to tell them what to do -- This is a good thing, since we can have very complex behavior in a play - - -## Defining States - -```python -# First create a state Enum (An enum is just a group of names) -class OurState(enum.Enum): - start = 0 - processing = 1 - terminated = 2 - -# Then, register your states in our state machine class -# You must be in a play/tactic/skill for this to work -self.add_state(PlayName.OurState.start, - # This is the superclass of our state. Most of the time, - # this is 'running' (see below) - behavior.Behavior.State.start) - -self.add_state(PlayName.OurState.processing, - behavior.Behavior.State.running) - -self.add_state(PlayName.OurState.terminated, - behavior.Behavior.State.completed) - -``` - - -## Defining Transitions - -```python -self.add_transition( - # Start state for this transition - behavior.Behavior.State.start, - # End state for this transition - PlayName.OurState.processing, - # Condition for this transition (Replace 'True' with a conditional) - lambda: True, - # Documentation String - 'immediately') -``` - - -## Defining Actions to Take In A State - -```python -# Assuming we have the PlayName.OurState.processing state - -# Action taken when entering this state -def on_enter_processing(self): - print("We have begun our processing") - -# Action taken every frame we are in the processing state -def execute_processing(self): - print("Processing is Ongoing") - -# Action taken when we exit the processing state -def on_exit_processing(self): - print("Processing is Completed!") -``` - - -# Your Assignment - -- Create a play that prints out which half of the field the ball is currently in -- EX: Print out "TopHalf" when in the top half of the field, and "BottomHalf" otherwise. -- Use state machines to print this out ONLY ON A TRANSITION. (Don't simply print out every frame) -- Extra Credit: Can you come up with another cool thing to do with state machines? - - -## Tips - -- The field coordinates start at 0, 0; Which is our Goal. -- Field Size Docs: ([http://bit.ly/2cLsUBL](http://bit.ly/2cLsUBL)) -- Ball Position Docs: ([http://bit.ly/2damxXA](http://bit.ly/2damxXA)) -- Move the template starter from `soccer/gameplay/plays/skel/which_half.py` to `soccer/gameplay/plays/testing` -- Start by just printing the Y coordinate of the ball and work up from there - - -## Useful Tools - -```python -# Gets the y position of the ball -main.ball().pos.y -# Gets the field length in meters -constants.Field.Length -``` - - -## Exercise Details - -- [Link to Starter File](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/plays/skel/which_half.py) -- Ask on [gitter](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/plays/skel/which_half.py) for help and answers! - - -## Answers - -- [Which Half Answers](https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/plays/testing/which_half.py) \ No newline at end of file diff --git a/old_docs/training2017/roleassign.md b/old_docs/training2017/roleassign.md deleted file mode 100644 index 3dfcc471dd9..00000000000 --- a/old_docs/training2017/roleassign.md +++ /dev/null @@ -1,151 +0,0 @@ -# Role Assignment {#t20174} - - -# Communications Recap - -- [Gitter](https://gitter.im/RoboJackets/robocup-software) -- [RoboCup Training Repo](https://github.com/RoboJackets//robocup-training) - - Slides - - Docs - - -# Questions about Plays? - -- We're going to slow down a bit after last meeting - - **Plays are not the only area in RoboCup** - - They are a very high impact thing to cover though. -- Topics Covered: - - Subbehaviors - - Creating Plays - - -## Additional Information - -- See the previous slide deck and docs for more information, they should be a pretty comprehensive overview of our play system. - - -# How do I get a specific robot? - - -## Dynamic Assignment - -- Our role assignment system picks the best robot for the task -- You define your constraints, and we'll give you a robot if we can! -- It's also some black magic… - - -## But I want Robot X! - -- Override Role Requirements to add your constraints! -- This next section is a massive oversimplification -- See `role_assignment.py` for more information. - - -### Get the closest robot - -```python -# From Move -def role_requirements(self): - #Always call super first, otherwise parents might override your constraints! - reqs = super().role_requirements() - # Destination Shape is used for distances to points or segments - reqs.destination_shape = self.pos - return reqs -``` - - -### Get the robot with all the hardware - -```python -def role_requirements(self): - reqs = super().role_requirements() - reqs.require_kicking = True - # try to be near the ball - if main.ball().valid: - reqs.destination_shape = main.ball().pos - return reqs - -``` - - -### I really, really, want MY Robot! - -```python -# From Goalie -def role_requirements(self): - reqs = super().role_requirements() - - # This iteration is needed if we have - # subbehaviors we want to have applied as well. - for req in role_assignment \ - .iterate_role_requirements_tree_leaves(reqs): - - req.required_shell_id \ - = self.shell_id if self.shell_id != None else -1 - return reqs -``` - - -## But how does it choose the robot? - -- Actually Black Magic -- A peek behind the curtain - -```python -class RoleRequirements: - def __init__(self): - self.destination_shape = None #Distance from destination - self.has_ball = False - self.chipper_preference_weight = 0 #importance of chipper - self.required_shell_id = None - self.previous_shell_id = None #controls switching of robots - self.required = False #Can't be dropped, causes assignment failure if too many - self.priority = 0 #Higher is more important - self.require_kicking = False - self.robot_change_cost = 1.0 -``` - -- Every behavior adds one of these - -- Constraints you add modify the cost of that behavior for a specific robot - -```python -if req.destination_shape != None: - cost += req.position_cost_multiplier * req.destination_shape.dist_to(robot.pos) -``` - - -## Docs - -- [These are docs for this section. Check subclass docs as well!](https://robojackets.github.io/robocup-software/classgameplay_1_1behavior_1_1_behavior.html) - - -# Capture Overview - -- Capture is a complicated behavior that utilizes role assignment - - -## Let's Look at Code! - -- <https://github.com/RoboJackets/robocup-software/blob/master/soccer/gameplay/skills/capture.py> - - -# Wrapping Up - - -# Assignment - -- Implement role assignment in Triangle Pass -- If you missed last meeting, just do Triangle Pass instead - - -## Recommended Requirements - -- Closest robots to center-field -- Closest robots to sideline -- Closest robots to ball - - -## Tips - -- Check out the skills and tactics behaviors for more examples \ No newline at end of file diff --git a/old_docs/training2017/subbehaviors.md b/old_docs/training2017/subbehaviors.md deleted file mode 100644 index 274d1329c06..00000000000 --- a/old_docs/training2017/subbehaviors.md +++ /dev/null @@ -1,193 +0,0 @@ -# Subbehaviors {#t20173} - - -# Questions about Plays? - -- Topics Covered: - - Python - - State Machines - - Play/Tactic/Skill Structure -- Last meeting was pretty dense - - RoboCup is complicated - - If you got it, great - - If you didn't, great - - We need you to ask questions when you don't understand something -- And today, we're going into… - - -## Additional Information - -- See the previous slide deck and docs for more information, they should be a pretty comprehensive overview of our play system. - - -# Subbehaviors! - -- A behavior is a generic name for any skill, play, or tactic. -- Last meeting we learned about Plays/Tactics/Skills - - How do we put them together? -- Subbehaviors allow you to reuse our behaviors in many plays. - - Example: We have *one* move play, used by kicker tactics, passing tactics, goalie, etc. - - -## Examples of Subbehaviors - -- Offense Play contains Passing Tactics, and Move Skills -- Passing Tactic Contains Move and Kick Skills - - -## *Behavior* Tree! - -```text -Basic122::running - Mark::running[robot=4] - move(0.767296, 6.51286) - endVelocity(0, 0) - face(0.160718, 9.15305) - PivotKick::capturing - Capture::course_approach[robot=2] - face(0.160718, 9.15305) - avoidBall(-1) - move(0.176939, 9.114) - endVelocity(0, 0) - Mark::running[robot=1] - move(-0.829012, 6.03814) - endVelocity(0, 0) - face(0.160718, 9.15305) -``` - - -### Details - -- Here we have a tree of all the behaviors running -- We have a basic122 play running -- It is running 2 Marks, and a PivotKick in this frame -- The marks are directly running robot commands, like move, and face. -- The PivotKick is running a capture skill, which is running robot commands, like face, move, etc. - - -## *Behavior* Tree! (cont.) - -```text -Basic122::running - Defense::defending - SubmissiveDefender::marking - Move::completed[robot=5] - face(0.160718, 9.15305) - SubmissiveDefender::marking - Move::completed[robot=3] - face(0.160718, 9.15305) - SubmissiveGoalie::block - Move::running[robot=0] - face(0.160718, 9.15305) - move(0.290916, 0.14) - endVelocity(0, 0) -``` - - -### Details - -- Pretty much same thing here -- We've got a Defense tactic running, with SubmissiveDefender and Goalie Skills -- These skills actually run robot commands. - - -# How do I use subbehaviors? - - -## Adding Subbehaviors - -```python -self.add_subbehavior(skill_object, - "Name of Subbehavior", - required=False or True - priority=10) # A higher number is higher priority -``` - -- If adding a `complex behavior` or `single robot complex behavior`, don't pass in values for `required` or `priority` - - -### Details - -- For more docs on this entire section see [this link.](https://robojackets.github.io/robocup-software/classgameplay_1_1single__robot__composite__behavior_1_1_single_robot_composite_behavior.html) -- These subbehaviors show up in the behavior tree when you run your program. -- This can be extremely useful when debugging state transitions or subbehavior assignments. - - -## Removing Subbehaviors - -```python -self.remove_subbehavior('string name') - -self.remove_all_subbehaviors() -``` - - -## Getting Subbehavior Plays - -```python -a_subbheavior = self.subbehavior_with_name('string name') -``` - - -# Real Examples - - -## CoordinatedPass Tactic - -```python -def on_enter_running(self): - receiver = skills.pass_receive.PassReceive() - receiver.receive_point = self.receive_point - self.add_subbehavior(receiver, - 'receiver', - required=self.receiver_required) - -def on_exit_running(self): - self.remove_subbehavior('receiver') -``` - - -## Line Up Tactic - -- First State Machine is set up, then: - -```python -# Triggered whenever the line changes -self.remove_all_subbehaviors() -for i in range(6): - pt = self._line.get_pt(0) + (self.diff * float(i)) - self.add_subbehavior( - skills.move.Move(pt), - name="robot" + str(i), - required=False, - priority=6 - i) -``` - -```python -def execute_running(self): - for i in range(6): - pt = self._line.get_pt(0) + (self.diff * float(i)) - self.subbehavior_with_name("robot" + str(i)).pos = pt -``` - - -# RoboCup Pro Tip - -- Find some code doing something like what you want -- Tweak it until it works -- It's less effective than working everything out, but it's great for beginners! - - -# Assignment - -- Create a Triangle Pass Play -- Move 3 Robots into a triangle formation, and pass between them. -- Starter code is in `soccer/gameplay/plays/skel/triangle_pass.py` (same as last time). -- Move it to `soccer/gameplay/plays/testing/triangle_pass.py` to begin. - - -## Tips - -1. Use Move Skills to move your robots to the triangle initially -2. Use the CoordinatedPass Tactic to pass between, setting receive points as sides of the triangle -3. At a bare minimum, I would make setup and passing states. You may want to have a state for every side of the triangle (or not). \ No newline at end of file diff --git a/old_docs/training2017/training_2017.md b/old_docs/training2017/training_2017.md deleted file mode 100644 index 2782850fada..00000000000 --- a/old_docs/training2017/training_2017.md +++ /dev/null @@ -1,10 +0,0 @@ -# Training 2017 - -This page contains links to training documentation available for 2017 - -* @subpage t20171 -* @subpage t20172 -* @subpage t20173 -* @subpage t20174 -* @subpage t20176 -* @subpage t20177 diff --git a/rj_gameplay/.gitignore b/rj_gameplay/.gitignore deleted file mode 100644 index ef5637a27b9..00000000000 --- a/rj_gameplay/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/*.egg-info diff --git a/rj_gameplay/CMakeLists.txt b/rj_gameplay/CMakeLists.txt deleted file mode 100644 index c5d9ae68da7..00000000000 --- a/rj_gameplay/CMakeLists.txt +++ /dev/null @@ -1,11 +0,0 @@ -# ====================================================================== -# Preamble -# ====================================================================== -cmake_minimum_required(VERSION 3.16) -project(rj_gameplay LANGUAGES CXX) - -# ====================================================================== -# Packaging -# ====================================================================== -include(run_setup_py) -run_setup_py(${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_INSTALL_PREFIX}) diff --git a/rj_gameplay/README.md b/rj_gameplay/README.md deleted file mode 100644 index 207fe85c44b..00000000000 --- a/rj_gameplay/README.md +++ /dev/null @@ -1,80 +0,0 @@ -# rj\_gameplay - Gameplay for RJ RoboCup SSL - -This is the Python library that controls gameplay, or high-level -decision-making. - -## Main Folders - -**Infrastructure - `stp/`** - -Stable code for gameplay. - -**Implementation - `rj_gameplay/`** - -Frequently changing code of gameplay. Subclasses the interfaces and abstract classes in stp/. (Read the docstrings for the relevant superclasses if ever you are confused.) - -NOTE: for now, both the old and new infrastructure are existing simultaneously while we transfer over. To figure out if a file is old or new, look at the superclass in the class definition. Old classes subclass an interface (e.g. IPlay, ITactic, ISkill) and new classes subclass an abstract class (e.g. Play, Tactic, Role, Skill). - -**Tests - `tests/stp`** - -Unit tests for stp/. - -## SRTP Framework - -See [design doc](https://docs.google.com/document/d/1gRAF--W7FwGoof0--1l_pyjM-N4RmMiV6FhBvyQIRgM/edit?usp=sharing) for more detail. - -**Skill - `rj_gameplay/skill/`** - -Atomic robot behavior. (e.g. Receive, Move, Kick) - -**Role - `rj_gameplay/role/`** - -Complex single-robot behavior. (e.g. Goalie, Passer, Receiver) - -**Tactic - `rj_gameplay/tactic/`** - -Coordinates one or more Roles at a high level. Generates Role Requests. (e.g. PassTactic, WallTactic) - -**Play - `rj_gameplay/play/`** - -Coordinates all robots on the field for a given situation. Gets role requests from its tactics, then assigns them according to the cost functions of those role requests. (Examples: Basic Offense, Basic Defense) - -The general flow of how a RobotIntent (or specific command for the robot) is created as follows: - -GameplayNode -> Play Analysis/Selector -> Play (selected based on situation) -> Tactic(s) -> Role(s) -> Skill(s) - -The RobotIntent for a given robot is then passed back up the chain to GameplayNode, and sent via ROS to the C++ stack. - -## Important Files - -**Gameplay Node - `rj_gameplay/gameplay_node.py`** - -ROS node that links gameplay to the C++ side of our codebase. Gets world\_state -and status of all robots, and sends motion commands to ROS. (This second -function will be replaced by ROS Actions soon.) - -Uses basic_play_selector to select the best play to run, calling tick() on the -play to get the list of skills, then ticking all of the resulting skills. - -All currently working plays are in the import at the top of `gameplay_node.py`. Change the `test_play` variable at the bottom of this file to run a test play. - -**Basic Play Selector - `stp/basic_play_selector.py`** - -One-to-one mapping of the situation from SituationAnalyzer to a play to run. -Simple Python dict at the top of this file achieves that. (We would like to add -multiple play options per situation, in a cost function manner of course.) - -**Global Params - `stp/global_parameters.py`** - -Client for the C++-side global parameter server. Allows us to share constants -between C++ nodes and gameplay. After creating this class, global parameters -will be available as globals in the global\_parameters module. - -**Local Params - `stp/local_parameters.py`** - -Python-side params exist here. Allows sharing constants between different -gameplay files. Both param files unused as of right now. - -**RC.py & Tests - `stp/rc.py`, `stp/testing.py`** - -Common data structures (e.g. Robot, Ball, WorldState) and their unit tests. diff --git a/rj_gameplay/mypy.ini b/rj_gameplay/mypy.ini deleted file mode 100644 index e589adef5a1..00000000000 --- a/rj_gameplay/mypy.ini +++ /dev/null @@ -1,10 +0,0 @@ -[mypy] - -[mypy-astroid.*] -ignore_missing_imports = True - -[mypy-pylint.*] -ignore_missing_imports = True - -[mypy-scipy.*] -ignore_missing_imports = True \ No newline at end of file diff --git a/rj_gameplay/requirements.txt b/rj_gameplay/requirements.txt deleted file mode 100644 index b839f97d1a1..00000000000 --- a/rj_gameplay/requirements.txt +++ /dev/null @@ -1,7 +0,0 @@ -pytest~=6.0.1 -numpy~=1.19.1 -scipy~=1.5.2 -pylint~=2.6.0 -black==20.8b1 -astroid~=2.4.2 -setuptools~=44.0.0 \ No newline at end of file diff --git a/rj_gameplay/rj_gameplay/__init__.py b/rj_gameplay/rj_gameplay/__init__.py deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/rj_gameplay/rj_gameplay/classifier/ball_classifier.py b/rj_gameplay/rj_gameplay/classifier/ball_classifier.py deleted file mode 100644 index 780bd727e46..00000000000 --- a/rj_gameplay/rj_gameplay/classifier/ball_classifier.py +++ /dev/null @@ -1,103 +0,0 @@ -from typing import List -from enum import Enum -import stp.rc as rc -import stp.utils.fsm as fsm -import fsm - -Team = bool # bool represeting if we are blue or not - - -class BallClassifier(fsm.StateMachine): - class State(Enum): - no_possession = 1 - our_possession = 2 - our_kick = 3 - their_possession = 4 - scramble = 5 - kickoff = 6 - - def __init__(self) -> None: - super().__init__(start_state=BallClassifier.State.no_possession) - - self.team: Team = None # represents the team currently with posession - self.robot: rc.Robot = ( - None # represents the robot which currently has possesion - ) - self.prev_possesions: List[rc.Robot] = ( - None # represents the previous robots which had the ball in this possesion of the ball - ) - - self.add_transition( - BallClassifier.State.no_possession, - BallClassifier.State.our_possession, - lambda: self.team_has_possession(rc.WorldState), - "our team gets possession", - ) - self.add_transition( - BallClassifier.State.our_possession, - BallClassifier.State.our_kick, - lambda: self.we_kicked(rc.WorldState), - "our team kicks", - ) - self.add_transition( - BallClassifier.State.our_kick, - BallClassifier.State.our_possession, - lambda: self.pass_success(rc.WorldState), - "our kick is a sucessful pass", - ) - self.add_transition( - BallClassifier.State.our_kick, - BallClassifier.State.their_possession, - lambda: self.pass_intercepted(rc.WorldState), - "our kick is an intercepted pass", - ) - self.add_transition( - BallClassifier.State.our_kick, - BallClassifier.State.scramble, - lambda: self.kick_to_scramble(rc.WorldState), - "our kick results in a scramble", - ) - self.add_transition( - BallClassifier.State.our_kick, - BallClassifier.State.kickoff, - lambda: self.shot_successful(rc.WorldState), - "our kick results in a scored goal", - ) - - def on_enter_our_possession(self) -> None: - # Should update which robot is the self.robot and which team is self.team, add this new robot to self.prev_possesions - return - - def on_enter_scramble(self) -> None: - # return ros message describing what happened - return - - def on_enter_their_possession(self) -> None: - # return ros message describing what happend - return - - def on_enter_scramble(self) -> None: - # return ros message describing what happend - return - - def on_enter_kickoff(self) -> None: - # return ros message describing what happend - return - - def team_has_possession(self, world_state: rc.WorldState) -> bool: - return False - - def we_kicked(self, world_state: rc.WorldState) -> bool: - return False - - def pass_success(self, world_state: rc.WorldState) -> bool: - return False - - def pass_intercepted(self, world_state: rc.WorldState) -> bool: - return False - - def kick_to_scramble(self, world_state: rc.WorldState) -> bool: - return False - - def shot_successful(self, world_state: rc.WorldState) -> bool: - return False diff --git a/rj_gameplay/rj_gameplay/eval/__init__.py b/rj_gameplay/rj_gameplay/eval/__init__.py deleted file mode 100644 index cdf81b4c78c..00000000000 --- a/rj_gameplay/rj_gameplay/eval/__init__.py +++ /dev/null @@ -1,23 +0,0 @@ -import numpy as np -import stp.rc as rc - - -# TODO: Add time information. -class Pass: - """A representation of a pass.""" - - __slots__ = ["passer", "receiver", "pt"] - - passer: rc.RobotId - receiver: rc.RobotId - pt: np.ndarray - - def __init__(self, passer: rc.RobotId, receiver: rc.RobotId, pt: np.ndarray): - """Creates a Pass. - :param passer: The RobotId of the passing robot. - :param receiver: The RobotId of the receiving robot. - :param pt: The point at which the pass will be made to. - """ - self.passer = passer - self.receiver = receiver - self.pt = pt diff --git a/rj_gameplay/rj_gameplay/gameplay_node.py b/rj_gameplay/rj_gameplay/gameplay_node.py deleted file mode 100644 index 213ad7ce894..00000000000 --- a/rj_gameplay/rj_gameplay/gameplay_node.py +++ /dev/null @@ -1,566 +0,0 @@ -""" -ROS entry point into Python-side gameplay library. -Alternatively, where gameplay cedes control to cpp motion control/planning. - -Contains TestPlaySelector, GameplayNode, and main() which spins GameplayNode -and allows the PlaySelector to be changed between Test and other forms. -""" - -import importlib -from typing import List, Optional, Set - -import numpy as np -import rclpy -import stp.local_parameters as local_parameters -import stp.play -import stp.rc as rc -import stp.situation as situation -import stp.skill -import stp.utils.world_state_converter as conv -from rcl_interfaces.msg import SetParametersResult -from rclpy.node import Node -from rclpy.parameter import Parameter -from rclpy.qos import QoSProfile -from rj_geometry_msgs import msg as geo_msg -from rj_msgs import msg -from rj_msgs.msg import EmptyMotionCommand, RobotIntent -from std_msgs.msg import String as StringMsg -from stp.action import IAction -from stp.global_parameters import GlobalParameterClient - -import rj_gameplay.play_selector as play_selector - -NUM_ROBOTS = 16 - - -class GameplayNode(Node): - """ - A node which subscribes to the world_state, game state, robot status, and - field topics and converts the messages to python types. - """ - - def __init__( - self, - play_selector: situation.IPlaySelector, - # TODO: see whether or not world_state is ever not None here - world_state: Optional[rc.WorldState] = None, - ) -> None: - rclpy.init() - super().__init__("gameplay_node") - - self._test_play = None - self._curr_play = None - self._curr_situation = None - - file = open("config/plays.txt") - self.plays: Set = set(file.read().splitlines()) - file.close() - - # dynamically import plays based on name in config/plays.txt - # https://stackoverflow.com/questions/44492803/dynamic-import-how-to-import-from-module-name-from-variable/44492879#44492879 - for play in self.plays: - if play == "None": - # None = our choice for "no test play" - continue - module_name = "rj_gameplay.play." + play[: play.find(".")] - module = importlib.import_module(module_name) - globals().update( - {n: getattr(module, n) for n in module.__all__} - if hasattr(module, "__all__") - else { - k: v for (k, v) in module.__dict__.items() if not k.startswith("_") - } - ) - - self.declare_parameter("test_play", "None") - - self.add_on_set_parameters_callback(self.update_test_play) - - """uncomment the below line and use the local param server - if we need a more robust param setup. - Right now this is overengineering though:""" - # local_parameters.register_parameters(self) - - self.world_state_sub = self.create_subscription( - msg.WorldState, - "vision_filter/world_state", - self.create_partial_world_state, - 10, - ) - self.field_dimensions = self.create_subscription( - msg.FieldDimensions, - "config/field_dimensions", - self.create_field, - 10, - ) - - self.play_state = None - self.match_state = None - self.play_state_sub = self.create_subscription( - msg.PlayState, "referee/play_state", self.set_play_state, 10 - ) - self.match_state_sub = self.create_subscription( - msg.MatchState, "referee/match_state", self.set_match_state, 10 - ) - - keep_latest = QoSProfile( - depth=1, durability=rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL - ) - self.goalie_id_sub = self.create_subscription( - msg.Goalie, - "referee/our_goalie", - self.create_goalie_id, - keep_latest, - ) - - self.override_actions: List[Optional[IAction]] = [None] * NUM_ROBOTS - - # create lists for robot state subs and robot intent pubs (ROS) - self.robot_state_subs = [] - for i in range(NUM_ROBOTS): - self.robot_state_subs.append( - self.create_subscription( - msg.RobotStatus, - "radio/robot_status/robot_" + str(i), - self.create_partial_robots, - 10, - ) - ) - - self.robot_intent_pubs = [] - for i in range(NUM_ROBOTS): - self.robot_intent_pubs.append( - self.create_publisher( - msg.RobotIntent, - "gameplay/robot_intent/robot_" + str(i), - 10, - ) - ) - - self.get_logger().info("Gameplay node started") - self.world_state = world_state - # these 3 Nones will be filled in dynamically - self.partial_world_state: Optional[conv.PartialWorldState] = None - self.goalie_id: Optional[int] = None - self.field: Optional[rc.Field] = None - self.robot_statuses: List[conv.RobotStatus] = ( - [conv.RobotStatus()] * NUM_ROBOTS * 2 - ) - self.ball_placement = None - - self.global_parameter_client = GlobalParameterClient( - self, "global_parameter_server" - ) - - # publish def_area_obstacles, global obstacles - self.def_area_obstacles_pub = self.create_publisher( - geo_msg.ShapeSet, "planning/def_area_obstacles", 10 - ) - self.global_obstacles_pub = self.create_publisher( - geo_msg.ShapeSet, "planning/global_obstacles", 10 - ) - - timer_period = 1 / 60 # seconds - self.timer = self.create_timer(timer_period, self.gameplay_tick) - - self.debug_text_pub = self.create_publisher( - StringMsg, "/gameplay/debug_text", 10 - ) - - self.test_play_sub = self.create_subscription( - StringMsg, "test_play", self.set_test_play_callback, 1 - ) - - self.play_selector: situation.IPlaySelector = play_selector - - def set_play_state(self, play_state: msg.PlayState): - self.play_state = play_state - - def set_match_state(self, match_state: msg.MatchState): - self.match_state = match_state - - def debug_callback(self): - """ - Publishes the string that shows up in the behavior tree in the Soccer UI. - """ - debug_text = "" - debug_text += f"Play: {self._curr_play}\n\n" - - # situation is a long, ugly type: shorten before printing - short_situation = f"{self._curr_situation}" - short_situation = short_situation[short_situation.rfind(".") + 1 : -2] - debug_text += f"Situation: {short_situation}\n\n" - - with np.printoptions(precision=3, suppress=True): - for i, tactic in enumerate(self._curr_play.approved_prioritized_tactics): - debug_text = f"{i+1}. {tactic}\n\n" + debug_text - self.debug_text_pub.publish(StringMsg(data=debug_text)) - - def create_partial_world_state(self, msg: msg.WorldState) -> None: - """ - Creates a partial world state from a world state message - """ - if msg is not None: - self.partial_world_state = conv.worldstate_message_converter(msg) - - def create_partial_robots(self, msg: msg.RobotStatus) -> None: - """ - Creates the robot status which makes up part of the whole Robot class - """ - if msg is not None: - robot = conv.robotstatus_to_partial_robot(msg) - index = robot.robot_id - self.robot_statuses[index] = robot - - def build_game_info(self) -> Optional[rc.GameInfo]: - """ - Create game info object from Game State message - """ - if self.play_state is not None and self.match_state is not None: - return conv.build_game_info(self.play_state, self.match_state) - return None - - def create_field(self, msg: msg.FieldDimensions) -> None: - """ - Creates field object from Field Dimensions message - """ - if msg is not None: - self.field = conv.field_msg_to_field(msg) - - def create_goalie_id(self, msg: msg.Goalie) -> None: - """ - Set game_info's goalie_id based on goalie msg - """ - self.goalie_id = msg.goalie_id - - def update_world_state(self) -> None: - """ - returns: an updated world state - """ - if ( - self.partial_world_state is not None - and self.field is not None - and self.goalie_id is not None - ): - self.world_state = conv.worldstate_creator( - self.partial_world_state, - self.robot_statuses, - self.build_game_info(), - self.field, - self.goalie_id, - ) - assert self.world_state is not None - - def gameplay_tick(self) -> None: - """ - Get situation, play from self.play_selector and update the currently running play if needed. - Then, add field and game_info to world_state, and push global obstacles to motion planning. - """ - self.update_world_state() - - raw_test_play_str = str(self.get_parameter("test_play").value) - - if raw_test_play_str == "None": - # if str is None, switch to None - self._test_play = None - else: - new_play_str = "rj_gameplay.play." + raw_test_play_str - curr_play_str = "{0}.{1}()".format( - self._test_play.__class__.__module__, self._test_play.__class__.__name__ - ) - - if new_play_str.strip() != curr_play_str.strip(): - # if new test play str doesn't match current test play, update it - # otherwise keep it (for statefulness) - play_str = raw_test_play_str[raw_test_play_str.find(".") + 1 :] - self._test_play = eval(play_str) - - if self.world_state is not None: - # if we don't have a test play, use play_selector - if self._test_play is None: - # sometimes game_info is None while world_state is not None - # don't do anything if we don't know what the game state is - if self.world_state.game_info is None: - return - - # if play selector wants to keep the same play, don't - # re-instantiate the Play object - new_situation, new_play = self.play_selector.select(self.world_state) - if type(self._curr_play) is not type(new_play) or type( - self._curr_situation - ) != type(new_situation): - self._curr_play = new_play - self._curr_situation = new_situation - - # else, use the test play - else: - self._curr_play = self._test_play - - intents = self._curr_play.tick(self.world_state) - - if intents: - for i in range(len(self.world_state.our_robots)): - if intents[i] is not None: - # if intent given by gameplay, publish it - self.robot_intent_pubs[i].publish(intents[i]) - else: - # otherwise, send empty (to stop previous intents) - empty_intent = RobotIntent() - empty_command = EmptyMotionCommand() - empty_intent.motion_command.empty_command = [empty_command] - self.robot_intent_pubs[i].publish(empty_intent) - - field = self.world_state.field - game_info = self.build_game_info() - - def_area_obstacles = geo_msg.ShapeSet() - self.add_def_areas_to_obs(def_area_obstacles, game_info) - self.def_area_obstacles_pub.publish(def_area_obstacles) - - global_obstacles = geo_msg.ShapeSet() - self.add_goals_to_global_obs(global_obstacles, game_info) - self.add_ball_to_global_obs(global_obstacles, game_info) - - self.global_obstacles_pub.publish(global_obstacles) - self.debug_callback() - else: - self.get_logger().warn("World state was none!") - - def add_def_areas_to_obs(self, def_area_obstacles, game_info) -> None: - """Creates and publishes rectangles for the defense area in front of both goals. - - The defense area, per the rules, is the box in front of each goal where - only that team's goalie can be in and touch the ball. - - (Formerly referred to as "goal_zone_obstacles".) - """ - # this is only ever called when self.field is filled in - assert self.field is not None - - # create Rect for our def_area box - our_def_area = geo_msg.Rect() - top_left = geo_msg.Point( - x=self.field.def_area_long_dist_m / 2 + self.field.line_width_m, - y=0.0, - ) - bot_right = geo_msg.Point( - x=-self.field.def_area_long_dist_m / 2 - self.field.line_width_m, - y=self.field.def_area_short_dist_m, - ) - our_def_area.pt = [top_left, bot_right] - - # slack for distance (m) in Stop situations - # https://robocup-ssl.github.io/ssl-rules/sslrules.html#_robot_too_close_to_opponent_defense_area - add_stop_dist = ( - game_info is None - or game_info.state == rc.GameState.STOP - or (game_info.is_restart() and not game_info.is_penalty()) - ) - DIST_FOR_STOP = 0.3 if add_stop_dist else 0.0 - - # create Rect for their def_area box - their_def_area = geo_msg.Rect() - left_x = ( - self.field.def_area_long_dist_m / 2 - + self.field.line_width_m - + DIST_FOR_STOP - ) - bot_left = geo_msg.Point(x=left_x, y=self.field.length_m) - top_right = geo_msg.Point( - x=-left_x, - y=self.field.length_m - - ( - self.field.def_area_short_dist_m - + self.field.line_width_m - + DIST_FOR_STOP - ), - ) - their_def_area.pt = [bot_left, top_right] - - # publish Rect shape to def_area_obstacles topic - def_area_obstacles.rectangles = [our_def_area, their_def_area] - - def add_goals_to_global_obs(self, global_obstacles, game_info): - """Adds the physical walls that form each goal to global_obstacles.""" - # this is only ever called when self.field is filled in - assert self.field is not None - - physical_goal_board_width = 0.1 - our_goal = [ - geo_msg.Rect( - pt=[ - geo_msg.Point( - x=self.field.goal_width_m / 2, - y=-self.field.goal_depth_m, - ), - geo_msg.Point( - x=-self.field.goal_width_m / 2, - y=-self.field.goal_depth_m - physical_goal_board_width, - ), - ] - ), - geo_msg.Rect( - pt=[ - geo_msg.Point( - x=self.field.goal_width_m / 2, - y=-self.field.goal_depth_m, - ), - geo_msg.Point( - x=self.field.goal_width_m / 2 + physical_goal_board_width, - y=0.0, - ), - ] - ), - geo_msg.Rect( - pt=[ - geo_msg.Point( - x=-self.field.goal_width_m / 2, - y=-self.field.goal_depth_m, - ), - geo_msg.Point( - x=-self.field.goal_width_m / 2 - physical_goal_board_width, - y=0.0, - ), - ] - ), - ] - their_goal = [ - geo_msg.Rect( - pt=[ - geo_msg.Point( - x=self.field.goal_width_m / 2, - y=self.field.length_m + self.field.goal_depth_m, - ), - geo_msg.Point( - x=-self.field.goal_width_m / 2, - y=self.field.length_m - + self.field.goal_depth_m - + physical_goal_board_width, - ), - ] - ), - geo_msg.Rect( - pt=[ - geo_msg.Point( - x=self.field.goal_width_m / 2, - y=self.field.length_m + self.field.goal_depth_m, - ), - geo_msg.Point( - x=self.field.goal_width_m / 2 + physical_goal_board_width, - y=self.field.length_m, - ), - ] - ), - geo_msg.Rect( - pt=[ - geo_msg.Point( - x=-self.field.goal_width_m / 2, - y=self.field.length_m + self.field.goal_depth_m, - ), - geo_msg.Point( - x=-self.field.goal_width_m / 2 - physical_goal_board_width, - y=self.field.length_m, - ), - ] - ), - ] - - global_obstacles.rectangles = our_goal + their_goal - - def add_ball_to_global_obs(self, global_obstacles, game_info): - """ - Adds circular no-fly zone around ball during stops or restarts, - to comply with rulebook. - """ - - # this is only ever called when self.field is filled in - assert self.field is not None - - if game_info is not None: - ball_point = self.world_state.ball.pos - if ( - game_info.is_stopped() - or game_info.their_restart - and game_info.is_free() - ): - global_obstacles.circles.append( - geo_msg.Circle( - center=geo_msg.Point(x=ball_point[0], y=ball_point[1]), - radius=0.6, - ) - ) - if game_info.is_kickoff() and game_info.their_restart: - global_obstacles.circles.append( - geo_msg.Circle( - center=geo_msg.Point(x=ball_point[0], y=ball_point[1]), - radius=0.3, - ) - ) - if ( - game_info.is_kickoff() - and game_info.is_setup() - and game_info.our_restart - ): - global_obstacles.circles.append( - geo_msg.Circle( - center=geo_msg.Point(x=ball_point[0], y=ball_point[1]), - radius=0.1, - ) - ) - if game_info.is_free_placement(): - for t in np.linspace(0.0, 1.0, 20): - placement = game_info.ball_placement() - - pt = ball_point * t + (1 - t) * placement - global_obstacles.circles.append( - geo_msg.Circle( - center=geo_msg.Point(x=pt[0], y=pt[1]), radius=0.8 - ) - ) - - def tick_override_actions(self, world_state) -> None: - for i in range(0, NUM_ROBOTS): - oa_i = self.override_actions[i] - if oa_i is not None: - fresh_intent = msg.RobotIntent() - oa_i.tick(fresh_intent) - self.robot_intent_pubs[i].publish(fresh_intent) - - def clear_override_actions(self) -> None: - self.override_actions = [None] * NUM_ROBOTS - - def update_test_play(self, parameter_list) -> SetParametersResult: - """ - Checks all gameplay node parameters to see if they are valid. - Right now test_play is the only one. - It should be a string in the plays set. - If we use the local param server later, move this logic there. - """ - rejected_parameters = ( - param - for param in parameter_list - if param.name == "test_play" - and param.type_ is Parameter.Type.STRING - and str(param.value) not in self.plays - ) - was_success = not any(rejected_parameters) - return SetParametersResult(successful=(was_success)) - - def set_test_play_callback(self, test_play_msg: StringMsg): - new_test_play = rclpy.parameter.Parameter( - "test_play", Parameter.Type.STRING, test_play_msg.data - ) - self.set_parameters([new_test_play]) - - def shutdown(self) -> None: - """ - destroys node - """ - self.destroy_node() - rclpy.shutdown() - - -def main(): - my_play_selector = play_selector.PlaySelector() - gameplay = GameplayNode(my_play_selector) - rclpy.spin(gameplay) diff --git a/rj_gameplay/rj_gameplay/play/__init__.py b/rj_gameplay/rj_gameplay/play/__init__.py deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/rj_gameplay/rj_gameplay/play/defend_restart.py b/rj_gameplay/rj_gameplay/play/defend_restart.py deleted file mode 100644 index a008f93c29f..00000000000 --- a/rj_gameplay/rj_gameplay/play/defend_restart.py +++ /dev/null @@ -1,77 +0,0 @@ -import stp.play as play -import stp.tactic as tactic - -from rj_gameplay.tactic import nmark_tactic, goalie_tactic, wall_tactic -import stp.skill as skill -import stp.role as role -from stp.role.assignment.naive import NaiveRoleAssignment -import stp.rc as rc -from typing import ( - Dict, - List, - Tuple, - Type, -) -from rj_gameplay.calculations import wall_calculations - - -class DefendRestart(play.IPlay): - def __init__(self): - # TODO: add chipper tactic here - self.goalie = goalie_tactic.GoalieTactic() - self.markers = nmark_tactic.NMarkTactic(3) - self.wall_1 = wall_tactic.WallTactic() - self.wall_2 = wall_tactic.WallTactic() - self.role_assigner = NaiveRoleAssignment() - - self.num_wallers = 2 - - def compute_props(self, prev_props): - pass - - def tick( - self, - world_state: rc.WorldState, - prev_results: role.assignment.FlatRoleResults, - props, - ) -> Tuple[ - Dict[Type[tactic.SkillEntry], List[role.RoleRequest]], - List[tactic.SkillEntry], - ]: - # pre-calculate wall points and store in numpy array - wall_pts = wall_calculations.find_wall_pts(self.num_wallers, world_state) - - # Get role requests from all tactics and put them into a dictionary - role_requests: play.RoleRequests = {} - role_requests[self.markers] = self.markers.get_requests(world_state, None) - role_requests[self.goalie] = self.goalie.get_requests(world_state, None) - role_requests[self.wall_1] = self.wall_1.get_requests( - world_state, wall_pts[0], None - ) - role_requests[self.wall_2] = self.wall_2.get_requests( - world_state, wall_pts[1], None - ) - - # Flatten requests and use role assigner on them - flat_requests = play.flatten_requests(role_requests) - flat_results = self.role_assigner.assign_roles( - flat_requests, world_state, prev_results - ) - role_results = play.unflatten_results(flat_results) - - # Get list of all skills with assigned roles from tactics - - skills = self.markers.tick(world_state, role_results[self.markers]) - skills += self.goalie.tick(world_state, role_results[self.goalie]) - skills += self.wall_1.tick(world_state, role_results[self.wall_1]) - skills += self.wall_2.tick(world_state, role_results[self.wall_2]) - skill_dict = {} - skill_dict.update(role_results[self.markers]) - skill_dict.update(role_results[self.goalie]) - skill_dict.update(role_results[self.wall_1]) - skill_dict.update(role_results[self.wall_2]) - - return (skill_dict, skills) - - def is_done(self, world_state): - return self.markers.is_done(world_state) diff --git a/rj_gameplay/rj_gameplay/play/defense.py b/rj_gameplay/rj_gameplay/play/defense.py deleted file mode 100644 index 19122da15a4..00000000000 --- a/rj_gameplay/rj_gameplay/play/defense.py +++ /dev/null @@ -1,51 +0,0 @@ -from enum import Enum, auto -from typing import List - -import stp -import stp.rc -import stp.role -import stp.role.cost -from rj_msgs.msg import RobotIntent - -from rj_gameplay.tactic import goalie_tactic, nmark_tactic, wall_tactic - - -class State(Enum): - INIT = auto() - ACTIVE = auto() - - -class Defense(stp.play.Play): - """Play that consists of: - - 1 Goalie - - 5 Wallers - TODO: add 2 aggressive markers, go down to 3 Wallers - """ - - def __init__(self): - super().__init__() - - self._state = State.INIT - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - if self._state == State.INIT: - self.prioritized_tactics.append(goalie_tactic.GoalieTactic(world_state, 0)) - num_wallers = min(3, len(world_state.our_visible_robots) - 1) - if num_wallers > 1: - self.prioritized_tactics.append( - wall_tactic.WallTactic(world_state, num_wallers) - ) - num_markers = len(world_state.our_visible_robots) - (1 + num_wallers) - if num_markers > 1: - self.prioritized_tactics.append( - nmark_tactic.NMarkTactic(world_state, num_markers) - ) - self.assign_roles(world_state) - self._state = State.ACTIVE - return self.get_robot_intents(world_state) - elif self._state == State.ACTIVE: - # return robot intents from assigned tactics back to gameplay node - return self.get_robot_intents(world_state) diff --git a/rj_gameplay/rj_gameplay/play/defensive_clear.py b/rj_gameplay/rj_gameplay/play/defensive_clear.py deleted file mode 100644 index e90bfb5a25b..00000000000 --- a/rj_gameplay/rj_gameplay/play/defensive_clear.py +++ /dev/null @@ -1,56 +0,0 @@ -import stp.play as play -import stp.tactic as tactic - -from rj_gameplay.tactic import clear_tactic, nmark_tactic, goalie_tactic -import stp.skill as skill -import stp.role as role -from stp.role.assignment.naive import NaiveRoleAssignment -import stp.rc as rc -import numpy as np - -from typing import Dict, List, Tuple - - -class DefensiveClear(play.IPlay): - def __init__(self): - self.goalie = goalie_tactic.GoalieTactic() - self.two_mark = nmark_tactic.NMarkTactic(2) - self.clear = clear_tactic.Clear(np.array([0.0, 10.0])) - self.role_assigner = NaiveRoleAssignment() - - def compute_props(self, prev_props): - pass - - def tick( - self, - world_state: rc.WorldState, - prev_results: role.assignment.FlatRoleResults, - props, - ) -> Tuple[Dict[tactic.SkillEntry, List[role.RoleResult]], List[tactic.SkillEntry]]: - # Get role requests from all tactics and put them into a dictionary - role_requests: play.RoleRequests = {} - role_requests[self.two_mark] = self.two_mark.get_requests(world_state, None) - role_requests[self.clear] = self.clear.get_requests(world_state, None) - role_requests[self.goalie] = self.goalie.get_requests(world_state, None) - - # Flatten requests and use role assigner on them - flat_requests = play.flatten_requests(role_requests) - flat_results = self.role_assigner.assign_roles( - flat_requests, world_state, prev_results - ) - role_results = play.unflatten_results(flat_results) - - # Get list of all skills with assigned roles from tactics - skills: List[tactic.SkillEntry] = [] - skills += self.two_mark.tick(world_state, role_results[self.two_mark]) - skills += self.clear.tick(world_state, role_results[self.clear]) - skills += self.goalie.tick(world_state, role_results[self.goalie]) - skill_dict = {} - skill_dict.update(role_results[self.two_mark]) - skill_dict.update(role_results[self.clear]) - skill_dict.update(role_results[self.goalie]) - - return (skill_dict, skills) - - def is_done(self, world_state): - return self.clear.is_done(world_state) diff --git a/rj_gameplay/rj_gameplay/play/keepaway.py b/rj_gameplay/rj_gameplay/play/keepaway.py deleted file mode 100644 index d678cd4c4a2..00000000000 --- a/rj_gameplay/rj_gameplay/play/keepaway.py +++ /dev/null @@ -1,78 +0,0 @@ -from typing import List - -import stp - -from rj_gameplay.tactic import pass_tactic - -from rj_msgs.msg import RobotIntent - -from enum import Enum, auto - - -class State(Enum): - INIT = auto() - ACTIVE = auto() - ASSIGN_ROLES = auto() - - -class Keepaway(stp.play.Play): - """Play that passes repeatedly, effectively playing keepaway. - See tick() for more details. - """ - - def __init__(self): - super().__init__() - - self._state = State.INIT - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - """ - init: assign one pass tactic, several seekers - pass_active: execute that one pass - when tactic needs new roles: assign_roles -> active - when pass_done: return to init - (the effect is to pass indefinitely) - """ - - if self._state == State.INIT: - init_passer_cost = stp.role.cost.PickClosestToPoint(world_state.ball.pos) - # init_receiver_cost = stp.role.cost.PickClosestToPoint(world_state.field.their_goal_loc) - init_receiver_cost = stp.role.cost.PickFarthestFromPoint( - world_state.ball.pos - ) - self.prioritized_tactics = [ - pass_tactic.PassTactic( - world_state, init_passer_cost, init_receiver_cost - ) - ] - # TODO: either add seek tactic(s) or unassigned behavior - - self.assign_roles(world_state) - self._state = State.ACTIVE - return self.get_robot_intents(world_state) - - elif self._state == State.ACTIVE: - # TODO: this loop's logic is fairly crucial in role assignment - # - # is there a way I can force this to happen as a precondition to assign_roles? - # maybe call assign_roles() every tick but check tactic for needs_assign before assigning it - # (this works as the method is in Play superclass) - for tactic in self.prioritized_tactics: - if tactic.needs_assign: - self._state = State.ASSIGN_ROLES - - # only one tactic in this play - tactic = self.prioritized_tactics[0] - if tactic.is_done(world_state): - self._state = State.INIT - - return self.get_robot_intents(world_state) - - elif self._state == State.ASSIGN_ROLES: - # duplicate code from init - self.assign_roles(world_state) - self._state = State.ACTIVE - return self.get_robot_intents(world_state) diff --git a/rj_gameplay/rj_gameplay/play/kickoff_play.py b/rj_gameplay/rj_gameplay/play/kickoff_play.py deleted file mode 100644 index d1be66fe002..00000000000 --- a/rj_gameplay/rj_gameplay/play/kickoff_play.py +++ /dev/null @@ -1,144 +0,0 @@ -from enum import Enum, auto -from typing import Dict, List, Optional, Tuple - -import numpy as np -import stp -import stp.play as play -import stp.rc as rc -import stp.role as role -import stp.role.cost as cost -import stp.skill as skill -import stp.tactic as tactic -from rj_msgs.msg import RobotIntent -from stp.role.assignment.naive import NaiveRoleAssignment - -from rj_gameplay.tactic import ( - dumb_tactic, - goalie_tactic, - move_tactic, - nmark_tactic, - pass_tactic, - striker_tactic, - wall_tactic, -) - - -class State(Enum): - INIT = auto() - ACTIVE = auto() - ASSIGN_ROLES = auto() - DONE = auto() - - -class PrepareKickoff(stp.play.Play): - def __init__(self): - super().__init__() - self.pts = [] - self._state = State.INIT - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - if self._state == State.INIT: - if len(self.pts) == 0: - self.create_pts(world_state) - self.prioritized_tactics.append(goalie_tactic.GoalieTactic(world_state, 0)) - self.prioritized_tactics.append( - dumb_tactic.DumbTactic(world_state, self.pts) - ) - self.prioritized_tactics.append(wall_tactic.WallTactic(world_state, 3)) - self.assign_roles(world_state) - self._state = State.ACTIVE - return self.get_robot_intents(world_state) - if self._state == State.ACTIVE: - done = True - for tactic in self.prioritized_tactics: - if not tactic.is_done(world_state): - done = False - if done: - self._state = State.DONE - return self.get_robot_intents(world_state) - if self._state == State.DONE: - return self.get_robot_intents(world_state) - - def create_pts(self, world_state): - self.pts = [] - self.pts.append( - ( - 0.0, - (world_state.field.length_m - world_state.field.center_radius_m) / 2, - ) - ) - dx = 0.5 - dy = -0.5 - self.pts.append((self.pts[0][0] + dx, self.pts[0][1] + dy)) - - -class Kickoff(stp.play.Play): - def __init__(self): - super().__init__() - self.pts = [] - self._state = State.INIT - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - if self._state == State.INIT: - if len(self.pts) == 0: - self.create_pts(world_state) - self.prioritized_tactics.append(goalie_tactic.GoalieTactic(world_state, 0)) - self.prioritized_tactics.append(wall_tactic.WallTactic(world_state, 3)) - self.prioritized_tactics.append( - pass_tactic.PassTactic( - world_state, - cost.PickClosestToPoint(self.pts[0]), - cost.PickClosestToPoint(self.pts[1]), - ) - ) - # self.prioritized_tactics.append(dumb_tactic.DumbTactic(world_state, [self.pts[1]])) - self.assign_roles(world_state) - self._state = State.ACTIVE - return self.get_robot_intents(world_state) - elif self._state == State.ACTIVE: - for tactic in self.prioritized_tactics: - if tactic.needs_assign: - self._state = State.ASSIGN_ROLES - return self.get_robot_intents(world_state) - elif self._state == State.ASSIGN_ROLES: - self.assign_roles(world_state) - self._state = State.ACTIVE - return self.get_robot_intents(world_state) - elif self._state == State.DONE: - return self.get_robot_intents(world_state) - - def create_pts(self, world_state): - # pts[0] is near the midpoint of the field - # pts[1] is diagonal to pts[0] - self.pts = [] - self.pts.append( - (0.0, (world_state.field.length_m - world_state.field.center_radius_m) / 2) - ) - dx = 0.5 - dy = -0.5 - self.pts.append((self.pts[0][0] + dx, self.pts[0][1] + dy)) - - -class DefendKickoff(stp.play.Play): - def __init__(self): - super().__init__() - self._state = State.INIT - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - if self._state == State.INIT: - self.prioritized_tactics.append(goalie_tactic.GoalieTactic(world_state, 0)) - self.prioritized_tactics.append(wall_tactic.WallTactic(world_state, 5)) - self.assign_roles(world_state) - self._state = State.ACTIVE - return self.get_robot_intents(world_state) - elif self._state == State.ACTIVE: - return self.get_robot_intents(world_state) diff --git a/rj_gameplay/rj_gameplay/play/offense.py b/rj_gameplay/rj_gameplay/play/offense.py deleted file mode 100644 index a80e229726f..00000000000 --- a/rj_gameplay/rj_gameplay/play/offense.py +++ /dev/null @@ -1,153 +0,0 @@ -import time -from enum import Enum, auto -from typing import List - -import stp -from rj_msgs.msg import RobotIntent - -from rj_gameplay.tactic import ( # seek, - goalie_tactic, - pass_tactic, - striker_tactic, - wall_tactic, -) - -# from stp.formations.diamond_formation import DiamondFormation - - -class State(Enum): - INIT = auto() - WAIT_TO_PASS = auto() - INIT_PASS = auto() - PASSING = auto() - PASSING_ASSIGN_ROLES = auto() - INIT_SHOOT = auto() - SHOOTING = auto() - DONE = auto() - - -class Offense(stp.play.Play): - """play to score goals. Set up two flank and one center handler. Pass ball as needed. - See tick() for more details. - """ - - def __init__(self): - super().__init__() - - self._striker_st_time = None - self._state = State.INIT - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - """ - INIT: assign goalie, 2 seekers - WAIT_TO_PASS: loop until seekers reach pt - INIT_PASS: assign goalie, pass tac - PASSING: pass to one of two seekers, when pass done, shoot - PASSING_ASSIGN_ROLES: when pass tactic needs role assignment while psasing, assign roles for it, then go back to PASSING - INIT_SHOOT: assign goalie, striker, seeker - SHOOTING: striker shoots - DONE: shot taken - """ - - # TODO: when seeker formation behavior added in, add it in for other 3 robots - # SHOOT ONLY! - if self._state == State.INIT: - num_wallers = len(world_state.our_visible_robots) - 2 - self.prioritized_tactics = [ - goalie_tactic.GoalieTactic(world_state, 0), - striker_tactic.StrikerTactic(world_state), - wall_tactic.WallTactic(world_state, 3), - ] - - self.assign_roles(world_state) - - self._state = State.WAIT_TO_PASS - return self.get_robot_intents(world_state) - - elif self._state == State.WAIT_TO_PASS: - # TODO: seekers should be getting open all the time, how fix? - # should be some time-based method - # seek_tactic = self.prioritized_tactics[1] - - # TODO: is one tick delay issue? - # TODO: yes, one tick is issue, see Michael's changes to pass_tactic - """ - if seek_tactic.is_done(world_state): - self._state = State.INIT_PASS - """ - # TODO: properly error log this - if self._striker_st_time is None: - self._striker_st_time = time.time() - if (time.time() - self._striker_st_time) > 5: - print("striker failed, reassigning") - self._striker_st_time = None - self._state = State.INIT - - return self.get_robot_intents(world_state) - - elif self._state == State.INIT_PASS: - init_passer_cost = stp.role.cost.PickClosestToPoint(world_state.ball.pos) - init_receiver_cost = stp.role.cost.PickClosestToPoint( - world_state.field.their_goal_loc - ) - self.prioritized_tactics = [ - goalie_tactic.GoalieTactic(world_state, 0), - pass_tactic.PassTactic( - world_state, init_passer_cost, init_receiver_cost - ), - ] - - self.assign_roles(world_state) - self._state = State.PASSING - return self.get_robot_intents(world_state) - - elif self._state == State.PASSING: - # TODO: this logic is fairly crucial in role assignment - # - # is there a way I can force this to happen as a precondition to assign_roles? - # maybe call assign_roles() every tick but check tactic for needs_assign before assigning it - # (this works as the method is in Play superclass) - - # pass tactic dynamically needs assign, handle here - # (think of as an interrupt) - for tactic in self.prioritized_tactics: - # TODO: goalie tactic (and all tactics?) need a needs_assign - # build in the logic for needs_assign of pass tactic into superclass - if tactic.needs_assign: - print(f"{tactic} needs assign, says basic122") - self._state = State.PASSING_ASSIGN_ROLES - - # when pass is complete, go shoot - pass_tac = self.prioritized_tactics[1] - if pass_tac.is_done(world_state): - self._state = State.INIT_SHOOT - - return self.get_robot_intents(world_state) - - elif self._state == State.PASSING_ASSIGN_ROLES: - # duplicate role assign from init, merge states? - # can't bc need to know the state that it came from - # TODO: write interrupt-handler style state in play superclass for this behavior, where self._state returns to old state - self.assign_roles(world_state) - self._state = State.PASSING - return self.get_robot_intents(world_state) - - elif self._state == State.INIT_SHOOT: - self.prioritized_tactics = [ - goalie_tactic.GoalieTactic(world_state, 0), - striker_tactic.StrikerTactic(world_state), - ] - - self.assign_roles(world_state) - self._state = State.SHOOTING - return self.get_robot_intents(world_state) - - elif self._state == State.SHOOTING: - tactic = self.prioritized_tactics[1] - if tactic.is_done(world_state): - self._state = State.DONE - - return self.get_robot_intents(world_state) diff --git a/rj_gameplay/rj_gameplay/play/penalty_defense.py b/rj_gameplay/rj_gameplay/play/penalty_defense.py deleted file mode 100644 index d68828bb83e..00000000000 --- a/rj_gameplay/rj_gameplay/play/penalty_defense.py +++ /dev/null @@ -1,41 +0,0 @@ -from enum import Enum, auto -from typing import List - -import numpy as np -import stp -import stp.rc -import stp.role -import stp.role.cost -from rj_msgs.msg import RobotIntent - -from rj_gameplay.tactic import goalie_tactic, line_tactic - - -class State(Enum): - INIT = auto() - ACTIVE = auto() - - -class PenaltyDefense(stp.play.Play): - def __init__(self): - super().__init__() - self._state = State.INIT - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - if self._state == State.INIT: - self.prioritized_tactics.append(goalie_tactic.GoalieTactic(world_state, 0)) - num_liners = len(world_state.our_visible_robots) - 1 - start_pt = np.array([-3.0, 0.5]) - end_pt = np.array([-3.0, 5.5]) - self.prioritized_tactics.append( - line_tactic.LineTactic(world_state, num_liners, start_pt, end_pt) - ) - self.assign_roles(world_state) - self._state = State.ACTIVE - return self.get_robot_intents(world_state) - elif self._state == State.ACTIVE: - # return robot intents from assigned tactics back to gameplay node - return self.get_robot_intents(world_state) diff --git a/rj_gameplay/rj_gameplay/play/penalty_offense.py b/rj_gameplay/rj_gameplay/play/penalty_offense.py deleted file mode 100644 index d412a96c391..00000000000 --- a/rj_gameplay/rj_gameplay/play/penalty_offense.py +++ /dev/null @@ -1,73 +0,0 @@ -from enum import Enum, auto -from typing import List - -import numpy as np -import stp -import stp.rc -import stp.role -import stp.role.cost -from rj_msgs.msg import RobotIntent - -from rj_gameplay.tactic import line_tactic, prep_move, striker_tactic - - -class State(Enum): - INIT = auto() - ACTIVE = auto() - - -# TODO: add a shared state between these two classes somehow -class PenaltyOffense(stp.play.Play): - """striker + line up rest of robots""" - - def __init__(self): - super().__init__() - - self._state = State.INIT - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - if self._state == State.INIT: - self.prioritized_tactics.append(striker_tactic.StrikerTactic(world_state)) - num_liners = len(world_state.our_visible_robots) - 1 - start_pt = np.array([-2.0, 1.5]) - end_pt = np.array([2.0, 1.5]) - self.prioritized_tactics.append( - line_tactic.LineTactic(world_state, num_liners, start_pt, end_pt) - ) - self.assign_roles(world_state) - self._state = State.ACTIVE - return self.get_robot_intents(world_state) - elif self._state == State.ACTIVE: - # return robot intents from assigned tactics back to gameplay node - return self.get_robot_intents(world_state) - - -class PrepPenaltyOff(stp.play.Play): - """prepare striker + line up all robots""" - - def __init__(self): - super().__init__() - - self._state = State.INIT - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - if self._state == State.INIT: - self.prioritized_tactics.append(prep_move.PrepMove(world_state)) - num_liners = len(world_state.our_visible_robots) - 1 - start_pt = np.array([-2.0, 1.5]) - end_pt = np.array([2.0, 1.5]) - self.prioritized_tactics.append( - line_tactic.LineTactic(world_state, num_liners, start_pt, end_pt) - ) - self.assign_roles(world_state) - self._state = State.ACTIVE - return self.get_robot_intents(world_state) - elif self._state == State.ACTIVE: - # return robot intents from assigned tactics back to gameplay node - return self.get_robot_intents(world_state) diff --git a/rj_gameplay/rj_gameplay/play/prep_penalty_offense.py b/rj_gameplay/rj_gameplay/play/prep_penalty_offense.py deleted file mode 100644 index 1ffed9f6ada..00000000000 --- a/rj_gameplay/rj_gameplay/play/prep_penalty_offense.py +++ /dev/null @@ -1,69 +0,0 @@ -import stp.play as play -import stp.tactic as tactic - -from rj_gameplay.tactic import ( - goalie_tactic, - move_tactic, -) -import stp.skill as skill -import stp.role as role -from stp.role.assignment.naive import NaiveRoleAssignment -import stp.rc as rc -from typing import ( - Dict, - List, - Tuple, - Type, -) -import numpy as np - - -class PreparePenaltyOffense(play.IPlay): - """Move all robots to our half, but away from ball to prep for penalty kick""" - - def __init__(self): - self.tactics = [ - goalie_tactic.GoalieTactic(True), - move_tactic.Move((0.0, 1.2)), - move_tactic.Move((1.8, 0.0), priority=role.Priority.LOW), - move_tactic.Move((2.1, 0.0), priority=role.Priority.LOW), - move_tactic.Move((2.4, 0.0), priority=role.Priority.LOW), - move_tactic.Move((2.7, 0.0), priority=role.Priority.LOW), - ] - self.role_assigner = NaiveRoleAssignment() - - def compute_props(self, prev_props): - pass - - def tick( - self, - world_state: rc.WorldState, - prev_results: role.assignment.FlatRoleResults, - props, - ) -> Tuple[ - Dict[tactic.SkillEntry, List[role.RoleResult]], - List[tactic.SkillEntry], - ]: - # Get role requests from all tactics and put them into a dictionary - role_requests: play.RoleRequests = { - tactic: tactic.get_requests(world_state, None) for tactic in self.tactics - } - # Flatten requests and use role assigner on them - flat_requests = play.flatten_requests(role_requests) - flat_results = self.role_assigner.assign_roles( - flat_requests, world_state, prev_results - ) - role_results = play.unflatten_results(flat_results) - # Get list of all SkillEntries from all tactics - skills = [] - for tactic in self.tactics: - skills += tactic.tick(world_state, role_results[tactic]) - # Get all role assignments - # SkillEntry to (list of?) RoleResult - skill_dict = {} - for tactic in self.tactics: - skill_dict.update(role_results[tactic]) - return (skill_dict, skills) - - def is_done(self, world_state): - return self.tactics[-1].is_done(world_state) diff --git a/rj_gameplay/rj_gameplay/play/restart.py b/rj_gameplay/rj_gameplay/play/restart.py deleted file mode 100644 index 1ed96f67811..00000000000 --- a/rj_gameplay/rj_gameplay/play/restart.py +++ /dev/null @@ -1,4 +0,0 @@ -""" -Deprecated play that was supposed to do one short pass and then resume normal offense, similar to how real soccer players begin a match. -TBD if this is still necessary. -""" diff --git a/rj_gameplay/rj_gameplay/play/test_motion_planning.py b/rj_gameplay/rj_gameplay/play/test_motion_planning.py deleted file mode 100644 index 81a13e36455..00000000000 --- a/rj_gameplay/rj_gameplay/play/test_motion_planning.py +++ /dev/null @@ -1,199 +0,0 @@ -from enum import Enum, auto -from typing import List - -import numpy as np -import stp -import stp.rc -import stp.role -import stp.role.cost -from rj_msgs.msg import RobotIntent - -from rj_gameplay.skill import move, pivot_kick - - -class State(Enum): - NEAR = auto() - FAR = auto() - - -class OneRobot(stp.play.Play): - """ - Make robot 0 run full field sprints. - - Directly overrides the STP architecture to send RI to gameplay. - """ - - def __init__(self): - super().__init__() - - self._state = State.NEAR - self.move_skill = None - - self.robot_id = 1 - self.robot = None - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - self.robot = world_state.our_robots[self.robot_id] - intents = [None for _ in range(16)] - - if self._state == State.NEAR: - self.target_point = np.array([1.0, 3.5]) - self.face_point = np.array([0.0, 6.0]) - - if self.move_skill is not None and self.move_skill.is_done(world_state): - self._state = State.FAR - self.move_skill = None - - elif self._state == State.FAR: - self.target_point = np.array([-1.0, 3.5]) - self.face_point = np.array([0.0, 6.0]) - - if self.move_skill is not None and self.move_skill.is_done(world_state): - self._state = State.NEAR - self.move_skill = None - - # None on INIT and state changes - if self.move_skill is None: - self.move_skill = move.Move( - robot=self.robot, - target_point=self.target_point, - face_point=self.face_point, - ) - - # TODO: only making this intent change when the move skill is reinitialized produces much smoother behavior, but makes our planning unable to respond to moving obstacles - # I think skills should be in C++, so we can actually use the replanner (currently all planning is from scratch because we send fresh move intents every tick) - intents[self.robot_id] = self.move_skill.tick(world_state) - - return intents - - -class AllBotsState(Enum): - INIT_NEAR = auto() - NEAR = auto() - INIT_FAR = auto() - FAR = auto() - - -class AllBots(stp.play.Play): - """ - Make all robots move from one end to the other in straight line paths. - - Directly overrides the STP architecture to send RI to gameplay. - """ - - def __init__(self): - super().__init__() - - self._state = AllBotsState.INIT_NEAR - - self._move_skills = None - - self._offset = 2.0 - - def all_moves_done(self, world_state): - return self._move_skills and all( - [move_skill.is_done(world_state) for move_skill in self._move_skills] - ) - - def fill_move_skills(self, world_state, st_pt, end_pt): - self._move_skills = [] - for i, pt in enumerate( - np.linspace(st_pt, end_pt, len(world_state.our_visible_robots)) - ): - self._move_skills.append( - move.Move( - robot=world_state.our_robots[i], - target_point=pt, - face_point=pt, - ) - ) - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - if self._state == AllBotsState.INIT_NEAR: - # evenly space pts along our goal side - st_pt = np.array([world_state.field.width_m / -2, self._offset]) - end_pt = np.array([world_state.field.width_m / 2, self._offset]) - self.fill_move_skills(world_state, st_pt, end_pt) - - self._state = AllBotsState.NEAR - - elif self._state == AllBotsState.NEAR: - if self.all_moves_done(world_state): - self._state = AllBotsState.INIT_FAR - - elif self._state == AllBotsState.INIT_FAR: - # evenly space pts along their goal side - st_pt = np.array( - [ - world_state.field.width_m / -2, - world_state.field.length_m - self._offset, - ] - ) - end_pt = np.array( - [ - world_state.field.width_m / 2, - world_state.field.length_m - self._offset, - ] - ) - self.fill_move_skills(world_state, st_pt, end_pt) - - self._state = AllBotsState.FAR - - elif self._state == AllBotsState.FAR: - if self.all_moves_done(world_state): - self._state = AllBotsState.INIT_NEAR - - intents = [None for _ in range(16)] - - if self._move_skills is not None: - # tick move skills to fill RobotIntents - for i, move_skill in enumerate(self._move_skills): - intents[i] = self._move_skills[i].tick(world_state) - - return intents - - -class KickBall(stp.play.Play): - """ - Make robot 0 capture, then kick the ball. - - Directly overrides the STP architecture to send RI to gameplay. - """ - - def __init__(self): - super().__init__() - self._state = "capturing" - self.capture_skill = None - self.pivot_kick_skill = None - - self.robot_id = 1 - self.robot = None - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - self.robot = world_state.our_robots[self.robot_id] - intents = [None for _ in range(16)] - my_robot_intent = None - - # None on INIT and state changes - if self.pivot_kick_skill is None: - self.pivot_kick_skill = pivot_kick.PivotKick( - robot=self.robot, - target_point=np.array([0.0, 6.0]), - chip=True, - kick_speed=5.0, - ) - else: - my_robot_intent = self.pivot_kick_skill.tick(world_state) - - intents[self.robot_id] = my_robot_intent - - return intents diff --git a/rj_gameplay/rj_gameplay/play_selector.py b/rj_gameplay/rj_gameplay/play_selector.py deleted file mode 100644 index d06e3975f15..00000000000 --- a/rj_gameplay/rj_gameplay/play_selector.py +++ /dev/null @@ -1,308 +0,0 @@ -from enum import Enum -from typing import Optional, Tuple - -import numpy as np -import stp -import stp.situation as situation - -import rj_gameplay.situation.decision_tree.plays as situations -from rj_gameplay.play import ( # defend_restart,; defensive_clear,; keepaway,; prep_penalty_offense,; restart, - defense, - kickoff_play, - offense, - penalty_defense, - penalty_offense, -) - -POSSESS_MIN_DIST = 0.15 -MIN_PASS_SPEED = 0.9 -MIN_NEAR_BALL_DIST = 0.35 - - -class BallPos(Enum): - """Enum for representing the possession of the ball.""" - - OUR_BALL = 1 - FREE_BALL = 2 - THEIR_BALL = 3 - CONTEST_BALL = 4 - - -class FieldLoc(Enum): - """Enum for representing where the ball is on the field.""" - - DEFEND_SIDE = 1 - MIDFIELD = 2 - ATTACK_SIDE = 3 - - -# TODO: evaluate whether this class is useful at all -class HeuristicInformation: - """Class that represents all the heuristic information needed by the decision - tree situation analyzer. - """ - - __slots__ = ["ball_pos", "field_loc", "is_pileup"] - - ball_pos: BallPos - field_loc: FieldLoc - is_pileup: bool - - def __init__(self, world_state: stp.rc.WorldState, game_info: stp.rc.GameInfo): - self.field_loc = self.__calc_field_loc(world_state, game_info) - self.ball_pos = self.__calc_ball_poss(world_state, game_info) - self.is_pileup = self.__calc_pileup(world_state, game_info) - if self.is_pileup: - self.ball_pos = BallPos.CONTEST_BALL - - @staticmethod - def __calc_field_loc( - world_state: stp.rc.WorldState, game_info: stp.rc.GameInfo - ) -> FieldLoc: - """Computes the current location of the ball. - :param world_state: - :param game_info: - :return: The current FieldLoc. - """ - ball_pos: np.ndarray = world_state.ball.pos - - field_len: float = world_state.field.length_m - midfield: float = field_len / 2 - - if ball_pos[1] <= midfield: - return FieldLoc.DEFEND_SIDE - elif ball_pos[1] > midfield: - return FieldLoc.ATTACK_SIDE - else: - return FieldLoc.MIDFIELD - - @staticmethod - def __calc_ball_poss( - world_state: stp.rc.WorldState, game_info: stp.rc.GameInfo - ) -> BallPos: - """Computes the current ball possession. - :param world_state: - :param game_info: - :return: The current BallPos. - """ - - for our_bot in world_state.our_robots: - if ( - our_bot.has_ball_sense - or np.linalg.norm( - np.array(world_state.ball.pos) - np.array(our_bot.pose[0:2]) - ) - < POSSESS_MIN_DIST - ): - return BallPos.OUR_BALL - for their_bot in world_state.their_robots: - if ( - np.linalg.norm( - np.array(world_state.ball.pos) - np.array(their_bot.pose[0:2]) - ) - < POSSESS_MIN_DIST - ): - return BallPos.THEIR_BALL - if np.linalg.norm(world_state.ball.vel) > MIN_PASS_SPEED: - for our_bot in world_state.our_robots: - ball_to_bot = np.array(world_state.ball.pos) - np.array( - our_bot.pose[0:2] - ) - ball_to_bot_unit = ball_to_bot / np.linalg.norm(ball_to_bot) - ball_dir = world_state.ball.vel / np.linalg.norm(world_state.ball.vel) - dot = abs(np.dot(ball_to_bot_unit, ball_dir)) - if dot > 0.7: - return BallPos.OUR_BALL - for their_bot in world_state.their_robots: - ball_to_bot = np.array(world_state.ball.pos) - np.array( - their_bot.pose[0:2] - ) - ball_to_bot_unit = ball_to_bot / np.linalg.norm(ball_to_bot) - ball_dir = world_state.ball.vel / np.linalg.norm(world_state.ball.vel) - dot = abs(np.dot(ball_to_bot_unit, ball_dir)) - if dot > 0.7: - return BallPos.THEIR_BALL - # TODO(1578): Re-implement actual previous logic here. - - return BallPos.FREE_BALL - - @staticmethod - def __calc_pileup( - world_state: stp.rc.WorldState, game_info: stp.rc.GameInfo - ) -> bool: - """Computes whether there is a pileup or not. - :param world_state: - :param game_info: - :return: The current BallPos. - """ - our_near_bots = 0 - their_near_bots = 0 - for their_bot in world_state.their_robots: - if ( - np.linalg.norm( - np.array(world_state.ball.pos) - np.array(their_bot.pose[0:2]) - ) - < MIN_NEAR_BALL_DIST - ): - their_near_bots += 1 - for our_bot in world_state.our_robots: - if ( - np.linalg.norm( - np.array(world_state.ball.pos) - np.array(our_bot.pose[0:2]) - ) - < MIN_NEAR_BALL_DIST - ): - our_near_bots += 1 - - if ( - our_near_bots > 0 - and their_near_bots > 0 - and our_near_bots + their_near_bots >= 3 - ): - return True - # TODO(1578): Re-implement all the logic here. - - return False - - -class PlaySelector(situation.IPlaySelector): - """Play selector that returns a play and situation based on world state - (see select method) - """ - - def __init__(self): - self.curr_situation = situations.Defense - self.curr_play = defense.Defense() - self._midpoint_latency = None - - def select( - self, - world_state: stp.rc.WorldState, - ) -> Tuple[Optional[situation.ISituation], stp.play.IPlay]: - """Returns the best situation and play - for the current world state based on a hardcoded - decision tree. - :param world_state: The current state of the world. - :param game_info: The information about the state of the game. - :return: The best situation for the current world state. - """ - game_info = world_state.game_info - heuristics = HeuristicInformation(world_state, game_info) - - if game_info.is_kickoff(): - if game_info.our_restart: - if game_info.is_setup(): - self.situation = situations.PrepareKickoff() - self.curr_play = kickoff_play.PrepareKickoff() - elif game_info.is_ready(): - self.situation = situations.Kickoff() - # passing is bad - # self.curr_play = kickoff_play.Kickoff() - self.curr_play = offense.Offense() - else: - self.situation = situations.DefendKickoff() - self.curr_play = penalty_defense.PenaltyDefense() - - elif game_info.is_penalty(): - if game_info.our_restart: - if game_info.is_setup(): - self.situation = situations.PrepareKickoff() # TODO wrong situation - self.curr_play = penalty_offense.PrepPenaltyOff() - else: - self.situation = situations.PrepareKickoff() # TODO wrong situation - self.curr_play = penalty_offense.PenaltyOffense() - else: - # I believe penalty defense can just have goalie in box to start, no prep play necessary - self.situation = situations.PrepareKickoff() # TODO wrong situation - self.curr_play = penalty_defense.PenaltyDefense() - - elif game_info.is_direct(): - if game_info.our_restart: - self.situation = situations.OffensiveKickDirect() - self.curr_play = offense.Offense() - else: - self.situation = situations.DefendRestartOffensiveDirect() - self.curr_play = defense.Defense() - - elif world_state.game_info is None and self.curr_play is None: - self.curr_situation = situations.Defense - self.curr_play = defense.Defense() - elif world_state.game_info.state == stp.rc.GameState.STOP: - self.curr_situation = situations.Stop() - self.curr_play = defense.Defense() - elif ( - heuristics.ball_pos == BallPos.OUR_BALL - or heuristics.ball_pos == BallPos.FREE_BALL - ): - self.curr_situation = situations.Offense - self.curr_play = offense.Offense() - elif heuristics.ball_pos == BallPos.THEIR_BALL: - self.curr_situation = situations.Defense - self.curr_play = defense.Defense() - elif heuristics.ball_pos == BallPos.CONTEST_BALL: - if ( - heuristics.ball_pos == BallPos.CONTEST_BALL - and heuristics.field_loc == FieldLoc.ATTACK_SIDE - ): - self.curr_situation = situations.OffensiveScramble - self.curr_play = offense.Offense() - else: - self.curr_situation = situations.DefensiveScramble - self.curr_play = offense.Offense() - - return self.curr_situation, self.curr_play - - @staticmethod - def __analyze_restart( - world_state: stp.rc.WorldState, - heuristics: HeuristicInformation, - ) -> stp.situation.ISituation: - game_info = world_state.game_info - if game_info.is_kickoff(): - if game_info.our_restart: - if game_info.is_setup(): - return situations.PrepareKickoff() - elif game_info.is_ready(): - return situations.Kickoff() - else: - return situations.DefendKickoff() - - elif game_info.is_penalty(): - if game_info.our_restart: - if game_info.is_setup(): - return situations.PreparePenalty() - else: - return situations.Penalty() - else: - if game_info.is_setup() or game_info.is_ready(): - return situations.PrepareDefendPenalty() - else: - return situations.DefendPenalty() - - elif game_info.is_direct(): - if heuristics.field_loc == FieldLoc.ATTACK_SIDE: - if game_info.our_restart: - return situations.OffensiveKickDirect() - else: - return situations.DefendRestartOffensiveDirect() - elif heuristics.field_loc == FieldLoc.MIDFIELD: - if game_info.our_restart: - return situations.MidfieldKickDirect() - else: - return situations.DefendRestartMidfieldDirect() - elif heuristics.field_loc == FieldLoc.DEFEND_SIDE: - if game_info.our_restart: - return situations.Restart() - else: - raise RuntimeError("Unknown field_loc {}".format(heuristics.field_loc)) - - elif game_info.is_free_placement(): - return situations.Stop() - - def __repr__(self): - """ - returns the string with the current situation. - """ - text = "" - text += self.curr_situation.__class__.__name__ - return text diff --git a/rj_gameplay/rj_gameplay/pyproject.toml b/rj_gameplay/rj_gameplay/pyproject.toml deleted file mode 100644 index b2b552f95e9..00000000000 --- a/rj_gameplay/rj_gameplay/pyproject.toml +++ /dev/null @@ -1,4 +0,0 @@ -[tool.isort] -profile = "black" -known_first_party = ["rj_gameplay"] -known_third_party = ["stp"] diff --git a/rj_gameplay/rj_gameplay/role/__init__.py b/rj_gameplay/rj_gameplay/role/__init__.py deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/rj_gameplay/rj_gameplay/role/capture_role.py b/rj_gameplay/rj_gameplay/role/capture_role.py deleted file mode 100644 index 90c74f19e7f..00000000000 --- a/rj_gameplay/rj_gameplay/role/capture_role.py +++ /dev/null @@ -1,29 +0,0 @@ -import stp -from rj_gameplay.skill import capture - -from rj_msgs.msg import RobotIntent - - -class CaptureRole(stp.role.Role): - """Role to produce capturing behavior, which gets or steals the ball""" - - def __init__(self, robot: stp.rc.Robot) -> None: - super().__init__(robot) - - self.capture_skill = None - self._state = "init" - - def set_capture(self): - self._state = "capture" - self.capture_skill = capture.Capture(robot=self.robot) - - def tick(self, world_state: stp.rc.WorldState) -> RobotIntent: - self.capture_skill = capture.Capture(robot=self.robot) - intent = self.capture_skill.tick(world_state) - if self.capture_skill.is_done(world_state): - self._state = "done" - - return intent - - def is_done(self, world_state: stp.rc.WorldState) -> bool: - return self._state == "done" diff --git a/rj_gameplay/rj_gameplay/role/dumb_move.py b/rj_gameplay/rj_gameplay/role/dumb_move.py deleted file mode 100644 index a16eb5cbc47..00000000000 --- a/rj_gameplay/rj_gameplay/role/dumb_move.py +++ /dev/null @@ -1,45 +0,0 @@ -import stp.rc -import stp.role -from rj_msgs.msg import RobotIntent - -from rj_gameplay.skill import move - - -class DumbMove(stp.role.Role): - """Wrapper for the Move Skill. Named "Dumb" because it does not have much other functionality (breaking the ideal of a "complex" single-robot Role).""" - - def __init__(self, robot: stp.rc.Robot, target_point, face_point) -> None: - super().__init__(robot) - - self.target_point = target_point - self.face_point = face_point - - self.move_skill = None - - def tick( - self, world_state: stp.rc.WorldState, target_point=None, face_point=None - ) -> RobotIntent: - skill_needs_update = self.move_skill is None - - if target_point is not None: - self.target_point = target_point - skill_needs_update = True - - if face_point is not None: - self.face_point = face_point - skill_needs_update = True - - # create skill with correct target & face_point - if skill_needs_update: - self.move_skill = move.Move( - robot=self.robot, - target_point=self.target_point, - face_point=self.face_point, - ) - - intent = self.move_skill.tick(world_state) - return intent - - def is_done(self, world_state) -> bool: - if self.move_skill is not None: - return self.move_skill.is_done(world_state) diff --git a/rj_gameplay/rj_gameplay/role/goalie_role.py b/rj_gameplay/rj_gameplay/role/goalie_role.py deleted file mode 100644 index 768cd2af6c9..00000000000 --- a/rj_gameplay/rj_gameplay/role/goalie_role.py +++ /dev/null @@ -1,163 +0,0 @@ -import numpy as np -import stp -from rj_msgs.msg import RobotIntent - -# TODO: settle on unified way to define constants in gameplay -from stp.utils.constants import RobotConstants # , BallConstants - -from rj_gameplay.skill import line_kick, move, pivot_kick, receive - -# import stp.global_parameters as global_parameters -# from stp.local_parameters import Param - - -# TODO: move to constants file -MIN_WALL_RAD = 0 -GOALIE_PCT_TO_BALL = 0.15 -DIST_TO_FAST_KICK = 7 - - -def get_goalie_pt(world_state: stp.rc.WorldState) -> np.ndarray: - """Gives goalie a default location to track the ball from when it is not actively intercepting or capturing the ball. - :return numpy point - """ - ball_pt = world_state.ball.pos - goal_pt = world_state.field.our_goal_loc - - dir_vec = (ball_pt - goal_pt) / np.linalg.norm(ball_pt - goal_pt) - # get in-between ball and goal, staying behind wall - dist_from_goal = min(GOALIE_PCT_TO_BALL * np.linalg.norm(ball_pt - goal_pt), 1.0) - mid_pt = goal_pt + (dir_vec * dist_from_goal) - return mid_pt - - -"""Calculates point to move to to stop the ball, standing in for an intercept planner. -""" - - -def get_block_pt(world_state: stp.rc.WorldState, my_pos: np.ndarray) -> np.ndarray: - pos = world_state.ball.pos - vel = world_state.ball.vel - - tangent = vel / (np.linalg.norm(vel) + 1e-6) - - # Find out where it would cross - time_to_cross = np.abs(pos[1] / vel[1]) if np.abs(vel[1]) > 1e-6 else 0 - cross_x = pos[0] + vel[0] * time_to_cross - cross_position = np.array([np.clip(cross_x, a_min=-0.6, a_max=0.6), 0.0]) - - tangent = cross_position - pos - tangent /= np.linalg.norm(tangent) - block_pt = np.dot(tangent, my_pos - pos) * tangent + pos - - return block_pt - - -class GoalieRole(stp.role.Role): - """Role to produce goalie behavior, which tracks the ball, moves to block if a shot on goal is taken, stays within the goalie box (generally), and clears ball away.""" - - def __init__(self, robot: stp.rc.Robot, brick=False): - super().__init__(robot) - - self.brick = brick - - self.move_skill = None - self.receive_skill = None - self.pivot_kick_skill = None - - # TODO: there is crusty if-else here, use utility AI or behavior tree or FSM - # anything more readable than this (behavior tree prob best fit for current logic) - def tick(self, world_state: stp.rc.WorldState) -> RobotIntent: - global MIN_WALL_RAD - - # TODO: this calculation is copy-pasted from wall_tactic - # put into common file (wall calculations?) - - # dist is slightly greater than def_area box bounds - box_w = world_state.field.def_area_long_dist_m - box_h = world_state.field.def_area_short_dist_m - line_w = world_state.field.line_width_m - # max out of box to cap for goalie - MAX_OOB = RobotConstants.RADIUS - - if not world_state: - return None - if not world_state.ball.visible: - return None - - ball_speed = np.linalg.norm(world_state.ball.vel) + 1e-6 - ball_pos = world_state.ball.pos - # ball_dist = np.linalg.norm(world_state.field.our_goal_loc - ball_pos) - goal_pos = world_state.field.our_goal_loc - towards_goal = goal_pos - ball_pos - - if self.brick: - self.move_skill = move.Move( - robot=self.robot, - target_point=world_state.field.our_goal_loc, - face_point=world_state.ball.pos, - ) - return self.move_skill.tick(world_state) - - if ( - ball_speed < 0.5 - and ( - abs(ball_pos[0]) < box_w / 2 + line_w + MAX_OOB - and ball_pos[1] < box_h + line_w + MAX_OOB - ) - and not world_state.game_info.is_stopped() - ): - if ball_speed < 1e-6: - # if ball is stopped and inside goalie box, collect it - self.receive_skill = receive.Receive(robot=self.robot) - return self.receive_skill.tick(world_state) - else: - # if ball has been stopped already, chip toward center field - self.pivot_kick_skill = line_kick.LineKick( - robot=self.robot, target_point=np.array([0.0, 6.0]) - ) - return self.pivot_kick_skill.tick(world_state) - else: - if ball_speed > 0 and np.dot(towards_goal, world_state.ball.vel) > 0.3: - # if ball is moving and coming at goal, move laterally to block ball - # TODO (#1676): replace this logic with a real intercept planner - goalie_pos = ( - world_state.our_robots[world_state.goalie_id].pose[:2] - if world_state.goalie_id is not None - else np.array([0.0, 0.0]) - ) - - block_point = get_block_pt(world_state, goalie_pos) - face_point = world_state.ball.pos - - self.move_skill = move.Move( - robot=self.robot, - target_point=block_point, - face_point=face_point, - ) - return self.move_skill.tick(world_state) - - else: - # else, track ball normally - self.move_skill = move.Move( - target_point=get_goalie_pt(world_state), - face_point=world_state.ball.pos, - ) - return self.move_skill.tick(world_state) - - if self.pivot_kick_skill is not None and self.pivot_kick_skill.is_done( - world_state - ): - self.pivot_kick_skill = pivot_kick.PivotKick( - robot=self.robot, - target_point=np.array([0.0, 6.0]), - chip=True, - kick_speed=5.5, - ) - - return self.pivot_kick_skill.tick(world_state) - - def is_done(self, world_state: stp.rc.WorldState) -> bool: - # goalie always active - # TODO: make role end on capture, let passing role take over - return False diff --git a/rj_gameplay/rj_gameplay/role/marker.py b/rj_gameplay/rj_gameplay/role/marker.py deleted file mode 100644 index 6bfec244a0a..00000000000 --- a/rj_gameplay/rj_gameplay/role/marker.py +++ /dev/null @@ -1,32 +0,0 @@ -import stp -from rj_msgs.msg import RobotIntent - -# TODO: mark skill has not been updated, how is it working here (see basicDefense)? -from rj_gameplay.skill import mark - - -class MarkerRole(stp.role.Role): - """Role to produce marking behavior""" - - def __init__(self, robot: stp.rc.Robot, target_robot: stp.rc.Robot) -> None: - super().__init__(robot) - - self.mark_skill = None - self.target_robot = target_robot - - def tick( - self, world_state: stp.rc.WorldState, target_robot: stp.rc.Robot - ) -> RobotIntent: - if target_robot is not None: - self.target_robot = target_robot - if self.mark_skill is None or target_robot is not None: - self.mark_skill = mark.Mark( - robot=self.robot, target_robot=self.target_robot - ) - - intent = self.mark_skill.tick(world_state) - - return intent - - def is_done(self, world_state: stp.rc.WorldState) -> bool: - return self._state == "done" diff --git a/rj_gameplay/rj_gameplay/role/passer.py b/rj_gameplay/rj_gameplay/role/passer.py deleted file mode 100644 index 898aee9a157..00000000000 --- a/rj_gameplay/rj_gameplay/role/passer.py +++ /dev/null @@ -1,90 +0,0 @@ -from enum import Enum, auto - -import numpy as np -import stp.rc -import stp.role -from rj_msgs.msg import RobotIntent - -from rj_gameplay.skill import pivot_kick, receive # , line_kick - -# The final velocity of the ball when it reaches our teammate -FINAL_VELOCITY = 4 -# Rolling deceleration of the ball after it has been kicked -BALL_DECELERATION = -0.4 - - -class State(Enum): - INIT = auto() - CAPTURING = auto() - PASS_READY = auto() - INIT_EXECUTE_PASS = auto() - EXECUTE_PASS = auto() - KICK_DONE = auto() - - -class PasserRole(stp.role.Role): - def __init__(self, robot: stp.rc.Robot) -> None: - super().__init__(robot) - - self.receive_skill = None - self.pivot_kick_skill = None - - self._state = State.INIT - - self._target_point = None - - @property - def pass_ready(self): - return self._state == State.PASS_READY - - def set_execute_pass(self, target_point): - self._state = State.INIT_EXECUTE_PASS - self._target_point = target_point - - def tick(self, world_state: stp.rc.WorldState) -> RobotIntent: - """ - Assume robot does not have ball on init. Then: - - on init: get ball - - when got ball: mark pass ready for Tactic, dribble, wait - - on pass signal from Tactic: pivot_kick to point, let receiver get ball, done - """ - - intent = None - if self._state == State.INIT: - self.receive_skill = receive.Receive(robot=self.robot) - intent = self.receive_skill.tick(world_state) - self._state = State.CAPTURING - elif self._state == State.CAPTURING: - intent = self.receive_skill.tick(world_state) - - if self.receive_skill.is_done(world_state): - self._state = State.PASS_READY - elif self._state == State.PASS_READY: - # TODO: dribble until the receiver is ready - pass - # this state transition is done by the PassTactic, which is not canonical FSM - elif self._state == State.INIT_EXECUTE_PASS: - # TODO: make these params configurable - # kick_speed is modeled off of the ETDP of ZJUNlict, which can be found in section 5 of https://ssl.robocup.org/wp-content/uploads/2020/03/2020_ETDP_ZJUNlict.pdf - distance = np.linalg.norm(self._target_point - self.robot.pose[0:2]) - initial_velocity = np.sqrt( - (FINAL_VELOCITY**2) - (2 * BALL_DECELERATION * distance) - ) - self.pivot_kick_skill = pivot_kick.PivotKick( - robot=self.robot, - target_point=self._target_point, - chip=False, - kick_speed=initial_velocity, - ) - self._state = State.EXECUTE_PASS - elif self._state == State.EXECUTE_PASS: - intent = self.pivot_kick_skill.tick(world_state) - - if self.pivot_kick_skill.is_done(world_state): - self._state = State.KICK_DONE - # end FSM - - return intent - - def is_done(self, world_state) -> bool: - return self._state == State.KICK_DONE diff --git a/rj_gameplay/rj_gameplay/role/receiver.py b/rj_gameplay/rj_gameplay/role/receiver.py deleted file mode 100644 index 7d89e8580d2..00000000000 --- a/rj_gameplay/rj_gameplay/role/receiver.py +++ /dev/null @@ -1,58 +0,0 @@ -import stp.role -import stp.rc - -from rj_gameplay.skill import receive - -from rj_msgs.msg import RobotIntent - -from enum import Enum, auto - - -class State(Enum): - INIT = auto() - PASS_READY = auto() - RECEIVE_PASS = auto() - DONE = auto() - - -class ReceiverRole(stp.role.Role): - def __init__(self, robot: stp.rc.Robot) -> None: - super().__init__(robot) - - self.receive_skill = None - - self._state = State.INIT - - self._target_point = None - - @property - def pass_ready(self): - return self._state == State.PASS_READY - - def set_receive_pass(self): - self._state = State.RECEIVE_PASS - self.receive_skill = receive.Receive(robot=self.robot) - - def tick(self, world_state: stp.rc.WorldState) -> RobotIntent: - """ - Assume passer already has ball on init. Then: - - on init: continue seeking - - interrupt signal from Tactic: go get ball - - when got ball: done - """ - - intent = None - - if self._state == State.INIT: - # TODO: do seek behavior - pass - elif self._state == State.RECEIVE_PASS: - intent = self.receive_skill.tick(world_state) - if self.receive_skill.is_done(world_state): - self._state = State.DONE - # end FSM - - return intent - - def is_done(self, world_state) -> bool: - return self._state == State.DONE diff --git a/rj_gameplay/rj_gameplay/role/seeker.py b/rj_gameplay/rj_gameplay/role/seeker.py deleted file mode 100644 index e2a24a0a150..00000000000 --- a/rj_gameplay/rj_gameplay/role/seeker.py +++ /dev/null @@ -1,98 +0,0 @@ -from typing import List - -import numpy as np -import stp -from rj_msgs.msg import RobotIntent -from scipy.optimize import minimize - -from rj_gameplay.skill import move - - -class SeekerRole(stp.role.Role): - def __init__(self, robot: stp.rc.Robot, my_region, centroid) -> None: - # TODO: type this header - - super().__init__(robot) - self.move_skill = None - self.target_point = None - self._my_region = my_region - self._centroid = centroid - self._target_point = None - self._ticks_since_reassign = 0 - - def get_open_point(self, world_state, region: List, centroid) -> np.ndarray: - """ """ - # TODO: docstring - - # Heuristics to add complexity to minimize function - # min_to_centroid = lambda x: np.linalg.norm(x - centroid) - # min_to_ball = lambda x: np.linalg.norm(x - world_state.ball.pos) - # min_to_goal = lambda x: np.linalg.norm(x - world_state.field.their_goal_loc) - - # line-of-sight calculations - # (LOS is maximized by making dot product of angle between unit vectors as close to 0 as possible) - ball_dir = lambda pos: pos - world_state.ball.pos - ball_dir_norm = lambda pos: ball_dir(pos) / ( - 1e-9 + np.linalg.norm(ball_dir(pos)) - ) - opps_to_ball = [ - ball_dir_norm(opp_robot.pose[0:2]) for opp_robot in world_state.their_robots - ] - # only opponent robot that most blocks matters here - # note that this is in radians - max_los = lambda pos: max( - np.dot(ball_dir_norm(pos), opp_dir) ** 2 for opp_dir in opps_to_ball - ) - - # linearly combine above - heuristic = lambda x: 0 + 100 * max_los(x) - - result = minimize( - heuristic, - centroid, - bounds=((region[0], region[1]), (region[2], region[3])), - tol=1e-3, - options={"maxiter": 1000, "disp": False}, - ) - - # noise to add randomness to resultant point if needed - x_noise = 0 - y_noise = 0 - - bestpoint = np.array([result.x[0] + x_noise, result.x[1] + y_noise]) - - return bestpoint - - def tick(self, world_state: stp.rc.WorldState) -> RobotIntent: - """ - Assume our_robot has ball on init. Then: - - on init: get every point in the OFFENSE section of field away from their_robots at a certain distance and move there - - """ - - # find target point w/in region - if self.target_point is None: - self.target_point = self._centroid - - # only reassign every so often so robot can reach target pt - if self._ticks_since_reassign > 10: - self.target_point = self.get_open_point( - world_state, self._my_region, self._centroid - ) - self._ticks_since_reassign = 0 - - self._ticks_since_reassign += 1 - - # assign move skill - self.move_skill = move.Move( - robot=self.robot, - target_point=self.target_point, - face_point=world_state.ball.pos, - ) - - intent = self.move_skill.tick(world_state) - - return intent - - def is_done(self, world_state) -> bool: - return self.move_skill.is_done(world_state) diff --git a/rj_gameplay/rj_gameplay/role/striker.py b/rj_gameplay/rj_gameplay/role/striker.py deleted file mode 100644 index 40b58c5b0ea..00000000000 --- a/rj_gameplay/rj_gameplay/role/striker.py +++ /dev/null @@ -1,164 +0,0 @@ -import stp.role -import stp.rc - -from rj_gameplay.skill import receive, pivot_kick - -from rj_msgs.msg import RobotIntent - -from enum import Enum, auto - -import numpy as np - - -class State(Enum): - INIT = auto() - CAPTURING = auto() - INIT_SHOOT = auto() - SHOOTING = auto() - KICK_DONE = auto() - - -# TODO: move params to file -OPPONENT_SPEED = 1.5 -KICK_SPEED = 4.5 -EFF_BLOCK_WIDTH = 0.7 - - -class StrikerRole(stp.role.Role): - """Grabs ball and shoots on goal. Should eventually be merged with some hybrid PassOrShoot role.""" - - def __init__(self, robot: stp.rc.Robot) -> None: - super().__init__(robot) - - self.receive_skill = None - self.pivot_kick_skill = None - - self._state = State.INIT - - def tick(self, world_state: stp.rc.WorldState) -> RobotIntent: - intent = None - if self._state == State.INIT: - # taken from role/passer.py - self.receive_skill = receive.Receive(robot=self.robot) - intent = self.receive_skill.tick(world_state) - self._state = State.CAPTURING - elif self._state == State.CAPTURING: - intent = self.receive_skill.tick(world_state) - if self.receive_skill.is_done(world_state): - self._state = State.INIT_SHOOT - elif self._state == State.INIT_SHOOT: - # TODO: make these params configurable - shot_kick_speed = 4.0 # TODO: adjust based on dist from target_point - best_shot_target_point = self._find_target_point( - world_state, shot_kick_speed - ) - - self.pivot_kick_skill = pivot_kick.PivotKick( - robot=self.robot, - target_point=best_shot_target_point, - chip=False, - kick_speed=shot_kick_speed, - ) - self._state = State.SHOOTING - elif self._state == State.SHOOTING: - # taken from role/passer.py - intent = self.pivot_kick_skill.tick(world_state) - - if self.pivot_kick_skill.is_done(world_state): - self._state = State.KICK_DONE - # end FSM - - return intent - - def is_done(self, world_state: stp.rc.WorldState) -> bool: - return self._state == State.KICK_DONE - - def _blocker_margin( - self, - kick_origin: np.array, - kick_target: np.array, - kick_speed: float, - blocker: stp.rc.Robot, - ): - if not blocker.visible: - return np.inf - - kick_vector = kick_target - kick_origin - kick_dist = np.linalg.norm(kick_vector) - kick_vector /= kick_dist - # unused ?? - # kick_perp = np.array([kick_vector[1], -kick_vector[0]]) - - blocker_position = blocker.pose[0:2] - - # Calculate blocker intercept - blocker_intercept_dist_along_kick = np.dot( - blocker_position - kick_origin, kick_vector - ) - blocker_intercept_dist_along_kick = np.clip( - blocker_intercept_dist_along_kick, a_min=0, a_max=kick_dist - ) - blocker_intercept = ( - kick_origin + kick_vector * blocker_intercept_dist_along_kick - ) - - blocker_distance = np.clip( - np.linalg.norm(blocker_intercept - blocker_position) - EFF_BLOCK_WIDTH, - a_min=0.0, - a_max=np.inf, - ) - - blocker_time = np.abs(blocker_distance) / OPPONENT_SPEED - - # Doesn't include friction...oops? - ball_time = np.linalg.norm(blocker_intercept - kick_origin) / kick_speed - - return blocker_time - ball_time - - def _kick_cost( - self, - point: np.array, - kick_speed: float, - kick_origin: np.array, - world_state: stp.rc.WorldState, - ): - margins = [ - self._blocker_margin(kick_origin, point, kick_speed, blocker) - for blocker in world_state.their_robots - ] - return -min(margins) - - def _find_target_point( - self, world_state: stp.rc.WorldState, kick_speed: float - ) -> np.ndarray: - goal_y = world_state.field.length_m - cost = 0 - - ball_pos = world_state.ball.pos - - # Heuristic: limit where we kick if we're very wide - xmin = -0.43 - xmax = 0.43 - if abs(ball_pos[0]) > 1: - kick_extent = -1 / ball_pos[0] - if kick_extent < 0: - xmin = np.clip(kick_extent, a_min=xmin, a_max=0) - elif kick_extent > 0: - xmax = np.clip(kick_extent, a_min=0, a_max=xmax) - - try_points = [np.array([x, goal_y]) for x in np.arange(xmin, xmax, step=0.05)] - - cost, point = min( - [ - ( - self._kick_cost( - point, kick_speed, world_state.ball.pos, world_state - ), - point, - ) - for point in try_points - ], - key=lambda x: x[0], - ) - - return point diff --git a/rj_gameplay/rj_gameplay/situation/__init__.py b/rj_gameplay/rj_gameplay/situation/__init__.py deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/rj_gameplay/rj_gameplay/situation/decision_tree/__init__.py b/rj_gameplay/rj_gameplay/situation/decision_tree/__init__.py deleted file mode 100644 index 296d9ecc71c..00000000000 --- a/rj_gameplay/rj_gameplay/situation/decision_tree/__init__.py +++ /dev/null @@ -1 +0,0 @@ -import rj_gameplay.situation.decision_tree.plays diff --git a/rj_gameplay/rj_gameplay/situation/decision_tree/plays.py b/rj_gameplay/rj_gameplay/situation/decision_tree/plays.py deleted file mode 100644 index b25fc2e9d0c..00000000000 --- a/rj_gameplay/rj_gameplay/situation/decision_tree/plays.py +++ /dev/null @@ -1,258 +0,0 @@ -"""This module contains all the plays used by the decision tree situation analyzer. -Ported from the old situation alaysis.""" - -import stp.situation - - -class NoSituation(stp.situation.ISituation): - """No Situation.""" - - ... - - -class PrepareKickoff(stp.situation.ISituation): - """Setup for kickoff.""" - - ... - - -class Kickoff(stp.situation.ISituation): - """Kickoff.""" - - ... - - -class DefendKickoff(stp.situation.ISituation): - """Kickoff defense.""" - - ... - - -class DefendRestartOffensive(stp.situation.ISituation): - """Defending our opponents restart on their side of the field.""" - - ... - - -class DefendRestartMidfield(stp.situation.ISituation): - """Plays for defending our opponents restart on their side of the field.""" - - ... - - -class DefendRestartDefensive(stp.situation.ISituation): - """Plays for defending our opponents restart in the midfield.""" - - ... - - -class DefendRestartOffensiveDirect(stp.situation.ISituation): - """Defending our direct opponents restart on their side of the field.""" - - ... - - -class DefendRestartMidfieldDirect(stp.situation.ISituation): - """Plays for defending our opponents direct restart on their side of the field.""" - - ... - - -class DefendRestartDefensiveDirect(stp.situation.ISituation): - """Plays for defending our opponents direct restart in the midfield.""" - - ... - - -class Clear(stp.situation.ISituation): - """Plays for clearing the ball from our side of the field (should include defensive - caution).""" - - ... - - -class DefendClear(stp.situation.ISituation): - """Plays for defending the opponents clear, when the ball is on their side.""" - - ... - - -class DefendGoal(stp.situation.ISituation): - """Plays for defending our goal from opponents near it with the ball.""" - - ... - - -class MidfieldClear(stp.situation.ISituation): - """Plays for when we possess the ball in the midfield.""" - - ... - - -class AttackGoal(stp.situation.ISituation): - """Plays for attacking the opponents goal, when we have the ball near it.""" - - ... - - -class OffensiveScramble(stp.situation.ISituation): - """Plays for getting a loose ball when the ball is on the opponents half.""" - - ... - - -class MidfieldScramble(stp.situation.ISituation): - """Plays for getting a loose ball when the ball is on the opponents half.""" - - ... - - -class DefensiveScramble(stp.situation.ISituation): - """Plays for getting a loose ball when the ball is on our half.""" - - ... - - -class SaveBall(stp.situation.ISituation): - """Plays that will trigger when the ball is headed out of the field with no - obstructions.""" - - ... - - -class SaveShot(stp.situation.ISituation): - """Plays that will trigger when the ball is headed directly at our goal.""" - - ... - - -class OffensivePileup(stp.situation.ISituation): - """Plays to handle a pile up on their side of the field.""" - - ... - - -class Offense(stp.situation.ISituation): - """Offense.""" - - ... - - -class Defense(stp.situation.ISituation): - """Defense.""" - - ... - - -class MidfieldPileup(stp.situation.ISituation): - """Plays to handle a pile up in the midfield.""" - - ... - - -class DefensivePileup(stp.situation.ISituation): - """Plays to handle a pile up on our side of the field.""" - - ... - - -class MidfieldDefendClear(stp.situation.ISituation): - """Plays to defend a clear when the ball is in the midfield.""" - - ... - - -class PrepareShootout(stp.situation.ISituation): - """Plays for making shootout shots.""" - - ... - - -class Shootout(stp.situation.ISituation): - """Plays for making shootout shots.""" - - ... - - -class PrepareDefendShootout(stp.situation.ISituation): - """Plays for defending shootout shots.""" - - ... - - -class DefendShootout(stp.situation.ISituation): - """Plays for defending shootout shots.""" - - ... - - -class PreparePenalty(stp.situation.ISituation): - """Set up for penalty shots.""" - - ... - - -class Penalty(stp.situation.ISituation): - """Plays for making penalty shots.""" - - ... - - -class PrepareDefendPenalty(stp.situation.ISituation): - """Prepare to defend the penalty. Our goalie must be on the goal box line.""" - - ... - - -class DefendPenalty(stp.situation.ISituation): - """Plays for defending penalty shots.""" - - ... - - -class OffensiveKick(stp.situation.ISituation): - """Plays for indirect kicks on their side.""" - - ... - - -class DefensiveKick(stp.situation.ISituation): - """Plays for indirect kicks on our side.""" - - ... - - -class MidfieldKick(stp.situation.ISituation): - """Plays for indirect kicks in the midfield.""" - - ... - - -class OffensiveKickDirect(stp.situation.ISituation): - """Plays for direct kicks on their side.""" - - ... - - -class DefensiveKickDirect(stp.situation.ISituation): - """Plays for direct kicks on our side.""" - - ... - - -class MidfieldKickDirect(stp.situation.ISituation): - """Plays for direct kicks in the midfield.""" - - ... - - -class GoalieClear(stp.situation.ISituation): - """Plays for clearing the ball when our goalie possesses the ball.""" - - ... - - -class Stop(stp.situation.ISituation): - """Plays for dealing with the stop state.""" - - ... diff --git a/rj_gameplay/rj_gameplay/skill/__init__.py b/rj_gameplay/rj_gameplay/skill/__init__.py deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/rj_gameplay/rj_gameplay/skill/capture.py b/rj_gameplay/rj_gameplay/skill/capture.py deleted file mode 100644 index 096ef00913b..00000000000 --- a/rj_gameplay/rj_gameplay/skill/capture.py +++ /dev/null @@ -1,65 +0,0 @@ -import argparse -import sys -import time -from typing import Optional - -import numpy as np -import stp.action as action -import stp.rc as rc -import stp.skill as skill -from rj_msgs.msg import CollectMotionCommand, RobotIntent -from stp.utils.constants import BallConstants, RobotConstants - - -class Capture(skill.Skill): - """Second half of a Receive Skill. Captures the ball once it has been slowed down.""" - - def __init__(self, robot: Optional[rc.Robot] = None): - self.robot = robot - self.ticks_done = 0 - - self.__name__ = "capture skill" - - def tick(self, world_state: rc.WorldState) -> RobotIntent: - super().tick(world_state) - intent = RobotIntent() - - collect_command = CollectMotionCommand() - intent.motion_command.collect_command = [collect_command] - intent.dribbler_speed = 1.0 # dribbler is on by default - intent.is_active = True - - return intent - - def is_done(self, world_state) -> bool: - ball_speed = np.linalg.norm(world_state.ball.vel) - - ball_pos = world_state.ball.pos - - robot_pos = self.robot.pose[0:2] - - dist_to_ball = np.linalg.norm(robot_pos - ball_pos) - - ball_slow = ball_speed < 0.05 - ball_close = ( - dist_to_ball - (RobotConstants.RADIUS + BallConstants.RADIUS) < 0.03 - ) - - return ball_slow and ball_close - - # TODO: has_ball_sense is broken, fix or wait for actionclient? - # if ( - # self.robot is not None - # and world_state.our_robots[self.robot.id].has_ball_sense - # ): - # self.ticks_done += 1 - # else: - # self.ticks_done -= 5 - # self.ticks_done = np.clip(self.ticks_done, a_min=0, a_max=200) - # return self.ticks_done > 50 - - def __str__(self): - return f"Capture(robot={self.robot.id if self.robot is not None else '??'})" - - def __repr__(self) -> str: - return self.__str__() diff --git a/rj_gameplay/rj_gameplay/skill/dribble.py b/rj_gameplay/rj_gameplay/skill/dribble.py deleted file mode 100644 index 816a489014e..00000000000 --- a/rj_gameplay/rj_gameplay/skill/dribble.py +++ /dev/null @@ -1,93 +0,0 @@ -from abc import ABC, abstractmethod - -import rj_gameplay.eval as eval -import argparse -import py_trees -import sys -import time -import numpy as np -from typing import Optional -import math - -import stp.skill as skill -import stp.role as role -import stp.action as action -import stp.rc as rc -from rj_geometry_msgs.msg import Point -from rj_msgs.msg import RobotIntent, PathTargetMotionCommand - - -""" -A simple skill wrapper version of dribble so that actions don't have to be called in tactics -""" - - -class Dribble(skill.ISkill): - def __init__( - self, - robot: rc.Robot = None, - target_point: np.ndarray = np.array([0.0, 0.0]), - target_vel: np.ndarray = np.array([0.0, 0.0]), - face_angle: Optional[float] = None, - face_point: Optional[np.ndarray] = None, - priority: int = 0, - ): - self.robot = robot - self.target_point = target_point - self.target_vel = target_vel - self.face_angle = face_angle - self.face_point = face_point - self.priority = priority - self.__name__ = "Dribble" - - def tick( - self, robot: rc.Robot, world_state: rc.WorldState, intent: RobotIntent - ): # returns dict of robot and actions - self.robot = robot - - path_command = PathTargetMotionCommand() - path_command.target.position = Point( - x=self.target_point[0], y=self.target_point[1] - ) - path_command.target.velocity = Point(x=self.target_vel[0], y=self.target_vel[1]) - if self.face_angle is not None: - path_command.override_angle = [self.face_angle] - - if self.face_point is not None: - path_command.override_face_point = [ - Point(x=self.face_point[0], y=self.face_point[1]) - ] - - intent.motion_command.path_target_command = [path_command] - - intent.dribbler_speed = 1.0 - intent.is_active = True - return {self.robot.id: intent} - - def is_done(self, world_state: rc.WorldState): - threshold = 0.3 - if self.robot.id is None or world_state is None: - return False - elif ( - math.sqrt( - (world_state.our_robots[self.robot.id].pose[0] - self.target_point[0]) - ** 2 - + (world_state.our_robots[self.robot.id].pose[1] - self.target_point[1]) - ** 2 - ) - < threshold - ): - return True - else: - return False - - def __str__(self): - return ( - f"Capture(robot={self.robot.id if self.robot is not None else '??'}," - f" target={self.target_point}, " - f" target_vel={self.target_vel}, face_angle={self.face_angle}," - f" face_point={self.face_point})" - ) - - def __repr__(self) -> str: - return self.__str__() diff --git a/rj_gameplay/rj_gameplay/skill/intercept.py b/rj_gameplay/rj_gameplay/skill/intercept.py deleted file mode 100644 index 197adcdd3d4..00000000000 --- a/rj_gameplay/rj_gameplay/skill/intercept.py +++ /dev/null @@ -1,90 +0,0 @@ -from abc import ABC, abstractmethod - -import rj_gameplay.eval as eval -import argparse -import py_trees -import sys -import time -import numpy as np -from rj_msgs.msg import RobotIntent, PathTargetMotionCommand -from rj_geometry_msgs.msg import Point - -import stp.skill as skill -import stp.role as role -import stp.rc as rc - -SETTLE_BALL_SPEED_THRESHOLD = 1.0 -INTERCEPT_ANGLE_THRESHOLD = 2 * np.pi / 36 - - -class Intercept(skill.Skill): - """First third of a PassReceive Skill. Gets in front of moving ball.""" - - """TODO: Replace with actual intercept planner""" - - def __init__(self, robot: rc.Robot = None): - self.robot = robot - - self.__name__ = "intercept skill" - - def get_intercept_pt( - self, world_state: rc.WorldState, my_robot: np.ndarray - ) -> np.ndarray: - """ - Gets the closest point on the linear trajectory of the ball to the intercepting robot - Does this by projecting the ball to robot vector onto the subspace spanned by the ball's velocity vector - """ - pos = world_state.ball.pos - vel = world_state.ball.vel - - ball_dir = vel / (np.linalg.norm(vel) + 1e-6) - - ball_to_bot = pos - my_robot.pose[:1] - intercept_pt = np.dot(ball_to_bot, ball_dir) * ball_dir - - return intercept_pt - - def tick(self, world_state: rc.WorldState) -> RobotIntent: - super().tick(world_state) - intent = RobotIntent() - path_command = PathTargetMotionCommand() - target_point = self.get_intercept_pt(world_state, self.robot) - target_vel = [0.0, 0.0] - path_command.target.position = Point(x=target_point[0], y=target_point[1]) - path_command.target.velocity = Point(x=target_vel[0], y=target_vel[1]) - path_command.ignore_ball = False - - path_command.override_face_point = [ - Point(x=world_state.ball.pos[0], y=world_state.ball.pos[1]) - ] - - intent.motion_command.path_target_command = [path_command] - intent.is_active = True - - # TODO: motion planning is a lot more stable when not being spammed with repeat intents, use Action Client/Server to avoid re-requests when the intent is the same - return intent - - def is_done(self, world_state) -> bool: - """ - Check if the intercepting robot has the ball, or the ball is slow and the robot is on the path of the ball. - """ - if self.robot is None: - return False - - ball_dir = world_state.ball.vel / (np.linalg.norm(world_state.ball.vel) + 1e-6) - ball_to_bot = world_state.ball.pos - self.robot.pose[:1] - ball_to_bot_unt = ball_to_bot / (np.linalg.norm(ball_to_bot) + 1e-6) - dot_prod = np.dot(ball_to_bot_unt, ball_dir) - angle = np.arccos(dot_prod) - if world_state.our_robots[self.robot.id].has_ball_sense or ( - np.linalg.norm(world_state.ball.vel) < SETTLE_BALL_SPEED_THRESHOLD - and angle < INTERCEPT_ANGLE_THRESHOLD - ): - return True - return False - - def __str__(self): - return f"Intercept(robot={self.robot.id if self.robot is not None else '??'})" - - def __repr__(self) -> str: - return self.__str__() diff --git a/rj_gameplay/rj_gameplay/skill/kick.py b/rj_gameplay/rj_gameplay/skill/kick.py deleted file mode 100644 index dddc70b1be5..00000000000 --- a/rj_gameplay/rj_gameplay/skill/kick.py +++ /dev/null @@ -1,73 +0,0 @@ -import argparse -import sys -import time - -import numpy as np -import stp.rc as rc -import stp.skill as skill -from rj_msgs.msg import EmptyMotionCommand, RobotIntent - -KICK_DOT_THRESHOLD = 0.4 -KICK_BALL_SPEED_THRESHOLD = 0.9 - - -class Kick(skill.Skill): - def __init__( - self, - robot: rc.Robot, - chip: bool, - kick_speed: float, - threshold: float = 0.02, - ) -> None: - self.__name__ = "kick skill" - self.robot = robot - self.chip = chip - self.kick_speed = kick_speed - - def tick(self, world_state: rc.WorldState) -> RobotIntent: - super().tick(world_state) - intent = RobotIntent() - - empty_command = EmptyMotionCommand() - intent.motion_command.empty_command = [empty_command] - intent.kick_speed = self.kick_speed - intent.is_active = True - - # no chipping for now (4/18/22) - # intent.shoot_mode = RobotIntent.SHOOT_MODE_KICK if not self.chip else RobotIntent.SHOOT_MODE_CHIP - - # config 1: works ~30% of the time - intent.dribbler_speed = 1.0 - intent.shoot_mode = RobotIntent.SHOOT_MODE_KICK - intent.trigger_mode = RobotIntent.TRIGGER_MODE_ON_BREAK_BEAM - - # config 2: about the same as 1 - # intent.dribbler_speed = 0.0 - # intent.shoot_mode = RobotIntent.SHOOT_MODE_KICK - # intent.trigger_mode = RobotIntent.TRIGGER_MODE_IMMEDIATE - # config 3: they're all the same... - # intent.dribbler_speed = 0.5 - # intent.shoot_mode = RobotIntent.SHOOT_MODE_KICK - # intent.trigger_mode = RobotIntent.TRIGGER_MODE_ON_BREAK_BEAM - - return intent - - def is_done(self, world_state: rc.WorldState) -> bool: - if self.robot is None: - return False - ball_vel_unit = world_state.ball.vel / np.linalg.norm(world_state.ball.vel) - heading_angle = world_state.our_robots[self.robot.id].pose[2] - heading_vect = np.array([np.cos(heading_angle), np.sin(heading_angle)]) - dot_product = np.dot(heading_vect, ball_vel_unit) - - # TODO: Make this threshold a local param - ball_too_far = ( - np.linalg.norm(world_state.ball.pos - self.robot.pose[0:2]) > 0.15 - ) - - if ball_too_far or ( - dot_product > KICK_DOT_THRESHOLD - and np.linalg.norm(world_state.ball.vel) > KICK_BALL_SPEED_THRESHOLD - ): - return True - return False diff --git a/rj_gameplay/rj_gameplay/skill/line_kick.py b/rj_gameplay/rj_gameplay/skill/line_kick.py deleted file mode 100644 index 8460defc35b..00000000000 --- a/rj_gameplay/rj_gameplay/skill/line_kick.py +++ /dev/null @@ -1,103 +0,0 @@ -import argparse -import sys -import time -from abc import ABC -from enum import Enum, auto - -import numpy as np -import stp.action as action -import stp.rc as rc -import stp.skill as skill -from rj_geometry_msgs.msg import Point -from rj_msgs.msg import LineKickMotionCommand, RobotIntent - - -class State(Enum): - CAPTURE = auto() - PIVOT = auto() - KICK = auto() - DONE = auto() - - -class LineKick(skill.Skill): - """ - A skill version of line kick so that actions don't have to be called in tactics - """ - - # role-based implementation - # def __init__(self, role: role.Role) -> None: - # self.robot = role.robot - # role-blind implementation - def __init__( - self, - robot: rc.Robot, - target_point: np.array, - priority: int = 0, - chip: bool = False, - kick_speed: float = 5.5, - ) -> None: - self.robot = robot - - self.target_point = target_point - self.priority = priority - self.chip = chip - self.kick_speed = kick_speed - - def tick(self, world_state: rc.WorldState) -> RobotIntent: - super().tick(world_state) - - intent = RobotIntent() - - ball_to_target = self.target_point - world_state.ball.pos - ball_to_target /= np.linalg.norm(ball_to_target) - robot_dir = np.array([np.cos(self.robot.pose[2]), np.sin(self.robot.pose[2])]) - - right_direction = np.dot(ball_to_target, robot_dir) > 0.9 - if not right_direction: - self.kick_speed = 0.0 - - line_kick_command = LineKickMotionCommand() - line_kick_command.target = Point(x=self.target_point[0], y=self.target_point[1]) - intent.shoot_mode = ( - RobotIntent.SHOOT_MODE_KICK - if not self.chip - else RobotIntent.SHOOT_MODE_CHIP - ) - intent.trigger_mode = RobotIntent.TRIGGER_MODE_ON_BREAK_BEAM - intent.kick_speed = self.kick_speed - - intent.motion_command.line_kick_command = [line_kick_command] - intent.is_active = True - - return intent - - def is_done(self, world_state: rc.WorldState): - # copy-pasted from kick skill - KICK_DOT_THRESHOLD = 0.4 - KICK_BALL_SPEED_THRESHOLD = 0.9 - - if self.robot is None: - return False - - ball_vel_unit = world_state.ball.vel / np.linalg.norm(world_state.ball.vel) - heading_angle = world_state.our_robots[self.robot.id].pose[2] - heading_vect = np.array([np.cos(heading_angle), np.sin(heading_angle)]) - dot_product = np.dot(heading_vect, ball_vel_unit) - # TODO: Make this threshold a local param - ball_too_far = np.linalg.norm(world_state.ball.pos - self.robot.pose[0:2]) > 0.5 - if ball_too_far or ( - dot_product > KICK_DOT_THRESHOLD - and np.linalg.norm(world_state.ball.vel) > KICK_BALL_SPEED_THRESHOLD - ): - return True - return False - - def __str__(self): - return ( - f"LineKick(robot={self.robot.id if self.robot is not None else '??'}," - f" target={self.target_point}, chip={self.chip}," - f" kick_speed={self.kick_speed})" - ) - - def __repr__(self) -> str: - return self.__str__() diff --git a/rj_gameplay/rj_gameplay/skill/mark.py b/rj_gameplay/rj_gameplay/skill/mark.py deleted file mode 100644 index 54842da3f0f..00000000000 --- a/rj_gameplay/rj_gameplay/skill/mark.py +++ /dev/null @@ -1,122 +0,0 @@ -import argparse -import math -import sys -import time -from typing import Optional - -import numpy as np -import stp.action as action -import stp.rc as rc -import stp.skill as skill -from rj_geometry_msgs.msg import Point -from rj_msgs.msg import PathTargetMotionCommand, RobotIntent -from stp.utils.constants import RobotConstants - - -def get_mark_point(target_robot_id: int, world_state: rc.WorldState): - # workaround for non-working CostBehavior: - # initialize move action, update target point every tick (target point being opponent robot pos) - - # TODO: use mark_heuristic & CostBehavior to handle marking - # argument: mark_heuristic: Callable[[np.array], float] - # > self.mark_heuristic = mark_heuristic - - # dist away from target_robot to mark - # TODO: add to global param server - SAG_DIST = RobotConstants.RADIUS * 0.5 - - # find point between ball and target robot that leaves SAG_DIST between edges of robots - # this will be mark point - ball_pos = world_state.ball.pos - opp_pos = world_state.their_robots[target_robot_id].pose[0:2] - - mark_dir = (ball_pos - opp_pos) / np.linalg.norm(ball_pos - opp_pos) - mark_pos = opp_pos + mark_dir * (2 * RobotConstants.RADIUS + SAG_DIST) - - # if ball inside robot radius of mark_pos, can't mark normally - if np.linalg.norm(mark_pos - ball_pos) < RobotConstants.RADIUS: - # instead, get in front of opp robot holding ball - mark_pos += mark_dir * 2 * RobotConstants.RADIUS - - return mark_pos - - -""" -A skill which marks a given opponent robot according to some heuristic cost function -""" - - -# TODO: delete mark skill -> change to tactic -class Mark(skill.ISkill): - def __init__( - self, - robot: rc.Robot = None, - target_robot: rc.Robot = None, - face_point: np.ndarray = None, - face_angle: Optional[float] = None, - target_vel: np.ndarray = np.array([0.0, 0.0]), - ignore_ball: bool = False, - ): - self.__name__ = "Mark" - self.robot = robot - self.target_robot = target_robot - self.target_vel = target_vel - self.face_point = face_point - self.face_angle = face_angle - self.ignore_ball = ignore_ball - - def tick(self, world_state: rc.WorldState): - intent = RobotIntent() - mark_point = np.array([0.0, 0.0]) - if world_state and world_state.ball.visible: - if self.target_robot is None: - mark_point = get_mark_point(1, world_state) - else: - mark_point = get_mark_point(self.target_robot.id, world_state) - self.target_point = mark_point - self.face_point = world_state.ball.pos - - path_command = PathTargetMotionCommand() - path_command.target.position = Point( - x=self.target_point[0], y=self.target_point[1] - ) - path_command.target.velocity = Point(x=self.target_vel[0], y=self.target_vel[1]) - path_command.ignore_ball = self.ignore_ball - - if self.face_angle is not None: - path_command.override_angle = [self.face_angle] - - if self.face_point is not None: - path_command.override_face_point = [ - Point(x=self.face_point[0], y=self.face_point[1]) - ] - intent.motion_command.path_target_command = [path_command] - intent.is_active = True - return intent - # update target point every tick to match movement of ball & target robot - - def is_done(self, world_state) -> bool: - threshold = 0.3 - if self.robot.id is None or world_state is None: - return False - elif ( - math.sqrt( - (world_state.our_robots[self.robot.id].pose[0] - self.target_point[0]) - ** 2 - + (world_state.our_robots[self.robot.id].pose[1] - self.target_point[1]) - ** 2 - ) - < threshold - ): - return True - else: - return False - - def __str__(self): - return ( - f"Mark(robot={self.robot.id if self.robot is not None else '??'}," - f" target={self.target_robot.id if self.target_robot is not None else '??'})" - ) - - def __repr__(self) -> str: - return self.__str__() diff --git a/rj_gameplay/rj_gameplay/skill/move.py b/rj_gameplay/rj_gameplay/skill/move.py deleted file mode 100644 index 0cf4c018b12..00000000000 --- a/rj_gameplay/rj_gameplay/skill/move.py +++ /dev/null @@ -1,88 +0,0 @@ -import argparse -import math -import sys -import time -from typing import Optional - -import numpy as np -import stp.action as action -import stp.rc as rc -import stp.skill -from rj_geometry_msgs.msg import Point -from rj_msgs.msg import PathTargetMotionCommand, RobotIntent - - -class Move(stp.skill.Skill): - def __init__( - self, - robot: Optional[rc.Robot] = None, - target_point: np.ndarray = np.array([0.0, 0.0]), - target_vel: np.ndarray = np.array([0.0, 0.0]), - face_angle: float = None, - face_point: np.ndarray = None, - ignore_ball: bool = False, - priority: int = 0, - ): - self.robot = robot - self.target_point = target_point - self.target_vel = target_vel - self.face_point = face_point - self.face_angle = face_angle - self.ignore_ball = ignore_ball - self.priority = priority - - self.cached_intent = None - - self.__name__ = "Move" - - def tick(self, world_state: rc.WorldState) -> RobotIntent: - super().tick(world_state) - intent = RobotIntent() - path_command = PathTargetMotionCommand() - path_command.target.position = Point( - x=self.target_point[0], y=self.target_point[1] - ) - path_command.target.velocity = Point(x=self.target_vel[0], y=self.target_vel[1]) - path_command.ignore_ball = self.ignore_ball - - if self.face_angle is not None: - path_command.override_angle = [self.face_angle] - - if self.face_point is not None: - path_command.override_face_point = [ - Point(x=self.face_point[0], y=self.face_point[1]) - ] - - intent.motion_command.path_target_command = [path_command] - intent.is_active = True - - # TODO: motion planning is a lot more stable when not being spammed with repeat intents, use Action Client/Server to avoid re-requests when the intent is the same - return intent - - def is_done(self, world_state: rc.WorldState) -> bool: - position_tolerance = 1e-1 - velocity_tolerance = 1e-1 - if self.robot.id is None or world_state is None: - return False - - # only linear for now (so this is technically not pose, which - # includes angular position) - robot_pt = world_state.our_robots[self.robot.id].pose[:2] - goal_pt = self.target_point - robot_vel = world_state.our_robots[self.robot.id].twist[:2] - goal_vel = self.target_vel - - return ( - np.linalg.norm(robot_pt - goal_pt) < position_tolerance - and np.linalg.norm(robot_vel - goal_vel) < velocity_tolerance - ) - - def __str__(self): - ignore_ball_str = ", ignoring ball" if self.ignore_ball else "" - return ( - f"Move(robot={self.robot.id if self.robot is not None else '??'}," - f" target={self.target_point}{ignore_ball_str})" - ) - - def __repr__(self) -> str: - return self.__str__() diff --git a/rj_gameplay/rj_gameplay/skill/pivot.py b/rj_gameplay/rj_gameplay/skill/pivot.py deleted file mode 100644 index e4e83fc598a..00000000000 --- a/rj_gameplay/rj_gameplay/skill/pivot.py +++ /dev/null @@ -1,65 +0,0 @@ -import argparse -import sys -import time - -import numpy as np -import stp.rc as rc -import stp.skill as skill -from rj_geometry_msgs.msg import Point -from rj_msgs.msg import PivotMotionCommand, RobotIntent - - -class Pivot(skill.Skill): - def __init__( - self, - robot: rc.Robot = None, - pivot_point: np.ndarray = None, - target_point: np.ndarray = None, - dribble_speed: float = 1.0, - threshold: float = 0.05, - priority: int = 1, - ): - self.robot = robot - self.pivot_point = pivot_point - self.target_point = target_point - self.dribble_speed = dribble_speed - self.threshold = threshold - - self.__name__ = "pivot skill" - - def tick(self, world_state: rc.WorldState) -> RobotIntent: - super().tick(world_state) - intent = RobotIntent() - - self.pivot_point = world_state.ball.pos - - pivot_command = PivotMotionCommand() - pivot_command.pivot_point = Point(x=self.pivot_point[0], y=self.pivot_point[1]) - pivot_command.pivot_target = Point( - x=self.target_point[0], y=self.target_point[1] - ) - intent.motion_command.pivot_command = [pivot_command] - intent.dribbler_speed = self.dribble_speed - intent.is_active = True - - return intent - - def is_done(self, world_state: rc.WorldState) -> bool: - if self.robot is None: - return False - angle_threshold = self.threshold - stopped_threshold = ( - 5 * self.threshold - ) # We don't _really_ care about this when we're kicking, if not for latency - robot = world_state.our_robots[self.robot.id] - robot_pos_to_target = self.target_point - robot.pose[0:2] - robot_to_target_unit = robot_pos_to_target / np.linalg.norm(robot_pos_to_target) - heading_vect = np.array([np.cos(robot.pose[2]), np.sin(robot.pose[2])]) - dot_product = np.dot(heading_vect, robot_to_target_unit) - angle = np.arccos(dot_product) - if (angle < angle_threshold) and ( - abs(world_state.our_robots[self.robot.id].twist[2]) < stopped_threshold - ): - return True - else: - return False diff --git a/rj_gameplay/rj_gameplay/skill/pivot_kick.py b/rj_gameplay/rj_gameplay/skill/pivot_kick.py deleted file mode 100644 index b5fc61389c6..00000000000 --- a/rj_gameplay/rj_gameplay/skill/pivot_kick.py +++ /dev/null @@ -1,103 +0,0 @@ -import argparse -import sys -import time -from enum import Enum, auto - -import numpy as np -import stp.rc as rc -import stp.skill as skill -from rj_msgs.msg import RobotIntent -from stp.utils.constants import RobotConstants - -from rj_gameplay.skill import capture, line_kick, pivot # kick, pivot - - -class State(Enum): - CAPTURE = auto() - PIVOT = auto() - LINE_KICK = auto() - # KICK = auto() - DONE = auto() - - -class PivotKick(skill.Skill): - """ - A pivot kick skill - capture -> pivot -> kick - """ - - # TODO: Have something which automatically determines kick speed based on target point distance - def __init__( - self, - robot: rc.Robot = None, - pivot_point: np.ndarray = None, - target_point: np.ndarray = None, - dribble_speed: float = 1.0, - chip: bool = False, - kick_speed: float = RobotConstants.MAX_KICK_SPEED, - threshold: float = 0.02, - priority: int = 1, - ) -> None: - self.__name__ = "pivot kick" - self.robot = robot - # TODO: make skill take either np array or tuple (and auto-cast to whichever is best) - self.pivot_point = pivot_point - self.target_point = target_point - self.dribble_speed = dribble_speed - self.chip = chip - self.kick_speed = kick_speed - self.threshold = threshold - - # TODO: make target point reassignable on tick in some intelligent way (so robot can figure out a new target point mid-pivot)? - # self.kick = kick.Kick(robot, chip, kick_speed, threshold) - self.line_kick = line_kick.LineKick( - robot, target_point, priority=0, chip=chip, kick_speed=kick_speed - ) - self.pivot = pivot.Pivot( - robot, - pivot_point, - target_point, - dribble_speed, - threshold, - priority, - ) - self.capture = capture.Capture(robot) - - self._state = State.CAPTURE - - def tick(self, world_state: rc.WorldState) -> RobotIntent: - super().tick(world_state) - - intent = None - if self._state == State.CAPTURE: - intent = self.capture.tick(world_state) - if self.capture.is_done(world_state): - self._state = State.PIVOT - elif self._state == State.PIVOT: - intent = self.pivot.tick(world_state) - if self.pivot.is_done(world_state): - self._state = State.LINE_KICK - elif self._state == State.LINE_KICK: - intent = self.line_kick.tick(world_state) - if self.line_kick.is_done(world_state): - self._state = State.DONE - - # commented out for ER-Force (4/19) - # elif self._state == State.KICK: - # intent = self.kick.tick(world_state) - # if self.kick.is_done(world_state): - # self._state = State.DONE - - return intent - - def is_done(self, world_state: rc.WorldState) -> bool: - return self._state == State.DONE - - def __str__(self): - return ( - f"Pivot(robot={self.robot.id if self.robot is not None else '??'}," - f" target={self.target_point})" - ) - - def __repr__(self) -> str: - return self.__str__() diff --git a/rj_gameplay/rj_gameplay/skill/receive.py b/rj_gameplay/rj_gameplay/skill/receive.py deleted file mode 100644 index ac73a59b8e4..00000000000 --- a/rj_gameplay/rj_gameplay/skill/receive.py +++ /dev/null @@ -1,45 +0,0 @@ -import argparse -import sys -import time -from typing import Optional - -import stp.rc as rc -import stp.skill as skill -from rj_msgs import msg -from rj_msgs.msg import RobotIntent - -from rj_gameplay.skill import capture, settle - - -class Receive(skill.Skill): - """Skill that ends when robot has possession of the ball. - Consists of Settle then Capture. - """ - - def __init__(self, robot: rc.Robot = None): - self.robot = robot - - self.__name__ = "receive skill" - self.settle = settle.Settle(robot) - self.capture = capture.Capture(robot) - - def tick(self, world_state: rc.WorldState) -> RobotIntent: - super().tick(world_state) - - # TODO: put an FSM here instead of this obfuscated if-else - if self.settle.is_done(world_state): - return self.capture.tick(world_state) - else: - return self.settle.tick(world_state) - - def is_done(self, world_state: rc.WorldState) -> bool: - return self.capture.is_done(world_state) - - def __str__(self): - return ( - f"Receive(robot={self.robot.id if self.robot is not None else '??'}," - f" ticks={self.capture.ticks_done})" - ) - - def __repr__(self) -> str: - return self.__str__() diff --git a/rj_gameplay/rj_gameplay/skill/settle.py b/rj_gameplay/rj_gameplay/skill/settle.py deleted file mode 100644 index 715d67d4787..00000000000 --- a/rj_gameplay/rj_gameplay/skill/settle.py +++ /dev/null @@ -1,52 +0,0 @@ -from abc import ABC, abstractmethod - -import rj_gameplay.eval as eval -import argparse -import py_trees -import sys -import time -import numpy as np -from rj_msgs.msg import RobotIntent, SettleMotionCommand - -import stp.skill as skill -import stp.role as role -import stp.rc as rc -from typing import Optional - -SETTLE_BALL_SPEED_THRESHOLD = 0.75 - - -class Settle(skill.Skill): - """First half of a Receive Skill. Slows the ball down to allow Capture planner to work.""" - - def __init__(self, robot: rc.Robot = None): - self.robot = robot - - self.__name__ = "settle skill" - - def tick(self, world_state: rc.WorldState) -> RobotIntent: - super().tick(world_state) - intent = RobotIntent() - - settle_command = SettleMotionCommand() - intent.motion_command.settle_command = [settle_command] - intent.dribbler_speed = 1.0 - intent.is_active = True - - return intent - - def is_done(self, world_state) -> bool: - if self.robot is None: - return False - if ( - world_state.our_robots[self.robot.id].has_ball_sense - or np.linalg.norm(world_state.ball.vel) < SETTLE_BALL_SPEED_THRESHOLD - ): - return True - return False - - def __str__(self): - return f"Capture(robot={self.robot.id if self.robot is not None else '??'})" - - def __repr__(self) -> str: - return self.__str__() diff --git a/rj_gameplay/rj_gameplay/tactic/__init__.py b/rj_gameplay/rj_gameplay/tactic/__init__.py deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/rj_gameplay/rj_gameplay/tactic/clear_tactic.py b/rj_gameplay/rj_gameplay/tactic/clear_tactic.py deleted file mode 100644 index e4412f05583..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/clear_tactic.py +++ /dev/null @@ -1,99 +0,0 @@ -from dataclasses import dataclass -from typing import List, Optional -from typing import Dict, Generic, List, Optional, Tuple, Type, TypeVar - -import stp.action as action -import stp.rc as rc -import stp.tactic as tactic -import stp.role as role - -import rj_gameplay.eval -import rj_gameplay.skill as skills -from rj_gameplay.skill import pivot_kick, receive, line_kick -import stp.skill as skill -import numpy as np - - -class ClearerCost(role.CostFn): - """ - A cost function for how to choose a robot that will clears - """ - - def __call__( - self, - robot: rc.Robot, - prev_result: Optional[role.RoleResult], - world_state: rc.WorldState, - ) -> float: - if not robot.visible: - return 99 - else: - return np.linalg.norm(world_state.ball.pos - np.array(robot.pose[0:2])) - - def unassigned_cost_fn( - self, - prev_result: Optional[role.RoleResult], - world_state: rc.WorldState, - ) -> float: - # TODO: Implement real unassigned cost function - return role.BIG_STUPID_NUMBER_CONST_FOR_UNASSIGNED_COST_PLS_CHANGE - - -class Clear(tactic.ITactic): - """ - A passing tactic which captures then passes the ball - """ - - def __init__(self, target_point: np.ndarray, kick_speed=3.0, chip=False): - self.target_point = target_point - self.kick = tactic.SkillEntry( - line_kick.LineKickSkill( - None, - target_point=target_point, - chip=chip, - kick_speed=kick_speed, - ) - ) - self.clearer_cost = ClearerCost() - - def compute_props(self): - pass - - def create_request(self, **kwargs) -> role.RoleRequest: - """Creates a sane default RoleRequest. - :return: A list of size 1 of a sane default RoleRequest. - """ - pass - - def get_requests( - self, world_state: rc.WorldState, props - ) -> List[tactic.RoleRequests]: - """Checks if we have the ball and returns the proper request - :return: A list of size 2 of role requests - """ - - role_requests: tactic.RoleRequests = {} - - clearer_request = role.RoleRequest( - role.Priority.MEDIUM, True, self.clearer_cost - ) - role_requests[self.kick] = [clearer_request] - - return role_requests - - def tick( - self, - world_state: rc.WorldState, - role_results: tactic.RoleResults, - ) -> List[tactic.SkillEntry]: - """ - :return: A list of size 1 or 2 skills depending on which roles are filled and state of aiming - TODO: Come up with better timings for starting receive - """ - clearer_result = role_results[self.kick] - if clearer_result and clearer_result[0].is_filled(): - return [self.kick] - return [] - - def is_done(self, world_state: rc.WorldState): - return self.kick.skill.is_done(world_state) diff --git a/rj_gameplay/rj_gameplay/tactic/dumb_tactic.py b/rj_gameplay/rj_gameplay/tactic/dumb_tactic.py deleted file mode 100644 index 725da39be60..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/dumb_tactic.py +++ /dev/null @@ -1,46 +0,0 @@ -from typing import List, Tuple - -import stp -from rj_msgs.msg import RobotIntent - -from rj_gameplay.role import dumb_move - - -# TODO: rename to DumbMoveTactic or figure out how to avoid needing this tactic at all -class DumbTactic(stp.tactic.Tactic): - def __init__(self, world_state: stp.rc.WorldState, pts: list): - super().__init__(world_state) - self.move_points = pts - # request closest robot every pt - for pt in self.move_points: - self._role_requests.append( - (stp.role.cost.PickClosestToPoint(pt), dumb_move.DumbMove) - ) - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[Tuple[int, RobotIntent]]: - # returns list of (robot_id, robot_intent) - - # if not self.assigned_roles: - # assumes all roles requested are filled, because tactic is one unit - if len(self.assigned_roles) != len(self._role_requests): - self.init_roles(world_state) - return [(role.robot.id, role.tick(world_state)) for role in self.assigned_roles] - - def is_done( - self, - world_state: stp.rc.WorldState, - ) -> bool: - return all([role.is_done(world_state) for role in self.assigned_roles]) - - def init_roles( - self, - world_state: stp.rc.WorldState, - ): - for i, robot in enumerate(self.assigned_robots): - role = self._role_requests[i][1] - pt = self.move_points[i] - if role is dumb_move.DumbMove: - self.assigned_roles.append(role(robot, pt, world_state.ball.pos)) diff --git a/rj_gameplay/rj_gameplay/tactic/goalie_tactic.py b/rj_gameplay/rj_gameplay/tactic/goalie_tactic.py deleted file mode 100644 index e03ce27d75d..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/goalie_tactic.py +++ /dev/null @@ -1,47 +0,0 @@ -from typing import List, Tuple - -import stp -from rj_msgs.msg import RobotIntent - -from rj_gameplay.role import goalie_role - - -class GoalieTactic(stp.tactic.Tactic): - """Wrapper for the Goalie Role that handles assigning said role to whichever Robot is our goalie.""" - - def __init__(self, world_state: stp.rc.WorldState, goalie_id: int): - """Special case where we want only robot 0 to be goalie, from init.""" - super().__init__(world_state) - - # TODO: rather than passing in hardcoded goalie id on init, gameplay node should - # have a set robot and pass that (in case robot 0 is ejected or broken) - self._role_requests.append( - (stp.role.cost.PickRobotById(goalie_id), goalie_role.GoalieRole) - ) - - def init_roles(self, world_state: stp.rc.WorldState) -> None: - # only has one role, but it's easier to copy-paste the structure - for i, robot in enumerate(self.assigned_robots): - role = self._role_requests[i][1] - if role is goalie_role.GoalieRole: - self.assigned_roles.append(role(robot)) - - def tick( - self, world_state: stp.rc.WorldState - ) -> List[Tuple[int, RobotIntent]]: # (id, intent) - # assumes all roles requested are filled, because tactic is one unit - if len(self.assigned_roles) != len(self._role_requests): - self.init_roles(world_state) - - # only has one role request, but it's easier to copy-paste the structure - robot_intents = [] - for i in range(len(self.assigned_roles)): - role = self.assigned_roles[i] - # TODO: figure out why this prevents sim crash - if role.robot is not None: - robot_intents.append((role.robot.id, role.tick(world_state))) - return robot_intents - - def is_done(self, world_state: stp.rc.WorldState) -> bool: - # special case: we know the only role is Goalie, so we borrow that is_done() - return self.assigned_roles[0].is_done(world_state) diff --git a/rj_gameplay/rj_gameplay/tactic/line_tactic.py b/rj_gameplay/rj_gameplay/tactic/line_tactic.py deleted file mode 100644 index 5224c5dca00..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/line_tactic.py +++ /dev/null @@ -1,80 +0,0 @@ -from typing import List, Tuple - -import numpy as np -import stp -from rj_msgs.msg import RobotIntent - -from rj_gameplay.role import dumb_move -import stp.utils.constants as const - - -from rj_gameplay.role import dumb_move - - -class LineTactic(stp.tactic.Tactic): - """Tactic for line up play that puts chosen robots in a line from start point to end point selected. - Assuming that the liners are more than 2""" - - def __init__( - self, - world_state: stp.rc.WorldState, - num_liners: int, - start: np.ndarray, - end: np.ndarray, - ): - super().__init__(world_state) - - # compute move points - self.start = start - self.end = end - gap = np.linalg.norm(self.end - self.start) - if gap <= 2 * (num_liners - 1) * const.RobotConstants.RADIUS: - raise ValueError( - "Start and end point is not valid for the number of robots assigned." - ) - - xpts = np.linspace(self.start[0], self.end[0], num_liners) - ypts = np.linspace(self.start[1], self.end[1], num_liners) - self.target_points = [] - - for x, y in zip(xpts, ypts): - target = np.array([x, y]) - self.target_points.append(target) - self._role_requests.append( - (stp.role.cost.PickClosestToPoint(target), dumb_move.DumbMove) - ) - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[Tuple[int, RobotIntent]]: - # returns list of (robot_id, robot_intent) - - # if not self.assigned_roles: - # assumes all roles requested are filled, because tactic is one unit - if len(self.assigned_roles) != len(self._role_requests): - self.init_roles(world_state) - - # return [(role.robot.id, role.tick(world_state)) for role in self.assigned_roles] - robot_intents = [] - for i in range(len(self.assigned_roles)): - role = self.assigned_roles[i] - if role.robot: - robot_intents.append((role.robot.id, role.tick(world_state))) - return robot_intents - - def is_done( - self, - world_state: stp.rc.WorldState, - ) -> bool: - return False - - def init_roles( - self, - world_state: stp.rc.WorldState, - ): - for i, robot in enumerate(self.assigned_robots): - role = self._role_requests[i][1] - pt = self.target_points[i] - if role is dumb_move.DumbMove: - self.assigned_roles.append(role(robot, pt, world_state.ball.pos)) diff --git a/rj_gameplay/rj_gameplay/tactic/move_tactic.py b/rj_gameplay/rj_gameplay/tactic/move_tactic.py deleted file mode 100644 index b61a1de1a92..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/move_tactic.py +++ /dev/null @@ -1,4 +0,0 @@ -""" -This file left in so I don't have to fix dozens of broken imports, which will be resolved naturally as we rewrite plays. -However, move Tactic no longer exists, as the move Role does the same behavior in the new framework. -""" diff --git a/rj_gameplay/rj_gameplay/tactic/nmark_tactic.py b/rj_gameplay/rj_gameplay/tactic/nmark_tactic.py deleted file mode 100644 index 17729092786..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/nmark_tactic.py +++ /dev/null @@ -1,89 +0,0 @@ -from typing import List, Tuple - -import stp - -from rj_gameplay.role import marker, capture_role -import numpy as np - -import stp.global_parameters as global_parameters - -from rj_msgs.msg import RobotIntent - - -def get_opponents_to_mark(world_state: stp.rc.WorldState, num_markers: int): - # TODO: need to be optimized - ball_pt = world_state.ball.pos - - dist_to_opponents = { - np.linalg.norm(ball_pt - robot.pose[0:2]): robot - for robot in world_state.their_robots - } - return [ - dist_to_opponents[dist] - for dist in sorted(dist_to_opponents.keys())[0:num_markers] - ] - - -class NMarkTactic(stp.tactic.Tactic): - def __init__(self, world_state: stp.rc.WorldState, num_markers: int): - super().__init__(world_state) - self.num_markers = num_markers - - self.opponents_to_mark = get_opponents_to_mark(world_state, self.num_markers) - - for i in range(len(self.opponents_to_mark)): - if i == 0: - self._role_requests.append( - ( - stp.role.cost.PickClosestToPoint( - self.opponents_to_mark[i].pose[:2] - ), - capture_role.CaptureRole, - ) - ) - else: - self._role_requests.append( - ( - stp.role.cost.PickClosestToPoint( - self.opponents_to_mark[i].pose[:2] - ), - marker.MarkerRole, - ) - ) - - def init_roles(self, world_state: stp.rc.WorldState) -> None: - self.assigned_roles = [] - for i, robot in enumerate(self.assigned_robots): - role = self._role_requests[i][1] - if role is capture_role.CaptureRole: - self.assigned_roles.append(role(robot)) - elif role is marker.MarkerRole: - self.assigned_roles.append(role(robot, self.opponents_to_mark[i])) - - def tick(self, world_state: stp.rc.WorldState) -> List[Tuple[int, RobotIntent]]: - self.opponents_to_mark = get_opponents_to_mark(world_state, self.num_markers) - - if len(self._role_requests) != len(self.assigned_roles): - self.init_roles(world_state) - - robot_intents = [] - for i in range(len(self.assigned_roles)): - role = self.assigned_roles[i] - if role.robot is not None: - if i == 0: - robot_intents.append((role.robot.id, role.tick(world_state))) - else: - robot_intents.append( - ( - role.robot.id, - role.tick( - world_state, target_robot=self.opponents_to_mark[i] - ), - ) - ) - - return robot_intents - - def is_done(self, world_state: stp.rc.WorldState) -> bool: - # While on the defense play, it always returns False - return False diff --git a/rj_gameplay/rj_gameplay/tactic/pass_tactic.py b/rj_gameplay/rj_gameplay/tactic/pass_tactic.py deleted file mode 100644 index 1d3832da3cc..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/pass_tactic.py +++ /dev/null @@ -1,198 +0,0 @@ -from enum import Enum, auto -from typing import Dict, Generic, List, Optional, Tuple, Type, TypeVar - -import numpy as np -import stp -import stp.global_parameters as global_parameters -import stp.role.cost - -from rj_msgs.msg import RobotIntent - -from rj_gameplay.role import passer, receiver - - -class State(Enum): - INIT = auto() - ACTIVE = auto() - INIT_PASSER_CAPTURE = auto() - PASSER_CAPTURE = auto() - GET_RECEIVER = auto() - INIT_EXECUTE_PASS = auto() - EXECUTE_PASS = auto() - AWAIT_PASSER_KICK = auto() - PASS_IN_TRANSIT = auto() - INIT_AWAIT_RECEIVE = auto() - EXECUTE_RECEIVE = auto() - AWAIT_RECEIVE = auto() - DONE = auto() - - -class PassTactic(stp.tactic.Tactic): - def __init__( - self, - world_state: stp.rc.WorldState, - init_passer_cost: stp.role.CostFn, - init_receiver_cost: stp.role.CostFn, - ): - super().__init__(world_state) - - self._state = State.INIT - - self._init_passer_cost = init_passer_cost - self._init_receiver_cost = init_receiver_cost - - def init_roles(self, world_state: stp.rc.WorldState) -> None: - self.assigned_roles = [] - for i, robot in enumerate(self.assigned_robots): - role = self._role_requests[i][1] - if role is passer.PasserRole: - self.assigned_roles.append(role(robot)) - elif role is receiver.ReceiverRole: - self.assigned_roles.append(role(robot)) - - def tick( - self, world_state: stp.rc.WorldState - ) -> List[Tuple[int, RobotIntent]]: # (id, intent) - """ - FSM - - init: request passer - - on filled req: init_roles > tick passer's capture - - when passer ready to pass: request receiver - - on filled req: init_roles > tick passer pass - - on ball passed: tick receiver, release passer role - - when receiver done: done - """ - - role_intents = [] - - if self._state == State.INIT: - self._role_requests = [ - ( - self._init_passer_cost, - passer.PasserRole, - ) - ] - self._needs_assign = True - - self._state = State.INIT_PASSER_CAPTURE - - elif self._state == State.INIT_PASSER_CAPTURE: - # assumes play has given new role_requests - self.init_roles(world_state) - self._state = State.PASSER_CAPTURE - - elif self._state == State.PASSER_CAPTURE: - # TODO: these lines are a little ugly, any fix? - passer_role = self.assigned_roles[0] - intent = passer_role.tick(world_state) - - role_intents = [(passer_role.robot.id, intent)] - - if passer_role.pass_ready: - self._state = State.GET_RECEIVER - - elif self._state == State.GET_RECEIVER: - self._role_requests.append( - ( - self._init_receiver_cost, - receiver.ReceiverRole, - ) - ) - self._needs_assign = True - - self._state = State.INIT_EXECUTE_PASS - # decided to get receiver early to allow more coordination in theory, currently not written in - # TODO: evaluate whether this is a dumb idea or not - - elif self._state == State.INIT_EXECUTE_PASS: - # Wait until play assignment assigns the needed 2 roles - if len(self.assigned_roles) == 2: - self._state = State.EXECUTE_PASS - - elif self._state == State.EXECUTE_PASS: - # assumes play has given new role_requests - self.init_roles(world_state) - - # TODO: these lines are a little ugly, any fix? - passer_role = self.assigned_roles[0] - receiver_role = self.assigned_roles[1] - - # TODO: create func to find good target point - # TODO: should update receiver_role robot every tick in the role (see skill/capture.py) - target_point = world_state.our_robots[receiver_role.robot.id].pose[0:2] - passer_role.set_execute_pass(target_point) - - role_intents = [ - (passer_role.robot.id, passer_role.tick(world_state)), - (receiver_role.robot.id, receiver_role.tick(world_state)), - ] - - self._state = State.AWAIT_PASSER_KICK - - elif self._state == State.AWAIT_PASSER_KICK: - # TODO: these lines are a little ugly, any fix? - passer_role = self.assigned_roles[0] - receiver_role = self.assigned_roles[1] - - role_intents = [ - (passer_role.robot.id, passer_role.tick(world_state)), - (receiver_role.robot.id, receiver_role.tick(world_state)), - ] - - if passer_role.is_done(world_state): - self._state = State.PASS_IN_TRANSIT - - elif self._state == State.PASS_IN_TRANSIT: - receiver_role = self.assigned_roles[1] - - # TODO: here, we assume the initially picked Receiver is the best one - # this may not be true (i.e. when intercept planning is bad and the ball does not get captured by the first receiver) - # the receiver then should be reassigned to closest to ball - # maybe check some is_done()? - self._role_requests = [ - ( - stp.role.cost.PickRobotById(receiver_role.robot.id), - receiver.ReceiverRole, - ) - ] - self._needs_assign = True - - self._state = State.INIT_AWAIT_RECEIVE - - elif self._state == State.INIT_AWAIT_RECEIVE: - # Wait until play assignment assigns the needed 1 roles - if len(self.assigned_roles) == 1: - self._state = State.EXECUTE_RECEIVE - - elif self._state == State.EXECUTE_RECEIVE: - # assumes play has given new role_requests - self.init_roles(world_state) - - # TODO: these lines are a little ugly, any fix? - receiver_role = self.assigned_roles[0] - receiver_role.set_receive_pass() - - role_intents = [(receiver_role.robot.id, receiver_role.tick(world_state))] - - self._state = State.AWAIT_RECEIVE - - elif self._state == State.AWAIT_RECEIVE: - receiver_role = self.assigned_roles[0] - - role_intents = [(receiver_role.robot.id, receiver_role.tick(world_state))] - - if receiver_role.is_done(world_state): - self._state = State.DONE - # end FSM - - return role_intents - - @property - def needs_assign(self): - # style is wrong here: this convoluted way of returning self._needs_assign is necessary because we want to set it to False after the call, always - ret = self._needs_assign == True # noqa: E712 - self._needs_assign = False - return ret - - def is_done(self, world_state: stp.rc.WorldState) -> bool: - return self._state == State.DONE diff --git a/rj_gameplay/rj_gameplay/tactic/prep_move.py b/rj_gameplay/rj_gameplay/tactic/prep_move.py deleted file mode 100644 index 2ee0a91bb12..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/prep_move.py +++ /dev/null @@ -1,53 +0,0 @@ -from typing import List, Tuple - -import numpy as np -import stp -from rj_msgs.msg import RobotIntent - -from rj_gameplay.role import dumb_move - - -class PrepMove(stp.tactic.Tactic): - """Seeks to a single point, passed in on init.""" - - def __init__(self, world_state: stp.rc.WorldState): - super().__init__(world_state) - - self._target_pt = np.array([0.0, 0.0]) - - self._role_requests.append( - (stp.role.cost.PickClosestToPoint(self._target_pt), dumb_move.DumbMove) - ) - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[Tuple[int, RobotIntent]]: - # returns list of (robot_id, robot_intent) - - # assumes all roles requested are filled, because tactic is one unit - self._target_pt = world_state.ball.pos[0:2] - [0, 0.5] - if ( - len(self.assigned_roles) != len(self._role_requests) - and self.assigned_robots - ): - self.init_roles(world_state) - - return [(role.robot.id, role.tick(world_state)) for role in self.assigned_roles] - - def is_done( - self, - world_state: stp.rc.WorldState, - ) -> bool: - return False - - def init_roles( - self, - world_state: stp.rc.WorldState, - ): - robot = self.assigned_robots[0] - role = self._role_requests[0][1] - if role is dumb_move.DumbMove: - self.assigned_roles.append( - role(robot, self._target_pt, world_state.ball.pos) - ) diff --git a/rj_gameplay/rj_gameplay/tactic/seek.py b/rj_gameplay/rj_gameplay/tactic/seek.py deleted file mode 100644 index b34def85915..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/seek.py +++ /dev/null @@ -1,75 +0,0 @@ -from typing import List, Tuple - -import stp -from rj_msgs.msg import RobotIntent - -from rj_gameplay.role import seeker - - -class Seek(stp.tactic.Tactic): - """Seeks to a single point, passed in on init.""" - - def __init__( - self, - world_state: stp.rc.WorldState, - num_seekers: int, - formation: stp.formations.Formations, - ): - super().__init__(world_state) - - regions = formation.get_regions - centroid_list = formation.get_centroids - self._used_regions = [] - self._used_centroids = [] - self._num_seekers = num_seekers - # TODO: make seeker be able to handle more robots than formation regions available OR make formations have more regions - """ - This section of the code is clunky due to the constraint of formations. Currently, if there are more robots seeking than formation regions, it will assign multiple robots to regions by resetting the available regions. - - At the time of this role creation, we are in Divison B, which is why this is not a big issue. In the future, this must be handled according to the todo above. - """ - reset = 0 - for i in range(self._num_seekers): - if i not in range(len(regions)): - i = reset - reset += 1 if reset < 4 else 0 - my_region = regions[i] - self._used_regions.append(my_region) - centroid = centroid_list[i] - self._used_centroids.append(centroid) - self._role_requests.append( - (stp.role.cost.PickClosestToPoint(centroid), seeker.SeekerRole) - ) - - def init_roles( - self, - world_state: stp.rc.WorldState, - ): - for i, robot in enumerate(self.assigned_robots): - role = self._role_requests[i][1] # TODO: make this an actual type - my_region = self._used_regions[i] - centroid = self._used_centroids[i] - if role is seeker.SeekerRole: - self.assigned_roles.append(role(robot, my_region, centroid)) - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[Tuple[int, RobotIntent]]: - # returns list of (robot_id, robot_intent) - - # assumes all roles requested are filled, because tactic is one unit - if len(self.assigned_roles) != len(self._role_requests): - self.init_roles(world_state) - - return [(role.robot.id, role.tick(world_state)) for role in self.assigned_roles] - - @property - def needs_assign(self): - return False - - def is_done( - self, - world_state: stp.rc.WorldState, - ) -> bool: - return all([role.is_done(world_state) for role in self.assigned_roles]) diff --git a/rj_gameplay/rj_gameplay/tactic/striker_tactic.py b/rj_gameplay/rj_gameplay/tactic/striker_tactic.py deleted file mode 100644 index e20c15abda2..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/striker_tactic.py +++ /dev/null @@ -1,133 +0,0 @@ -from dataclasses import dataclass -from typing import List, Tuple -import stp.rc as rc -import stp.tactic as tactic -import stp.role as role -from rj_gameplay.skill import capture, pivot_kick, line_kick -import stp.skill as skill -import numpy as np -from math import atan2 - -from rj_gameplay.role import striker -import stp - -from rj_msgs.msg import RobotIntent - - -class StrikerTactic(stp.tactic.Tactic): - """ - Captures ball and shoots. This Tactic merely holds the StrikerRole and handles its assignment for the Play level. - """ - - def __init__(self, world_state: stp.rc.WorldState): - super().__init__(world_state) - - self._role_requests.append( - ( - stp.role.cost.PickClosestToPoint(world_state.ball.pos), - striker.StrikerRole, - ) - ) - - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[Tuple[int, RobotIntent]]: - # returns list of (robot_id, robot_intent) - - # assumes all roles requested are filled, because tactic is one unit - if len(self.assigned_roles) != len(self._role_requests): - self.init_roles(world_state) - - # if low performance, make this not a for loop since it's only one tactic - return [(role.robot.id, role.tick(world_state)) for role in self.assigned_roles] - - def is_done( - self, - world_state: stp.rc.WorldState, - ) -> bool: - return all([role.is_done(world_state) for role in self.assigned_roles]) - - def init_roles( - self, - world_state: stp.rc.WorldState, - ): - robot = self.assigned_robots[0] - role = self._role_requests[0][1] - if role is striker.StrikerRole: - self.assigned_roles.append(role(robot)) - - @property - def needs_assign(self): - # never needs assign after init - # TODO: make this + pass tac part of the superclass - return False - - -class LineKickStrikerTactic(tactic.ITactic): - """ - A striker tactic which receives then shoots the ball - """ - - def __init__(self, target_point: np.ndarray, cost: role.CostFn = None): - self.cost = cost # unused - self.target_point = target_point - self.shoot = tactic.SkillEntry( - line_kick.LineKickSkill(robot=None, target_point=None) - ) - self.capture_cost = CaptureCost() - - def compute_props(self): - pass - - def create_request(self, **kwargs) -> role.RoleRequest: - """ - Creates a sane default RoleRequest. - :return: A list of size 1 of a sane default RoleRequest. - """ - pass - - def get_requests( - self, world_state: rc.WorldState, props - ) -> List[tactic.RoleRequests]: - striker_request = role.RoleRequest( - role.Priority.MEDIUM, True, self.capture_cost - ) - role_requests: tactic.RoleRequests = {} - - role_requests[self.shoot] = [striker_request] - - return role_requests - - def tick( - self, world_state: rc.WorldState, role_results: tactic.RoleResults - ) -> List[tactic.SkillEntry]: - """ - :return: list of skills - """ - - shoot_result = role_results[self.shoot] - - if shoot_result and shoot_result[0].is_filled(): - self.shoot.skill.target_point = find_target_point( - world_state, kick_speed=KICK_SPEED - ) - shooter_vel = shoot_result[0].role.robot.twist[:2] - if world_state is not None and world_state.game_info.is_penalty(): - dist_to_goal = ( - world_state.field.their_goal_loc[1] - world_state.ball.pos[1] - ) - if dist_to_goal > 4.0: - self.shoot.skill.kick_speed = max( - 0.0, 2.0 - np.linalg.norm(shooter_vel) - ) - elif dist_to_goal > 3.5: - self.shoot.skill.kick_speed = max( - 0.0, 1.5 - np.linalg.norm(shooter_vel) - ) - return [self.shoot] - - return [] - - def is_done(self, world_state) -> bool: - return self.shoot.skill.is_done(world_state) diff --git a/rj_gameplay/rj_gameplay/tactic/wall_tactic.py b/rj_gameplay/rj_gameplay/tactic/wall_tactic.py deleted file mode 100644 index 4f06509ee2c..00000000000 --- a/rj_gameplay/rj_gameplay/tactic/wall_tactic.py +++ /dev/null @@ -1,104 +0,0 @@ -from typing import Dict, Generic, List, Optional, Tuple, Type, TypeVar - -import numpy as np -import stp -import stp.global_parameters as global_parameters -import stp.rc as rc -import stp.skill as skill -from rj_msgs.msg import RobotIntent - -# TODO: replace w/ global param server -from stp.utils.constants import BallConstants, RobotConstants - -import rj_gameplay.eval -import rj_gameplay.skill as skills -from rj_gameplay.role import dumb_move -from rj_gameplay.skill import move - - -class WallTactic(stp.tactic.Tactic): - def __init__(self, world_state: stp.rc.WorldState, num_wallers: int): - super().__init__(world_state) - - self.num_wallers = num_wallers - - self.wall_pts = self.find_wall_pts(self.num_wallers, world_state) - - # request closest robot every pt - for pt in self.wall_pts: - self._role_requests.append( - (stp.role.cost.PickClosestToPoint(pt), dumb_move.DumbMove) - ) - - def init_roles(self, world_state: stp.rc.WorldState) -> None: - for i, robot in enumerate(self.assigned_robots): - role = self._role_requests[i][1] - pt = self.wall_pts[i] - if role is dumb_move.DumbMove: - self.assigned_roles.append(role(robot, pt, world_state.ball.pos)) - - def find_wall_pts( - self, num_wallers: int, world_state: rc.WorldState - ) -> List[np.ndarray]: - """Calculates num_wallers points to form a wall between the ball and goal. - :return list of wall_pts (as numpy arrays) - """ - # TODO: param server this const - # TODO: param server any constant from stp/utils/constants.py (this includes BallConstants) - ball_pt = world_state.ball.pos - goal_pt = world_state.field.our_goal_loc - - WALL_SPACING = 2 * RobotConstants.RADIUS + BallConstants.RADIUS - - # dist is slightly greater than def_area box bounds - box_w = world_state.field.def_area_long_dist_m - box_h = world_state.field.def_area_short_dist_m - line_w = world_state.field.line_width_m * 2 - MIN_WALL_RAD = RobotConstants.RADIUS * 4.0 + line_w + np.hypot(box_w / 2, box_h) - - # get vector to define walling direction - ball_goal_dir = (ball_pt - goal_pt) / (np.linalg.norm(ball_pt - goal_pt) + 1e-9) - wall_dir = np.array( - [ball_goal_dir[1], -ball_goal_dir[0]] - ) # perp of above vector - - # find endpoints of wall - mid_pt = goal_pt + (ball_goal_dir * MIN_WALL_RAD) - end_pts = [ - mid_pt - num_wallers // 2 * WALL_SPACING * wall_dir, - mid_pt + num_wallers // 2 * WALL_SPACING * wall_dir, - ] - - # assign points furthest from vert center of field first - # - # the first condition (regarding ball's x coord) ensures that the wall - # dir doesn't toggle rapidly when ball is near x=0 - if (abs(ball_pt[0]) > 0.5) and abs(end_pts[1][0]) > abs(end_pts[0][0]): - end_pts[0], end_pts[1] = end_pts[1], end_pts[0] - - # linearly interpolate between endpoints to fill wall - return [pt for pt in np.linspace(end_pts[0], end_pts[1], num_wallers)] - - def tick( - self, world_state: stp.rc.WorldState - ) -> List[Tuple[int, RobotIntent]]: # (id, intent) - self.wall_pts = self.find_wall_pts(self.num_wallers, world_state) - - # assumes all roles requested are filled, because tactic is one unit - if len(self.assigned_roles) != len(self._role_requests): - self.init_roles(world_state) - - robot_intents = [] - # for i in range(len(self.assigned_roles)): - for i in range(self.num_wallers): - role = self.assigned_roles[i] - wall_pt = self.wall_pts[i] - if role.robot is not None: - robot_intents.append( - (role.robot.id, role.tick(world_state, target_point=wall_pt)) - ) - return robot_intents - - def is_done(self, world_state: stp.rc.WorldState) -> bool: - # wall never ends (until basic defense decides) - return False diff --git a/rj_gameplay/setup.cfg b/rj_gameplay/setup.cfg deleted file mode 100644 index 4395723c0a6..00000000000 --- a/rj_gameplay/setup.cfg +++ /dev/null @@ -1,5 +0,0 @@ -[develop] -script-dir=$base/lib/rj_robocup - -[install] -install-scripts=$base/lib/rj_robocup diff --git a/rj_gameplay/setup.py b/rj_gameplay/setup.py deleted file mode 100644 index 284abe1322d..00000000000 --- a/rj_gameplay/setup.py +++ /dev/null @@ -1,18 +0,0 @@ -from setuptools import find_packages, setup - -PACKAGE_NAME = "rj_gameplay" - -setup( - name=PACKAGE_NAME, - version="0.0.0", - packages=find_packages(), - py_modules=["rj_gameplay", "stp"], - install_requires=["setuptools"], - zip_safe=True, - maintainer="oswinso", - maintainer_email="oswinso@gmail.com", - description="Rewrite of the gameplay library.", - entry_points={ - "console_scripts": ["gameplay_node = rj_gameplay.gameplay_node:main"], - }, -) diff --git a/rj_gameplay/stp/__init__.py b/rj_gameplay/stp/__init__.py deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/rj_gameplay/stp/action/__init__.py b/rj_gameplay/stp/action/__init__.py deleted file mode 100644 index 6fc306532b7..00000000000 --- a/rj_gameplay/stp/action/__init__.py +++ /dev/null @@ -1,29 +0,0 @@ -"""This module contains Actions of the STP(A) hierarchy.""" - -from abc import ABC, abstractmethod -from typing import Dict, MutableMapping, Type, TypeVar -import stp.rc as rc - - -class IAction(ABC): - """Interface for actions.""" - - @abstractmethod - def tick(self, intent) -> None: - """Modifies the passed RobotIntent with the relavant fields""" - pass - - -class IFiniteAction(IAction, ABC): - """Interface for actions that end""" - - @abstractmethod - def is_done(self, world_state) -> bool: - """Checks to see if the action is done running""" - ... - - -class Ctx: - """Context for actions, dummy for now""" - - ... diff --git a/rj_gameplay/stp/formations/__init__.py b/rj_gameplay/stp/formations/__init__.py deleted file mode 100644 index 79d1d9de785..00000000000 --- a/rj_gameplay/stp/formations/__init__.py +++ /dev/null @@ -1,50 +0,0 @@ -from abc import ABC, abstractmethod -from typing import List - -import stp - - -class Formations(ABC): - def __init__(self, world_state: stp.rc.WorldState): - self.y_quarter: float = world_state.field.length_m / 4 - self.field_y: float = world_state.field.length_m - self.y_3quarter: float = self.field_y - self.y_quarter - self.box_xright: float = world_state.field.def_area_x_right_coord - self.box_xleft: float = world_state.field.def_area_x_left_coord - self.field_xleft: float = world_state.field.our_left_corner[0] - self.field_xright: float = world_state.field.our_right_corner[0] - self.goalpost_left: float = world_state.field.our_goal_post_coordinates[0][0] - self.goalpost_right: float = world_state.field.our_goal_post_coordinates[1][0] - self.their_def_area_short_dist_m: float = ( - self.field_y - world_state.field.def_area_short_dist_m - ) - self.our_def_area_short_dist_m: float = world_state.field.def_area_short_dist_m - self.center_xleft: float = ( - world_state.field.center_field_loc[0] - world_state.field.center_diameter_m - ) - self.center_xright: float = ( - world_state.field.center_field_loc[0] + world_state.field.center_diameter_m - ) - self.center_yup: float = ( - world_state.field.center_field_loc[1] + world_state.field.center_diameter_m - ) - self.center_ydown: float = ( - world_state.field.center_field_loc[1] - world_state.field.center_diameter_m - ) - - @property - @abstractmethod - def get_centroids(self) -> List: - "Get the centroid associated with the called region" - - @property - @abstractmethod - def get_regions(self) -> List: - """ - Get all of the region bounds of the formation. Each region is in order of left to right from top to bottom. - Within each region the bounds are order as follows: - x min, - x max, - y min, - y max, - """ diff --git a/rj_gameplay/stp/formations/diamond_formation.py b/rj_gameplay/stp/formations/diamond_formation.py deleted file mode 100644 index c793aa28536..00000000000 --- a/rj_gameplay/stp/formations/diamond_formation.py +++ /dev/null @@ -1,77 +0,0 @@ -from typing import List - -import numpy as np - -import stp -from stp.utils.constants import RobotConstants - - -class DiamondFormation(stp.formations.Formations): - def __init__(self, world_state: stp.rc.WorldState): - super().__init__(world_state) - - @property - def get_regions(self) -> List: - """ - Hard Coded Region Bounds - - starting with the top left region being the first element, top right, center, bottom left, and then bottom right in order - - bounds are x min, x max, y min, y max - """ - diamond_formation = [ - # Region 1 Points (STRIKER) - ( - self.goalpost_left, - self.goalpost_right, - self.y_3quarter, - self.their_def_area_short_dist_m - 2 * RobotConstants.RADIUS, - ), - # Region 2 Points (LEFT WING) - ( - self.field_xleft + 2 * RobotConstants.RADIUS, - self.box_xleft, - self.center_ydown, - self.center_yup, - ), - # Region 3 Points (CENTER) - ( - self.center_xleft, - self.center_xright, - self.center_ydown, - self.center_yup, - ), - # Region 4 Points (RIGHT WING) - ( - self.box_xright, - self.field_xright - 2 * RobotConstants.RADIUS, - self.center_ydown, - self.center_yup, - ), - # Region 5 Points (SWEEPER) - ( - self.box_xleft, - self.box_xright, - self.our_def_area_short_dist_m + 2 * RobotConstants.RADIUS, - self.y_quarter, - ), - ] - - return diamond_formation - - @property - def get_centroids(self) -> List: - """ - Convenience function for getting center of each region in get_regions() - :return: list of region centroids for DiamondFormation - """ - centroids = [] - regions = self.get_regions - for region in regions: - centroid = np.array( - [ - ((region[0] + region[1]) / 2), - ((region[2] + region[3]) / 2), - ] - ) - centroids.append(centroid) - - return centroids diff --git a/rj_gameplay/stp/formations/x_formation.py b/rj_gameplay/stp/formations/x_formation.py deleted file mode 100644 index 5ad5132d432..00000000000 --- a/rj_gameplay/stp/formations/x_formation.py +++ /dev/null @@ -1,77 +0,0 @@ -from typing import List - -import numpy as np - -import stp -from stp.utils.constants import RobotConstants - - -class XFormation(stp.formations.Formations): - def __init__(self, world_state: stp.rc.WorldState): - super().__init__(world_state) - - @property - def get_regions(self) -> List: - """ - Hard Coded Region Bounds - - starting with the top left region being the first element, top right, center, bottom left, and then bottom right in order - - bounds are x min, x max, y min, y max - """ - X_formation = [ - # Region 1 points (TOP LEFT) - ( - self.field_xleft + 2 * RobotConstants.RADIUS, - self.box_xleft - 2 * RobotConstants.RADIUS, - self.y_3quarter, - self.field_y - 2 * RobotConstants.RADIUS, - ), - # Region 2 points (TOP RIGHT) - ( - self.box_xright + 2 * RobotConstants.RADIUS, - self.field_xright - 2 * RobotConstants.RADIUS, - self.y_3quarter, - self.field_y - 2 * RobotConstants.RADIUS, - ), - # Region 3 points (CENTER CIRCLE) - ( - self.center_xleft, - self.center_xright, - self.center_ydown, - self.center_yup, - ), - # Region 4 points (BOTTOM LEFT) - ( - self.field_xleft + 2 * RobotConstants.RADIUS, - self.box_xleft - 2 * RobotConstants.RADIUS, - 0 + 2 * RobotConstants.RADIUS, - self.y_quarter, - ), - # Region 5 points (BOTTOM RIGHT) - ( - self.box_xright + 2 * RobotConstants.RADIUS, - self.field_xright - 2 * RobotConstants.RADIUS, - 0 + 2 * RobotConstants.RADIUS, - self.y_quarter, - ), - ] - - return X_formation - - @property - def get_centroids(self) -> List: - """ - Convenience function for getting center of each region in get_regions() - :return: list of region centroids for XFormation - """ - centroids = [] - regions = self.get_regions - for region in regions: - centroid = np.array( - [ - ((region[0] + region[1]) / 2), - ((region[2] + region[3]) / 2), - ] - ) - centroids.append(centroid) - - return centroids diff --git a/rj_gameplay/stp/global_parameters.py b/rj_gameplay/stp/global_parameters.py deleted file mode 100644 index 3b7f1970d19..00000000000 --- a/rj_gameplay/stp/global_parameters.py +++ /dev/null @@ -1,103 +0,0 @@ -import rclpy -from rclpy.node import Node -from rcl_interfaces.msg import ParameterEvent, ParameterType -from rcl_interfaces.srv import GetParameters, ListParameters - - -class ParamTreeNode: - def __init__(self): - pass - - -class GlobalParameterClient: - """ - A client for the C++-side global parameter server. Allows us to share constants between C++ nodes and gameplay. - - After creating this class, global parameters will be available as globals in the global_parameters module. - """ - - def __init__(self, node: Node, global_param_server: str): - """ - Initialize the global parameter client. Do this before running anything that might use global parameters. - :param node: the gameplay node. - :param global_param_server: fully-qualified name of the global parameter server, i.e. /global_parameter_server - """ - self.global_param_server = global_param_server - - list_client = node.create_client( - ListParameters, f"{global_param_server}/list_parameters" - ) - get_client = node.create_client( - GetParameters, f"{global_param_server}/get_parameters" - ) - # sub = node.create_subscription( - # ParameterEvent, f"/parameter_events", self.update_parameters, 10 - # ) - - list_parameter_request = ListParameters.Request() - list_future = list_client.call_async(list_parameter_request) - - rclpy.spin_once(node, timeout_sec=0.1) - - # TODO(Kyle): figure out why service calls are so flaky on startup - rclpy.spin_until_future_complete(node, list_future, timeout_sec=0.5) - while not list_future.done(): - list_future.cancel() - list_future = list_client.call_async(list_parameter_request) - print("Waiting for ListParameters") - rclpy.spin_until_future_complete(node, list_future, timeout_sec=0.5) - - params_names = list_future.result().result.names - get_parameter_request = GetParameters.Request(names=params_names) - get_future = get_client.call_async(get_parameter_request) - - # TODO(Kyle): figure out why service calls are so flaky on startup - rclpy.spin_until_future_complete(node, get_future, timeout_sec=0.5) - while not get_future.done(): - get_future.cancel() - get_future = get_client.call_async(get_parameter_request) - print("Waiting for GetParameters") - rclpy.spin_until_future_complete(node, get_future, timeout_sec=0.5) - - params_values = get_future.result().values - for param, value_ros in zip(params_names, params_values): - self.set_param(param, value_ros) - - def update_parameters(self, event: ParameterEvent): - if event.node == self.global_param_server: - for param in event.changed_parameters + event.new_parameters: - self.set_param(param.name, param.value) - - def set_param(self, name, value_ros): - value = None - if value_ros.type == ParameterType.PARAMETER_NOT_SET: - pass - elif value_ros.type == ParameterType.PARAMETER_BOOL: - value = value_ros.bool_value - elif value_ros.type == ParameterType.PARAMETER_INTEGER: - value = value_ros.integer_value - elif value_ros.type == ParameterType.PARAMETER_DOUBLE: - value = value_ros.double_value - elif value_ros.type == ParameterType.PARAMETER_BYTE_ARRAY: - value = value_ros.byte_array_value - elif value_ros.type == ParameterType.PARAMETER_BOOL_ARRAY: - value = value_ros.bool_array_value - elif value_ros.type == ParameterType.PARAMETER_INTEGER_ARRAY: - value = value_ros.integer_array_value - elif value_ros.type == ParameterType.PARAMETER_DOUBLE_ARRAY: - value = value_ros.double_array_value - names = name.split(".") - tree = globals() - for prefix in names[:-1]: - if prefix not in tree: - tree[prefix] = ParamTreeNode() - tree = tree[prefix].__dict__ - tree[names[-1]] = value - - -if __name__ == "__main__": - rclpy.init() - node = rclpy.create_node("_test_gps") - client = GlobalParameterClient(node, "/global_parameter_server") - rclpy.spin(node) - rclpy.shutdown() diff --git a/rj_gameplay/stp/local_parameters.py b/rj_gameplay/stp/local_parameters.py deleted file mode 100644 index 05cd612fe42..00000000000 --- a/rj_gameplay/stp/local_parameters.py +++ /dev/null @@ -1,111 +0,0 @@ -""" -Usage: in the global scope of a module, at initialization time, construct a Param. -```python -from stp.local_parameters import Param -my_parameter = Param("my_param_name", 1.0, Param.PARAMETER_DOUBLE) -``` -Call `register_parameters` in gameplay init. Then, use the parameters: -``` -do_something(my_parameter.value) -``` -""" - -from typing import List, Optional - -from rclpy.node import Node -from rclpy.parameter import Parameter -from rcl_interfaces.msg import ( - SetParametersResult, - ParameterType, - ParameterDescriptor, -) - -parameters = {} -param_node: Optional[Node] = None - - -class Param: - PARAMETER_NOT_SET = ParameterType.PARAMETER_NOT_SET - PARAMETER_BOOL = ParameterType.PARAMETER_BOOL - PARAMETER_INTEGER = ParameterType.PARAMETER_INTEGER - PARAMETER_DOUBLE = ParameterType.PARAMETER_DOUBLE - PARAMETER_BYTE_ARRAY = ParameterType.PARAMETER_BYTE_ARRAY - PARAMETER_BOOL_ARRAY = ParameterType.PARAMETER_BOOL_ARRAY - PARAMETER_INTEGER_ARRAY = ParameterType.PARAMETER_INTEGER_ARRAY - PARAMETER_DOUBLE_ARRAY = ParameterType.PARAMETER_DOUBLE_ARRAY - - def __init__( - self, - name: str, - default_value, - param_type: ParameterType = None, - description: str = "", - ): - global parameters, param_node - - self.name = name - if name not in parameters: - parameters[name] = (default_value, param_type, description) - - if param_node is not None: - register_parameter(param_node, name, default_value, param_type, description) - - @property - def value(self): - global parameters - - return parameters[self.name][0] - - -def update_params(params: List[Parameter]) -> SetParametersResult: - """ - Update a set of parameters with new values. - :param params: A list of ROS Parameter changes - """ - for param in params: - parameters[param.name] = ( - param.value, - parameters[param.name][1], - parameters[param.name][2], - ) - - return SetParametersResult(successful=True) - - -def register_parameters(node: Node): - """ - Register all parameters. This should be called after module initialization. - - :param node: The gameplay node - """ - global param_node, parameters - - assert param_node is None - - for param_name in parameters: - value, param_type, description = parameters[param_name] - register_parameter(node, param_name, value, param_type, description) - node.add_on_set_parameters_callback(update_params) - - param_node = node - - -def register_parameter( - node: Node, - param_name: str, - value, - param_type: ParameterType, - description: Optional[str], -): - global parameters - - descriptor = ParameterDescriptor( - name=param_name, type=param_type, description=description or "" - ) - if not node.has_parameter(param_name): - node.declare_parameter(param_name, value, descriptor) - parameters[param_name] = ( - node.get_parameter(param_name).value, - parameters[param_name][1], - parameters[param_name][2], - ) diff --git a/rj_gameplay/stp/play/__init__.py b/rj_gameplay/stp/play/__init__.py deleted file mode 100644 index 26c835f5288..00000000000 --- a/rj_gameplay/stp/play/__init__.py +++ /dev/null @@ -1,170 +0,0 @@ -""" This module contains data structures for the Plays level of STP. -""" - -from abc import ABC, abstractmethod -from collections import defaultdict -from typing import ( - Callable, - Dict, - Generic, - Iterator, - List, - Optional, - Tuple, - Type, - TypeVar, -) - -import stp.action -import stp.rc -import stp.role -import stp.role.assignment -import stp.skill -import stp.tactic -import stp.utils.enum -import stp.utils.typed_key_dict -from rj_msgs.msg import RobotIntent -from stp.formations.diamond_formation import DiamondFormation - -from rj_gameplay.tactic import seek - -PropT = TypeVar("PropT") - -# TODO: move to stp.role and delete old RoleRequest definition -# RoleRequest = Tuple[ -# stp.tactic.ITactic, stp.role.CostFn -# ] # (un-initialized Tactic, associated cost fn) - - -class IPlay(ABC): - pass - - -class RoleAssignFailure(Exception): - pass - - -class Play(ABC): - """Coordinate full-team behaviors via Tactics. Assumes number of Roles matches number of robots on the field. - Ends when SituationAnalysis switches the Play, so no is_done() necessary. - See tick() for more details on behavior. - """ - - def __init__(self): - # TODO: all three of these are required for assign_roles() - # should I make these abstract to force subclasses to use? - # https://stackoverflow.com/questions/23831510/abstract-attribute-not-property - # - # or should it just be part of a RoleAssign class with passed in params? - # that kicks the problem down to forcing roles to have a RoleAssign property, I suppose - - self.prioritized_tactics: List[stp.tactic.Tactic] = [] - self.approved_prioritized_tactics: List[stp.tactic.Tactic] = [] - - @abstractmethod - def tick( - self, - world_state: stp.rc.WorldState, - ) -> List[RobotIntent]: - """Performs one "tick" of the specified play. - - This should: - 1. Determine if role assignment is necessary. - 2. If so, perform role assignment with self.assign_roles(). - 3. Tick Tactics to aggregate robot_intents with self.get_robot_intents(). - - - :param world_state: Current state of the world. - :return: list of robot intents where index = robot_id - """ - ... - - def assign_roles( - self, - world_state: stp.rc.WorldState, - ) -> None: - """Given that all Roles are in sorted order of priority, greedily assign the highest-priority Role to the lowest-cost robot for that Role. - Instantiate Tactics with the correct robots post-assignment. (Note that this behavior is largely handled by the init_roles() of each Tactic.) - Satisfy constraint that all Roles of a Tactic must all be assigned at once. - If a Tactic's Roles cannot all be filled, none will be filled and a debug message signifying error is displayed along with the tactic's tick not running." - """ - - used_robots = set() - unused_robots = set() - for tactic in self.prioritized_tactics: - # Will temporarily hold tactic roles. If any roles cannot be filled, the list will be emptied and an error debug message appears - robots_for_tactic = [] - for cost_fn, role in tactic.role_requests: - min_cost = 1e9 - cheapest_robot = None - # Used in calculating available robots - numOfInvisibleRobots = 0 - - # Checking to see if any robot can fullfill a specific role request in a specific tactic - for robot in world_state.our_robots: - if robot in used_robots or robot in robots_for_tactic: - continue - if not robot.visible: - numOfInvisibleRobots += 1 - continue - cost = cost_fn(robot, world_state) - if cost < min_cost: - min_cost = cost - cheapest_robot = robot - - # Occurs if all other visible robots already have a role - if cheapest_robot is None: - print(f"RoleRequest ({role}, {cost_fn}) was not assigned") - robots_for_tactic = None - break - robots_for_tactic.append(cheapest_robot) - - if robots_for_tactic is not None: - used_robots.update(robots_for_tactic) - tactic.set_assigned_robots(robots_for_tactic) - self.approved_prioritized_tactics.append(tactic) - tactic.init_roles(world_state) - else: - numRobotsAvailable = ( - len(world_state.our_robots) - - len(used_robots) - - numOfInvisibleRobots - ) - print( - f"Tactic {tactic} denied: {len(tactic.role_requests)} requested" - f" roles, but only {numRobotsAvailable} robots available" - ) - # seeker calculation needs to be done after robots and roles have finalized - for robot in world_state.our_robots: - if robot not in used_robots and robot.visible: - unused_robots.add(robot) - - # make a seek tactic for each of the unassigned robots - formation = DiamondFormation(world_state) - - seek_tactic = seek.Seek(world_state, len(unused_robots), formation) - if len(unused_robots) > 0: - seek_tactic.set_assigned_robots(unused_robots) - self.approved_prioritized_tactics.append(seek_tactic) - seek_tactic.init_roles(world_state) - - def get_robot_intents(self, world_state: stp.rc.WorldState) -> List[RobotIntent]: - """Has to be called after assigned_roles has been called. - Tick each tactic to get a list of RobotIntents for GameplayNode. Each RobotIntent in this list is at index robot_id, or in Python terms: return_list[robot_id] = robot_intent - """ - # TODO: this constant is from gameplay_node, move to a common gameplay params file - NUM_ROBOTS = 16 - robot_intents = [None for _ in range(NUM_ROBOTS)] - for tactic in self.approved_prioritized_tactics: - role_robot_intents = tactic.tick(world_state) - for robot_id, robot_intent in role_robot_intents: - robot_intents[robot_id] = robot_intent - return robot_intents - - def __repr__(self): - """ - returns the string with the current play and the current state of the play. - """ - text = "" - text += f"{self.__class__.__name__}({self._state})" - return text diff --git a/rj_gameplay/stp/play/pure_play.py b/rj_gameplay/stp/play/pure_play.py deleted file mode 100644 index 34ca09ca1eb..00000000000 --- a/rj_gameplay/stp/play/pure_play.py +++ /dev/null @@ -1,122 +0,0 @@ -"""This module contains PurePlay.""" - -from abc import ABC -from dataclasses import dataclass -from typing import Any, Dict, List, Optional, Tuple, Type, TypeVar - -import stp.action as action -import stp.play as play -import stp.rc as rc -import stp.role.assignment as assignment -import stp.tactic as tactic - - -class PurePlay(play.IPlay["Prop"], ABC): - """A stateless play that uses the same tactics for the entire lifetime.""" - - __slots__ = ["_role_assignment", "tactics"] - - @dataclass - class Prop: - tactic_props: Dict[Type[tactic.ITactic], Any] = {} - - _role_assignment: assignment.IRoleAssignment - tactic: play.TacticsEnum - - def __init__(self, tactics: play.TacticsEnum, ctx: play.Ctx): - """Creates a pure play. - :param tactics: The TacticsEnum that defines all the tactics used. - :param ctx: The play.Context that contains the role assignment. - """ - self._role_assignment = ctx.role_assignment - self.tactics = tactics - - def compute_props(self, prev_props: Optional[Prop]) -> Prop: - if not prev_props: - prev_props = PurePlay.Prop() - - # For each tactic, call compute_props on it. - tactic_entry: play.TacticEntry - for tactic_entry in self.tactics: - tactic_type = type(tactic_entry.tactic) - - prev_prop = prev_props.tactic_props.get(tactic_type, None) - prev_props[tactic_type] = tactic_entry.tactic.compute_props(prev_prop) - - return prev_props - - def tick( - self, - world_state: rc.WorldState, - prev_results: assignment.FlatRoleResults, - props: Prop, - ) -> Tuple[assignment.FlatRoleResults, List[action.IAction]]: - """Performs one "tick" of the specified play. - - This should: - 1. Collect all the role requests from the tactics - 2. Perform role assignment - 3. Gives each tactic its assigned roles and getting a list of skills. - 4. Return the list of skills obtained. - :param world_state: The current state of the world. - :param prev_results: The previous results of role assignment. - :param props: Props from compute_props. This should be "const", as all - mutations should happen in compute_props. - :return: The list of skill to run. - """ - - # Collect the role requests. - role_requests: play.RoleRequests = self.collect_role_requests(world_state) - - # Flatten from a dict of dicts to a single dict. - flat_requests: assignment.FlatRoleRequests = play.flatten_requests( - role_requests - ) - - # Perform role assignment. - assignment_results: assignment.FlatRoleResults = ( - self._role_assignment.assign_roles(flat_requests, world_state, prev_results) - ) - - # Give each tactic its assigned roles and get the list of skills. - actions = self.get_actions_from_tactics(assignment_results, props) - - # Return the role assignment results and the list of skills. - return assignment_results, actions - - def collect_role_requests(self, world_state: rc.WorldState) -> play.RoleRequests: - """Collects the role requests from each tactic. - :param world_state: The current WorldState. - :return: The collected play.RoleRequests. - """ - role_requests: play.RoleRequests = play.RoleRequests() - - tactic_entry: play.TacticEntry - for tactic_entry in self.tactics: - tactic_requests = tactic_entry.tactic.get_requests(world_state, None) - role_requests[type(tactic_entry.tactic)] = tactic_requests - - return role_requests - - def get_actions_from_tactics( - self, flat_results: assignment.FlatRoleResults, prop: Prop - ) -> List[action.IAction]: - """Passes the roles assigned from role assignment to the correct tactic. - :param flat_results: The results of role assignment. - :param prop: The props of the play. This should be "const". - :return: The list of skills for each tactic. - """ - # Unnest the results. - nested_results: play.RoleResults = play.unflatten_results(flat_results) - - actions: List[action.IAction] = [] - - # For each tactic, tick it with the roles that it requested and add all the - # returned actions to the list of actions. - tactic_entry: play.TacticEntry - for tactic_entry in self.tactics: - tactic_type = type(tactic_entry.tactic) - results: tactic.RoleResults = nested_results[tactic_type] - actions.extend(tactic_entry.tactic.tick(results, prop[tactic_type])) - - return actions diff --git a/rj_gameplay/stp/pylint_stp.py b/rj_gameplay/stp/pylint_stp.py deleted file mode 100644 index 30564482bf8..00000000000 --- a/rj_gameplay/stp/pylint_stp.py +++ /dev/null @@ -1,65 +0,0 @@ -""" This file contains custom checkers for pylint. -""" - -from typing import List - -import astroid.node_classes -import astroid.nodes -from pylint.checkers import BaseChecker -from pylint.interfaces import IAstroidChecker -from pylint.lint.pylinter import PyLinter - - -class NoFromImportChecker(BaseChecker): - """This checker checks that from * import * isn't used for any modules in the stp - package. - """ - - __implements__ = IAstroidChecker - - DISPLAYED_MSG = ( - "Don't use 'from ... import ...' for any modules from the stp package." - ) - MSG_ID = "stp-from-import" - MESSAGE_HELP = ( - "'from ... import ...' shouldn't be used for importing any " - "modules / symbols from the stp package as it breaks hot reloading." - ) - - name = "stp-from-import" - priority = -100 - msgs = {"C8001": (DISPLAYED_MSG, MSG_ID, MESSAGE_HELP)} - - def __init__(self, linter: PyLinter): - super().__init__(linter) - - self.is_testing_module: List[bool] = [] - - def visit_module(self, node: astroid.nodes.Module) -> None: - """Visit method for astroid.nodes.Module.""" - is_testing_module = "test" in node.name - self.is_testing_module.append(is_testing_module) - - def leave_module(self, node: astroid.nodes.Module) -> None: - """Leave method for astroid.nodes.Module.""" - self.is_testing_module.pop() - - def visit_importfrom(self, node: astroid.nodes.ImportFrom) -> None: - """Visit method for astroid.nodes.ImportFrom.""" - if node.modname and node.modname == "stp": - if not self.__is_testing_module(): - self.add_message( - NoFromImportChecker.MSG_ID, - node=node, - ) - - def __is_testing_module(self) -> bool: - """Returns whether the current module is for tests. - :return: True if the current module is for tests, - """ - return any(self.is_testing_module) - - -def register(linter: PyLinter): - """Registers the linter for pylint.""" - linter.register_checker(NoFromImportChecker(linter)) diff --git a/rj_gameplay/stp/pyproject.toml b/rj_gameplay/stp/pyproject.toml deleted file mode 100644 index b1ca82cc8c4..00000000000 --- a/rj_gameplay/stp/pyproject.toml +++ /dev/null @@ -1,3 +0,0 @@ -[tool.isort] -profile = "black" -known_first_party = ["stp"] diff --git a/rj_gameplay/stp/rc.py b/rj_gameplay/stp/rc.py deleted file mode 100644 index 7b0aaae001d..00000000000 --- a/rj_gameplay/stp/rc.py +++ /dev/null @@ -1,827 +0,0 @@ -"""This module contains data structures that are robocup specific, ie. Robot, Ball, -WorldState""" - -import warnings -from enum import Enum -from typing import List, Optional - -import numpy as np - -RobotId = Optional[int] - - -class Robot: - """State of a robot. Pose: [x, y, theta]. Twist: [dx, dy, dtheta]. Properties are - to enforce that instances of this class should not be mutated.""" - - __slots__ = [ - "__id", - "__is_ours", - "__pose", - "__twist", - "__visible", - "__has_ball_sense", - "__kicker_charged", - "__kicker_healthy", - "__lethal_fault", - ] - - __id: RobotId - __is_ours: bool - __pose: np.ndarray - __twist: np.ndarray - __visible: bool - __has_ball_sense: bool - __kicker_charged: bool - __kicker_healthy: bool - __lethal_fault: bool - - def __init__( - self, - robot_id: RobotId, - is_ours: bool, - pose: np.ndarray, - twist: np.ndarray, - visible: bool, - has_ball_sense: bool, - kicker_charged: bool, - kicker_healthy: bool, - lethal_fault: bool, - ): - """ - :param robot_id: Shell id of the robot. - :param is_ours: Whether the robot is one of our robots - :param pose: Pose of the Robot. [x, y, theta]. - :param twist: Twist of the robot. [dx, dy, dtheta]. - :param visible: Whether the robot is being seen by the global vision system - :param has_ball_sense: Whether the robots ball sensor is functional - :param kicker_charged: Whether the robots kicker capacitors are charged - :param kicker_healthy: Whether the robots kicker is "healthy" - :param lethal_fault: Whether the robot has experienced a fault that will prevent it from functioning - """ - self.__id = robot_id - self.__is_ours = is_ours - self.__pose = pose - self.__twist = twist - self.__visible = visible - self.__has_ball_sense = has_ball_sense - self.__kicker_charged = kicker_charged - self.__kicker_healthy = kicker_healthy - self.__lethal_fault = lethal_fault - - def __repr__(self) -> str: - return "Robot(id:{}, is_ours:{}, pose:{}, twist:{}, visible:{})".format( - self.__id, - self.__is_ours, - self.__pose, - self.__twist, - self.__visible, - ) - - def __eq__(self, other) -> bool: - if isinstance(other, Robot): - if self.is_ours == other.is_ours and self.id == other.id: - return True - return False - - def __hash__(self) -> int: - return hash((self.__id, self.__is_ours)) - - @property - def id(self) -> RobotId: - """ - :return: Id of the robot. - """ - return self.__id - - @property - def is_ours(self) -> bool: - """ - :return: True if the robot is our robot. - """ - return self.__is_ours - - @property - def pose(self) -> np.ndarray: - """ - :return: Pose of the robot. [x, y, theta]. - """ - if not self.visible: - # I could see removing this as it's a thing that may happen fairly often - warnings.warn( - "Attempting to retrieve robot pose from non-visible robot", - RuntimeWarning, - ) - - return self.__pose - - @property - def twist(self) -> np.ndarray: - """ - :return: Twist of the robot. [dx, dy, dtheta]. - """ - if not self.visible: - # I could see removing this as it's a thing that may happen fairly often - warnings.warn( - "Attempting to retrieve robot pose from non-visible robot", - RuntimeWarning, - ) - - return self.__twist - - @property - def visible(self) -> bool: - """ - :return: True if the robot is visible - """ - return self.__visible - - @property - def has_ball_sense(self) -> bool: - """ - :return: True if this robot has functioning ball sensors - """ - if not self.is_ours: - warnings.warn( - "Attempting to retrieve ball sense status from an opposing robot", - RuntimeWarning, - ) - - return self.__has_ball_sense - - @property - def kicker_charged(self) -> bool: - """ - :return: True if the kicker capacitors are charged - """ - if not self.is_ours: - warnings.warn( - "Attempting to retrieve kicker charge status from an opposing robot", - RuntimeWarning, - ) - return False - - return self.__kicker_charged - - @property - def kicker_healthy(self) -> bool: - """ - :return: True if the kicker is healthy - """ - if not self.is_ours: - warnings.warn( - "Attempting to retrieve kicker health status from an opposing robot", - RuntimeWarning, - ) - return False - - return self.__kicker_healthy - - @property - def lethal_fault(self) -> bool: - """ - :return: True if the robot has encounted a fault that will prevent further play, such as an FPGA or motor fault. - """ - if not self.is_ours: - warnings.warn( - "Attempting to retrieve lethal fault information from an opposing" - " robot", - RuntimeWarning, - ) - - return self.__lethal_fault - - -class Ball: - """State of the ball. Properties are used to enforce that instances of this class - should not be mutated.""" - - __slots__ = ["__pos", "__vel", "__visible"] - - __pos: np.ndarray - __vel: np.ndarray - __visible: bool - - def __init__(self, pos: np.ndarray, vel: np.ndarray, visible: bool): - """ - :param pos: ball position np.ndarray([x, y]) - :param vel: ball velocity np.ndarray([x, y]) - :param visible: True if the ball is visible - """ - self.__pos = pos - self.__vel = vel - self.__visible = visible - - def __repr__(self) -> str: - return "Ball(pos:{}, vel:{}, visible:{})".format( - self.__pos, self.__vel, self.__visible - ) - - @property - def pos(self) -> np.ndarray: - """ - :return: Position of the ball. [x, y]. - """ - if not self.visible: - warnings.warn( - "Retrieved the position of a non-visible ball", RuntimeWarning - ) - - return self.__pos - - @property - def vel(self) -> np.ndarray: - """ - :return: Velocity of the ball. [dx, dy]. - """ - if not self.visible: - warnings.warn( - "Retrieved the velocity of a non-visible ball", RuntimeWarning - ) - - return self.__vel - - @property - def visible(self) -> bool: - """ - :return: True if the ball can currently be seen by the global vision system. - - Note that with filtering or additional sensors like whiskers we may still know where the ball is located - """ - return self.__visible - - -class GamePeriod(Enum): - """Game period.""" - - FIRST_HALF = 0 - HALF_TIME = 1 - SECOND_HALF = 2 - OVERTIME1 = 3 - OVERTIME2 = 4 - PENALTY_SHOOTOUT = 5 - - -class GameState(Enum): - """State of the game.""" - - HALT = 0 # Robots must not move. - STOP = 1 # Robots must stay 500mm away from the ball. - SETUP = 2 # Robots not on starting team msut stay 500mm away from ball. - READY = 3 # A robot on the starting team may kick the ball. - PLAYING = 4 # Normal play. - PENALTY_PLAYING = 5 # All robots except the striker and the goalie must stay on the opposite side of the field. - - -class GameRestart(Enum): - """What kind of restart.""" - - NONE = 0 - KICKOFF = 1 - FREE = 2 - PENALTY = 3 - PLACEMENT = 4 - - -class Field: - """Information about the field.""" - - __slots__ = [ - "__length_m", - "__width_m", - "__border_m", - "__line_width_m", - "__goal_width_m", - "__goal_depth_m", - "__goal_height_m", - "__def_area_short_dist_m", - "__def_area_long_dist_m", - "__center_radius_m", - "__center_diameter_m", - "__goal_flat_m", - "__floor_length_m", - "__floor_width_m", - "__def_area_x_right_coord", - "__def_area_x_left_coord", - "__field_x_right_coord", - "__field_x_left_coord", - ] - - __length_m: float - __width_m: float - __border_m: float - __line_width_m: float - __goal_width_m: float - __goal_depth_m: float - __goal_height_m: float - __def_area_short_dist_m: float - __def_area_long_dist_m: float - __center_radius_m: float - __center_diameter_m: float - __goal_flat_m: float - __floor_length_m: float - __floor_width_m: float - __def_area_x_right_coord: float - __def_area_x_left_coord: float - __field_x_right_coord: float - __field_x_left_coord: float - - def __init__( - self, - length_m: float, - width_m: float, - border_m: float, - line_width_m: float, - goal_width_m: float, - goal_depth_m: float, - goal_height_m: float, - def_area_short_dist_m: float, - def_area_long_dist_m: float, - center_radius_m: float, - center_diameter_m: float, - goal_flat_m: float, - floor_length_m: float, - floor_width_m: float, - ): - self.__length_m = length_m - self.__width_m = width_m - self.__border_m = border_m - self.__line_width_m = line_width_m - self.__goal_width_m = goal_width_m - self.__goal_depth_m = goal_depth_m - self.__goal_height_m = goal_height_m - self.__def_area_short_dist_m = def_area_short_dist_m - self.__def_area_long_dist_m = def_area_long_dist_m - self.__center_radius_m = center_radius_m - self.__center_diameter_m = center_diameter_m - self.__goal_flat_m = goal_flat_m - self.__floor_length_m = floor_length_m - self.__floor_width_m = floor_width_m - self.__def_area_x_right_coord = def_area_long_dist_m / 2 - self.__def_area_x_left_coord = -(def_area_long_dist_m / 2) - self.__field_x_right_coord = width_m / 2 - self.__field_x_left_coord = -(width_m / 2) - - @property - def our_goal_loc(self) -> np.ndarray: - """ - Convenience function for getting our goal location - :return: the location of our goal - its always (0,0) - """ - return np.array([0.0, 0.0]) - - @property - def center_field_loc(self) -> np.ndarray: - """ - Convenience function for getting the center field location - :return: the location of the center of the field - """ - return np.array([0.0, self.length_m / 2]) - - @property - def their_goal_loc(self) -> np.ndarray: - """ - Convenience function for getting the opponents field location - :return: the location of the opponents goal - """ - return np.array([0.0, self.length_m]) - - @property - def our_defense_area_coordinates(self) -> List: - """ - Convenience function for getting our defense area locations - :return: the list of points for our defense area locations - """ - our_defense_area = [ - [self.__def_area_x_left_coord, self.__def_area_short_dist_m], - [self.__def_area_x_right_coord, self.__def_area_short_dist_m], - [self.__def_area_x_left_coord, 0.0], - [self.__def_area_x_right_coord, 0.0], - ] - return our_defense_area - - @property - def opp_defense_area_coordinates(self) -> List: - """ - Convenience function for getting oppenent defense area locations - Note: each coordinate starts from top left and continues normal order - :return: the list of points for opponent defense area locations - """ - opp_defense_area = [ - [self.__def_area_x_left_coord, self.__length_m], - [self.__def_area_x_right_coord, self.__length_m], - [ - self.__def_area_x_left_coord, - self.__length_m - self.__def_area_short_dist_m, - ], - [ - self.__def_area_x_right_coord, - self.__length_m - self.__def_area_short_dist_m, - ], - ] - return opp_defense_area - - @property - def our_goal_post_coordinates(self) -> List: - """ - Convenience function for getting our goal post coordinates - :return: the list of points for our goal post locations - """ - our_goal_post_coord = [ - [-self.__goal_width_m / 2, 0], - [self.__goal_width_m / 2, 0], - ] - return our_goal_post_coord - - @property - def their_goal_post_coordinates(self) -> List: - """ - Convenience function for getting their goal post coordinates - :return: the list of points for their goal post locations - """ - their_goal_post_coord = [ - [-self.__goal_width_m / 2, self.__length_m], - [self.__goal_width_m / 2, self.__length_m], - ] - return their_goal_post_coord - - @property - def our_left_corner(self) -> np.ndarray: - """ - :return: the coords of the left corner of our side of the field - """ - return np.array([self.__field_x_left_coord, 0.0]) - - @property - def our_right_corner(self) -> np.ndarray: - """ - :return: the coords of the right corner of our side of the field - """ - return np.array([self.__field_x_right_coord, 0.0]) - - @property - def their_left_corner(self) -> np.ndarray: - """ - :return: the coords of the left corner of their side of the field - """ - return np.array([self.__field_x_left_coord, self.__length_m]) - - @property - def their_right_corner(self) -> np.ndarray: - """ - :return: the coords of the right corner of their side of the field - """ - return np.array([self.__field_x_right_coord, self.__length_m]) - - @property - def floor_width_m(self) -> float: - """ - :return: width of full field (including borders) - """ - return self.__width_m + 2 * self.__border_m - - @property - def def_area_x_left_coord(self) -> float: - """ - :return: left x coordinate of the defense area - """ - return self.__def_area_x_left_coord - - @property - def def_area_x_right_coord(self) -> float: - """ - :return: right x coordinate of the defense area - """ - return self.__def_area_x_right_coord - - @property - def floor_length_m(self) -> float: - """ - :return: length of full field (including borders) - """ - return self.__length_m + 2 * self.__border_m - - @property - def goal_flat_m(self) -> float: - """ - :return: check on this one - """ - return self.__goal_flat_m - - @property - def center_diameter_m(self) -> float: - """ - :return: returns the diameter of the center of the field - """ - return self.__center_diameter_m - - @property - def center_radius_m(self) -> float: - """ - :return: returns the radius of the center of the field - """ - return self.__center_radius_m - - @property - def def_area_long_dist_m(self) -> float: - """ - :return: double check on this one - """ - return self.__def_area_long_dist_m - - @property - def def_area_short_dist_m(self) -> float: - """ - :return: double check on this one - """ - return self.__def_area_short_dist_m - - @property - def border_m(self) -> float: - """ - :return: The size of the border of the field - """ - return self.__border_m - - @property - def line_width_m(self) -> float: - """ - :return: The width of the lines of the field - """ - return self.__line_width_m - - @property - def length_m(self) -> float: - """ - :return: The length of the field in meters - """ - return self.__length_m - - @property - def width_m(self) -> float: - """ - :return: the width of the field in meters - """ - return self.__width_m - - @property - def goal_width_m(self) -> float: - """ - :return: the width of the goals in meters - """ - return self.__goal_width_m - - @property - def goal_depth_m(self) -> float: - """ - :return: the depth of the goals in meters - """ - return self.__goal_depth_m - - @property - def goal_height_m(self) -> float: - """ - :return: the height of the goals in meters - """ - return self.__goal_height_m - - -class GameInfo: - """State of the soccer game. Corresponds to a combination of the C++-side PlayState and MatchState""" - - __slots__ = [ - "__period", - "__state", - "__restart", - "__our_restart", - "__ball_placement", - ] - - __period: GamePeriod - __state: GameState - __restart: GameRestart - __our_restart: bool - __ball_placement: np.array - - def __init__( - self, - period: GamePeriod, - state: GameState, - restart: GameRestart, - our_restart: bool, - ball_placement: np.array, - ): - self.__period = period - self.__state = state - self.__restart = restart - self.__our_restart = our_restart - self.__ball_placement = ball_placement - - @property - def period(self) -> GamePeriod: - """ - :return: The game period - """ - return self.__period - - @property - def state(self) -> GameState: - """ - :return: The game state - """ - return self.__state - - @property - def restart(self) -> GameRestart: - """ - :return: The game restart state - """ - return self.__restart - - @property - def our_restart(self) -> bool: - """ - :return: True if it is our restart - """ - if not self.is_restart(): - warnings.warn( - "Retrieved if it is our restart when it is not a restart at all", - RuntimeWarning, - ) - return False # Is returning this dangerous? - - return self.__our_restart - - @property - def their_restart(self) -> bool: - """ - :return: True if it is their restart - """ - if not self.is_restart(): - warnings.warn( - "Retrieved if it is our restart when it is not a restart at all", - RuntimeWarning, - ) - return False # Is returning this dangerous? - - return not self.__our_restart - - def is_stopped(self) -> bool: - """ - :return: True if play is stopped. - """ - return self.state == GameState.STOP - - def is_ready(self) -> bool: - """ - :return: True if the field is waiting on a team to kick the ball in a restart. - """ - return self.state == GameState.READY - - def is_setup(self) -> bool: - """ - :return: True if the field is setting up for a penalty kick or kickoff. - """ - return self.state == GameState.SETUP - - def is_restart(self) -> bool: - """ - :return: True if there is a restart. - """ - return self.restart != GameRestart.NONE - - def is_kickoff(self) -> bool: - """ - :return: True if the restart is a kickoff. - """ - return self.restart == GameRestart.KICKOFF - - def is_penalty(self) -> bool: - """ - :return: True if the restart is a penalty. - """ - return self.restart == GameRestart.PENALTY - - def is_free(self) -> bool: - """ - :return: True if the restart is a free kick. - """ - return self.restart == GameRestart.FREE - - def is_free_placement(self) -> bool: - """ - :return: True if the restart is free placement. - """ - return self.restart == GameRestart.PLACEMENT - - def ball_placement(self) -> Optional[np.ndarray]: - """ - :return: True if the restart is free placement. - """ - return self.__ball_placement if self.is_free_placement() else None - - -class WorldState: - """Current state of the world.""" - - __slots__ = [ - "__our_robots", - "__their_robots", - "__ball", - "__game_info", - "__field", - "__goalie_id", - ] - - __our_robots: List[Robot] - __their_robots: List[Robot] - __ball: Ball - __game_info: GameInfo - __field: Field - __goalie_id: int - - def __init__( - self, - our_robots: List[Robot], - their_robots: List[Robot], - ball: Ball, - game_info: GameInfo, - field: Field, - goalie_id: int, - ): - self.__our_robots = our_robots - self.__their_robots = their_robots - self.__ball = ball - self.__game_info = game_info - self.__field = field - self.__goalie_id = goalie_id - - @property - def robots(self) -> List[Robot]: - """ - :return: A list of all robots (created by merging our_robots with their_robots) - """ - return self.our_robots + self.their_robots - - @property - def our_robots(self) -> List[Robot]: - """ - :return: A list of our robots - """ - return self.__our_robots - - @property - def their_robots(self) -> List[Robot]: - """ - :return: A list of their robots - """ - return self.__their_robots - - @property - def ball(self) -> Ball: - """ - :return: The ball - """ - return self.__ball - - @property - def game_info(self) -> GameInfo: - """ - :return: The GameInfo object - """ - return self.__game_info - - @property - def field(self) -> Field: - """ - :return: The Field object - """ - return self.__field - - @property - def goalie_id(self) -> int: - """ - :return: The goalie id (int) - """ - return self.__goalie_id - - @property - def visible_robots(self) -> List[Robot]: - """ - :return: List of all visible robots - """ - return [robot for robot in self.robots if robot.visible] - - @property - def our_visible_robots(self) -> List[Robot]: - """ - :return: List of all our visible robots - """ - return [robot for robot in self.our_robots if robot.visible] - - @property - def their_visible_robots(self) -> List[Robot]: - """ - :return: List of all their visible robots - """ - return [robot for robot in self.their_robots if robot.visible] diff --git a/rj_gameplay/stp/role/__init__.py b/rj_gameplay/stp/role/__init__.py deleted file mode 100644 index 63c0f30658b..00000000000 --- a/rj_gameplay/stp/role/__init__.py +++ /dev/null @@ -1,243 +0,0 @@ -from enum import IntEnum -from typing import Optional, Protocol - -import stp.rc - -from rj_msgs.msg import RobotIntent - -from abc import ABC, abstractmethod - -BIG_STUPID_NUMBER_CONST_FOR_UNASSIGNED_COST_PLS_CHANGE = 9999 - - -class Role(ABC): - """Complex single-robot role, such as Goalie or Striker. Uses Skills to achieve behavior.""" - - def __init__(self, robot: stp.rc.Robot) -> None: - """All Roles should apply to one robot's behavior; thus, robot is defined as a formal argument here. Concrete Roles should overwrite init with their own fields, but call super()'s init to use this shared code, like so: - - super().__init__(robot) - """ - - self._robot: stp.rc.Robot = robot - - @abstractmethod - def tick(self, world_state: stp.rc.WorldState) -> RobotIntent: - """Handle behavior of Role by handling which Skill is ticked, and with what params. Return the RobotIntent returned from ticking a Skill.""" - ... - - @abstractmethod - def is_done(self, world_state: stp.rc.WorldState) -> bool: - """True if Role is done; False otherwise.""" - ... - - @property - def robot(self) -> stp.rc.Robot: - """Returns self._robot. @property allows the getter to be called like this: - - some_role = ConcreteRole() - some_robot = some_role.robot - """ - return self._robot - - -# TODO: delete this when role assignment switched over completely -class Priority(IntEnum): - """An enum to represent priority of the role assignment.""" - - LOW = 0 - MEDIUM = 1 - HIGH = 2 - NUM_PRIORITIES = 3 - - -class CostFn(Protocol): - """Protocol for CostFn.""" - - def __call__( - self, - robot: stp.rc.Robot, - world_state: stp.rc.WorldState, - ) -> float: - """Given a robot and the current world state, returns the cost of assigning that robot to a given role. - :param robot: The current robot to check costs for. - :param world_state: The current world state. - :return: - """ - ... - - def unassigned_cost_fn( - self, prev_results: Optional["RoleResult"], world_state: stp.rc.WorldState - ) -> float: - """Given the previous role assigment and current world state, - returns the cost of not assigning any robot. - :param prev_result: The previous role assignment result. - :param world_state: The current world state. - :return: cost of not assigning - """ - ... - - # def switch_cost_fn( - # self, - # prev_results: Optional["RoleResult"], - # world_state: stp.rc.WorldState, - # sticky_weight) -> float: - # """Given the preevious role assignment and current world state, - # returns the cost of switch the role. - # :param prev_result: The previous role assignment result. - # :param world_state: The current world state. - # :sticky_weight: - # :return: cost of switching the role already assigned - - # """ - - -class ConstraintFn(Protocol): - """Protocol for ConstraintFn.""" - - def __call__( - self, - robot: stp.rc.Robot, - prev_result: Optional["RoleResult"], - world_state: stp.rc.WorldState, - ) -> bool: - """Given a robot, the previous role assignment result, and the current world - state, returns true if the assignment is valid. - :param robot: The current robot to check costs for. - :param prev_result: The previous role assignment result. - :param world_state: The current world state. - :return: True if the assignment is valid, false otherwise. - """ - ... - - -def unconstrained_constraint_fn( - robot: stp.rc.Robot, - prev_result: Optional["RoleResult"], - world_state: stp.rc.WorldState, -) -> bool: - """An unconstrained constraint fn, ie it always returns True. - :param robot: The current robot to check costs for. - :param prev_result: The previous role assignment result. - :param world_state: The current world state. - :return: True. - """ - return True - - -# TODO: delete this when role assignment switched over completely -class RoleRequest: - """Role Request.""" - - __slots__ = ["priority", "required", "cost_fn", "constraint_fn"] - - priority: Priority - required: bool - cost_fn: CostFn - constraint_fn: ConstraintFn - - def __init__( - self, - priority: Priority, - required: bool, - cost_fn: CostFn, - constraint_fn: ConstraintFn = unconstrained_constraint_fn, - ): - self.priority = priority - self.required = required - self.cost_fn = cost_fn - self.constraint_fn = constraint_fn - - def with_priority(self, priority: Priority) -> "RoleRequest": - """Builder style method that modifies the priority and returns the current - instance. - :param priority: The priority to set the RoleRequest to. - :return: self. - """ - self.priority = priority - return self - - def with_required(self, required: bool) -> "RoleRequest": - """Builder style method that modifies required and returns the current - instance. - :param required: Whether the tactic will fail if this RoleRequest is not - fulfilled. - :return: self. - """ - self.required = required - return self - - def with_cost_fn(self, cost_fn: CostFn) -> "RoleRequest": - """Builder style method that modifies the cost function and returns the current - instance. - :param cost_fn: The new cost function to use. - :return: self. - """ - self.cost_fn = cost_fn - return self - - def with_constraint_fn(self, constraint_fn: ConstraintFn) -> "RoleRequest": - """Builder style method that modifies the cost function and returns the current - instance. - :param constraint_fn: The new constraint function to use. - :return: self. - """ - self.constraint_fn = constraint_fn - return self - - def __str__(self) -> str: - return "RoleRequest(priority={:>6}, required={})".format( - self.priority.name, self.required - ) - - def __repr__(self) -> str: - return self.__str__() - - -# TODO: delete this when role assignment switched over completely -class RoleResult: - """The result of role assignment.""" - - __slots__ = ["request", "cost", "role"] - - request: RoleRequest - cost: float - role: Role - - def __init__( - self, - request: RoleRequest, - cost: float, - role: Role, - ): - self.request = request - self.cost = cost - self.role = role - - def is_filled(self) -> bool: - """Returns true if the role request is filled. - :return: True if the role request is filled. - """ - return self.role.is_filled() - - def assign(self, robot: stp.rc.Robot, cost: float) -> None: - """Assigns self.role to the passed in robot, updating self.cost to the - assignment cost. - :param robot: Robot to use for the role. - :param cost: The cost of the assignment. - """ - self.role.robot = robot - self.cost = cost - - @classmethod - def from_request(cls, request: RoleRequest) -> "RoleResult": - """Creates an unfilled RoleResult from a RoleRequest.""" - return RoleResult(request, 0.0, Role(None)) - - def __str__(self) -> str: - return "RoleResult(priority={:>6}, role={})".format( - self.request.priority.name, self.role - ) - - def __repr__(self) -> str: - return self.__str__() diff --git a/rj_gameplay/stp/role/assignment/__init__.py b/rj_gameplay/stp/role/assignment/__init__.py deleted file mode 100644 index 1c51ca7ff1a..00000000000 --- a/rj_gameplay/stp/role/assignment/__init__.py +++ /dev/null @@ -1,34 +0,0 @@ -"""This module contains the interface for role assignment.""" - -from abc import ABC, abstractmethod -from typing import Dict, Any - -import stp.rc -import stp.role as role -import stp.tactic as tactic - -# RoleId = Tuple[Type[tactic.ITactic], tactic.SkillEntry, int] -# TODO: delete once role assignment switched over entirely -RoleId = Any - -FlatRoleRequests = Dict[RoleId, role.RoleRequest] -FlatRoleResults = Dict[RoleId, role.RoleResult] - - -class IRoleAssignment(ABC): - """Interface for role assignment implementations.""" - - @staticmethod - @abstractmethod - def assign_roles( - flat_requests: FlatRoleRequests, - world_state: stp.rc.WorldState, - prev_results: FlatRoleResults, - ) -> FlatRoleResults: - """Assigns roles. - :param flat_requests: The role requests. - :param world_state: The current state of the world. - :param prev_results: The previous results. - :return: The results of the role assignment. - """ - ... diff --git a/rj_gameplay/stp/role/assignment/naive.py b/rj_gameplay/stp/role/assignment/naive.py deleted file mode 100644 index 1045b49f515..00000000000 --- a/rj_gameplay/stp/role/assignment/naive.py +++ /dev/null @@ -1,242 +0,0 @@ -"""Module that contains NaiveRoleAssignment. """ - -from math import isfinite -import sys -from typing import List, Optional, Tuple - -import numpy as np -import scipy.optimize -import stp.rc -import stp.role as role -import stp.role.assignment as assignment -from stp.role import RoleResult - -SortedRequests = List[assignment.FlatRoleRequests] - -# Define some big constant for "hard constraints". -INVALID_COST = sys.maxsize - - -class NaiveRoleAssignment(assignment.IRoleAssignment): - """Naive implementation of role assignment that simply performs the Hungarian - Algorithm (from scipy.optimize) on HIGH, then MEDIUM, then LOW priority in that - order.""" - - def __init__(self): - self.prev_assignments = None - - @staticmethod - def get_sorted_requests( - requests: assignment.FlatRoleRequests, - ) -> SortedRequests: - """Returns a list of FlatRoleRequests sorted in ascending priority order. - :param requests: Flat list of requests. - :return: List of FlatRoleRequests in sorted ascending priority order, ie. - [LOW, MEDIUM, HIGH]. - """ - role_id: assignment.RoleId - request: role.RoleRequest - - sorted_requests: SortedRequests = [ - {} for _ in range(role.Priority.NUM_PRIORITIES) - ] - - for role_id, request in requests.items(): - sorted_requests[int(request.priority)][role_id] = request - - return sorted_requests - - @staticmethod - def compute_costs_matrix( - free_robots: np.ndarray, - flat_requests: assignment.FlatRoleRequests, - world_state: stp.rc.WorldState, - prev_results: assignment.FlatRoleResults, - ) -> np.ndarray: - """Computes the n_free_robots x n_requests cost matrix corresponding to the - passed in free robots and role requests. - :param flat_requests: Role requests to compute cost matrix for. - :param free_robots: Free robots to compute cost matrix for. - :param world_state: Current world state. - :param prev_results: The previous results. - :return: The m x n cost matrix corresponding to the passed in free robots and - role requests. - """ - - # Cost matrix size (n_free_robots + 1, n_requests), extra row for unassigned cost - robot_costs: np.ndarray = np.zeros((len(free_robots) + 1, len(flat_requests))) - - # Row index for unassigned cost of role request - unassigned_idx: float = len(free_robots) - - # Iterate over each role request. - request: role.RoleRequest - for request_idx, (role_id, request) in enumerate(flat_requests.items()): - # For each role request, iterate over robots. - for robot_idx, robot in enumerate(free_robots): - # If the robot is not visible then do not consider its cost - # Cannot be infinte, will break linear_sum_assignment - if not robot.visible: - robot_costs[robot_idx, request_idx] = 1e9 - robot_costs[unassigned_idx, request_idx] = 1e9 - continue - - # Get the previous result for this role_id, if available. - if prev_results is not None: - prev_result: Optional[RoleResult] = prev_results.get(role_id, None) - else: - prev_result = None - # If the constraints are not satisfied, set the cost to INVALID_COST - # and continue. - if not request.constraint_fn(robot, prev_result, world_state): - robot_costs[robot_idx, request_idx] = INVALID_COST - continue - - # Otherwise, record the cost. - cost: float = request.cost_fn(robot, prev_result, world_state) - - # Throw an exception if the returned cost is not finite, - # so unassigned roles can be given infinite cost to be never be assigned - if not isfinite(cost): - raise ValueError( - "Got a non-finite cost ({}) for request {} and robot {}".format( - cost, request, robot - ) - ) - - # Add to robot_costs. - robot_costs[robot_idx, request_idx] = cost - - # Get cost of not assigning a robot to the request - unassigned_cost: float = request.cost_fn.unassigned_cost_fn( - prev_results, world_state - ) - - # Throw an exception if the returned cost is not finite. - if not isfinite(unassigned_cost): - raise ValueError( - "Got a non-finite cost ({}) for request {} and " - " unassinged robot {}".format(cost, request, robot) - ) - - # Add unassigned cost to last row of robot_costs - robot_costs[unassigned_idx, request_idx] = unassigned_cost - - return robot_costs - - @staticmethod - def assign_prioritized_roles( - flat_requests: assignment.FlatRoleRequests, - world_state: stp.rc.WorldState, - free_robots: np.ndarray, - prev_results: assignment.FlatRoleResults, - ) -> Tuple[assignment.FlatRoleResults, np.ndarray]: - """Assigns roles using the Hungarian algorithm. - :param flat_requests: The role requests. - :param world_state: The current state of the game. - :param free_robots: The array of free robots that haven't been assigned yet. - This list will be mutated. Array of stp.rc.Robot. - :param prev_results: The previous results. - :return: The results of the role assignment and the new free_robots after - assignment. - """ - - # Create the flat results. - flat_results: assignment.FlatRoleResults = { - role_id: role.RoleResult.from_request(request) - for role_id, request in flat_requests.items() - } - - # Create a list of keys, so that we have a mapping from indices -> dict entries. - keys_list: List[assignment.RoleId] = list(flat_requests.keys()) - - # Compute the n x m cost matrix. - robot_costs: np.ndarray = NaiveRoleAssignment.compute_costs_matrix( - free_robots, flat_requests, world_state, prev_results - ) - - # Get row index of unassigned cost - unassigned_idx: float = len(free_robots) - - # Get the optimal assignment using the Hungarian algorithm. - robot_ind: np.ndarray - request_ind: np.ndarray - robot_ind, request_ind = scipy.optimize.linear_sum_assignment(robot_costs) - - # Set the assigned robot for each request. - for assignment_idx in range(request_ind.shape[0]): - request_idx: int = request_ind[assignment_idx] - robot_idx: int = robot_ind[assignment_idx] - cost: float = robot_costs[robot_idx, request_idx] - # If cost is equal to INVALID_COST, then it means that role assignment - # failed. Throw an exception. - if cost == INVALID_COST: - raise RuntimeError("Hard constraints not satisfied!") - - # If the row index is not the unassigned row, fill the request - if robot_idx < unassigned_idx: - if ( - robot_costs[robot_idx, request_idx] - < robot_costs[unassigned_idx, request_idx] - ): - robot: stp.rc.Robot = free_robots[robot_idx] - role_id = keys_list[request_idx] - flat_results[role_id].assign(robot, cost) - - # If unassigned index chosen, remove it from the list of row indices to prevent removing unassigned index from free_robots - if unassigned_idx in robot_ind: - robot_ind = robot_ind[robot_ind != unassigned_idx] - - # Remove the robots from free_robots. - free_robots = np.delete(free_robots, robot_ind) - - return flat_results, free_robots - - def assign_roles( - self, - flat_requests: assignment.FlatRoleRequests, - world_state: stp.rc.WorldState, - prev_results: assignment.FlatRoleResults, - ) -> assignment.FlatRoleResults: - """Assigns roles. - :param flat_requests: The role requests. - :param world_state: The current state of the game. - :param prev_results: The previous results. - :return: The results of the role assignment. - """ - # Collect high, medium and low priority requests, sorted in ascending priority - # order. - sorted_requests: SortedRequests = NaiveRoleAssignment.get_sorted_requests( - flat_requests - ) - - # Assign roles for each priority from HIGH to LOW. - requests_dict: assignment.FlatRoleRequests - - # Make a copy of rc.our_robots so that we can mutate it without mutating - # rc.our_robots. - free_robots = np.array(world_state.our_robots) - - flat_results: assignment.FlatRoleResults = {} - - # Iterate over requests from HIGH to LOW. - if world_state is not None: - for requests_dict in reversed(sorted_requests): - """Actually perform the assignment - using the Hungarian algorithm.""" - - ( - prioritized_results, - free_robots, - ) = NaiveRoleAssignment.assign_prioritized_roles( - requests_dict, - world_state, - free_robots, - self.prev_assignments, - ) - - # Add the prioritized_results to flat_results. - flat_results.update(prioritized_results) - self.prev_assignments = flat_results - - return flat_results diff --git a/rj_gameplay/stp/role/constraint.py b/rj_gameplay/stp/role/constraint.py deleted file mode 100644 index 3e2573daeaa..00000000000 --- a/rj_gameplay/stp/role/constraint.py +++ /dev/null @@ -1,23 +0,0 @@ -"""This module contains a variety of functions that return constraint functions for -convenience.""" - -from typing import Optional - -import stp.rc as rc -import stp.role as role - - -def has_ball() -> role.ConstraintFn: - """Creates a constraint function that returns true if the current robot has the - ball. - :return: Constraint function for current robot having the ball. - """ - - def constraint_fn( - robot: rc.Robot, - prev_result: Optional[role.RoleResult], - world_state: rc.WorldState, - ) -> bool: - return robot.has_ball_sense - - return constraint_fn diff --git a/rj_gameplay/stp/role/cost.py b/rj_gameplay/stp/role/cost.py deleted file mode 100644 index 5d5c9fe7f5b..00000000000 --- a/rj_gameplay/stp/role/cost.py +++ /dev/null @@ -1,112 +0,0 @@ -"""This module contains a variety of cost functions for convenience.""" - -from typing import Any - -import numpy as np - -import stp.rc -import stp.role - - -class PickRobotById(stp.role.CostFn): - """Always select robot of robot_id (passed on init).""" - - def __init__(self, robot_id: int): - self._robot_id = robot_id - - def __call__( - self, - robot: stp.rc.Robot, - world_state: stp.rc.WorldState, - ) -> float: - if robot.id == self._robot_id: - return 0.0 - - # TODO: use max int or float('inf') - return 1e9 - - # TODO: rm this as it is not needed in new architecture - # (costFns are linked to Roles, implying that each costFn is the cost - # of a specific robot filling a specific Role -> "unassigned cost" = ??) - def unassigned_cost_fn( - self, prev_results: Any, world_state: stp.rc.WorldState - ) -> float: - pass - - # TODO: enforce __repr__ for all STP classes? - # using common fmt "clsname(init fields=...)" - def __repr__(self): - return f"PickRobotById(robot={self._robot_id})" - - -class PickClosestToPoint(stp.role.CostFn): - """Always select closest robot to some target_point (passed on init). - Can get closest to ball by passing in `world_state.ball.pos`. - """ - - def __init__(self, target_point: np.ndarray): - self._target_point = target_point - - def __call__( - self, - robot: stp.rc.Robot, - world_state: stp.rc.WorldState, - ) -> float: - if world_state is not None and robot in world_state.our_robots: - return np.linalg.norm(robot.pose[:2] - self._target_point) - - # TODO: use max int or float('inf') - return 1e9 - - def __repr__(self): - return f"PickClosestToPoint(target_point={self._target_point})" - - -class PickFarthestFromPoint(stp.role.CostFn): - """Always select farthest robot to some target_point (passed on init). - Can get farthest from ball by passing in `world_state.ball.pos`. - """ - - def __init__(self, target_point): - self.closest_picker = PickClosestToPoint(target_point) - - def __call__( - self, - robot: stp.rc.Robot, - world_state: stp.rc.WorldState, - ) -> float: - closest_cost = self.closest_picker(robot, world_state) - if closest_cost >= 1e9: - return 1e9 - return -closest_cost - - def __repr__(self): - return f"PickFarthestFromPoint(target_point={self._target_point})" - - -class PickClosestInFront(stp.role.CostFn): - """Select closest robot "in front" of the current one. (Assuming opp goal is front.)""" - - def __init__(self, target_point): - self._target_point = target_point - self.closest_picker = PickClosestToPoint(target_point) - - def __call__( - self, - robot: stp.rc.Robot, - world_state: stp.rc.WorldState, - ) -> float: - closest_cost = self.closest_picker(robot, world_state) - bot_to_goal = np.linalg.norm(robot.pose[0:2] - world_state.field.their_goal_loc) - ball_to_goal = np.linalg.norm( - world_state.ball.pos - world_state.field.their_goal_loc - ) - - if closest_cost >= 1e9: - return 1e9 - if bot_to_goal > ball_to_goal: - return closest_cost + 100 - return closest_cost - - def __repr__(self): - return f"PickClosestInFront(target_point={self._target_point})" diff --git a/rj_gameplay/stp/situation/__init__.py b/rj_gameplay/stp/situation/__init__.py deleted file mode 100644 index cbd05a6fd25..00000000000 --- a/rj_gameplay/stp/situation/__init__.py +++ /dev/null @@ -1,45 +0,0 @@ -"""This module contains the interfaces ISituation, IAnalyzer and IPlaySelector.""" - -from abc import ABC, abstractmethod -from typing import Tuple, Optional - -from stp.play import Play -import stp.rc as rc - - -class ISituation(ABC): - """Interface for a situation.""" - - ... - - -class IAnalyzer(ABC): - """Interface for situation analyzer.""" - - @abstractmethod - def analyze_situation( - self, world_state: rc.WorldState, game_info: rc.GameInfo - ) -> ISituation: - """Returns the best situation for the current world state. - :param world_state: The current state of the world. - :param game_info: The information about the state of the game. - :return: The best situation for the current world state. - """ - ... - - -class IPlaySelector(ABC): - """Abstract class for play selector.""" - - def __init__(self): - self.analyzer: IAnalyzer = None - self.curr_situation: ISituation = None - self.curr_play: Play = None - - @abstractmethod - def select(self, world_state: rc.WorldState) -> Tuple[Optional[ISituation], Play]: - """Selects the best situation and play given given the current world state. - :param world_state: The current state of the world. - :return: A tuple of the best situation and best play. - """ - ... diff --git a/rj_gameplay/stp/skill/__init__.py b/rj_gameplay/stp/skill/__init__.py deleted file mode 100644 index 8393b1d44aa..00000000000 --- a/rj_gameplay/stp/skill/__init__.py +++ /dev/null @@ -1,36 +0,0 @@ -""" This module contains data structures for the Skills level of STP. -""" - -from abc import ABC, abstractmethod -from typing import Dict, List, Type, TypeVar - -import stp.role as role -import stp.rc -from rj_msgs.msg import RobotIntent - - -class ISkill(ABC): - pass - - -class Skill(ABC): - """Atomic single-robot behavior, such as Move or PivotKick. Created and ticked by Tactics. Uses Actions to get RobotIntents.""" - - # TODO: update docstring when ActionClients are up and running - - def tick(self, world_state: stp.rc.WorldState) -> RobotIntent: - """Logic for Skill goes here. RobotIntents obtained via Actions. - - robot state is updated through super call to this method (i.e. super().tick(world_state)) - - .msg - :param world_state: Current world state. - :return: A single RobotIntent. - """ - if self.robot is not None: - self.robot = world_state.our_robots[self.robot.id] - - @abstractmethod - def is_done(self, world_state: stp.rc.WorldState) -> bool: - """True when skill is done; False otherwise.""" - ... diff --git a/rj_gameplay/stp/skill/action_behavior.py b/rj_gameplay/stp/skill/action_behavior.py deleted file mode 100644 index 68d48e68bf2..00000000000 --- a/rj_gameplay/stp/skill/action_behavior.py +++ /dev/null @@ -1,73 +0,0 @@ -import py_trees -import random -import stp.action as action -from typing import Optional, Any -import stp.rc as rc -from typing import TypedDict, List - - -class RobotActions(TypedDict): - robot_id: int - actions: List[action.IAction] - - -class ActionBehavior(py_trees.behaviour.Behaviour): - """ - A behaviour for behviour trees which ticks its action when ticked - """ - - def __init__( - self, - name: str, - action: action.IAction, - robot: rc.Robot = None, - ctx=None, - ) -> None: - self.action = action - self.ctx = ctx - self.robot = robot - self.world_state = None - super(ActionBehavior, self).__init__(name) - - def tick_once( - self, robot: rc.Robot, world_state: rc.WorldState, ctx=None - ) -> RobotActions: - """ - Ticks its action using the robot given (if root) or the robot from its parent. - This will probably become tick() or spin() once action server is implemented - TODO: Should return a list of robot intents - """ - if robot is not None: - self.robot = robot - else: - self.robot = self.parent.robot - self.action.robot_id = robot.id - if world_state is not None: - self.world_state = world_state - else: - self.world_state = self.parent.world_state - # if robot is None: - # self.robot = self.parent.robot - self.ctx = ctx - super().tick_once() - return {self.robot.id: [self.action]} - - def initialise(self) -> None: - """ - Begin spinning the action - TODO: Implement with action server - """ - pass - - def update(self) -> py_trees.common.Status: - """ - Check action and return the current state of the aciton - TODO: Needs to somehow use robot intents to check on status of action - """ - if not self.world_state is None and self.action.is_done(self.world_state): - return py_trees.common.Status.SUCCESS - else: - return py_trees.common.Status.RUNNING - - def terminate(self, new_status): - pass diff --git a/rj_gameplay/stp/tactic/__init__.py b/rj_gameplay/stp/tactic/__init__.py deleted file mode 100644 index a964ecb45df..00000000000 --- a/rj_gameplay/stp/tactic/__init__.py +++ /dev/null @@ -1,101 +0,0 @@ -import itertools -from abc import ABC, abstractmethod -from typing import Any, List, Tuple - -from rj_msgs.msg import RobotIntent - -import stp.rc -import stp.role - - -# TODO: delete this once all tactics have been switched over -class ITactic(ABC): - pass - - -RoleRequests = Any -RoleResults = Any -SkillEntry = Any - - -class Tactic(ABC): - """High-level construct that coordinates one or more roles. Creates role requests to be handled by Plays.""" - - @abstractmethod - def __init__(self, world_state: stp.rc.WorldState) -> None: - """Create empty lists for handling role requests. world_state given on init because - some Tactics need world_state on init. - """ - - # TODO: make tuple = RoleRequest (or make obj with these two params)? - self._role_requests: List[Tuple[stp.role.Role, stp.role.CostFn]] = [] - # TODO: make these properties too? - self.assigned_robots = [] - self.assigned_roles = [] - - @abstractmethod - def init_roles(self, world_state: stp.rc.WorldState) -> None: - """Given assigned robots by the Play, initialize each role of role_requests with its assigned robot.""" - ... - - @abstractmethod - def tick( - self, world_state: stp.rc.WorldState - ) -> List[Tuple[int, RobotIntent]]: # (id, intent) - """Tick each Role of the Tactic to get a list of robot_ids and linked RobotIntents for the Play.""" - - # TODO: update self.world_state every tick, like Skills? - ... - - @abstractmethod - def is_done( - self, - world_state: stp.rc.WorldState, - ) -> bool: - """True when Tactic is done; False otherwise.""" - ... - - @property - def role_requests(self) -> List[Tuple[stp.role.Role, stp.role.CostFn]]: - """Returns self._role_requests. @property allows the getter to be called like this: - - some_tactic = ConcreteTactic() - role_reqs = some_tactic.role_requests - """ - return self._role_requests - - # TODO: use @property setter? - def set_assigned_robots(self, assigned_robots): - self.assigned_robots = assigned_robots - - @property - def needs_assign(self): - # never needs assign after init - return False - - def __repr__(self): - """ - returns a string with all the roles requested and all the roles assigned. - """ - text = "" - text += f"{self.__class__.__name__}:\n" - text += "Roles Requested: " - if self._role_requests: - temp = [ - f"({role.__name__}, {cost.__class__.__name__})" - for cost, role in self._role_requests - if role != None and cost != None - ] - text += ", ".join(temp) - text += "\nRoles Assigned: " - if self.assigned_roles: - text += ", ".join( - [ - f"({role.__class__.__name__}, {robot.id})" - for role, robot in itertools.zip_longest( - self.assigned_roles, self.assigned_robots - ) - if robot != None and role != None - ] - ) - return text diff --git a/rj_gameplay/stp/testing.py b/rj_gameplay/stp/testing.py deleted file mode 100644 index 2a98c6909fd..00000000000 --- a/rj_gameplay/stp/testing.py +++ /dev/null @@ -1,131 +0,0 @@ -from stp.rc import ( - Robot, - WorldState, - GameInfo, - Field, - Ball, - GamePeriod, - GameState, - GameRestart, -) -import numpy as np - -RobotId = int - - -def generate_test_robot( - robot_id: RobotId, - is_ours: bool = True, - pose: np.ndarray = np.array([0.0, 0.0, 0.0]), - twist: np.ndarray = np.array([0.0, 0.0, 0.0]), - has_ball_sense=False, -): - """ - Returns a robot with default options for use in testing - """ - bot = Robot( - robot_id, - is_ours, - pose, - twist, - has_ball_sense=has_ball_sense, - visible=True, - kicker_charged=True, - kicker_healthy=True, - lethal_fault=False, - ) - return bot - - -def generate_test_ball( - pos: np.ndarray = np.array([0.0, 0.0]), - vel: np.ndarray = np.array([0.0, 0.0]), - visible: bool = True, -): - ball = Ball(pos, vel, visible) - return ball - - -def generate_divA_field(): - """ - Generate a division A field - - Penalty distances and "goal_flat" need to be fixed - """ - field = Field( - length_m=12.0, - width_m=9.0, - border_m=0.3, - line_width_m=0.01, - goal_width_m=1.8, - goal_depth_m=0.18, - goal_height_m=0.16, - penalty_short_dist_m=float("nan"), - penalty_long_dist_m=float("nan"), - center_radius_m=0.5, - center_diameter_m=1.0, - goal_flat_m=float("nan"), - floor_length_m=13.4, - floor_width_m=10.04, - ) - return field - - -def generate_divB_field(): - """ - Generate a division B field - - Penalty distances and "goal_flat" need to be fixea - - Note, penalty distances are width and deapth of the penalty area - """ - field = Field( - length_m=9.0, - width_m=6.0, - border_m=0.3, - line_width_m=0.01, - goal_width_m=1.0, - goal_depth_m=0.18, - goal_height_m=0.16, - penalty_short_dist_m=float("nan"), - penalty_long_dist_m=float("nan"), - center_radius_m=0.5, - center_diameter_m=1.0, - goal_flat_m=float("nan"), - floor_length_m=10.04, - floor_width_m=7.4, - ) - return field - - -def generate_our_field(): - """ - Generates the practice field that we have - """ - raise NotImplementedError("Our field specifications need to be entered") - # field = Field(length_m = 5918, width_m = , border_m = 0.3, line_width_m = 0.01, goal_width_m = 1.0, goal_depth_m = 0.18, goal_height_m = 0.16, penalty_short_dist_m = float('nan'), penalty_long_dist_m = float('nan'), center_radius_m = 0.5, center_diameter_m = 1.0, goal_flat_m = float('nan'), floor_length_m: 10.04, floor_width_m = 7.4): - # return field - - -def generate_test_playing_gameinfo(): - info = GameInfo( - GamePeriod.FIRST_HALF, GameState.PLAYING, GameRestart.NONE, False, 0 - ) - return info - - -def generate_test_worldstate( - our_robots=[], - their_robots=[], - ball=generate_test_ball(), - game_info=generate_test_playing_gameinfo(), - field=generate_divB_field(), - goalie_id=0, -): - """ - generates a test worldstate - """ - our_bots = our_robots - their_bots = their_robots - world = WorldState(our_bots, their_bots, ball, game_info, field, goalie_id) - return world diff --git a/rj_gameplay/stp/utils/__init__.py b/rj_gameplay/stp/utils/__init__.py deleted file mode 100644 index 9af0c553a84..00000000000 --- a/rj_gameplay/stp/utils/__init__.py +++ /dev/null @@ -1,3 +0,0 @@ -"""This module contains useful utilities for the STP library.""" - -import stp.utils.typed_key_dict diff --git a/rj_gameplay/stp/utils/constants.py b/rj_gameplay/stp/utils/constants.py deleted file mode 100644 index acc971a2880..00000000000 --- a/rj_gameplay/stp/utils/constants.py +++ /dev/null @@ -1,51 +0,0 @@ -# import robocup -import math - -# for degrees->rad or reverse, use np.deg2rad or np.rad2deg) -OUR_CHIP_ROLL = 3 # Average distance at which a ball is slow enough to capture -THEIR_CHIPPING = (0.1, 0.8) - - -class OurChippingConstants: - MIN_CARRY = 0.1 - MAX_CARRY = 0.8 - CAPTURE_DISTANCE = 3 - MIN_CARRY_TIME = 0.1 - MAX_CARRY_TIME = 0.4 - CAPTURE_DISTANCE_TIME = 1.2 - - -class ColorConstants: - WHITE = (255, 255, 255) - BLACK = (0, 0, 0) - GREEN = (0, 255, 0) - RED = (255, 0, 0) - BLUE = (0, 0, 255) - - -class RobotConstants: - RADIUS = 0.09 - MAX_KICK_SPEED = 5.0 # m/s - CHIP_CLEARANCE = ( - 0.1, - 0.6, - ) # min and max distance a chip will go over another robot - - -class DribblerConstants: - MAX_POWER = 127 - - # "Normal" Dribbler speed to be used for generic ball capture/movement - STANDARD_POWER = 127 - - -class BallConstants: - RADIUS = 0.0215 - MASS = 0.04593 # mass of golf ball (kg) - - -class EvaluationConstants: - SLOW_THRESHOLD = 1 - - -# for field dimensions, use world_state.field (see /stp/rc.py for details) diff --git a/rj_gameplay/stp/utils/enum.py b/rj_gameplay/stp/utils/enum.py deleted file mode 100644 index 9d48a391e45..00000000000 --- a/rj_gameplay/stp/utils/enum.py +++ /dev/null @@ -1,28 +0,0 @@ -"""This module contains the implementation of a metaclass for defining Enums.""" - -from typing import Any, Dict, List, Tuple, Type, cast - - -class SimpleEnumMeta(type): - """Metaclass for TacticsEnum. Collects all the class attributes and puts it - in enum_names""" - - enum_names: List[str] - - def __new__( - cls: Type["SimpleEnumMeta"], - name: str, - bases: Tuple[type, ...], - class_dict: Dict[str, Any], - ) -> "SimpleEnumMeta": - object_attrs = set(dir(type(name, (object,), {}))) - enum_cls = super().__new__(cls, name, bases, class_dict) - - enum_cls.enum_names = [ # type: ignore - key - for key in class_dict.keys() - if key not in object_attrs - and not (key.startswith("_") and key.endswith("_")) - ] - - return cast(SimpleEnumMeta, enum_cls) diff --git a/rj_gameplay/stp/utils/fsm.py b/rj_gameplay/stp/utils/fsm.py deleted file mode 100644 index 506cd40287a..00000000000 --- a/rj_gameplay/stp/utils/fsm.py +++ /dev/null @@ -1,140 +0,0 @@ -import logging -from enum import Enum -from typing import ( - Union, - Callable, - Dict, - Optional, - TypedDict, -) - -State = Enum -TransitionFunction = Callable[[], bool] # Takes no args, returns a bool - - -class Event(TypedDict): - condition: TransitionFunction - name: str - - -TransitionTable = Dict[State, Dict[State, Event]] # [from][to] = Event -StateMethod = Callable[[], None] # Takes nothing, returns nothing -OnEnterMethod = Callable[[], None] # Takes nothing, returns nothing -OnExitMethod = Callable[[], None] # Takes nothing, returns nothing - - -## @brief generic hierarchial state machine class. -# -# states can have substates. If the machine is in a state, then it is also implicitly in that state's parent state -# this basically provides for polymorphism/subclassing of state machines -# -# There are three methods corresponding to each state: -# * on_enter_STATE -# * execute_STATE -# * on_exit_STATE -# -# Subclasses of StateMachine can optionally implement them and they will automatically be called at the appropriate times. -class StateMachine: - def __init__(self, start_state: State): - self._transitions: TransitionTable = {} - self._start_state: State = start_state - self._state: Optional[State] = None - - @property - def start_state(self) -> State: - return self._start_state - - ## Resets the FSM back into the start state - def restart(self) -> None: - self.transition(self.start_state) - - ## Runs the FSM - # checks transition conditions for all edges leading away from the current state - # if one evaluates to true, we transition to it - # if more than one evaluates to true, we throw a RuntimeError - def tick(self) -> None: - # call execute_STATENAME - if self.state is not None: - method_name = "execute_" + self.state.name - exec_callback: Optional[StateMethod] = None - try: - exec_callback = getattr(self, method_name) - except AttributeError: - pass - if exec_callback is not None: - exec_callback() - - if self.state is None: - self.transition(self.start_state) - else: - # transition if an 'event' fires - next_states = [] - if self.state in self._transitions: - for next_state, transition in self._transitions[self.state].items(): - if transition["condition"](): - next_states += [next_state] - - if len(next_states) > 1: - logging.warning( - "Ambiguous fsm transitions from state'" - + str(self.state) - + "'. The following states are reachable now: " - + str(next_states) - + "; Proceeding by taking the first option." - ) - if len(next_states) > 0: - self.transition(next_states[0]) - - # if you add a transition that already exists, the old one will be overwritten - def add_transition( - self, - from_state: State, - to_state: State, - condition: Union[bool, TransitionFunction], - event_name: str, - ) -> None: - if isinstance(condition, bool): - condition_fn = lambda: condition - else: - condition_fn = condition - - if from_state not in self._transitions: - self._transitions[from_state] = {} - - self._transitions[from_state][to_state] = { - "condition": condition_fn, - "name": event_name, - } - - # sets @state to the new_state given - # calls 'on_exit_STATENAME()' if it exists - # calls 'on_enter_STATENAME()' if it exists - def transition(self, new_state: State) -> None: - if self.state is not None: - method_name = "on_exit_" + self.state.name - exit_callback: Optional[OnExitMethod] = None - try: - exit_callback = getattr( - self, method_name - ) # call the transition FROM method if it exists - except AttributeError: - pass - if exit_callback is not None: - exit_callback() - - method_name = "on_enter_" + new_state.name # pylint: disable=no-member - enter_callback: Optional[OnEnterMethod] = None - try: - enter_callback = getattr( - self, method_name - ) # call the transition TO method if it exists - except AttributeError: - pass - if enter_callback is not None: - enter_callback() - - self._state = new_state - - @property - def state(self) -> Optional[State]: - return self._state diff --git a/rj_gameplay/stp/utils/pass_seeker_optimizer.py b/rj_gameplay/stp/utils/pass_seeker_optimizer.py deleted file mode 100644 index 5db75b4fc29..00000000000 --- a/rj_gameplay/stp/utils/pass_seeker_optimizer.py +++ /dev/null @@ -1,30 +0,0 @@ -from scipy.optimize import minimize -import numpy as np -from typing import Callable, Tuple, Optional, Any, Sequence -import stp.rc as rc - - -## Function that optimizes cost function for pass seeking -# uses scipy minimize using the BFGS method -def find_seek_point( - heuristic: Callable[[Tuple[float, float]], float], - world_state: rc.WorldState, - initial_guess: Optional[Tuple[float, float]] = (0, 0), - max_iter: Optional[int] = None, -) -> np.ndarray: - width = world_state.field.width_m - length = world_state.field.length_m - if max_iter is not None: - options = {"maxiter": max_iter, "disp": False} - else: - options = None - result = minimize( - heuristic, - initial_guess, - (world_state), - bounds=((-width / 2.00, width / 2.00), (0.00, length)), - tol=1e-3, - options=options, - ) - point = np.array([result.x[0], result.x[1]]) - return point diff --git a/rj_gameplay/stp/utils/typed_key_dict.py b/rj_gameplay/stp/utils/typed_key_dict.py deleted file mode 100644 index 4c7393fdae0..00000000000 --- a/rj_gameplay/stp/utils/typed_key_dict.py +++ /dev/null @@ -1,76 +0,0 @@ -"""This module contains data structures to define TypedKeyDict.""" - -from collections.abc import MutableMapping -from typing import Dict, Generic, Type, TypeVar - -ValueInterfaceT = TypeVar("ValueInterfaceT") - -# There's no way to specify that ValueConcreteT is bounded by ValueInterfaceT, so these -# two types are separate, and we need to force mypy to accept this. -ValueConcreteT = TypeVar("ValueConcreteT") - - -class TypedKey(Generic[ValueConcreteT]): - """A key that contains type information about the value.""" - - __slots__ = ["concrete_cls"] - - def __init__(self, cls: Type[ValueConcreteT]): - self.concrete_cls = cls - - def value_t(self) -> Type[ValueConcreteT]: - """Returns the type of the value for this key. - :return: The type of the value for this key. - """ - return self.concrete_cls - - -class TypedKeyDict(Generic[ValueInterfaceT], MutableMapping): - """A dictionary with type information where the key encodes information about the - subclass so that the correct subclass can be retrieved without an additional - instanceof check. - """ - - __slots__ = ["_dict"] - - def __init__(self): - self._dict: Dict[TypedKey, ValueInterfaceT] = {} - - def __getitem__(self, key: TypedKey[ValueConcreteT]) -> ValueConcreteT: - # The below can throw a KeyError. - item: ValueInterfaceT = self._dict[key] - - # Check that the item we got was an instance of the expected type. - if not isinstance(item, key.concrete_cls): - raise KeyError( - "Item {} from key {} is not an instance of {}".format( - item, key, key.concrete_cls - ) - ) - - return item - - def __setitem__(self, key: TypedKey[ValueConcreteT], value: ValueConcreteT) -> None: - # Check that the item we're setting is an instance of the expected type. - if not isinstance(value, key.concrete_cls): - raise KeyError( - "Item {} from key {} is not an instance of {}".format( - value, key, key.concrete_cls - ) - ) - - # We need to force mypy to accept that ValueConcreteT is a subclass of - # ValueInterfaceT, even though there's no actual checks that this is true. - self._dict.__setitem__(key, value) # type: ignore - - def __delitem__(self, key: TypedKey[ValueConcreteT]) -> None: - self._dict.__delitem__(key) - - def __len__(self) -> int: - return self._dict.__len__() - - def __iter__(self): - return self._dict.__iter__() - - def __contains__(self, item) -> bool: - return self._dict.__contains__(item) diff --git a/rj_gameplay/stp/utils/world_state_converter.py b/rj_gameplay/stp/utils/world_state_converter.py deleted file mode 100644 index 3f8291e28fb..00000000000 --- a/rj_gameplay/stp/utils/world_state_converter.py +++ /dev/null @@ -1,328 +0,0 @@ -from rj_msgs import msg -import stp.rc as rc -import numpy as np - -from typing import List, Optional - -RobotId = Optional[int] - - -class RobotStatus: - """ - A class to contain the information from the robot status messsage - """ - - __slots = [ - "robot_id", - "has_ball_sense", - "kicker_charged", - "kicker_healthy", - "lethal_fault", - ] - - robot_id: RobotId - """ - visible: bool - has_ball_sense: bool - kicker_charged: bool - kicker_healthy: bool - lethal_fault: bool - """ - - def __init__( - self, - robot_id: RobotId = None, - has_ball_sense: bool = None, - kicker_charged: bool = None, - kicker_healthy: bool = None, - lethal_fault: bool = None, - ): - self.robot_id = robot_id - self.has_ball_sense = has_ball_sense - self.kicker_charged = kicker_charged - self.kicker_healthy = kicker_healthy - self.lethal_fault = lethal_fault - - -class RobotState: - """ - A class to contain the infomration from the robot state message - """ - - __slots = ["id", "pose", "twist", "visible"] - - id: RobotId - pose: np.ndarray - twist: np.ndarray - visible: bool - - def __init__( - self, - id: RobotId, - pose: np.ndarray, - twist: np.ndarray, - visible: bool, - ): - self.id = id - self.pose = pose - self.twist = twist - self.visible = visible - - -class PartialWorldState: - """ - A class that contains all the ball, and robot states - """ - - __slots = ["our_robots", "their_robots", "ball"] - - our_robots: List[RobotState] - their_robots: List[RobotState] - ball: rc.Ball - - def __init__( - self, - our_robots: List[RobotState], - their_robots: List[RobotState], - ball: rc.Ball, - ): - self.our_robots = our_robots - self.their_robots = their_robots - self.ball = ball - - -def robotstate_to_partial_robot(robot_msg: msg.RobotState, index: int) -> RobotState: - """ - :return: robot state class representing the state of the robot, partially representing the larger Robot class. - """ - robot_id = index - - x = robot_msg.pose.position.x - y = robot_msg.pose.position.y - theta = robot_msg.pose.heading - pose = np.array([x, y, theta]) - - dx = robot_msg.velocity.linear.x - dy = robot_msg.velocity.linear.y - dtheta = robot_msg.velocity.angular - twist = np.array([dx, dy, dtheta]) - - is_visible = robot_msg.visible - - robot = RobotState(robot_id, pose, twist, is_visible) - - return robot - - -def robotstatus_to_partial_robot(robot_msg: msg.RobotStatus) -> RobotStatus: - """ - :return: robot status class representing the status of the robot, partially representing the larger Robot class. - """ - robot_id = robot_msg.robot_id - - ball_sense = robot_msg.has_ball_sense - - kicker_charged = robot_msg.kicker_charged - - kicker_healthy = robot_msg.kicker_healthy - - lethal_fault = robot_msg.fpga_error - - robot = RobotStatus( - robot_id, ball_sense, kicker_charged, kicker_healthy, lethal_fault - ) - - return robot - - -def ballstate_to_ball(ball_msg: msg.BallState) -> rc.Ball: - """ - :return: ball class representing the state of the ball. - """ - x = ball_msg.position.x - y = ball_msg.position.y - pos = np.array([x, y]) - - dx = ball_msg.velocity.x - dy = ball_msg.velocity.y - vel = np.array([dx, dy]) - - visible = ball_msg.visible - ball = rc.Ball(pos, vel, visible) - - return ball - - -def build_game_info( - play_state_msg: msg.PlayState, match_state_msg: msg.MatchState -) -> rc.GameInfo: - """ - :return: GameInfo class from rc.py - """ - - period = rc.GamePeriod(match_state_msg.period) - - state = rc.GameState(play_state_msg.state) - - restart = rc.GameRestart(play_state_msg.restart) - - our_restart = play_state_msg.our_restart - - game_info = rc.GameInfo( - period, - state, - restart, - our_restart, - np.array( - [ - play_state_msg.placement_point.x, - play_state_msg.placement_point.y, - ] - ), - ) - - return game_info - - -def field_msg_to_field(field_msg: msg.FieldDimensions) -> rc.Field: - """ - :return: Field class from rc.py - """ - - length = field_msg.length - width = field_msg.width - border = field_msg.border - line_width = field_msg.line_width - goal_width = field_msg.goal_width - goal_depth = field_msg.goal_depth - goal_height = field_msg.goal_height - penalty_short_dist = field_msg.penalty_short_dist - penalty_long_dist = field_msg.penalty_long_dist - center_radius = field_msg.center_radius - center_diameter = field_msg.center_diameter - goal_flat = field_msg.goal_flat - floor_length = field_msg.floor_length - floor_width = field_msg.floor_width - - field = rc.Field( - length, - width, - border, - line_width, - goal_width, - goal_depth, - goal_height, - penalty_short_dist, - penalty_long_dist, - center_radius, - center_diameter, - goal_flat, - floor_length, - floor_width, - ) - - return field - - -def worldstate_message_converter(msg: msg.WorldState) -> PartialWorldState: - """ - :return: partial world state class representing the state of the robots and ball. - """ - our_robots: List[RobotState] - our_robots = [] - - their_robots: List[RobotState] - their_robots = [] - - for i in range(len(msg.our_robots)): - our_robots.append(robotstate_to_partial_robot(msg.our_robots[i], i)) - - for i in range(len(msg.their_robots)): - their_robots.append(robotstate_to_partial_robot(msg.their_robots[i], i)) - - ball = ballstate_to_ball(msg.ball) - - world_state = PartialWorldState(our_robots, their_robots, ball) - - return world_state - - -def robot_creator( - robot_state: RobotState, robot_status: RobotStatus = None -) -> rc.Robot: - """ - A function which combines the robot state and robot status to create a rc.Robot class - :return: Robot class from rc.Robot representing the status and state of the robot - """ - - if robot_status is None: - is_ours = False - robot_id = robot_state.id - ball_sense = False - kicker_charged = False - kicker_healthy = False - lethal_fault = False - else: - is_ours = True - robot_id = robot_state.id - ball_sense = robot_status.has_ball_sense - kicker_charged = robot_status.kicker_charged - kicker_healthy = robot_status.kicker_healthy - lethal_fault = robot_status.lethal_fault - pose = robot_state.pose - twist = robot_state.twist - is_visible = robot_state.visible - - robot = rc.Robot( - robot_id, - is_ours, - pose, - twist, - is_visible, - ball_sense, - kicker_charged, - kicker_healthy, - lethal_fault, - ) - - return robot - - -def worldstate_creator( - partial_world_state: PartialWorldState, - robot_statuses: List[RobotStatus], - game_info: rc.GameInfo, - field: rc.Field, - goalie_id: int, -) -> rc.WorldState: - """ - A function which combines the partial world state, robot statuses, game info, and field to create a whole world state - :return: a world state as a rc.WorldState object - """ - - our_partial_robots = partial_world_state.our_robots - their_partial_robots = partial_world_state.their_robots - our_robots = [] - their_robots = [] - - for i in range(len(our_partial_robots)): - robot = robot_creator(our_partial_robots[i], robot_statuses[i]) - our_robots.append(robot) - - for partial_bot in their_partial_robots: - robot = robot_creator(partial_bot, None) - their_robots.append(robot) - - if game_info is None: - game_info = None - - world_state = rc.WorldState( - our_robots, - their_robots, - partial_world_state.ball, - game_info, - field, - goalie_id, - ) - - return world_state diff --git a/rj_gameplay/tests/stp/test_rc.py b/rj_gameplay/tests/stp/test_rc.py deleted file mode 100644 index f04b3ade888..00000000000 --- a/rj_gameplay/tests/stp/test_rc.py +++ /dev/null @@ -1,112 +0,0 @@ -import numpy as np -import stp.testing as testing -from stp.rc import ( - GamePeriod, - GameRestart, - GameState, -) -import warnings - - -def test_generate_test_robot() -> None: - bot = testing.generate_test_robot(robot_id=0) - assert bot.id == 0 - assert bot.is_ours is True - assert type(bot.pose) is np.ndarray - assert np.all(bot.pose == np.array([0.0, 0.0, 0.0])) - assert type(bot.twist) is np.ndarray - assert np.all(bot.twist == np.array([0.0, 0.0, 0.0])) - assert bot.visible is True - assert bot.has_ball_sense is False - assert bot.kicker_charged is True - assert bot.kicker_healthy is True - assert bot.lethal_fault is False - - bot2 = testing.generate_test_robot( - robot_id=2, - is_ours=False, - pose=np.array([1.0, 2.0, 3.0]), - twist=np.array([0.0, 2.0, 1.1]), - has_ball_sense=True, - ) - - assert bot2.id == 2 - assert bot2.is_ours is False - assert np.all(bot2.pose == np.array([1.0, 2.0, 3.0])) - assert np.all(bot2.twist == np.array([0.0, 2.0, 1.1])) - - # Make warnings into errors - warnings.filterwarnings("error") - try: - assert bot2.has_ball_sense is True - except RuntimeWarning: - pass - - -def test_generate_test_ball() -> None: - ball = testing.generate_test_ball() - assert np.all(ball.vel == np.array([0.0, 0.0])) - assert np.all(ball.pos == np.array([0.0, 0.0])) - assert ball.visible is True - - warnings.filterwarnings("error") - invis_ball = testing.generate_test_ball(visible=False) - try: - assert np.all(invis_ball.vel == np.array([0.0, 0.0])) - assert False - except RuntimeWarning: - pass - - ball2 = testing.generate_test_ball( - pos=np.array([1.0, 2.0]), vel=np.array([2.0, 3.0]), visible=True - ) - assert np.all(np.array([1.0, 2.0]) == ball2.pos) - assert np.all(np.array([2.0, 3.0]) == ball2.vel) - - -def test_generate_test_field() -> None: - fieldA = testing.generate_divA_field() - fieldB = testing.generate_divB_field() - assert fieldB.length_m == 9.0 - assert fieldB.width_m == 6.0 - assert fieldA.length_m == 12.0 - assert fieldA.width_m == 9.0 - assert np.all(fieldA.our_goal_loc == np.array([0.0, 0.0])) - assert np.all(fieldA.their_goal_loc == np.array([0.0, 12.0])) - assert np.all(fieldA.center_field_loc == np.array([0.0, 6.0])) - assert np.all(fieldB.center_field_loc == np.array([0.0, 4.5])) - - -def test_generate_test_game_info() -> None: - info = testing.generate_test_playing_gameinfo() - assert info.period == GamePeriod.FIRST_HALF - assert info.state == GameState.PLAYING - assert info.restart == GameRestart.NONE - warnings.filterwarnings("error") - try: - assert info.our_restart == False - assert False - except RuntimeWarning: - pass - - -def test_generate_test_world_state() -> None: - worldState = testing.generate_test_worldstate() - assert len(worldState.our_robots) == 0 - assert len(worldState.their_robots) == 0 - assert len(worldState.robots) == 0 - assert np.all(worldState.ball.pos == np.array([0.0, 0.0])) - our_bots = list() - their_bots = list() - for g in range(1, 12): - our_bots.append(testing.generate_test_robot(robot_id=g)) - their_bots.append(testing.generate_test_robot(robot_id=g, is_ours=False)) - - world2 = testing.generate_test_worldstate( - our_robots=our_bots, - their_robots=their_bots, - field=testing.generate_divA_field(), - ball=testing.generate_test_ball(pos=np.array([0.0, 1.0])), - ) - assert len(world2.robots) == 22 - assert len(world2.our_robots) == 11 diff --git a/rj_gameplay/tests/stp/utils/test_typed_key_dict.py b/rj_gameplay/tests/stp/utils/test_typed_key_dict.py deleted file mode 100644 index 447a44728af..00000000000 --- a/rj_gameplay/tests/stp/utils/test_typed_key_dict.py +++ /dev/null @@ -1,172 +0,0 @@ -from typing import Type - -import pytest -from stp.utils.typed_key_dict import TypedKey, TypedKeyDict, ValueConcreteT - - -class Interface: - def __init__(self, name: str): - self.name = name - - def __eq__(self, other) -> bool: - if not isinstance(other, Interface): - return False - - return self.name == other.name - - -class ConcreteA(Interface): ... - - -class ConcreteB(Interface): ... - - -class Key(TypedKey[ValueConcreteT]): - def __init__(self, str_val: str, cls: Type[ValueConcreteT]): - self.str_val = str_val - super().__init__(cls) - - def __eq__(self, other) -> bool: - if not isinstance(other, Key): - return False - - return self.str_val == other.str_val - - def __hash__(self) -> int: - return hash(self.str_val) - - -class TKDictFixture: - def __init__(self): - # Create a bunch of keys. - self.key_a1 = Key("a1", ConcreteA) - self.key_a2 = Key("a2", ConcreteA) - self.key_b1 = Key("b1", ConcreteB) - self.key_b2 = Key("b2", ConcreteB) - - # Create the values. - self.concrete_a1 = ConcreteA("A1") - self.concrete_a2 = ConcreteA("A2") - self.concrete_b1 = ConcreteB("B1") - self.concrete_b2 = ConcreteB("B2") - - -def test_tkdict_get_set() -> None: - """Tests that __getitem__ and __setitem__ work properly.""" - fixture = TKDictFixture() - tkdict: TypedKeyDict[Interface] = TypedKeyDict() - - # Assign the values. - tkdict[fixture.key_a1] = fixture.concrete_a1 - tkdict[fixture.key_a2] = fixture.concrete_a2 - tkdict[fixture.key_b1] = fixture.concrete_b1 - tkdict[fixture.key_b2] = fixture.concrete_b2 - - # Get the values out. Importantly, the concrete types should be inferred properly. - out_a1: ConcreteA = tkdict[fixture.key_a1] - out_a2: ConcreteA = tkdict[fixture.key_a2] - out_b1: ConcreteB = tkdict[fixture.key_b1] - out_b2: ConcreteB = tkdict[fixture.key_b2] - - # Check that the dictionary functionality still works. - assert out_a1 == fixture.concrete_a1 - assert out_a2 == fixture.concrete_a2 - assert out_b1 == fixture.concrete_b1 - assert out_b2 == fixture.concrete_b2 - - -def test_tkdict_get_wrong_type() -> None: - """Check that using a key that hashes to the same value but has a different - concrete type results in an exception. - """ - fixture = TKDictFixture() - tkdict: TypedKeyDict[Interface] = TypedKeyDict() - tkdict[fixture.key_a1] = fixture.concrete_a1 - - wrong_a1_concrete_b = Key("a1", ConcreteB) - - with pytest.raises(KeyError): - _: ConcreteB = tkdict[wrong_a1_concrete_b] - - -def test_tkdict_in_len(): - """Check that __contains__ and __len__ works.""" - fixture = TKDictFixture() - tkdict: TypedKeyDict[Interface] = TypedKeyDict() - - assert fixture.key_a1 not in tkdict - tkdict[fixture.key_a1] = fixture.concrete_a1 - assert fixture.key_a1 in tkdict - assert len(tkdict) == 1 - - assert fixture.key_a2 not in tkdict - tkdict[fixture.key_a2] = fixture.concrete_a2 - assert fixture.key_a2 in tkdict - assert len(tkdict) == 2 - - -def test_tkdict_del_len(): - """Check that __del__ works.""" - fixture = TKDictFixture() - tkdict: TypedKeyDict[Interface] = TypedKeyDict() - - # Assign the values. - tkdict[fixture.key_a1] = fixture.concrete_a1 - tkdict[fixture.key_a2] = fixture.concrete_a2 - tkdict[fixture.key_b1] = fixture.concrete_b1 - tkdict[fixture.key_b2] = fixture.concrete_b2 - - assert len(tkdict) == 4 - - # Delete values. - del tkdict[fixture.key_a1] - assert len(tkdict) == 3 - assert fixture.key_a1 not in tkdict - - # Check that a KeyError is raised if we try and get it. - with pytest.raises(KeyError): - _: ConcreteA = tkdict[fixture.key_a1] - - # Delete values. - del tkdict[fixture.key_b1] - assert len(tkdict) == 2 - assert fixture.key_b1 not in tkdict - - # Check that a KeyError is raised if we try and get it. - with pytest.raises(KeyError): - _: ConcreteB = tkdict[fixture.key_b1] - - -def test_tkdict_keys_values_items(): - """Checks that .keys(), .values() and .items() work as expected.""" - fixture = TKDictFixture() - tkdict: TypedKeyDict[Interface] = TypedKeyDict() - - # Assign the values. - tkdict[fixture.key_a1] = fixture.concrete_a1 - tkdict[fixture.key_a2] = fixture.concrete_a2 - tkdict[fixture.key_b1] = fixture.concrete_b1 - tkdict[fixture.key_b2] = fixture.concrete_b2 - - # Test .keys(). - expected_keys = [ - fixture.key_a1, - fixture.key_a2, - fixture.key_b1, - fixture.key_b2, - ] - assert all([a == b for a, b in zip(tkdict.keys(), expected_keys)]) - - # Test .values(). - expected_values = [ - fixture.concrete_a1, - fixture.concrete_a2, - fixture.concrete_b1, - fixture.concrete_b2, - ] - assert all([a == b for a, b in zip(tkdict.values(), expected_values)]) - - # Test .items(). - assert all( - [a == b for a, b in zip(tkdict.items(), zip(expected_keys, expected_values))] - ) diff --git a/save_params.bash b/save_params.bash deleted file mode 100644 index 84c7a948075..00000000000 --- a/save_params.bash +++ /dev/null @@ -1,5 +0,0 @@ -nodes=$(ros2 node list) -for node in ${nodes} -do - ros2 param dump ${node} --print -done From b342a71402adfd9cfa4354839a79d66708651e98 Mon Sep 17 00:00:00 2001 From: Sid Parikh <parikhsid16@gmail.com> Date: Wed, 6 Nov 2024 11:31:15 -0500 Subject: [PATCH 2/3] delete random python stuff Signed-off-by: Sid Parikh <parikhsid16@gmail.com> --- .pylintrc | 591 --------------------------------------------------- .style.yapf | 1 - .stylize.yml | 16 -- mypy.ini | 12 -- setup.cfg | 4 - 5 files changed, 624 deletions(-) delete mode 100644 .pylintrc delete mode 120000 .style.yapf delete mode 100644 .stylize.yml delete mode 100644 mypy.ini delete mode 100644 setup.cfg diff --git a/.pylintrc b/.pylintrc deleted file mode 100644 index 12336dcb9a4..00000000000 --- a/.pylintrc +++ /dev/null @@ -1,591 +0,0 @@ -[MASTER] - -# A comma-separated list of package or module names from where C extensions may -# be loaded. Extensions are loading into the active Python interpreter and may -# run arbitrary code. -extension-pkg-whitelist= - -# Specify a score threshold to be exceeded before program exits with error. -fail-under=10 - -# Add files or directories to the blacklist. They should be base names, not -# paths. -ignore=CVS - -# Add files or directories matching the regex patterns to the blacklist. The -# regex matches against base names, not paths. -ignore-patterns= - -# Python code to execute, usually for sys.path manipulation such as -# pygtk.require(). -#init-hook= - -# Use multiple processes to speed up Pylint. Specifying 0 will auto-detect the -# number of processors available to use. -jobs=1 - -# Control the amount of potential inferred values when inferring a single -# object. This can help the performance when dealing with large functions or -# complex, nested conditions. -limit-inference-results=100 - -# List of plugins (as comma separated values of python module names) to load, -# usually to register additional checkers. -load-plugins= - -# Pickle collected data for later comparisons. -persistent=yes - -# When enabled, pylint would attempt to guess common misconfiguration and emit -# user-friendly hints instead of false-positive error messages. -suggestion-mode=yes - -# Allow loading of arbitrary C extensions. Extensions are imported into the -# active Python interpreter and may run arbitrary code. -unsafe-load-any-extension=no - - -[MESSAGES CONTROL] - -# Only show warnings with the listed confidence levels. Leave empty to show -# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED. -confidence= - -# Disable the message, report, category or checker with the given id(s). You -# can either give multiple identifiers separated by comma (,) or put this -# option multiple times (only on the command line, not in the configuration -# file where it should appear only once). You can also use "--disable=all" to -# disable everything first and then reenable specific checks. For example, if -# you want to run only the similarities checker, you can use "--disable=all -# --enable=similarities". If you want to run only the classes checker, but have -# no Warning level messages displayed, use "--disable=all --enable=classes -# --disable=W". -disable=print-statement, - parameter-unpacking, - unpacking-in-except, - old-raise-syntax, - backtick, - long-suffix, - old-ne-operator, - old-octal-literal, - import-star-module-level, - non-ascii-bytes-literal, - raw-checker-failed, - bad-inline-option, - locally-disabled, - file-ignored, - suppressed-message, - useless-suppression, - deprecated-pragma, - use-symbolic-message-instead, - apply-builtin, - basestring-builtin, - buffer-builtin, - cmp-builtin, - coerce-builtin, - execfile-builtin, - file-builtin, - long-builtin, - raw_input-builtin, - reduce-builtin, - standarderror-builtin, - unicode-builtin, - xrange-builtin, - coerce-method, - delslice-method, - getslice-method, - setslice-method, - no-absolute-import, - old-division, - dict-iter-method, - dict-view-method, - next-method-called, - metaclass-assignment, - indexing-exception, - raising-string, - reload-builtin, - oct-method, - hex-method, - nonzero-method, - cmp-method, - input-builtin, - round-builtin, - intern-builtin, - unichr-builtin, - map-builtin-not-iterating, - zip-builtin-not-iterating, - range-builtin-not-iterating, - filter-builtin-not-iterating, - using-cmp-argument, - eq-without-hash, - div-method, - idiv-method, - rdiv-method, - exception-message-attribute, - invalid-str-codec, - sys-max-int, - bad-python3-import, - deprecated-string-function, - deprecated-str-translate-call, - deprecated-itertools-function, - deprecated-types-field, - next-method-defined, - dict-items-not-iterating, - dict-keys-not-iterating, - dict-values-not-iterating, - deprecated-operator-function, - deprecated-urllib-function, - xreadlines-attribute, - deprecated-sys-function, - exception-escape, - comprehension-escape, - bad-continuation, - bad-whitespace - -# Enable the message, report, category or checker with the given id(s). You can -# either give multiple identifier separated by comma (,) or put this option -# multiple time (only on the command line, not in the configuration file where -# it should appear only once). See also the "--disable" option for examples. -enable=c-extension-no-member - - -[REPORTS] - -# Python expression which should return a score less than or equal to 10. You -# have access to the variables 'error', 'warning', 'refactor', and 'convention' -# which contain the number of messages in each category, as well as 'statement' -# which is the total number of statements analyzed. This score is used by the -# global evaluation report (RP0004). -evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) - -# Template used to display messages. This is a python new-style format string -# used to format the message information. See doc for all details. -#msg-template= - -# Set the output format. Available formats are text, parseable, colorized, json -# and msvs (visual studio). You can also give a reporter class, e.g. -# mypackage.mymodule.MyReporterClass. -output-format=text - -# Tells whether to display a full report or only the messages. -reports=no - -# Activate the evaluation score. -score=yes - - -[REFACTORING] - -# Maximum number of nested blocks for function / method body -max-nested-blocks=5 - -# Complete name of functions that never returns. When checking for -# inconsistent-return-statements if a never returning function is called then -# it will be considered as an explicit return statement and no message will be -# printed. -never-returning-functions=sys.exit - - -[FORMAT] - -# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. -expected-line-ending-format= - -# Regexp for a line that is allowed to be longer than the limit. -ignore-long-lines=^\s*(# )?<?https?://\S+>?$ - -# Number of spaces of indent required inside a hanging or continued line. -indent-after-paren=4 - -# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 -# tab). -indent-string=' ' - -# Maximum number of characters on a single line. -max-line-length=100 - -# Maximum number of lines in a module. -max-module-lines=1000 - -# Allow the body of a class to be on the same line as the declaration if body -# contains single statement. -single-line-class-stmt=no - -# Allow the body of an if to be on the same line as the test if there is no -# else. -single-line-if-stmt=no - - -[MISCELLANEOUS] - -# List of note tags to take in consideration, separated by a comma. -notes=FIXME, - XXX, - TODO - -# Regular expression of note tags to take in consideration. -#notes-rgx= - - -[VARIABLES] - -# List of additional names supposed to be defined in builtins. Remember that -# you should avoid defining new builtins when possible. -additional-builtins= - -# Tells whether unused global variables should be treated as a violation. -allow-global-unused-variables=yes - -# List of strings which can identify a callback function by name. A callback -# name must start or end with one of those strings. -callbacks=cb_, - _cb - -# A regular expression matching the name of dummy variables (i.e. expected to -# not be used). -dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ - -# Argument names that match this expression will be ignored. Default to name -# with leading underscore. -ignored-argument-names=_.*|^ignored_|^unused_ - -# Tells whether we should check for unused import in __init__ files. -init-import=no - -# List of qualified module names which can have objects that can redefine -# builtins. -redefining-builtins-modules=six.moves,past.builtins,future.builtins,builtins,io - - -[TYPECHECK] - -# List of decorators that produce context managers, such as -# contextlib.contextmanager. Add to this list to register other decorators that -# produce valid context managers. -contextmanager-decorators=contextlib.contextmanager - -# List of members which are set dynamically and missed by pylint inference -# system, and so shouldn't trigger E1101 when accessed. Python regular -# expressions are accepted. -generated-members=stp.global_parameters.* - -# Tells whether missing members accessed in mixin class should be ignored. A -# mixin class is detected if its name ends with "mixin" (case insensitive). -ignore-mixin-members=yes - -# Tells whether to warn about missing members when the owner of the attribute -# is inferred to be None. -ignore-none=yes - -# This flag controls whether pylint should warn about no-member and similar -# checks whenever an opaque object is returned when inferring. The inference -# can return multiple potential results while evaluating a Python object, but -# some branches might not be evaluated, which results in partial inference. In -# that case, it might be useful to still emit no-member and other checks for -# the rest of the inferred objects. -ignore-on-opaque-inference=yes - -# List of class names for which member attributes should not be checked (useful -# for classes with dynamically set attributes). This supports the use of -# qualified names. -ignored-classes=optparse.Values,thread._local,_thread._local - -# List of module names for which member attributes should not be checked -# (useful for modules/projects where namespaces are manipulated during runtime -# and thus existing member attributes cannot be deduced by static analysis). It -# supports qualified module names, as well as Unix pattern matching. -ignored-modules= - -# Show a hint with possible names when a member name was not found. The aspect -# of finding the hint is based on edit distance. -missing-member-hint=yes - -# The minimum edit distance a name should have in order to be considered a -# similar match for a missing member name. -missing-member-hint-distance=1 - -# The total number of similar names that should be taken in consideration when -# showing a hint for a missing member. -missing-member-max-choices=1 - -# List of decorators that change the signature of a decorated function. -signature-mutators= - - -[LOGGING] - -# The type of string formatting that logging methods do. `old` means using % -# formatting, `new` is for `{}` formatting. -logging-format-style=old - -# Logging modules to check that the string format arguments are in logging -# function parameter format. -logging-modules=logging - - -[SPELLING] - -# Limits count of emitted suggestions for spelling mistakes. -max-spelling-suggestions=4 - -# Spelling dictionary name. Available dictionaries: none. To make it work, -# install the python-enchant package. -spelling-dict= - -# List of comma separated words that should not be checked. -spelling-ignore-words= - -# A path to a file that contains the private dictionary; one word per line. -spelling-private-dict-file= - -# Tells whether to store unknown words to the private dictionary (see the -# --spelling-private-dict-file option) instead of raising a message. -spelling-store-unknown-words=no - - -[SIMILARITIES] - -# Ignore comments when computing similarities. -ignore-comments=yes - -# Ignore docstrings when computing similarities. -ignore-docstrings=yes - -# Ignore imports when computing similarities. -ignore-imports=yes - -# Ignore function signature when computing similarities. -ignore-signatures=yes - -# Minimum lines number of a similarity. -min-similarity-lines=4 - - -[BASIC] - -# Naming style matching correct argument names. -argument-naming-style=snake_case - -# Regular expression matching correct argument names. Overrides argument- -# naming-style. -#argument-rgx= - -# Naming style matching correct attribute names. -attr-naming-style=snake_case - -# Regular expression matching correct attribute names. Overrides attr-naming- -# style. -#attr-rgx= - -# Bad variable names which should always be refused, separated by a comma. -bad-names=foo, - bar, - baz, - toto, - tutu, - tata - -# Bad variable names regexes, separated by a comma. If names match any regex, -# they will always be refused -bad-names-rgxs= - -# Naming style matching correct class attribute names. -class-attribute-naming-style=any - -# Regular expression matching correct class attribute names. Overrides class- -# attribute-naming-style. -#class-attribute-rgx= - -# Naming style matching correct class names. -class-naming-style=PascalCase - -# Regular expression matching correct class names. Overrides class-naming- -# style. -#class-rgx= - -# Naming style matching correct constant names. -const-naming-style=UPPER_CASE - -# Regular expression matching correct constant names. Overrides const-naming- -# style. -#const-rgx= - -# Minimum line length for functions/classes that require docstrings, shorter -# ones are exempt. -docstring-min-length=-1 - -# Naming style matching correct function names. -function-naming-style=snake_case - -# Regular expression matching correct function names. Overrides function- -# naming-style. -#function-rgx= - -# Good variable names which should always be accepted, separated by a comma. -good-names=ex, - Run, - _ - -# Good variable names regexes, separated by a comma. If names match any regex, -# they will always be accepted -# Allow single-letter variable names because we use a lot of math. -good-names-rgxs=[a-z] - -# Include a hint for the correct naming format with invalid-name. -include-naming-hint=no - -# Naming style matching correct inline iteration names. -inlinevar-naming-style=any - -# Regular expression matching correct inline iteration names. Overrides -# inlinevar-naming-style. -#inlinevar-rgx= - -# Naming style matching correct method names. -method-naming-style=snake_case - -# Regular expression matching correct method names. Overrides method-naming- -# style. -#method-rgx= - -# Naming style matching correct module names. -module-naming-style=snake_case - -# Regular expression matching correct module names. Overrides module-naming- -# style. -#module-rgx= - -# Colon-delimited sets of names that determine each other's naming style when -# the name regexes allow several styles. -name-group= - -# Regular expression which should only match function or class names that do -# not require a docstring. -no-docstring-rgx=^_ - -# List of decorators that produce properties, such as abc.abstractproperty. Add -# to this list to register other decorators that produce valid properties. -# These decorators are taken in consideration only for invalid-name. -property-classes=abc.abstractproperty - -# Naming style matching correct variable names. -variable-naming-style=snake_case - -# Regular expression matching correct variable names. Overrides variable- -# naming-style. -#variable-rgx= - - -[STRING] - -# This flag controls whether inconsistent-quotes generates a warning when the -# character used as a quote delimiter is used inconsistently within a module. -check-quote-consistency=no - -# This flag controls whether the implicit-str-concat should generate a warning -# on implicit string concatenation in sequences defined over several lines. -check-str-concat-over-line-jumps=no - - -[DESIGN] - -# Maximum number of arguments for function / method. -max-args=5 - -# Maximum number of attributes for a class (see R0902). -max-attributes=7 - -# Maximum number of boolean expressions in an if statement (see R0916). -max-bool-expr=5 - -# Maximum number of branch for function / method body. -max-branches=12 - -# Maximum number of locals for function / method body. -max-locals=15 - -# Maximum number of parents for a class (see R0901). -max-parents=7 - -# Maximum number of public methods for a class (see R0904). -max-public-methods=20 - -# Maximum number of return / yield for function / method body. -max-returns=6 - -# Maximum number of statements in function / method body. -max-statements=50 - -# Minimum number of public methods for a class (see R0903). -min-public-methods=2 - - -[IMPORTS] - -# List of modules that can be imported at any level, not just the top level -# one. -allow-any-import-level= - -# Allow wildcard imports from modules that define __all__. -allow-wildcard-with-all=no - -# Analyse import fallback blocks. This can be used to support both Python 2 and -# 3 compatible code, which means that the block might have code that exists -# only in one or another interpreter, leading to false positives when analysed. -analyse-fallback-blocks=no - -# Deprecated modules which should not be used, separated by a comma. -deprecated-modules=optparse,tkinter.tix - -# Create a graph of external dependencies in the given file (report RP0402 must -# not be disabled). -ext-import-graph= - -# Create a graph of every (i.e. internal and external) dependencies in the -# given file (report RP0402 must not be disabled). -import-graph= - -# Create a graph of internal dependencies in the given file (report RP0402 must -# not be disabled). -int-import-graph= - -# Force import order to recognize a module as part of the standard -# compatibility libraries. -known-standard-library= - -# Force import order to recognize a module as part of a third party library. -known-third-party=enchant - -# Couples of modules and preferred modules, separated by a comma. -preferred-modules= - - -[CLASSES] - -# List of method names used to declare (i.e. assign) instance attributes. -defining-attr-methods=__init__, - __new__, - setUp, - __post_init__ - -# List of member names, which should be excluded from the protected access -# warning. -exclude-protected=_asdict, - _fields, - _replace, - _source, - _make - -# List of valid names for the first argument in a class method. -valid-classmethod-first-arg=cls - -# List of valid names for the first argument in a metaclass class method. -valid-metaclass-classmethod-first-arg=cls - - -[EXCEPTIONS] - -# Exceptions that will emit a warning when being caught. Defaults to -# "BaseException, Exception". -overgeneral-exceptions=BaseException, - Exception diff --git a/.style.yapf b/.style.yapf deleted file mode 120000 index 1f59cf3d5de..00000000000 --- a/.style.yapf +++ /dev/null @@ -1 +0,0 @@ -external/style-configs/.style.yapf \ No newline at end of file diff --git a/.stylize.yml b/.stylize.yml deleted file mode 100644 index 32b5a509b89..00000000000 --- a/.stylize.yml +++ /dev/null @@ -1,16 +0,0 @@ -formatters: - .py: yapf - .h: clang - .hpp: clang - .c: clang - .cc: clang - .cpp: clang -formatter_args: - clang: - - --style=file - yapf: - - --style=.style.yapf -exclude: - - build - - external - - old diff --git a/mypy.ini b/mypy.ini deleted file mode 100644 index 4b0646cc47f..00000000000 --- a/mypy.ini +++ /dev/null @@ -1,12 +0,0 @@ - -[mypy] -mypy_path = ./soccer/src/soccer/gameplay - - -[mypy-robocup.*,PyQt5.*] -ignore_missing_imports = True - -# Mypy devs say don't follow dependencies -# https://github.com/python/mypy/issues/1339 -[mypy-watchdog.*,munkres.*,graphviz.*] -ignore_missing_imports = True diff --git a/setup.cfg b/setup.cfg deleted file mode 100644 index f3d9b334c21..00000000000 --- a/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[flake8] -max-line-length = 88 -select = C,E,F,W,B,B950 -extend-ignore = E203, E501, E731 \ No newline at end of file From a21dcde6d9f704269868973d7813019efa1b5e27 Mon Sep 17 00:00:00 2001 From: Sid Parikh <parikhsid16@gmail.com> Date: Wed, 6 Nov 2024 11:31:18 -0500 Subject: [PATCH 3/3] fix black Signed-off-by: Sid Parikh <parikhsid16@gmail.com> --- .pre-commit-config.yaml | 14 +++++--------- util/requirements3.txt | 2 +- 2 files changed, 6 insertions(+), 10 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e186fc7fb8c..8196059ee7b 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,14 +1,10 @@ repos: -- repo: https://github.com/pycqa/isort - rev: 5.13.2 +# info at https://black.readthedocs.io/en/stable/integrations/source_version_control.html +- repo: https://github.com/psf/black-pre-commit-mirror + rev: 24.8.0 hooks: - - id: isort - name: isort (python) - args: ["--profile","black"] -- repo: https://github.com/psf/black - rev: 22.3.0 - hooks: - - id: black + - id: black + language-version: python3.10 - repo: local hooks: - id: pretty-lines diff --git a/util/requirements3.txt b/util/requirements3.txt index 47e6da06fa4..c3c7ab011a2 100644 --- a/util/requirements3.txt +++ b/util/requirements3.txt @@ -14,7 +14,7 @@ mypy == 0.770 # static arugment checker. Pinned to 0.770 because something is br yapf # python checker -black == 21.12b0 # python style autoformatter, pinned to last stable release because current version (3/29/21) has a bug +black isort # python import sorted typing-extensions # For TypedDict