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Merge pull request #116 from RoboTeamTwente/Update/protobuf
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Update/protobuf
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@JornJorn
JornJorn authored Jan 29, 2024
2 parents 4dba94d + e4f75da commit ad51589
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Showing 28 changed files with 547 additions and 477 deletions.
8 changes: 4 additions & 4 deletions roboteam_ai/include/roboteam_ai/utilities/GameStateManager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,19 +17,19 @@ class GameStateManager {
* @param refMsg The data we get from the referee
* @param data The current world
*/
static void setRefereeData(proto::SSL_Referee refMsg, const rtt::world::World* data);
static void setRefereeData(proto::Referee refMsg, const rtt::world::World* data);
/**
* @brief Getter for the referee data
* @return The referee data
*/
static proto::SSL_Referee getRefereeData();
static proto::Referee getRefereeData();
/**
* @brief Converts the referee command to a RefCommand
* @param command The command received from the referee
* @param isYellow Whether our team is the yellow team
* @return RefCommand The corresponding RefCommand for the received referee command
*/
static RefCommand getCommandFromRefMsg(proto::SSL_Referee_Command command, bool isYellow);
static RefCommand getCommandFromRefMsg(proto::Referee_Command command, bool isYellow);
/**
* @brief Getter for the current game state
* @return The current game state
Expand All @@ -52,7 +52,7 @@ class GameStateManager {
static void updateInterfaceGameState(const char* name);

private:
static proto::SSL_Referee refMsg; /**< Data from the referee */
static proto::Referee refMsg; /**< Data from the referee */
static StrategyManager strategymanager; /**< Manager that updates the play according to the game state */
static std::mutex refMsgLock; /**< Synchronizer for referee data */
};
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70 changes: 32 additions & 38 deletions roboteam_ai/include/roboteam_ai/utilities/RefCommand.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,6 @@ enum class RefCommand {
PREPARE_PENALTY_THEM = 7,
DIRECT_FREE_US = 8,
DIRECT_FREE_THEM = 9,
INDIRECT_FREE_US = 10,
INDIRECT_FREE_THEM = 11,
TIMEOUT_US = 12,
TIMEOUT_THEM = 13,
GOAL_US = 14,
Expand All @@ -49,44 +47,40 @@ enum class RefCommand {
UNDEFINED = -1
};

inline RefCommand sslRefCmdToRefCmd(proto::SSL_Referee_Command sslRefCmd, bool isYellow) {
using RefCommandMap = std::unordered_map<proto::SSL_Referee_Command, RefCommand>;
inline RefCommand sslRefCmdToRefCmd(proto::Referee_Command sslRefCmd, bool isYellow) {
using RefCommandMap = std::unordered_map<proto::Referee_Command, RefCommand>;

// static const == they are initialized only once, se we don't allocate on heap every time
static const RefCommandMap yellowMap = {{proto::SSL_Referee_Command_HALT, RefCommand::HALT},
{proto::SSL_Referee_Command_STOP, RefCommand::STOP},
{proto::SSL_Referee_Command_NORMAL_START, RefCommand::NORMAL_START},
{proto::SSL_Referee_Command_FORCE_START, RefCommand::FORCED_START},
{proto::SSL_Referee_Command_PREPARE_KICKOFF_YELLOW, RefCommand::PREPARE_KICKOFF_US},
{proto::SSL_Referee_Command_PREPARE_KICKOFF_BLUE, RefCommand::PREPARE_KICKOFF_THEM},
{proto::SSL_Referee_Command_PREPARE_PENALTY_YELLOW, RefCommand::PREPARE_PENALTY_US},
{proto::SSL_Referee_Command_PREPARE_PENALTY_BLUE, RefCommand::PREPARE_PENALTY_THEM},
{proto::SSL_Referee_Command_DIRECT_FREE_YELLOW, RefCommand::DIRECT_FREE_US},
{proto::SSL_Referee_Command_DIRECT_FREE_BLUE, RefCommand::DIRECT_FREE_THEM},
{proto::SSL_Referee_Command_INDIRECT_FREE_YELLOW, RefCommand::INDIRECT_FREE_US},
{proto::SSL_Referee_Command_INDIRECT_FREE_BLUE, RefCommand::INDIRECT_FREE_THEM},
{proto::SSL_Referee_Command_TIMEOUT_YELLOW, RefCommand::TIMEOUT_US},
{proto::SSL_Referee_Command_TIMEOUT_BLUE, RefCommand::TIMEOUT_THEM},
{proto::SSL_Referee_Command_BALL_PLACEMENT_YELLOW, RefCommand::BALL_PLACEMENT_US},
{proto::SSL_Referee_Command_BALL_PLACEMENT_BLUE, RefCommand::BALL_PLACEMENT_THEM}};
static const RefCommandMap yellowMap = {{proto::Referee_Command_HALT, RefCommand::HALT},
{proto::Referee_Command_STOP, RefCommand::STOP},
{proto::Referee_Command_NORMAL_START, RefCommand::NORMAL_START},
{proto::Referee_Command_FORCE_START, RefCommand::FORCED_START},
{proto::Referee_Command_PREPARE_KICKOFF_YELLOW, RefCommand::PREPARE_KICKOFF_US},
{proto::Referee_Command_PREPARE_KICKOFF_BLUE, RefCommand::PREPARE_KICKOFF_THEM},
{proto::Referee_Command_PREPARE_PENALTY_YELLOW, RefCommand::PREPARE_PENALTY_US},
{proto::Referee_Command_PREPARE_PENALTY_BLUE, RefCommand::PREPARE_PENALTY_THEM},
{proto::Referee_Command_DIRECT_FREE_YELLOW, RefCommand::DIRECT_FREE_US},
{proto::Referee_Command_DIRECT_FREE_BLUE, RefCommand::DIRECT_FREE_THEM},
{proto::Referee_Command_TIMEOUT_YELLOW, RefCommand::TIMEOUT_US},
{proto::Referee_Command_TIMEOUT_BLUE, RefCommand::TIMEOUT_THEM},
{proto::Referee_Command_BALL_PLACEMENT_YELLOW, RefCommand::BALL_PLACEMENT_US},
{proto::Referee_Command_BALL_PLACEMENT_BLUE, RefCommand::BALL_PLACEMENT_THEM}};

// static const == they are initialized only once, se we don't allocate on heap every time
static const RefCommandMap blueMap = {{proto::SSL_Referee_Command_HALT, RefCommand::HALT},
{proto::SSL_Referee_Command_STOP, RefCommand::STOP},
{proto::SSL_Referee_Command_NORMAL_START, RefCommand::NORMAL_START},
{proto::SSL_Referee_Command_FORCE_START, RefCommand::FORCED_START},
{proto::SSL_Referee_Command_PREPARE_KICKOFF_YELLOW, RefCommand::PREPARE_KICKOFF_THEM},
{proto::SSL_Referee_Command_PREPARE_KICKOFF_BLUE, RefCommand::PREPARE_KICKOFF_US},
{proto::SSL_Referee_Command_PREPARE_PENALTY_YELLOW, RefCommand::PREPARE_PENALTY_THEM},
{proto::SSL_Referee_Command_PREPARE_PENALTY_BLUE, RefCommand::PREPARE_PENALTY_US},
{proto::SSL_Referee_Command_DIRECT_FREE_YELLOW, RefCommand::DIRECT_FREE_THEM},
{proto::SSL_Referee_Command_DIRECT_FREE_BLUE, RefCommand::DIRECT_FREE_US},
{proto::SSL_Referee_Command_INDIRECT_FREE_YELLOW, RefCommand::INDIRECT_FREE_THEM},
{proto::SSL_Referee_Command_INDIRECT_FREE_BLUE, RefCommand::INDIRECT_FREE_US},
{proto::SSL_Referee_Command_TIMEOUT_YELLOW, RefCommand::TIMEOUT_THEM},
{proto::SSL_Referee_Command_TIMEOUT_BLUE, RefCommand::TIMEOUT_US},
{proto::SSL_Referee_Command_BALL_PLACEMENT_YELLOW, RefCommand::BALL_PLACEMENT_THEM},
{proto::SSL_Referee_Command_BALL_PLACEMENT_BLUE, RefCommand::BALL_PLACEMENT_US}};
static const RefCommandMap blueMap = {{proto::Referee_Command_HALT, RefCommand::HALT},
{proto::Referee_Command_STOP, RefCommand::STOP},
{proto::Referee_Command_NORMAL_START, RefCommand::NORMAL_START},
{proto::Referee_Command_FORCE_START, RefCommand::FORCED_START},
{proto::Referee_Command_PREPARE_KICKOFF_YELLOW, RefCommand::PREPARE_KICKOFF_THEM},
{proto::Referee_Command_PREPARE_KICKOFF_BLUE, RefCommand::PREPARE_KICKOFF_US},
{proto::Referee_Command_PREPARE_PENALTY_YELLOW, RefCommand::PREPARE_PENALTY_THEM},
{proto::Referee_Command_PREPARE_PENALTY_BLUE, RefCommand::PREPARE_PENALTY_US},
{proto::Referee_Command_DIRECT_FREE_YELLOW, RefCommand::DIRECT_FREE_THEM},
{proto::Referee_Command_DIRECT_FREE_BLUE, RefCommand::DIRECT_FREE_US},
{proto::Referee_Command_TIMEOUT_YELLOW, RefCommand::TIMEOUT_THEM},
{proto::Referee_Command_TIMEOUT_BLUE, RefCommand::TIMEOUT_US},
{proto::Referee_Command_BALL_PLACEMENT_YELLOW, RefCommand::BALL_PLACEMENT_THEM},
{proto::Referee_Command_BALL_PLACEMENT_BLUE, RefCommand::BALL_PLACEMENT_US}};

// .find() != .end() could be replaced by contains in C++20
if (isYellow && yellowMap.find(sslRefCmd) != yellowMap.end()) {
Expand All @@ -100,8 +94,8 @@ inline RefCommand sslRefCmdToRefCmd(proto::SSL_Referee_Command sslRefCmd, bool i
}

std::string refCommandToString(RefCommand command);
std::string protoRefCommandToString(proto::SSL_Referee_Command command);
std::string protoRefStageToString(proto::SSL_Referee_Stage stage);
std::string protoRefCommandToString(proto::Referee_Command command);
std::string protoRefStageToString(proto::Referee_Stage stage);

} // namespace rtt

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4 changes: 1 addition & 3 deletions roboteam_ai/include/roboteam_ai/utilities/StrategyManager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ class StrategyManager {
* @param stage Stage of the game
* @param ballOpt Data about the ball
*/
void setCurrentRefGameState(RefCommand command, proto::SSL_Referee_Stage stage, std::optional<rtt::world::view::BallView> ballOpt);
void setCurrentRefGameState(RefCommand command, proto::Referee_Stage stage, std::optional<rtt::world::view::BallView> ballOpt);

/**
* @brief Forces the AI into a given game state
Expand Down Expand Up @@ -77,11 +77,9 @@ class StrategyManager {
RefGameState(RefCommand::PREPARE_SHOOTOUT_THEM, "penalty_them_prepare", Constants::RULESET_STOP(), false, RefCommand::DEFEND_SHOOTOUT),

RefGameState(RefCommand::DIRECT_FREE_THEM, "free_kick_them", Constants::RULESET_DEFAULT()),
RefGameState(RefCommand::INDIRECT_FREE_THEM, "free_kick_them", Constants::RULESET_DEFAULT()),
RefGameState(RefCommand::NORMAL_START, "normal_play", Constants::RULESET_DEFAULT()),
RefGameState(RefCommand::FORCED_START, "normal_play", Constants::RULESET_DEFAULT()),
RefGameState(RefCommand::DIRECT_FREE_US, "free_kick_us", Constants::RULESET_DEFAULT()),
RefGameState(RefCommand::INDIRECT_FREE_US, "free_kick_us", Constants::RULESET_DEFAULT()),
RefGameState(RefCommand::DO_KICKOFF, "kickoff_us", Constants::RULESET_DEFAULT(), true),
RefGameState(RefCommand::DEFEND_KICKOFF, "kickoff_them", Constants::RULESET_DEFAULT(), true),
RefGameState(RefCommand::DO_PENALTY, "penalty_us", Constants::RULESET_DEFAULT(), true),
Expand Down
2 changes: 1 addition & 1 deletion roboteam_ai/include/roboteam_ai/utilities/normalize.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ void rotate(proto::World *world);
* Pointer is asserted in debug mode
* @param refereeData Referee to rotate
*/
void rotate(proto::SSL_Referee *refereeData);
void rotate(proto::Referee *refereeData);

/**
* @brief Rotates all members of a Circular arc
Expand Down
40 changes: 18 additions & 22 deletions roboteam_ai/src/utilities/GameStateManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,56 +11,52 @@
namespace rtt::ai {
int GameState::cardId = -1;

proto::SSL_Referee GameStateManager::refMsg;
proto::Referee GameStateManager::refMsg;
StrategyManager GameStateManager::strategymanager;
std::mutex GameStateManager::refMsgLock;

proto::SSL_Referee GameStateManager::getRefereeData() {
proto::Referee GameStateManager::getRefereeData() {
std::lock_guard<std::mutex> lock(refMsgLock);
return GameStateManager::refMsg;
}

RefCommand GameStateManager::getCommandFromRefMsg(proto::SSL_Referee_Command command, bool isYellow) {
RefCommand GameStateManager::getCommandFromRefMsg(proto::Referee_Command command, bool isYellow) {
switch (command) {
case proto::SSL_Referee_Command_HALT:
case proto::Referee_Command_HALT:
return RefCommand::HALT;
case proto::SSL_Referee_Command_STOP:
case proto::Referee_Command_STOP:
return RefCommand::STOP;
case proto::SSL_Referee_Command_NORMAL_START:
case proto::Referee_Command_NORMAL_START:
return RefCommand::NORMAL_START;
case proto::SSL_Referee_Command_FORCE_START:
case proto::Referee_Command_FORCE_START:
return RefCommand::FORCED_START;
case proto::SSL_Referee_Command_PREPARE_KICKOFF_YELLOW:
case proto::Referee_Command_PREPARE_KICKOFF_YELLOW:
return isYellow ? RefCommand::PREPARE_KICKOFF_US : RefCommand::PREPARE_KICKOFF_THEM;
case proto::SSL_Referee_Command_PREPARE_KICKOFF_BLUE:
case proto::Referee_Command_PREPARE_KICKOFF_BLUE:
return isYellow ? RefCommand::PREPARE_KICKOFF_THEM : RefCommand::PREPARE_KICKOFF_US;
case proto::SSL_Referee_Command_PREPARE_PENALTY_YELLOW:
case proto::Referee_Command_PREPARE_PENALTY_YELLOW:
return isYellow ? RefCommand::PREPARE_PENALTY_US : RefCommand::PREPARE_PENALTY_THEM;
case proto::SSL_Referee_Command_PREPARE_PENALTY_BLUE:
case proto::Referee_Command_PREPARE_PENALTY_BLUE:
return isYellow ? RefCommand::PREPARE_PENALTY_THEM : RefCommand::PREPARE_PENALTY_US;
case proto::SSL_Referee_Command_DIRECT_FREE_YELLOW:
case proto::Referee_Command_DIRECT_FREE_YELLOW:
return isYellow ? RefCommand::DIRECT_FREE_US : RefCommand::DIRECT_FREE_THEM;
case proto::SSL_Referee_Command_DIRECT_FREE_BLUE:
case proto::Referee_Command_DIRECT_FREE_BLUE:
return isYellow ? RefCommand::DIRECT_FREE_THEM : RefCommand::DIRECT_FREE_US;
case proto::SSL_Referee_Command_INDIRECT_FREE_YELLOW:
return isYellow ? RefCommand::INDIRECT_FREE_US : RefCommand::INDIRECT_FREE_THEM;
case proto::SSL_Referee_Command_INDIRECT_FREE_BLUE:
return isYellow ? RefCommand::INDIRECT_FREE_THEM : RefCommand::INDIRECT_FREE_US;
case proto::SSL_Referee_Command_TIMEOUT_YELLOW:
case proto::Referee_Command_TIMEOUT_YELLOW:
return isYellow ? RefCommand::TIMEOUT_US : RefCommand::TIMEOUT_THEM;
case proto::SSL_Referee_Command_TIMEOUT_BLUE:
case proto::Referee_Command_TIMEOUT_BLUE:
return isYellow ? RefCommand::TIMEOUT_THEM : RefCommand::TIMEOUT_US;
case proto::SSL_Referee_Command_BALL_PLACEMENT_YELLOW:
case proto::Referee_Command_BALL_PLACEMENT_YELLOW:
return isYellow ? RefCommand::BALL_PLACEMENT_US : RefCommand::BALL_PLACEMENT_THEM;
case proto::SSL_Referee_Command_BALL_PLACEMENT_BLUE:
case proto::Referee_Command_BALL_PLACEMENT_BLUE:
return isYellow ? RefCommand::BALL_PLACEMENT_THEM : RefCommand::BALL_PLACEMENT_US;
default:
RTT_ERROR("Unknown refstate, halting all robots for safety!")
return RefCommand::HALT;
}
}

void GameStateManager::setRefereeData(proto::SSL_Referee refMsg, const rtt::world::World* data) {
void GameStateManager::setRefereeData(proto::Referee refMsg, const rtt::world::World* data) {
std::lock_guard<std::mutex> lock(refMsgLock);
GameStateManager::refMsg = refMsg;
bool isYellow = GameSettings::isYellow();
Expand Down
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