Merge branch 'feature/interface-to-erforce-simulator' of github.com:R…

…oboTeamTwente/roboteam into feature/interface-to-erforce-simulator

roboteam_ai/include/roboteam_ai/STPManager.h

@@ -17,7 +17,7 @@ class STPManager {
      * @param interfaceGateway The interface that belongs to this AI
      * @param mainWindow The interface that belongs to this AI
      */
-    explicit STPManager(std::shared_ptr<rtt::ai::io::InterfaceGateway> interfaceGateway, ai::interface::MainWindow* mainWindow);
+    explicit STPManager(std::shared_ptr<rtt::ai::io::InterfaceGateway> interfaceGateway);
 
    private:
     /**
@@ -29,7 +29,6 @@ class STPManager {
     int tickCounter = 0; /**< Counter that keeps track of the ticks */
     bool fieldInitialized = false; /**< Indicates whether the field is initialized successfully */
     bool robotsInitialized = false; /**< Indicates whether the robots are initialized successfully */
-    ai::interface::MainWindow* mainWindow; /**< Interface window of the AI */
     std::shared_ptr<rtt::ai::io::InterfaceGateway> interfaceGateway; /**< pointer to the InterfaceGateway */
 
     static inline ai::stp::Play* currentPlay{nullptr}; /**< Current best play as picked by the playDecider */
@@ -46,7 +45,7 @@ class STPManager {
      * @brief Starts the AI with a synchronized boolean to ensure that AI exits correctly
      * @param exitApplication Indicates whether the AI should exit
      */
-    void start(std::atomic_bool& exitApplication);
+    void start(std::atomic_flag& exitApplication);
 
     static std::vector<std::unique_ptr<rtt::ai::stp::Play>> plays; /**< The vector that contains all plays */
 

roboteam_ai/src/STPManager.cpp

@@ -81,7 +81,7 @@ std::vector<std::unique_ptr<rtt::ai::stp::Play>> STPManager::plays = ([] {
 })();
 
 /// Start running behaviour trees. While doing so, publish settings and log the FPS of the system
-void STPManager::start(std::atomic_bool &exitApplication) {
+void STPManager::start(std::atomic_flag &exitApplication) {
     // make sure we start in halt state for safety
     ai::GameStateManager::forceNewGameState(RefCommand::HALT, std::nullopt);
     RTT_INFO("Start looping")
@@ -132,7 +132,7 @@ void STPManager::start(std::atomic_bool &exitApplication) {
                 stpTimer.limit([&]() { io::io.publishSettings(); }, ai::Constants::SETTINGS_BROADCAST_RATE());
             }
 
-            if (exitApplication) {
+            if (exitApplication.test()) {
                 stpTimer.stop();
             }
         },
@@ -220,8 +220,7 @@ void STPManager::decidePlay(world::World *_world, bool ignoreWorldAge) {
         currentPlay->updateField(_world->getField().value());
     }
     currentPlay->update();
-    // mainWindow->updatePlay(currentPlay);
 }
 
-STPManager::STPManager(std::shared_ptr<rtt::ai::io::InterfaceGateway> interfaceGateway, ai::interface::MainWindow *mainWindow): interfaceGateway(std::move(interfaceGateway)) { this->mainWindow = mainWindow; }
+STPManager::STPManager(std::shared_ptr<rtt::ai::io::InterfaceGateway> interfaceGateway): interfaceGateway(std::move(interfaceGateway)) { }
 }  // namespace rtt

roboteam_ai/src/roboteam_ai.cpp

@@ -1,5 +1,7 @@
 #include <roboteam_utils/Print.h>
 #include <memory>
+#include <utility>
+#include <csignal>
 
 #include "RobotHubMode.h"
 #include "STPManager.h"
@@ -11,31 +13,21 @@
 
 namespace ui = rtt::ai::interface;
 
-ui::MainWindow* window;
+// Create a flag which signals to stpThread to stop
+std::atomic_flag stopFlag = ATOMIC_FLAG_INIT;
 
-void runStp(std::shared_ptr<rtt::ai::io::InterfaceGateway> interfaceGateway, std::atomic_bool& exitApplication) {
-    rtt::STPManager app{interfaceGateway, window};
-    app.start(exitApplication);
+void initializeExitHandler() {
+    struct sigaction sa {};
+    sa.sa_handler = [](int) {
+        RTT_INFO("SIGINT received, stopping...")
+        stopFlag.test_and_set();
+    };
+    sigaction(SIGINT, &sa, nullptr);
 }
 
-void setDarkTheme() {
-    qApp->setStyle(QStyleFactory::create("Fusion"));
-    QPalette darkPalette;
-    darkPalette.setColor(QPalette::Window, QColor(53, 53, 53));
-    darkPalette.setColor(QPalette::WindowText, Qt::white);
-    darkPalette.setColor(QPalette::Base, QColor(25, 25, 25));
-    darkPalette.setColor(QPalette::AlternateBase, QColor(53, 53, 53));
-    darkPalette.setColor(QPalette::ToolTipBase, Qt::white);
-    darkPalette.setColor(QPalette::ToolTipText, Qt::white);
-    darkPalette.setColor(QPalette::Text, Qt::white);
-    darkPalette.setColor(QPalette::Button, QColor(53, 53, 53));
-    darkPalette.setColor(QPalette::ButtonText, Qt::white);
-    darkPalette.setColor(QPalette::BrightText, Qt::red);
-    darkPalette.setColor(QPalette::Link, QColor(42, 130, 218));
-    darkPalette.setColor(QPalette::Highlight, QColor(42, 130, 218));
-    darkPalette.setColor(QPalette::HighlightedText, Qt::black);
-    qApp->setPalette(darkPalette);
-    qApp->setStyleSheet("QToolTip { color: #ffffff; background-color: #2a82da; border: 1px solid white; }");
+void runStp(std::shared_ptr<rtt::ai::io::InterfaceGateway> interfaceGateway) {
+    rtt::STPManager app{std::move(interfaceGateway)};
+    app.start(stopFlag);
 }
 
 int main(int argc, char** argv) {
@@ -91,25 +83,8 @@ int main(int argc, char** argv) {
     RTT_DEBUG("Initialize Interface Server");
     auto interfaceGateway = std::make_shared<rtt::ai::io::InterfaceGateway>(rtt::GameSettings::isPrimaryAI() ? 12676 : 12677); /// Shared-prt because the variable is shared accross threads
 
-    // QCoreApplication::setAttribute(Qt::AA_EnableHighDpiScaling);
-    // QApplication application(argc, argv);
-    // setDarkTheme();
-    // window = new ui::MainWindow{};
-    // window->setWindowState(Qt::WindowMaximized);
 
-    //Create a flag which signals to the STP thread to stop if the interface is stopped
-    std::atomic_bool exitApplication = false;
-
-    std::thread stpThread(runStp, interfaceGateway, std::ref(exitApplication));
-
-    while(true){
-        std::this_thread::sleep_for(std::chrono::milliseconds(200));
-    }
-
-    // window->show();
-    // bool runQT = application.exec();
-
-    exitApplication = true;
+    initializeExitHandler();
+    std::thread stpThread(runStp, interfaceGateway);
     stpThread.join();
-    return false;
 }