Merge pull request #19 from Immortals-Robotics/udp-drawer

Immortals-Robotics · May 3, 2024 · 93044c6 · 93044c6
2 parents 5bae050 + 0c556ab
commit 93044c6
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Showing 5 changed files with 121 additions and 10 deletions.
diff --git a/source/gui/CMakeLists.txt b/source/gui/CMakeLists.txt
@@ -18,6 +18,7 @@ set(SOURCE_FILES
 	renderer/renderer_ball.cpp
 	renderer/renderer_robot.cpp
 	renderer/renderer.cpp
+	renderer/renderer_drawudp.cpp
 )
 
 add_executable(${PROJECT_NAME} ${HEADER_FILES} ${SOURCE_FILES})

diff --git a/source/gui/app.cpp b/source/gui/app.cpp
@@ -55,11 +55,12 @@ void Application::init(const int width, const int height)
     ssl_field.set_penalty_area_depth(1800);
     ssl_field.set_penalty_area_width(3600);
 
-    udp_client = std::make_unique<Common::UdpClient>(Common::NetworkAddress{"224.5.23.2", 10006});
-
+    udp_client          = std::make_unique<Common::UdpClient>(Common::setting().vision_address);
+    udp_client_drawings = std::make_unique<Common::UdpClient>(Common::NetworkAddress{"127.0.0.1", 10066});
     renderer->init();
 
-    vision_thread = std::thread(&Application::receiveVision, this);
+    vision_thread  = std::thread(&Application::receiveVision, this);
+    drawing_thread = std::thread(&Application::receiveDrawings, this);
 }
 
 int Application::shutdown()
@@ -68,6 +69,7 @@ int Application::shutdown()
 
     running = false;
     vision_thread.join();
+    drawing_thread.join();
 
     rlImGuiShutdown();
 
@@ -111,6 +113,12 @@ void Application::update()
             udp_client->Update(updated_address);
         }
         vision_mutex.unlock();
+        drawing_mutex.lock();
+        renderer->drawCirclesUdp(debug_packet.dbg_draw().circle());
+        renderer->drawRectsUdp(debug_packet.dbg_draw().rect());
+        renderer->drawPointsUdp(debug_packet.dbg_draw().point());
+        renderer->drawLinesUdp(debug_packet.dbg_draw().line());
+        drawing_mutex.unlock();
 
         renderer->applyShader();
         rlImGuiImageRenderTextureFit(&renderer->shaderVisualizationTexture, true);
@@ -156,4 +164,23 @@ void Application::receiveVision()
     }
 };
 
+void Application::receiveDrawings()
+{
+    Protos::Immortals::Imm_DBG_wrapper tmp_drawing_packet;
+    while (running)
+    {
+        udp_client_drawings->receive(&tmp_drawing_packet);
+        if (tmp_drawing_packet.has_dbg_draw())
+        {
+            auto draw = tmp_drawing_packet.dbg_draw();
+            // Common::logDebug("draw darim");
+            debug_packet_off.clear_dbg_draw();
+            debug_packet_off.mutable_dbg_draw()->CopyFrom(draw);
+        }
+        drawing_mutex.lock();
+        std::swap(debug_packet, debug_packet_off);
+        drawing_mutex.unlock();
+    }
+};
+
 } // namespace Tyr::Gui
diff --git a/source/gui/app.h b/source/gui/app.h
@@ -15,22 +15,27 @@ class Application
     bool shouldClose() const;
 
 private:
-    Protos::SSL_GeometryFieldSize ssl_field;
-    Protos::SSL_WrapperPacket     ssl_packet;
-    Protos::SSL_WrapperPacket     ssl_packet_off;
-    Protos::Immortals::Debug_Draw world_state;
-    Protos::Immortals::Debug_Draw world_state_off;
+    Protos::SSL_GeometryFieldSize      ssl_field;
+    Protos::SSL_WrapperPacket          ssl_packet;
+    Protos::SSL_WrapperPacket          ssl_packet_off;
+    Protos::Immortals::Imm_DBG_wrapper debug_packet;
+    Protos::Immortals::Imm_DBG_wrapper debug_packet_off;
 
     std::unique_ptr<Renderer>   renderer;
     std::unique_ptr<ConfigMenu> config_menu;
 
     std::unique_ptr<Common::UdpClient> udp_client;
-    Common::NetworkAddress             updated_address;
+    std::unique_ptr<Common::UdpClient> udp_client_drawings;
+
+    Common::NetworkAddress updated_address;
 
     std::mutex        vision_mutex;
     std::thread       vision_thread;
+    std::mutex        drawing_mutex;
+    std::thread       drawing_thread;
     std::atomic<bool> running = true;
 
     void receiveVision();
+    void receiveDrawings();
 };
 } // namespace Tyr::Gui
diff --git a/source/gui/renderer/renderer.h b/source/gui/renderer/renderer.h
@@ -14,7 +14,8 @@ class Renderer
                     unsigned char _transparency = 255);
     void drawCircleSector(Common::Circle circle, Color _color, float _startAngle, float _endAngle, bool _isFilled,
                           unsigned char _transparency = 255);
-    void drawLineSegment(Common::LineSegment line_segment, Color _color, float _thickness = 1, unsigned char _transparency = 255);
+    void drawLineSegment(Common::LineSegment line_segment, Color _color, float _thickness = 1,
+                         unsigned char _transparency = 255);
     void drawText(Common::Vec2 _pos, std::string _str, int _fontSize = 12, Color _color = WHITE,
                   unsigned char _transparency = 255);
 
@@ -26,6 +27,11 @@ class Renderer
     void drawRobot(const Protos::SSL_DetectionRobot &robot, Common::TeamColor color);
     void drawBall(const Protos::SSL_DetectionBall &ball);
 
+    void drawCirclesUdp(const google::protobuf::RepeatedPtrField<Protos::Immortals::Debug_Circle> &circles);
+    void drawRectsUdp(const google::protobuf::RepeatedPtrField<Protos::Immortals::Debug_Rect> &rects);
+    void drawPointsUdp(const google::protobuf::RepeatedPtrField<Protos::Immortals::Debug_Point> &points);
+    void drawLinesUdp(const google::protobuf::RepeatedPtrField<Protos::Immortals::Debug_Line> &lines);
+
     void applyShader();
 
     RenderTexture visualizaionTexture, shaderVisualizationTexture;

diff --git a/source/gui/renderer/renderer_drawudp.cpp b/source/gui/renderer/renderer_drawudp.cpp
@@ -0,0 +1,72 @@
+#include "renderer.h"
+
+namespace Tyr::Gui
+{
+void Renderer::drawCirclesUdp(const google::protobuf::RepeatedPtrField<Protos::Immortals::Debug_Circle> &circles)
+{
+    for (const auto &circle : circles)
+    {
+        auto position = Common::Vec2(circle.x(), circle.y());
+        auto rad      = static_cast<float>(circle.r());
+
+        Color color = {.r = static_cast<unsigned char>(circle.col_r()),
+                       .g = static_cast<unsigned char>(circle.col_g()),
+                       .b = static_cast<unsigned char>(circle.col_b()),
+                       .a = 255};
+
+        drawCircle({position, rad}, color, true, 255);
+    }
+}
+
+void Renderer::drawRectsUdp(const google::protobuf::RepeatedPtrField<Protos::Immortals::Debug_Rect> &rects)
+{
+    for (const auto &rect : rects)
+    {
+        auto p1 = Common::Vec2(rect.x1(), rect.y1());
+        auto p2 = Common::Vec2(rect.x2(), rect.y2());
+
+        Common::Rect draw_rect(p1, p2);
+
+        Color color = {.r = static_cast<unsigned char>(rect.col_r()),
+                       .g = static_cast<unsigned char>(rect.col_g()),
+                       .b = static_cast<unsigned char>(rect.col_b()),
+                       .a = 255};
+
+        drawRect(draw_rect, color, false, 1.f, 255);
+    }
+}
+
+void Renderer::drawPointsUdp(const google::protobuf::RepeatedPtrField<Protos::Immortals::Debug_Point> &points)
+{
+    for (const auto &point : points)
+    {
+        auto position = Common::Vec2(point.x(), point.y());
+
+        Color color = {.r = static_cast<unsigned char>(point.col_r()),
+                       .g = static_cast<unsigned char>(point.col_g()),
+                       .b = static_cast<unsigned char>(point.col_b()),
+                       .a = 255};
+
+        drawCircle({position, 20}, color, true, 255);
+    }
+}
+
+void Renderer::drawLinesUdp(const google::protobuf::RepeatedPtrField<Protos::Immortals::Debug_Line> &lines)
+{
+    for (const auto &line : lines)
+    {
+        Common::LineSegment line_segment;
+
+        line_segment.start = Common::Vec2(line.x1(), line.y1());
+        line_segment.end   = Common::Vec2(line.x2(), line.y2());
+
+        Color color = {.r = static_cast<unsigned char>(line.col_r()),
+                       .g = static_cast<unsigned char>(line.col_g()),
+                       .b = static_cast<unsigned char>(line.col_b()),
+                       .a = 255};
+
+        drawLineSegment(line_segment, color);
+    }
+}
+
+} // namespace Tyr::Gui