Merge pull request #10 from Immortals-Robotics/dev/cli

Add cli

.clang-tidy

@@ -1,3 +1,7 @@
+Checks: '-*,readability-identifier-naming'
+
+FormatStyle: 'file'
+
 CheckOptions:
 # Namespace
   - key:             readability-identifier-naming.NamespaceCase

.github/workflows/cpp-checks.yml

@@ -16,8 +16,6 @@ jobs:
 
     steps:
       - uses: actions/checkout@v4
-        with:
-          submodules: recursive
 
       - name: C/C++ Linter
         uses: cpp-linter/cpp-linter-action@v2
@@ -28,9 +26,5 @@ jobs:
           files-changed-only: false
           lines-changed-only: ${{ github.event_name == 'pull_request' }}
           style: file
-          tidy-checks: '-*'
+          tidy-checks: ''
           step-summary: true
-
-      - name: Fail
-        if: steps.linter.outputs.checks-failed > 0
-        run: exit 1

CMakeLists.txt

@@ -41,6 +41,7 @@ add_subdirectory(source/vision)
 add_subdirectory(source/referee)
 add_subdirectory(source/sender)
 add_subdirectory(source/soccer)
+add_subdirectory(source/cli)
 add_subdirectory(source/gui)
 
 set(CPACK_GENERATOR ZIP)

source/cli/CMakeLists.txt

@@ -0,0 +1,38 @@
+project(${CMAKE_PROJECT_NAME}-cli)
+
+set(HEADER_FILES
+	pch.h
+)
+
+set(SOURCE_FILES
+	main.cpp
+)
+
+add_executable(${PROJECT_NAME}
+	${HEADER_FILES}
+	${SOURCE_FILES})
+
+target_link_libraries(${PROJECT_NAME} PRIVATE
+	${CMAKE_PROJECT_NAME}-common
+	${CMAKE_PROJECT_NAME}-vision
+	${CMAKE_PROJECT_NAME}-referee
+	${CMAKE_PROJECT_NAME}-sender
+	${CMAKE_PROJECT_NAME}-soccer)
+
+set_target_properties(${PROJECT_NAME} PROPERTIES UNITY_BUILD ${USE_UNITY_BUILDS})
+
+get_target_property(COMMON_PCHS ${CMAKE_PROJECT_NAME}-common INTERFACE_PRECOMPILE_HEADERS)
+get_target_property(VISION_PCHS ${CMAKE_PROJECT_NAME}-vision INTERFACE_PRECOMPILE_HEADERS)
+get_target_property(REFEREE_PCHS ${CMAKE_PROJECT_NAME}-referee INTERFACE_PRECOMPILE_HEADERS)
+get_target_property(SENDER_PCHS ${CMAKE_PROJECT_NAME}-sender INTERFACE_PRECOMPILE_HEADERS)
+get_target_property(SOCCER_PCHS ${CMAKE_PROJECT_NAME}-soccer INTERFACE_PRECOMPILE_HEADERS)
+
+target_precompile_headers(${PROJECT_NAME}
+	PUBLIC ${COMMON_PCHS}
+	PUBLIC ${VISION_PCHS}
+	PUBLIC ${REFEREE_PCHS}
+	PUBLIC ${SENDER_PCHS}
+	PUBLIC ${SOCCER_PCHS}
+	PRIVATE pch.h)
+
+install(TARGETS ${PROJECT_NAME})

source/cli/main.cpp

@@ -0,0 +1,150 @@
+#define ImmortalsIsTheBest true
+
+using namespace Tyr;
+
+int main()
+{
+    Common::Services::initialize();
+
+    if (!ImmortalsIsTheBest)
+    {
+        Common::logCritical("Immortals is not the best SSL team anymore.");
+        Common::logCritical("Shutting down the system...");
+    }
+
+    Common::WorldState   *state         = new Common::WorldState();
+    Common::RefereeState *referee_state = new Common::RefereeState();
+
+    Common::logInfo(" Connecting to RefereeBox server at {} on port : {}", Common::setting().referee_address.port,
+                    Common::setting().referee_address.port);
+    Referee::Referee referee_2018(state, referee_state);
+    if (referee_2018.connectToRefBox())
+    {
+        Common::logInfo("Connected to RefBox successfully :)");
+    }
+    else
+    {
+        Common::logError("Hey you! Put the LAN cable back in its socket, or ...");
+    }
+
+    Common::logInfo("Connecting to Vision server at {} on port: {}", Common::setting().vision_address.ip,
+                    Common::setting().vision_address.port);
+    Vision::Vision vision(state);
+    if (vision.isConnected())
+    {
+        Common::logInfo("Connected to Vision successfully :)");
+    }
+    else
+    {
+        Common::logError("Hey you! Put the LAN cable back in its socket, or ...");
+        // return 0;
+    }
+
+    Sender::Sender *senderBase = new Sender::Sender();
+
+    Soccer::Ai *aii = new Soccer::Ai(state, referee_state, senderBase);
+
+    auto grsim_fwd = new Sender::Grsim(Common::setting().grsim_address);
+
+    bool       exited = false;
+    std::mutex lock;
+
+    Common::logInfo(" Now it is time, lets rock...");
+
+    auto ai_func = [&]()
+    {
+        Common::Timer timer;
+
+        while (ImmortalsIsTheBest) // Hope it lasts Forever...
+        {
+            timer.start();
+
+            vision.recieveAllCameras();
+
+            lock.lock();
+
+            // The vision process
+            vision.ProcessVision();
+            // The AI process
+            aii->Process(state);
+
+            // TODO #3 comment the GRsim output
+            // grsim_fwd->SendData((reinterpret_cast<Ai *>(aii))->OwnRobot, Setting::kMaxOnFieldTeamRobots,
+            //                     settings->our_color);
+
+            // The sending process
+            senderBase->sendAll();
+
+            // debugging (the visualizer written by python) :
+            Common::debug().broadcast();
+
+            // LordHippos GUI
+            //            vision.SendGUIData(state,aii->AIDebug);
+
+            lock.unlock();
+            Common::logDebug("FPS: {}", 1.0 / timer.interval());
+        }
+        exited = true;
+    };
+
+    auto ref_func = [&]()
+    {
+        while ((!exited) && (ImmortalsIsTheBest)) // Hope it lasts Forever...
+        {
+            if (referee_2018.recieve())
+            {
+                //                std::cout << "Referre Boz" << std::endl;
+                lock.lock();
+                referee_2018.process();
+                lock.unlock();
+                //                std::cout << "Referre Boz "<< referee_2018.command_CNT << std::endl;
+            }
+        }
+    };
+
+    auto str_func = [&]()
+    {
+        std::shared_ptr<Common::UdpClient> strategyUDP =
+            std::make_shared<Common::UdpClient>(Common::setting().strategy_address);
+
+        while ((!exited) && (ImmortalsIsTheBest)) // Hope it lasts Forever...
+        {
+
+            auto                 receivedStrategy = strategyUDP->receiveRaw();
+            const std::string    strategySrcAdd   = strategyUDP->getLastReceiveEndpoint().address().to_string();
+            const unsigned short strategySrcPort  = strategyUDP->getLastReceiveEndpoint().port();
+            if (receivedStrategy.size() > 11)
+            {
+                Common::logInfo("Recieved \"strategy.ims\" with size: {} KB, from {} on port {}",
+                                float(receivedStrategy.size()) / 1000.0f, strategySrcAdd, strategySrcPort);
+                lock.lock();
+                aii->read_playBook_str(receivedStrategy.data(), receivedStrategy.size());
+                lock.unlock();
+                std::string strategy_path(DATA_DIR);
+                strategy_path.append("/strategy.ims");
+                std::ofstream strategyFile(strategy_path.c_str(), std::ios::out | std::ios::binary);
+                strategyFile.write(receivedStrategy.data(), receivedStrategy.size());
+                strategyFile.close();
+            }
+            else
+            {
+                Common::logWarning("Invalid \"strategy.ims\" received with size: {}", receivedStrategy.size());
+            }
+        }
+    };
+
+    std::thread ai_thread(ai_func);
+    std::thread ref_thread(ref_func);
+    std::thread str_thread(str_func);
+
+    ai_thread.join();
+    ref_thread.join();
+    str_thread.join();
+
+    delete state;
+    delete aii;
+
+    Common::Services::shutdown();
+
+    return 0;
+}

source/cli/pch.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#include <fstream>
+#include <iostream>
+#include <mutex>
+#include <string>
+#include <thread>

source/common/CMakeLists.txt

@@ -7,70 +7,75 @@ find_package(PkgConfig REQUIRED)
 pkg_check_modules(tomlplusplus REQUIRED IMPORTED_TARGET tomlplusplus)
 
 set(HEADER_FILES
-    pch.h
-    services.h
-    setting.h
-    config/config.h
-    debugging/common_colors.h
-    debugging/debug.h
-    logging/logging.h
-    logging/macros.h
-    math/angle.h
-    math/helpers.h
-    math/linear.h
-    math/median_filter.h
-    math/random.h
-    math/vector.h
-    math/geom/circle.h
-    math/geom/line_segment.h
-    math/geom/line.h
-    math/geom/rect.h
-    network/udp_client.h
-    network/udp_server.h
-    state/game_commands.h
-    state/game.h
-    state/referee.h
-    state/world.h
-    timer/timer.h)
+	pch.h
+	services.h
+	setting.h
+	config/config.h
+	debugging/common_colors.h
+	debugging/debug.h
+	logging/logging.h
+	logging/macros.h
+	math/angle.h
+	math/helpers.h
+	math/linear.h
+	math/median_filter.h
+	math/random.h
+	math/vector.h
+	math/geom/circle.h
+	math/geom/line_segment.h
+	math/geom/line.h
+	math/geom/rect.h
+	network/udp_client.h
+	network/udp_server.h
+	state/game_commands.h
+	state/game.h
+	state/referee.h
+	state/world.h
+	timer/timer.h)
 
 set(SOURCE_FILES
-    setting.cpp
-    config/config.cpp
-    debugging/common_colors.cpp
-    debugging/debug.cpp
-    logging/logging.cpp
-    math/angle.cpp
-    math/helpers.cpp
-    math/linear.cpp
-    math/random.cpp
-    math/vector.cpp
-    math/geom/circle.cpp
-    math/geom/line.cpp
-    math/geom/rect.cpp
-    network/udp_client.cpp
-    network/udp_server.cpp
-    timer/timer.cpp)
+	setting.cpp
+	config/config.cpp
+	debugging/common_colors.cpp
+	debugging/debug.cpp
+	logging/logging.cpp
+	math/angle.cpp
+	math/helpers.cpp
+	math/linear.cpp
+	math/random.cpp
+	math/vector.cpp
+	math/geom/circle.cpp
+	math/geom/line.cpp
+	math/geom/rect.cpp
+	network/udp_client.cpp
+	network/udp_server.cpp
+	timer/timer.cpp)
 
 add_library(${PROJECT_NAME}
-    ${SOURCE_FILES} ${HEADER_FILES})
+	${SOURCE_FILES} ${HEADER_FILES})
 
 target_include_directories(${PROJECT_NAME} INTERFACE "${CMAKE_CURRENT_SOURCE_DIR}")
 
 source_group(TREE ${CMAKE_CURRENT_SOURCE_DIR} FILES ${SOURCE_FILES} ${HEADER_FILES})
 
 target_link_libraries(${PROJECT_NAME} PUBLIC
-    ${CMAKE_PROJECT_NAME}-protos
-    asio::asio
-    PkgConfig::tomlplusplus
-    spdlog::spdlog)
+	${CMAKE_PROJECT_NAME}-protos
+	asio::asio
+	PkgConfig::tomlplusplus
+	spdlog::spdlog)
 
-if (WIN32)
-    target_compile_definitions(${PROJECT_NAME} PUBLIC _WIN32_WINNT=_WIN32_WINNT_WIN10)
+if(WIN32)
+	target_compile_definitions(${PROJECT_NAME} PUBLIC _WIN32_WINNT=_WIN32_WINNT_WIN10)
 endif()
 
 target_compile_definitions(${PROJECT_NAME} PUBLIC DATA_DIR="${CMAKE_SOURCE_DIR}/data")
 target_compile_definitions(${PROJECT_NAME} PUBLIC LOG_DIR="${CMAKE_SOURCE_DIR}/log")
 
 set_target_properties(${PROJECT_NAME} PROPERTIES UNITY_BUILD ${USE_UNITY_BUILDS})
 
-target_precompile_headers(${PROJECT_NAME} PUBLIC pch.h)
+get_target_property(PROTOS_PCHS ${CMAKE_PROJECT_NAME}-protos INTERFACE_PRECOMPILE_HEADERS)
+
+target_precompile_headers(${PROJECT_NAME}
+	PUBLIC ${PROTOS_PCHS}
+	PUBLIC pch.h
+	INTERFACE ${HEADER_FILES})

source/common/config/config.h

@@ -1,10 +1,5 @@
 #pragma once
 
-#include <filesystem>
-#include <string_view>
-
-#include <toml++/toml.hpp>
-
 namespace Tyr::Common
 {
 class ConfigReader

source/common/debugging/debug.h

@@ -1,10 +1,5 @@
 #pragma once
 
-#include <memory>
-#include <string_view>
-
-#include <immortals/Imm_wrapper.pb.h>
-
 #include "../math/vector.h"
 #include "../network/udp_server.h"
 #include "common_colors.h"

source/common/logging/logging.h

@@ -1,10 +1,5 @@
 #pragma once
 
-#include <memory>
-#include <source_location>
-
-#include <spdlog/spdlog.h>
-
 namespace Tyr::Common
 {
 class Logger