Dev/role assignment

data/config.toml

@@ -65,7 +65,7 @@ one_touch_shoot_k = 4000.0
     is_3D_printed = false
 
     [[soccer.robot_physical_status]]
-    has_chip_kick = false
+    has_chip_kick = true
     has_direct_kick = true
     has_dribbler = false
     id = 2
@@ -86,15 +86,15 @@ one_touch_shoot_k = 4000.0
     is_3D_printed = true
 
     [[soccer.robot_physical_status]]
-    has_chip_kick = false
-    has_direct_kick = false
+    has_chip_kick = true
+    has_direct_kick = true
     has_dribbler = false
     id = 5
     is_3D_printed = true
 
     [[soccer.robot_physical_status]]
-    has_chip_kick = false
-    has_direct_kick = false
+    has_chip_kick = true
+    has_direct_kick = true
     has_dribbler = false
     id = 6
     is_3D_printed = true
@@ -108,24 +108,24 @@ one_touch_shoot_k = 4000.0
 
     [[soccer.robot_physical_status]]
     has_chip_kick = false
-    has_direct_kick = true
+    has_direct_kick = false
     has_dribbler = false
     id = 8
     is_3D_printed = true
 
     [[soccer.robot_physical_status]]
-    has_chip_kick = true
-    has_direct_kick = true
+    has_chip_kick = false
+    has_direct_kick = false
     has_dribbler = false
     id = 9
     is_3D_printed = false
 
     [[soccer.robot_physical_status]]
-    has_chip_kick = true
-    has_direct_kick = true
+    has_chip_kick = false
+    has_direct_kick = false
     has_dribbler = false
     id = 10
-    is_3D_printed = false
+    is_3D_printed = true
 
     [[soccer.robot_physical_status]]
     has_chip_kick = false
@@ -177,4 +177,4 @@ max_robot_frame_not_seen = 120
 merge_distance = 70.0
 use_camera = [ false, true, false, false, false, false, false, false ]
 use_new_ball_kalman = true
-vision_frame_rate = 60.0
+vision_frame_rate = 70.0

source/cli/app.cpp

@@ -56,6 +56,8 @@ bool Application::initialize()
     m_dumper->addEntry(Common::config().network.raw_world_state_url, Common::config().network.raw_world_state_db);
     m_dumper->addEntry(Common::config().network.world_state_url, Common::config().network.world_state_db);
     m_dumper->addEntry(Common::config().network.debug_url, Common::config().network.debug_db);
+    m_dumper->addEntry(Common::config().network.referee_state_url, Common::config().network.referee_db);
+    m_dumper->addEntry(Common::config().network.soccer_state_url, Common::config().network.soccer_db);
 
     Common::logInfo(" Now it is time, lets rock...");
     return true;

source/gui/CMakeLists.txt

@@ -13,6 +13,7 @@ set(HEADER_FILES
         menu/filter.h
         menu/log.h
         menu/plot.h
+        menu/soccer.h
         menu/status_bar.h
 
         renderer/renderer.h
@@ -31,6 +32,7 @@ set(SOURCE_FILES
         menu/filter.cpp
         menu/log.cpp
         menu/plot.cpp
+        menu/soccer.cpp
         menu/status_bar.cpp
 
         renderer/ball.cpp

source/gui/app.cpp

@@ -91,11 +91,13 @@ bool Application::initialize(const int t_width, const int t_height)
     m_dumper->addEntry(Common::config().network.world_state_url, Common::config().network.world_state_db);
     m_dumper->addEntry(Common::config().network.debug_url, Common::config().network.debug_db);
     m_dumper->addEntry(Common::config().network.referee_state_url, Common::config().network.referee_db);
+    m_dumper->addEntry(Common::config().network.soccer_state_url, Common::config().network.soccer_db);
 
     m_world_client   = std::make_unique<Common::NngClient>(Common::config().network.world_state_url);
     m_raw_client     = std::make_unique<Common::NngClient>(Common::config().network.raw_world_state_url);
     m_debug_client   = std::make_unique<Common::NngClient>(Common::config().network.debug_url);
     m_referee_client = std::make_unique<Common::NngClient>(Common::config().network.referee_state_url);
+    m_soccer_client  = std::make_unique<Common::NngClient>(Common::config().network.soccer_state_url);
 
     SetTraceLogCallback(logCallback);
 
@@ -113,6 +115,7 @@ bool Application::initialize(const int t_width, const int t_height)
     ImGuiTheme::ApplyTheme(ImGuiTheme::ImGuiTheme_SoDark_AccentRed);
 
     m_renderer        = std::make_unique<Renderer>();
+    m_soccer_menu     = std::make_unique<SoccerMenu>();
     m_config_menu     = std::make_unique<ConfigMenu>();
     m_controller_menu = std::make_unique<ControllerMenu>();
     m_demo_menu       = std::make_unique<DemoMenu>();
@@ -165,6 +168,7 @@ void Application::update()
     receiveWorldStates();
     receiveDebug();
     receiveRefereeState();
+    receiveSoccerState();
 
     BeginDrawing();
     ClearBackground(DARKGRAY);
@@ -204,6 +208,12 @@ void Application::update()
     }
     ImGui::End();
 
+    if (ImGui::Begin("Soccer"))
+    {
+        m_soccer_menu->draw(soccerState());
+    }
+    ImGui::End();
+
     if (ImGui::Begin("Config"))
     {
         m_config_menu->draw();
@@ -247,29 +257,10 @@ void Application::update()
 
         m_renderer->draw(Common::field());
 
-        // TODO(mhmd): add an option for this
-        if (m_demo_menu->getState() == LogState::Live)
-        {
-            m_renderer->draw(m_referee_state, Common::field());
-            if (true)
-                m_renderer->draw(m_world_state);
-            else
-                m_renderer->draw(m_raw_world_state);
-        }
-        else
-        {
-            m_renderer->draw(m_demo_menu->worldState());
-            m_renderer->draw(m_demo_menu->refereeState(), Common::field());
-        }
+        m_renderer->draw(refereeState(), Common::field());
+        m_renderer->draw(worldState());
 
-        if (m_demo_menu->getState() == LogState::Live)
-        {
-            m_renderer->draw(m_debug_wrapper, m_filter_menu->map());
-        }
-        else
-        {
-            m_renderer->draw(static_cast<Common::Debug::Wrapper>(m_demo_menu->debugWrapper()), m_filter_menu->map());
-        }
+        m_renderer->draw(debugWrapper(), m_filter_menu->map());
 
         m_renderer->end();
     }
@@ -312,6 +303,7 @@ void Application::resetLayout()
 
     ImGui::DockBuilderDockWindow("Field", dockspace_main);
 
+    ImGui::DockBuilderDockWindow("Soccer", dockspace_left);
     ImGui::DockBuilderDockWindow("Config", dockspace_left);
     ImGui::DockBuilderDockWindow("Debug Filter", dockspace_left);
 
@@ -342,9 +334,16 @@ void Application::receiveWorldStates()
 
 void Application::receiveRefereeState()
 {
-    Protos::Immortals::Referee::State pb_raw_state;
-    if (m_referee_client->receive(&pb_raw_state, nullptr, true))
-        m_referee_state = Common::Referee::State(pb_raw_state);
+    Protos::Immortals::Referee::State pb_state;
+    if (m_referee_client->receive(&pb_state, nullptr, true))
+        m_referee_state = Common::Referee::State(pb_state);
+}
+
+void Application::receiveSoccerState()
+{
+    Protos::Immortals::Soccer::State pb_state;
+    if (m_soccer_client->receive(&pb_state, nullptr, true))
+        m_soccer_state = Common::Soccer::State(pb_state);
 }
 
 void Application::receiveDebug()
@@ -428,7 +427,16 @@ void Application::aiEntry() const
         duration_timer.start();
 
         m_ai->process();
-        m_ai->publishCommands();
+
+        if (!m_ai->publishCommands())
+        {
+            Common::logWarning("Failed to publish commands");
+        }
+
+        if (!m_ai->publishState())
+        {
+            Common::logWarning("Failed to publish state");
+        }
 
         Common::Debug::ExecutionTime execution_time;
         execution_time.duration = duration_timer.time();

source/gui/app.h

@@ -8,6 +8,7 @@
 #include "menu/filter.h"
 #include "menu/log.h"
 #include "menu/plot.h"
+#include "menu/soccer.h"
 #include "menu/status_bar.h"
 
 namespace Tyr::Gui
@@ -30,6 +31,7 @@ class Application
 
     std::unique_ptr<Renderer> m_renderer;
 
+    std::unique_ptr<SoccerMenu>     m_soccer_menu;
     std::unique_ptr<ConfigMenu>     m_config_menu;
     std::unique_ptr<ControllerMenu> m_controller_menu;
     std::unique_ptr<DemoMenu>       m_demo_menu;
@@ -61,19 +63,20 @@ class Application
     std::unique_ptr<Common::NngClient> m_raw_client;
     std::unique_ptr<Common::NngClient> m_debug_client;
     std::unique_ptr<Common::NngClient> m_referee_client;
+    std::unique_ptr<Common::NngClient> m_soccer_client;
 
-    Common::WorldState    m_world_state;
-    Common::RawWorldState m_raw_world_state;
-
+    Common::WorldState     m_world_state;
+    Common::RawWorldState  m_raw_world_state;
     Common::Debug::Wrapper m_debug_wrapper;
-
     Common::Referee::State m_referee_state;
+    Common::Soccer::State  m_soccer_state;
 
     void resetLayout();
 
     void receiveWorldStates();
     void receiveDebug();
     void receiveRefereeState();
+    void receiveSoccerState();
 
     void visionRawEntry() const;
     void visionFilteredEntry() const;
@@ -98,5 +101,15 @@ class Application
     {
         return live() ? m_debug_wrapper : m_demo_menu->debugWrapper();
     }
+
+    const Common::Referee::State &refereeState() const
+    {
+        return live() ? m_referee_state : m_demo_menu->refereeState();
+    }
+
+    const Common::Soccer::State &soccerState() const
+    {
+        return live() ? m_soccer_state : m_demo_menu->soccerState();
+    }
 };
 } // namespace Tyr::Gui

source/gui/menu/demo.cpp

@@ -6,13 +6,15 @@ DemoMenu::DemoMenu()
     m_debug_storage.open(Common::config().network.debug_db);
     m_world_filtered_storage.open(Common::config().network.world_state_db);
     m_referee_storage.open(Common::config().network.referee_db);
+    m_soccer_storage.open(Common::config().network.soccer_db);
 }
 
 DemoMenu::~DemoMenu()
 {
     m_debug_storage.close();
-    m_referee_storage.close();
     m_world_filtered_storage.close();
+    m_referee_storage.close();
+    m_soccer_storage.close();
 }
 
 void DemoMenu::draw()
@@ -159,14 +161,17 @@ void DemoMenu::update()
     Protos::Immortals::WorldState     pb_world_state;
     Protos::Immortals::Debug::Wrapper pb_debug;
     Protos::Immortals::Referee::State pb_referee;
+    Protos::Immortals::Soccer::State  pb_soccer;
 
     m_world_filtered_storage.get(playback_point.microseconds(), &pb_world_state);
     m_debug_storage.get(playback_point.microseconds(), &pb_debug);
     m_referee_storage.get(playback_point.microseconds(), &pb_referee);
+    m_soccer_storage.get(playback_point.microseconds(), &pb_soccer);
 
-    m_world_state = static_cast<Common::WorldState>(pb_world_state);
-    m_debug       = static_cast<Common::Debug::Wrapper>(pb_debug);
-    m_referee     = static_cast<Common::Referee::State>(pb_referee);
+    m_world_state   = static_cast<Common::WorldState>(pb_world_state);
+    m_debug         = static_cast<Common::Debug::Wrapper>(pb_debug);
+    m_referee_state = static_cast<Common::Referee::State>(pb_referee);
+    m_soccer_state  = static_cast<Common::Soccer::State>(pb_soccer);
 }
 
 void DemoMenu::analyzeDatabase()

source/gui/menu/demo.h

@@ -1,6 +1,6 @@
 #pragma once
 
 namespace Tyr::Gui
 {
 enum class LogState
 {
@@ -34,7 +34,12 @@
 
     const Common::Referee::State &refereeState() const
     {
-        return m_referee;
+        return m_referee_state;
+    }
+
+    const Common::Soccer::State &soccerState() const
+    {
+        return m_soccer_state;
     }
 
 private:
@@ -81,10 +86,12 @@
     Common::Storage m_debug_storage;
     Common::Storage m_world_filtered_storage;
     Common::Storage m_referee_storage;
+    Common::Storage m_soccer_storage;
 
     Common::Debug::Wrapper m_debug;
     Common::WorldState     m_world_state;
-    Common::Referee::State m_referee;
+    Common::Referee::State m_referee_state;
+    Common::Soccer::State  m_soccer_state;
 };
 
 } // namespace Tyr::Gui