protoboard-rcll: Translate between RCLL ProtoBuf messages and the blackboard

src/lua/skills/robotino/create_peer.lua

@@ -0,0 +1,100 @@
+
+----------------------------------------------------------------------------
+--  create_peer.lua
+--
+--  (c) 2019 Victor Mataré
+--
+----------------------------------------------------------------------------
+
+--  This program is free software; you can redistribute it and/or modify
+--  it under the terms of the GNU General Public License as published by
+--  the Free Software Foundation; either version 2 of the License, or
+--  (at your option) any later version.
+--
+--  This program is distributed in the hope that it will be useful,
+--  but WITHOUT ANY WARRANTY; without even the implied warranty of
+--  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+--  GNU Library General Public License for more details.
+--
+--  Read the full text in the LICENSE.GPL file in the doc directory.
+
+-- Initialize module
+module(..., skillenv.module_init)
+
+-- Crucial skill information
+name               = "create_peer"
+fsm                = SkillHSM:new{name=name, start="SEND_MSG"}
+depends_skills     = { }
+depends_interfaces = {
+   {v = "peer_iface", type="ProtobufPeerInterface", id="/protoboard/peers"},
+}
+
+documentation      = [==[Create and connect to a ProtoBuf peer
+
+@param address      The peer's IP address (string.
+@param port         The port to send to & receive on.
+@param send_to_port The port to send to. Mutually exclusive with the @a port param.
+@param recv_on_port The port to receive on. Mutually exclusive with the @a port param.
+@param cipher       (Optional) Cipher name
+@param crypto_key   (Optional) The encrypthon key
+
+]==]
+
+-- Initialize as skill module
+skillenv.skill_module(_M)
+
+
+function input_ok()
+   local port_ok = fsm.vars.port or (fsm.vars.send_to_port and fsm.vars.recv_on_port) and not(
+      fsm.vars.port and (fsm.vars.send_to_port or fsm.vars.recv_on_port)
+   )
+   local crypto_ok = (not not fsm.vars.cipher == not not fsm.vars.crypto_key)
+   return fsm.vars.address and port_ok and crypto_ok
+end
+
+fsm:define_states{ export_to=_M,
+   closure={ input_ok=input_ok },
+   {"SEND_MSG", JumpState}
+}
+
+fsm:add_transitions{
+   {"SEND_MSG", "FAILED", precond="not input_ok()", desc="wrong input params"},
+   {"SEND_MSG", "FINAL", cond=true}
+}
+
+function SEND_MSG:init()
+   local msg
+   if fsm.vars.send_to_port then
+      if fsm.vars.cipher then
+         msg = peer_iface.CreatePeerLocalCryptoMessage:new(
+            fsm.vars.address,
+            fsm.vars.send_to_port,
+            fsm.vars.recv_on_port,
+            fsm.vars.crypto_key,
+            fsm.vars.cipher
+         )
+      else
+         msg = peer_iface.CreatePeerLocalMessage:new(
+            fsm.vars.address,
+            fsm.vars.send_to_port,
+            fsm.vars.recv_on_port
+         )
+      end
+   else
+      if fsm.vars.cipher then
+         msg = peer_iface.CreatePeerCryptoMessage:new(
+            fsm.vars.address,
+            fsm.vars.port,
+            fsm.vars.crypto_key,
+            fsm.vars.cipher
+         )
+      else
+         msg = peer_iface.CreatePeerMessage:new(
+            fsm.vars.address,
+            fsm.vars.port
+         )
+      end
+   end
+   peer_iface:msgq_enqueue_copy(msg)
+end
+

src/lua/skills/robotino/init.lua

@@ -55,3 +55,6 @@ skillenv.use_skill("skills.robotino.bring_product_to")
 skillenv.use_skill("skills.robotino.get_product_from")
 skillenv.use_skill("skills.robotino.approach_test")
 skillenv.use_skill("skills.robotino.discard")
+
+-- ProtoBuf communication
+skillenv.use_skill("skills.robotino.create_peer")

src/plugins/Makefile

@@ -31,8 +31,10 @@ SUBDIRS	= clips-motor-switch \
 		mps-laser-gen \
 		webtools-bridge \
 		skiller_motor_state \
+		protoboard-rcll \
 		asp-planner
 
+
 include $(BUILDSYSDIR)/rules.mk
 
 gazebo: ax12_gripper tag_vision arduino conveyor_pose navgraph-generator-mps

src/plugins/protoboard-rcll/Makefile

@@ -0,0 +1,29 @@
+#*****************************************************************************
+#
+#   This program is free software; you can redistribute it and/or modify
+#   it under the terms of the GNU General Public License as published by
+#   the Free Software Foundation; either version 2 of the License, or
+#   (at your option) any later version.
+#
+#*****************************************************************************
+
+BASEDIR = ../../..
+include $(BASEDIR)/etc/buildsys/config.mk
+include $(BUILDSYSDIR)/protobuf.mk
+include $(BUILDSYSDIR)/boost.mk
+
+PRESUBDIRS = interfaces
+
+LIBS_protoboard_rcll = fawkesprotoboard llsf_msgs \
+  OrderInterface PrepareMachineInterface SendBeaconInterface ProtobufPeerInterface \
+  RecvBeaconInterface RCLLGameStateInterface MachineInfoInterface RingInfoInterface
+
+CFLAGS += $(CFLAGS_CPP11)
+
+OBJS_protoboard_rcll = rcll_receiving.o rcll_sending.o plugin.o
+OBJS_all = $(OBJS_protoboard_rcll)
+
+PLUGINS_all = $(PLUGINDIR)/protoboard-rcll.$(SOEXT) 
+PLUGINS_build = $(PLUGINS_all)
+
+include $(BUILDSYSDIR)/base.mk

src/plugins/protoboard-rcll/interfaces/MachineInfoInterface.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE interface SYSTEM "interface.dtd">
+<interface name="MachineInfoInterface" author="Victor Mataré" year="2019">
+  <constants>
+    <enum name="Team">
+      <comment>Team color</comment>
+      <item name="CYAN">Cyan team</item>
+      <item name="MAGENTA">Magenta team</item>
+    </enum>
+    <enum name="RingColor">
+      <comment>Available ring colors</comment>
+      <item name="RING_NONE">Not a RingStation</item>
+      <item name="RING_BLUE">Blue ring</item>
+      <item name="RING_GREEN">Green ring</item>
+      <item name="RING_ORANGE">Orange ring</item>
+      <item name="RING_YELLOW">Yellow ring</item>
+    </enum>
+  </constants>
+  <data>
+    <comment>Information about a machine</comment>
+    <field type="string" name="machine_name" length="32">Machine name</field>
+    <field type="string" name="machine_type" length="32">Machine type</field>
+    <field type="string" name="state" length="64">Current state</field>
+    <field type="Team" name="team_color">Team color</field>
+    <field type="float" name="pose" length="3">2D Pose (x, y, yaw)</field>
+    <field type="string" name="zone" length="32">Zone the machine is in</field>
+    <field type="uint32" name="rotation">Discretized rotation in degrees</field>
+    <field type="bool" name="correctly_reported">Whether it was correctly reported</field>
+    <field type="uint32" name="loaded_with">Bases loaded in slide</field>
+    <field type="RingColor" name="ring_colors" length="2">Available ring colors</field>
+  </data>
+</interface>
+

src/plugins/protoboard-rcll/interfaces/Makefile

@@ -0,0 +1,24 @@
+#*****************************************************************************
+#              Makefile Build System for Fawkes: Robotino interfaces
+#                            -------------------
+#   Created on Fri Mar 26 17:25:00 2012
+#   Copyright (C) 2006-2012 by Tim Niemueller, AllemaniACs RoboCup Team
+#
+#*****************************************************************************
+#
+#   This program is free software; you can redistribute it and/or modify
+#   it under the terms of the GNU General Public License as published by
+#   the Free Software Foundation; either version 2 of the License, or
+#   (at your option) any later version.
+#
+#*****************************************************************************
+
+BASEDIR = ../../../..
+
+include $(BASEDIR)/etc/buildsys/config.mk
+
+INTERFACES_all = $(notdir $(patsubst %.xml,%,$(wildcard $(SRCDIR)/*.xml)))
+include $(BUILDSYSDIR)/interface.mk
+
+include $(BUILDSYSDIR)/base.mk
+

src/plugins/protoboard-rcll/interfaces/OrderInterface.xml

@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE interface SYSTEM "interface.dtd">
+<interface name="OrderInterface" author="Victor Mataré" year="2017">
+  <constants>
+    <enum name="BaseColor">
+      <comment>What color to output</comment>
+      <item name="BASE_RED">Red base</item>
+      <item name="BASE_BLACK">Black base</item>
+      <item name="BASE_SILVER">Silver base</item>
+    </enum>
+    <enum name="RingColor">
+      <comment>Available ring colors</comment>
+      <item name="RING_BLUE">Blue ring</item>
+      <item name="RING_GREEN">Green ring</item>
+      <item name="RING_ORANGE">Orange ring</item>
+      <item name="RING_YELLOW">Yellow ring</item>
+    </enum>
+    <enum name="CapColor">
+      <comment>Available cap colors</comment>
+      <item name="CAP_BLACK">Black cap</item>
+      <item name="CAP_GREY">Grey cap</item>
+    </enum>
+    <enum name="Team">
+      <comment>Team color</comment>
+      <item name="CYAN">Cyan team</item>
+      <item name="MAGENTA">Magenta team</item>
+    </enum>
+    <enum name="Complexity">
+      <comment>Product complexity</comment>
+      <item name="C0">No ring</item>
+      <item name="C1">One ring</item>
+      <item name="C2">Two rings</item>
+      <item name="C3">Three rings</item>
+    </enum>
+  </constants>
+  <data>
+    <comment>Description of a single order</comment>
+    <field type="uint32" name="order_id">Order ID</field>
+    <field type="Complexity" name="complexity">Order complexity</field>
+    <field type="BaseColor" name="base_color">Requested base color</field>
+    <field type="RingColor" name="ring_colors" length="4">Requested rings</field>
+    <field type="CapColor" name="cap_color">Requested cap color</field>
+    <field type="uint32" name="delivery_period_begin">Delivery window start (seconds of game time)</field>
+    <field type="uint32" name="delivery_period_end">Delivery window end (seconds of game time)</field>
+    <field type="uint32" name="delivery_gate">Which gate must be used at the DS</field>
+    <field type="uint32" name="quantity_requested">How many of this type must be delivered</field>
+    <field type="uint32" name="quantity_delivered_cyan">How many were delivered by Cyan</field>
+    <field type="uint32" name="quantity_delivered_magenta">How many were delivered by Magenta</field>
+  </data>
+</interface>
+

src/plugins/protoboard-rcll/interfaces/PrepareMachineInterface.xml

@@ -0,0 +1,84 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE interface SYSTEM "interface.dtd">
+<interface name="PrepareMachineInterface" author="Victor Mataré" year="2017">
+  <constants>
+    <enum name="MachineSide">
+      <comment>Side of an MPS</comment>
+      <item name="OUTPUT">Output side (even tag ID)</item>
+      <item name="INPUT">Input side (odd tag ID)</item>
+    </enum>
+    <enum name="BaseColor">
+      <comment>What color to output</comment>
+      <item name="BASE_RED">Red base</item>
+      <item name="BASE_BLACK">Black base</item>
+      <item name="BASE_SILVER">Silver base</item>
+    </enum>
+    <enum name="RingColor">
+      <comment>Available ring colors</comment>
+      <item name="RING_BLUE">Blue ring</item>
+      <item name="RING_GREEN">Green ring</item>
+      <item name="RING_ORANGE">Orange ring</item>
+      <item name="RING_YELLOW">Yellow ring</item>
+    </enum>
+    <enum name="CapColor">
+      <comment>Available cap colors</comment>
+      <item name="CAP_BLACK">Black cap</item>
+      <item name="CAP_GREY">Grey cap</item>
+    </enum>
+    <enum name="Team">
+      <comment>Team color</comment>
+      <item name="CYAN">Cyan team</item>
+      <item name="MAGENTA">Magenta team</item>
+    </enum>
+    <enum name="SSOp">
+      <comment>Storage Station operation</comment>
+      <item name="STORE">Store something</item>
+      <item name="RETRIEVE">Retrieve something</item>
+    </enum>
+    <enum name="CSOp">
+      <comment>Cap Station operation</comment>
+      <item name="RETRIEVE_CAP">Retrieve cap</item>
+      <item name="MOUNT_CAP">Mount cap</item>
+    </enum>
+  </constants>
+
+  <data>
+    <comment>No data needed really, just store last msgid</comment>
+    <field type="uint32" name="last_msgid">Last sent message ID</field>
+    <field type="int64" name="peer_id">Peer ID to send to</field>
+  </data>
+
+  <message name="SetPeerMessage">
+    <comment>Set peer ID that messages should be sent to</comment>
+    <field type="int64" name="peer_id">Peer ID to use</field>
+  </message>
+  <message name="PrepareBS">
+    <comment>Make BS output specified base element at the specified side</comment>
+    <field type="Team" name="team_color">The sending team's color</field>
+    <field type="string" length="16" name="machine">Machine name</field>
+    <field type="MachineSide" name="side">Where the base should come out</field>
+    <field type="BaseColor" name="color">What base color should come out</field>
+  </message>
+  <message name="PrepareDS">
+    <field type="Team" name="team_color">The sending team's color</field>
+    <field type="string" length="16" name="machine">Machine name</field>
+    <field type="uint32" name="order_id">Delivered order ID</field>
+  </message>
+  <message name="PrepareSS">
+    <field type="Team" name="team_color">The sending team's color</field>
+    <field type="string" length="16" name="machine">Machine name</field>
+    <field type="SSOp" name="operation">Operation to perform</field>
+    <field type="uint32" length="3" name="slot">Where to store/retrieve</field>
+  </message>
+  <message name="PrepareRS">
+    <field type="Team" name="team_color">The sending team's color</field>
+    <field type="string" length="16" name="machine">Machine name</field>
+    <field type="RingColor" name="ring_color">Ring color</field>
+  </message>
+  <message name="PrepareCS">
+    <field type="Team" name="team_color">The sending team's color</field>
+    <field type="string" length="16" name="machine">Machine name</field>
+    <field type="CSOp" name="operation">Operation to perform</field>
+  </message>
+</interface>
+

src/plugins/protoboard-rcll/interfaces/RCLLGameStateInterface.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE interface SYSTEM "interface.dtd">
+<interface name="RCLLGameStateInterface" author="Victor Mataré" year="2017">
+  <constants>
+    <enum name="GameState">
+      <comment>Game state</comment>
+      <item name="INIT">Just after startup of the refbox</item>
+      <item name="WAIT_START">Time not yet running</item>
+      <item name="RUNNING">Game is running</item>
+      <item name="PAUSED">Game was paused</item>
+    </enum>
+    <enum name="GamePhase">
+      <comment>Game phase</comment>
+      <item name="PRE_GAME">Game hasn't begun</item>
+      <item name="SETUP">Setup phase</item>
+      <item name="EXPLORATION">Exploration phase</item>
+      <item name="PRODUCTION">Production phase</item>
+      <item name="POST_GAME">Game has ended</item>
+    </enum>
+  </constants>
+  <data>
+    <comment>Full game state</comment>
+    <field type="int64" name="game_time_sec">Time in seconds since game start</field>
+    <field type="int64" name="game_time_nsec">Nanoseconds part</field>
+    <field type="GameState" name="state">Current game state</field>
+    <field type="GamePhase" name="phase">Current game phase</field>
+    <field type="uint32" name="points_cyan">Points awarded to cyan</field>
+    <field type="string" name="team_cyan" length="255">Name of the cyan team</field>
+    <field type="uint32" name="points_magenta">Points awarded to magenta</field>
+    <field type="string" name="team_magenta" length="255">Name of the magenta team</field>
+  </data>
+</interface>
+