diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md new file mode 100644 index 0000000..1b78013 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug_report.md @@ -0,0 +1,32 @@ +--- +name: Bug report +about: Create a bug report from the project +title: '' +labels: 'bug' +assignees: '' + +--- + +# Describe the bug +A clear and concise description of what the bug is. + +# To Reproduce +Steps to reproduce the behavior: +1. Go to '...' +2. Click on '....' +3. Scroll down to '....' +4. See error + +# Expected behavior +A clear and concise description of what you expected to happen. + +# Screenshots +If applicable, add screenshots to help explain your problem. + +# Desktop (please complete the following information): + - OS: [e.g. Ubuntu] + - Version [e.g. 22.04] + +# Additional context +Add any other context about the problem here. + diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md new file mode 100644 index 0000000..85894c1 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/feature_request.md @@ -0,0 +1,27 @@ +--- +name: Feature request +about: Suggest an idea for this project +title: '' +labels: 'feature' +assignees: '' + +--- + +# What is your feature request related to? Please describe. +A clear and concise description of what this feature request is related to. Ex. I'm always frustrated when [...] + +# Describe the solution you'd like +A clear and concise description of what you want to happen. + +# List the tasks related to this feature +Here you should list all the tasks related to this feature using check boxes. Remember to create tasks following the Task templates and mark the check boxes when you complete them. +- [ ] #id1 +- [ ] #id2 +- [ ] #id3 + +# Describe alternatives you've considered +A clear and concise description of any alternative solutions or features you've considered. + +# Additional context +Add any other context or screenshots about the feature request here. + diff --git a/.github/ISSUE_TEMPLATE/task.md b/.github/ISSUE_TEMPLATE/task.md new file mode 100644 index 0000000..b4777b8 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/task.md @@ -0,0 +1,21 @@ +--- +name: Task +about: Create a task for this project +title: '' +labels: 'task' +assignees: '' + +--- + +# Is your task related to a feature or bug? Please describe. +A clear and concise description of what this task is related to. Ex. This task aims to solve (#feature_id / #bug_id) providing an interface [...] + +# Describe the solution you'd like +A clear and concise description of what you will work to. Please use checkboxes here. When a Task is related as a dependency for this task, you can also list it above using its id. + +- [x] SubTask 1 +- [ ] SubTask 2 (#id) +- [ ] SubTask 3 + +# Additional context +Add any other context or screenshots about the task here. diff --git a/.github/PULL_REQUEST_TEMPLATE/pull_request_template.md b/.github/PULL_REQUEST_TEMPLATE/pull_request_template.md new file mode 100644 index 0000000..712e7eb --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE/pull_request_template.md @@ -0,0 +1,19 @@ +# What is the proposal of this pull request? +A clear and concise description of the main proposal of this pull request. + +# What changes have been made? +Describe which types of changes (features, hotfixes, rewriten, etc) were made on macro classes. + +# How to test this changes? +Describe the steps to test or a dictated explanation to test the changes (the main archives to edit and what to edit). + +# References (screenshots, links, etc) + +# Checklist +- [ ] I have performed a self review on my own code +- [ ] I have commented my code, particularly in hard-to-understand areas +- [ ] I have checked my code and corrected any misspellings +- [ ] My changes generated no new warnings + +# Additional context +Add any other context or screenshots about this pull request here. diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 0000000..4ff1c00 --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,27 @@ +name: Build +on: + push: + paths-ignore: + - 'docs**' + pull_request: +jobs: + build-ubuntu: + runs-on: ${{ matrix.os }} + if: github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name != github.event.pull_request.base.repo.full_name + strategy: + matrix: + os: [ ubuntu-20.04, ubuntu-22.04 ] + steps: + - uses: actions/checkout@v3 + with: + submodules: recursive + - name: "Install dependencies" + run: sudo apt-get clean && sudo apt-get update && sudo apt-get install build-essential cmake qtbase5-dev qt5-qmake libprotobuf-dev protobuf-compiler libprotoc-dev protobuf-compiler-grpc libgrpc++-dev libgrpc-dev libqt5serialport5-dev google-mock libgmock-dev libgtest-dev libspdlog-dev libfmt-dev + - name: "Install Google Test library" + run: cd /usr/src/googletest/googletest/ && sudo cmake CMakeLists.txt && sudo make && cd lib && sudo cp *.a /usr/lib + - name: "Install Google Mock library" + run: cd /usr/src/googletest/googlemock/ && sudo cmake CMakeLists.txt && sudo make && cd lib && sudo cp *.a /usr/lib + - name: "Update ldconfig" + run: sudo ldconfig + - name: "Build Armorial-PSEL" + run: mkdir build && cd build && qmake .. && make -j$(nproc) diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..924a2b1 --- /dev/null +++ b/.gitignore @@ -0,0 +1,81 @@ +# This file is used to ignore files which are generated +# ---------------------------------------------------------------------------- + +*~ +*.autosave +*.a +*.core +*.moc +*.o +*.obj +*.orig +*.rej +*.so +*.so.* +*_pch.h.cpp +*_resource.rc +*.qm +.#* +*.*# +core +!core/ +tags +.DS_Store +.directory +*.debug +Makefile* +*.prl +*.app +moc_*.cpp +ui_*.h +qrc_*.cpp +Thumbs.db +*.res +*.rc +/.qmake.cache +/.qmake.stash + +# qtcreator generated files +*.pro.user* + +# xemacs temporary files +*.flc + +# Vim temporary files +.*.swp + +# Visual Studio generated files +*.ib_pdb_index +*.idb +*.ilk +*.pdb +*.sln +*.suo +*.vcproj +*vcproj.*.*.user +*.ncb +*.sdf +*.opensdf +*.vcxproj +*vcxproj.* + +# MinGW generated files +*.Debug +*.Release + +# Python byte code +*.pyc + +# Binaries +# -------- +*.dll +*.exe + +# Build folders +bin/ +build/ + +# VSCode configs +.vscode/ + + diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..881bcb9 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "include/proto"] + path = include/proto + url = https://github.com/MaracatronicsRobotics/Armorial-Proto.git diff --git a/Armorial-PSEL.pro b/Armorial-PSEL.pro new file mode 100644 index 0000000..4a0e853 --- /dev/null +++ b/Armorial-PSEL.pro @@ -0,0 +1,75 @@ +TEMPLATE = app +DESTDIR = ../bin +TARGET = Armorial-PSEL +VERSION = 1.0.0 + +# Temporary dirs +OBJECTS_DIR = tmp/obj +MOC_DIR = tmp/moc +UI_DIR = tmp/moc +RCC_DIR = tmp/rc + +CONFIG += c++17 console +CONFIG -= app_bundle +QT += core network + +DEFINES += QT_DEPRECATED_WARNINGS +LIBS += -lQt5Core -lprotobuf -lfmt + +system(echo "Generating simulation proto headers" && cd include/proto/simulation && protoc --cpp_out=../ *.proto && cd ../../..) +system(echo "Generating referee proto headers" && cd include/proto/referee && protoc --cpp_out=../ *.proto && cd ../../..) + +# The following define makes your compiler emit warnings if you use +# any Qt feature that has been marked deprecated (the exact warnings +# depend on your compiler). Please consult the documentation of the +# deprecated API in order to know how to port your code away from it. +DEFINES += QT_DEPRECATED_WARNINGS +DEFINES += APP_NAME=\\\"$$TARGET\\\" +DEFINES += APP_VERSION=\\\"$$VERSION\\\" +DEFINES += PROJECT_PATH=\\\"$${PWD}\\\" + +# You can make your code fail to compile if it uses deprecated APIs. +# In order to do so, uncomment the following line. +#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0 + +SOURCES += \ + include/proto/command.pb.cc \ + include/proto/common.pb.cc \ + include/proto/packet.pb.cc \ + include/proto/replacement.pb.cc \ + include/proto/ssl_simulation_robot_control.pb.cc \ + include/proto/ssl_vision_detection.pb.cc \ + include/proto/ssl_vision_geometry.pb.cc \ + include/proto/ssl_vision_wrapper.pb.cc \ + main.cpp \ + src/entities/actuator/actuator.cpp \ + src/entities/coach/coach.cpp \ + src/entities/player/player.cpp \ + src/entities/vision/vision.cpp \ + src/entities/worldmap/worldmap.cpp \ + src/utils/types/robotcontrolpacket/robotcontrolpacket.cpp \ + src/utils/types/robotdetectionpacket/robotdetectionpacket.cpp \ + src/utils/utils.cpp + +# Default rules for deployment. +qnx: target.path = /tmp/$${TARGET}/bin +else: unix:!android: target.path = /opt/$${TARGET}/bin +!isEmpty(target.path): INSTALLS += target + +HEADERS += \ + include/proto/command.pb.h \ + include/proto/common.pb.h \ + include/proto/packet.pb.h \ + include/proto/replacement.pb.h \ + include/proto/ssl_simulation_robot_control.pb.h \ + include/proto/ssl_vision_detection.pb.h \ + include/proto/ssl_vision_geometry.pb.h \ + include/proto/ssl_vision_wrapper.pb.h \ + src/entities/actuator/actuator.h \ + src/entities/coach/coach.h \ + src/entities/player/player.h \ + src/entities/vision/vision.h \ + src/entities/worldmap/worldmap.h \ + src/utils/types/robotcontrolpacket/robotcontrolpacket.h \ + src/utils/types/robotdetectionpacket/robotdetectionpacket.h \ + src/utils/utils.h diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/README.md b/README.md new file mode 100644 index 0000000..a10ac38 --- /dev/null +++ b/README.md @@ -0,0 +1,65 @@ +# Armorial-PSEL + +This repository contains the base implementation for the Maracatronics Robotics Programming Selective Proccess. The core objective of this project is to provide a simple interface (simmilar to the used in our main project) that allows to receive data from the simulated environments and send control packets to the robots inside it. + +## Project Requirements + +Currently, the known supported OS is Ubuntu in both 20.04 and 22.04 versions (check the github actions to see the build workflow for both of them). You will need to install the dependencies by just following the above command: + +```bash +sudo apt-get update && sudo apt-get install build-essential cmake qtbase5-dev qt5-qmake libprotobuf-dev protobuf-compiler libprotoc-dev protobuf-compiler-grpc libgrpc++-dev libgrpc-dev libqt5serialport5-dev google-mock libgmock-dev libgtest-dev libspdlog-dev libfmt-dev && sudo apt-get upgrade +``` + +## Project Structure + +As mentioned above, this project contains a structure that is heavily based in our main project. When navigating to the **src** folder, you will found the **entities** and **utils** folders. + +### Entity + +An Entity is a module of our code. They generally provides interfaces to allow communication for between both outside (with the simulated environment for example) or inside (with the **Player** and **Actuator** integration, where the players can send control information through it). + +Currently, we have the implementation of 5 entities in our project: + +- **Actuator**: Provides an interface for the communication with the simulated environment to control the robots. +- **Vision**: Provides an interface for the reception of detection packets from the simulated environment. +- **Player**: Provides an interface for a robot in the simulated environment, allowing to get information and control it. +- **WorldMap**: Provides an interface to get information about some field RoI (region of interests) and also ball data. +- **Coach**: Provides an interface to manage and control all the robots in the simulated environment. + +### Utils + +The Utils folder contains methods and classes that are commonly used in our project modules. Commonly, you will find here the **types** folders along with a **Utils** class itself. The **types** folder contains interfaces to enhance the data transfer along the integrations between the Entities and the **Utils** class contains **static** useful generic methods that can be used everywhere in the code, generally related to math calculus. + +## Workflow Diagram + +![img](assets/armorial-psel-workflow-diagram-bg.png) + +## Controlling the Robots + +In the [coach](src/entities/coach/coach.cpp) main code, you can find a method called **runCoach**. Here, you can find a base implementation which shows how to control the robots in the field, but let's take a deep look inside: + +```cpp +void Coach::runCoach() { + // Here you can control the robots freely. + // Remember that the getPlayer(color, id) function can return a std::nullopt object, so + // be careful when you use it (remember to only use ids from 0-2 and the BLUE and YELLOW + // defines). + + // Example 1: here we get the ball position and set the BLUE and YELLOW player 0 to follow it + QVector2D ballPosition = getWorldMap()->ballPosition(); + getPlayer(BLUE, 0).value()->goTo(ballPosition); + getPlayer(YELLOW, 0).value()->goTo(ballPosition); + + // Example 2: here we set the BLUE and YELLOW players 1 and 2 to rotate to the ball + getPlayer(BLUE, 1).value()->rotateTo(ballPosition); + getPlayer(BLUE, 2).value()->rotateTo(ballPosition); + getPlayer(YELLOW, 1).value()->rotateTo(ballPosition); + getPlayer(YELLOW, 2).value()->rotateTo(ballPosition); +} +``` + +To control any robot in the field, first you need to call the **getPlayer(isTeamBlue, playerId)** method. It provides a [std::optional](https://en.cppreference.com/w/cpp/utility/optional) return, which means that sometimes you will not receive the pointer for the Player that you want if the player is **not registered in the code**, so be careful with that. Just for note, you can use the **BLUE** and **YELLOW** defines to refers to the blue and yellow teams, respectively, and can use the players id from 0-2 for both teams. + +After cast the **getPlayer** method successfully, you will get it's **value** that will refers to a **Player** pointer. With that on hand, you will be able to cast the [Player](src/entities/player/player.h) class public and protected methods (note that the Coach class is registered as friend class on Player). So, you can call the **goTo** and **rotateTo** methods along with getters for the player position / orientation and identifiers. + +In this coach method you can also get the **WorldMap** class by using the **getWorldMap()** method. With that on hand you will be able to use all the available methods in [WorldMap](src/entities/worldmap/worldmap.h) class, such as position of some region of interests and the ball position. \ No newline at end of file diff --git a/assets/armorial-psel-workflow-diagram-bg.png b/assets/armorial-psel-workflow-diagram-bg.png new file mode 100644 index 0000000..81dcbc9 Binary files /dev/null and b/assets/armorial-psel-workflow-diagram-bg.png differ diff --git a/assets/armorial-psel-workflow-diagram.png b/assets/armorial-psel-workflow-diagram.png new file mode 100644 index 0000000..bc34bd6 Binary files /dev/null and b/assets/armorial-psel-workflow-diagram.png differ diff --git a/include/proto b/include/proto new file mode 160000 index 0000000..5435452 --- /dev/null +++ b/include/proto @@ -0,0 +1 @@ +Subproject commit 54354524aae03e36c34ad8438bc6d97dfcbe9bf2 diff --git a/main.cpp b/main.cpp new file mode 100644 index 0000000..737c7d7 --- /dev/null +++ b/main.cpp @@ -0,0 +1,79 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + +#include + +#include +#include +#include +#include +#include + +int main(int argc, char *argv[]) +{ + QCoreApplication a(argc, argv); + + // Create Vision module + Vision *vision = new Vision(); + + // Create actuator module and connect it with the Vision to receive the host address + Actuator* actuator = new Actuator(); + QObject::connect(vision, &Vision::sendHostAddress, actuator, &Actuator::connectToNetwork); + + // Create WorldMap instance and connect it with the Vision module to receive detection packets + // from ball and field. + WorldMap *worldMap = new WorldMap(false); + QObject::connect(vision, &Vision::sendFieldDetection, worldMap, &WorldMap::updateFieldDetection); + QObject::connect(vision, &Vision::sendBallDetection, worldMap, &WorldMap::updateBallDetection); + + // Create Player pointers + QMap> _players; + for(int i = 0; i <= 1; i++) { + _players.insert(i, QList()); + for (int j = 0; j < 6; j++) { + _players[i].push_back(new Player(i, j)); + QObject::connect(vision, &Vision::sendRobotDetection, _players[i][j], &Player::updateFromDetection); + QObject::connect(_players[i][j], &Player::sendControlPacket, actuator, &Actuator::receiveControlPacket); + } + } + + // Create Coach module instance and allocate players and worldmap to it. + Coach* coach = new Coach(_players, worldMap); + + // Hold exec + bool exec = a.exec(); + + // Delete pointers + delete coach; + delete worldMap; + + for (auto& team : _players) { + for (auto& player : team) { + delete player; + } + team.clear(); + } + + delete actuator; + delete vision; + + return exec; +} diff --git a/src/entities/actuator/actuator.cpp b/src/entities/actuator/actuator.cpp new file mode 100644 index 0000000..10b478c --- /dev/null +++ b/src/entities/actuator/actuator.cpp @@ -0,0 +1,171 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + +#include "actuator.h" + +#include + +Actuator::Actuator(const quint16 &simBluePort, const quint16 &simYellowPort) + : _simBluePort(simBluePort) + , _simYellowPort(simYellowPort) +{ + // Default set actuator socket to nullptr + _actuatorBlueSocket = nullptr; + _actuatorYellowSocket = nullptr; + + // Setup timer + _actuatorTimer = new QTimer(); + QObject::connect(_actuatorTimer, &QTimer::timeout, this, &Actuator::sendControlPacketsToNetwork); + _actuatorTimer->start(CONTROL_PACKET_SEND_INTERVAL_MS); +} + +Actuator::~Actuator() { + // Disconnect the vision socket from host + _actuatorBlueSocket->disconnectFromHost(); + _actuatorYellowSocket->disconnectFromHost(); + + // Delete timer and socket + delete _actuatorTimer; + delete _actuatorBlueSocket; + delete _actuatorYellowSocket; +} + +void Actuator::connectToNetwork(const QHostAddress& simHostAddress) { + // Create socket + _actuatorBlueSocket = new QUdpSocket(); + _actuatorYellowSocket = new QUdpSocket(); + + // Set sim host address + _simHostAddress = simHostAddress.toString(); + + // Bind socket + _actuatorBlueSocket->connectToHost(_simHostAddress, _simBluePort); + _actuatorYellowSocket->connectToHost(_simHostAddress, _simYellowPort); + + // Wait for connected status + if (!_actuatorBlueSocket->waitForConnected()) { + spdlog::critical("Could not connect to blue actuator at address '{}' and port '{}'.", + _simHostAddress.toStdString(), + _simBluePort); + } else { + spdlog::info("Connected to blue actuator at address '{}' and port '{}'.", + _simHostAddress.toStdString(), + _simBluePort); + } + if (!_actuatorYellowSocket->waitForConnected()) { + spdlog::critical("Could not connect to yellow actuator at address '{}' and port '{}'.", + _simHostAddress.toStdString(), + _simYellowPort); + } else { + spdlog::info("Connected to yellow actuator at address '{}' and port '{}'.", + _simHostAddress.toStdString(), + _simYellowPort); + } +} + +void Actuator::sendControlPacketsToNetwork() { + // If not have created the socket yet, just discard the control packets + if (_actuatorBlueSocket == nullptr || _actuatorYellowSocket == nullptr) { + _actuatorMutex.lock(); + _controlPackets.clear(); + _actuatorMutex.unlock(); + + return ; + } + + // Creating packet + RobotControl bluePacket; + RobotControl yellowPacket; + + // Locking mutex, reading from control packets and setting commands + _actuatorMutex.lock(); + for (const auto &pkt : _controlPackets) { + if (pkt.isTeamBlue()) { + RobotCommand *command = bluePacket.add_robot_commands(); + + // Setting macro informations (team and robot id) + command->set_id(pkt.getPlayerId()); + + // Set wheels speed + MoveLocalVelocity *localVel = command->mutable_move_command()->mutable_local_velocity(); + localVel->set_forward(pkt.forwardSpeed()); + localVel->set_left(pkt.leftSpeed()); + localVel->set_angular(pkt.angularSpeed()); + + // Set kick parameters + command->set_kick_speed(pkt.kickSpeed()); + command->set_kick_angle(pkt.chipKick()); + + // Set dribble parameters + command->set_dribbler_speed(pkt.dribblerSpeed()); + } else { + RobotCommand *command = yellowPacket.add_robot_commands(); + + // Setting macro informations (team and robot id) + command->set_id(pkt.getPlayerId()); + + // Set wheels speed + MoveLocalVelocity *localVel = command->mutable_move_command()->mutable_local_velocity(); + localVel->set_forward(pkt.forwardSpeed()); + localVel->set_left(pkt.leftSpeed()); + localVel->set_angular(pkt.angularSpeed()); + + // Set kick parameters + command->set_kick_speed(pkt.kickSpeed()); + command->set_kick_angle(pkt.chipKick()); + + // Set dribble parameters + command->set_dribbler_speed(pkt.dribblerSpeed()); + } + } + + // Clear packets + _controlPackets.clear(); + + // Unlock mutex + _actuatorMutex.unlock(); + + // Parse to datagram + QByteArray blueBuffer(bluePacket.ByteSizeLong(), 0); + bluePacket.SerializeToArray(blueBuffer.data(), blueBuffer.size()); + QNetworkDatagram blueDatagram(blueBuffer); + + QByteArray yellowBuffer(yellowPacket.ByteSizeLong(), 0); + yellowPacket.SerializeToArray(yellowBuffer.data(), yellowBuffer.size()); + QNetworkDatagram yellowDatagram(yellowBuffer); + + // Try to send data to simulator + bool sentBlueDatagram = (_actuatorBlueSocket->writeDatagram(blueDatagram) != -1); + bool sentYellowDatagram = (_actuatorYellowSocket->writeDatagram(yellowDatagram) != -1); + if (!sentBlueDatagram) { + spdlog::warn("Failed to sent blue datagram to simulator. Is simulator running?"); + } + if (!sentYellowDatagram) { + spdlog::warn("Failed to sent yellow datagram to simulator. Is simulator running?"); + } +} + +void Actuator::receiveControlPacket(const RobotControlPacket& robotControlPacket) { + // Lock mutex and insert packet into control packets list + _actuatorMutex.lock(); + _controlPackets.push_back(robotControlPacket); + _actuatorMutex.unlock(); +} diff --git a/src/entities/actuator/actuator.h b/src/entities/actuator/actuator.h new file mode 100644 index 0000000..19dcdbf --- /dev/null +++ b/src/entities/actuator/actuator.h @@ -0,0 +1,97 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + +#ifndef ACTUATOR_H +#define ACTUATOR_H + +#include +#include +#include +#include +#include +#include + +#include + +#include + +#define CONTROL_PACKET_SEND_INTERVAL_MS 16 + +/*! + * \brief The Actuator class provides an interface to control the robots in the simulated + * environment. + */ +class Actuator : public QObject +{ + Q_OBJECT +public: + /*! + * \brief Actuator class constructor. It receives the host port to connect and send packets. + * \param simPort The sim port to connect. + * \note The address will be taken from the Vision module, so the network connection will be + * made later. + */ + Actuator(const quint16 &simBluePort = 10301, const quint16 &simYellowPort = 10302); + + /*! + * \brief Actuator class destructor. + */ + ~Actuator(); + +private: + // Internal network address variables + QString _simHostAddress; + quint16 _simBluePort; + quint16 _simYellowPort; + + // Socket implementation to send data + QUdpSocket *_actuatorBlueSocket; + QUdpSocket *_actuatorYellowSocket; + + // QTimer implementation for sync + QTimer *_actuatorTimer; + + // Control packet data management + QList _controlPackets; + QMutex _actuatorMutex; + +public slots: + /*! + * \brief Receive a control packet from a Player signal implementation. + * \param robotControlPacket The robot control packet which will be sent. + */ + void receiveControlPacket(const RobotControlPacket& robotControlPacket); + + /*! + * \brief Connect to the sim network with the given sim host address + * \param simHostAddress The given sim host address. + */ + void connectToNetwork(const QHostAddress& simHostAddress); + +private slots: + /*! + * \brief Send control packets to network through the socket. + * \note This method should be called/connected with the QTimer timeout signal. + */ + void sendControlPacketsToNetwork(); +}; + +#endif // ACTUATOR_H diff --git a/src/entities/coach/coach.cpp b/src/entities/coach/coach.cpp new file mode 100644 index 0000000..253b04b --- /dev/null +++ b/src/entities/coach/coach.cpp @@ -0,0 +1,73 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + +#include "coach.h" + +Coach::Coach(const QMap>& players, WorldMap* worldMap) + : _players(players), _worldMap(worldMap) +{ + // Create QTimer and connects to the runCoach() slot + _actuatorTimer = new QTimer(this); + QObject::connect(_actuatorTimer, &QTimer::timeout, this, &Coach::runCoach); + _actuatorTimer->start(COACH_ITERATION_INTERVAL_MS); +} + +std::optional Coach::getPlayer(const bool& isTeamBlue, const quint8& playerId) { + // Get list of players + QList playersForColor = _players.value(isTeamBlue); + + // Iterate searching for playerId + for(const auto& player : playersForColor) { + if(player->getPlayerId() == playerId) { + return player; + } + } + + // If could not found, just return std::nullopt (should trait later) + return std::nullopt; +} + +WorldMap* Coach::getWorldMap() { + return _worldMap; +} + +void Coach::runCoach() { + // Here you can control the robots freely. + // Remember that the getPlayer(color, id) function can return a std::nullopt object, so + // be careful when you use it (remember to only use ids from 0-2 and the BLUE and YELLOW + // defines). + + // Example 1: here we get the ball position and set the BLUE and YELLOW player 0 to follow it + QVector2D ballPosition = getWorldMap()->ballPosition(); + getPlayer(BLUE, 0).value()->goTo(ballPosition); + getPlayer(YELLOW, 0).value()->goTo(ballPosition); + + // Example 2: here we set the BLUE and YELLOW players 1 and 2 to rotate to the ball + getPlayer(BLUE, 1).value()->rotateTo(ballPosition); + getPlayer(BLUE, 2).value()->rotateTo(ballPosition); + getPlayer(YELLOW, 1).value()->rotateTo(ballPosition); + getPlayer(YELLOW, 2).value()->rotateTo(ballPosition); + + getPlayer(BLUE, 3).value()->dribble(true); + getPlayer(YELLOW, 3).value()->dribble(true); + getPlayer(BLUE, 2).value()->dribble(true); + getPlayer(YELLOW, 2).value()->dribble(true); +} diff --git a/src/entities/coach/coach.h b/src/entities/coach/coach.h new file mode 100644 index 0000000..92ff6bf --- /dev/null +++ b/src/entities/coach/coach.h @@ -0,0 +1,84 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + +#ifndef COACH_H +#define COACH_H + +#include +#include + +#include + +#include +#include + +#include + +#define COACH_ITERATION_INTERVAL_MS 16 +#define YELLOW false +#define BLUE true + +/*! + * \brief The Coach class provides an interface to control the available Players in the field. + */ +class Coach : public QObject +{ + Q_OBJECT +public: + /*! + * \brief Coach class constructor. It receives a list of the registered players. + * \param players The given list of registered players. + * \param worldMap The given worldmap pointer. + */ + Coach(const QMap>& players, WorldMap* worldMap); + +protected: + /*! + * \brief Get a Player instance pointer with given parameters. + * \param isTeamBlue A boolean that express if the Player team is blue or not. + * \param playerId The searched player id. + * \return A std::optional<> object that may contains a pointer to a Player instance + * object if it exists or it should contains std::nullopt otherwise. + */ + std::optional getPlayer(const bool& isTeamBlue, const quint8& playerId); + + /*! + * \return Return WorldMap pointer. + */ + WorldMap* getWorldMap(); + +private: + // QTimer implementation to enable loop + QTimer *_actuatorTimer; + + // Internal variables + QMap> _players; + WorldMap* _worldMap; + +private slots: + /*! + * \brief Iterate coach entity. + * \note This method should be called/connected with the QTimer timeout signal. + */ + void runCoach(); +}; + +#endif // COACH_H diff --git a/src/entities/player/player.cpp b/src/entities/player/player.cpp new file mode 100644 index 0000000..f98b969 --- /dev/null +++ b/src/entities/player/player.cpp @@ -0,0 +1,188 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + +#include "player.h" + +#include +#include + +Player::Player(const bool& isTeamBlue, const quint8& playerId) + : _isTeamBlue(isTeamBlue), _playerId(playerId) +{ + _position = OUT_OF_FIELD; + _orientation = 0.0f; + _missingPackets = 0; + _lastError = 0.0f; + _cumulativeError = 0.0f; + _controlPacket = new RobotControlPacket(isTeamBlue, playerId, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f); +} + +bool Player::isMissing() const { + return (_position == OUT_OF_FIELD); +} + +QVector2D Player::getPosition() const { + return _position; +} + +float Player::getOrientation() const { + return _orientation; +} + +bool Player::isTeamBlue() const { + return _isTeamBlue; +} + +quint8 Player::getPlayerId() const { + return _playerId; +} + +float normalize(const float &angle) +{ + float _angle = angle; + while (_angle > M_PI) { + _angle -= 2 * M_PI; + } + while (_angle < -M_PI) { + _angle += 2 * M_PI; + } + + return _angle; +} + +void Player::goTo(const QVector2D &targetPosition) +{ + QVector2D error = targetPosition - this->getPosition(); + QVector2D desiredVelocity = error * LINEAR_KP; + + const QVector2D robotYVector(cos(this->getOrientation()), sin(this->getOrientation())); + const float c = cos(-M_PI / 2); + const float s = sin(-M_PI / 2); + const QVector2D robotXVector = QVector2D(robotYVector.x() * c - robotYVector.y() * s, + robotYVector.x() * s + robotYVector.y() * c); + + const float angleX = normalize(acos(QVector2D::dotProduct(robotXVector, desiredVelocity) + / (robotXVector.length() * desiredVelocity.length()))); + const float angleY = normalize(acos(QVector2D::dotProduct(robotYVector, desiredVelocity) + / (robotYVector.length() * desiredVelocity.length()))); + + if (isnanf(angleX) || isnanf(angleY)) { + return; + } + + QVector2D decomposedVel(desiredVelocity.length() * cos(angleX), + desiredVelocity.length() * cos(angleY)); + + if (decomposedVel.length() > MAX_SPEED) { + decomposedVel = decomposedVel.normalized() * MAX_SPEED; + } + + _controlMutex.lock(); + _controlPacket->setForwardSpeed(decomposedVel.y()); + _controlPacket->setLeftSpeed(-decomposedVel.x()); + _controlMutex.unlock(); + + emit sendControlPacket(*_controlPacket); +} + +void Player::rotateTo(const QVector2D &targetPosition) +{ + QVector2D distToTarget = targetPosition - this->getPosition(); + + float playerAngle = this->getOrientation(); + float targetAngle = atan2(distToTarget.y(), distToTarget.x()); + + float angleDelta = targetAngle - playerAngle; + + if (abs(angleDelta) > M_PI) { + if (targetAngle < playerAngle) { + angleDelta += 2 * M_PI; + } else { + angleDelta -= 2 * M_PI; + } + } + + _controlMutex.lock(); + _controlPacket->setAngularSpeed(angleDelta * ANGULAR_KP); + _controlMutex.unlock(); + + emit sendControlPacket(*_controlPacket); +} + +void Player::kick(const float kickSpeed, bool isChipped) +{ + float chipAngle = 0.0f; + if (isChipped) { + chipAngle = M_PI_4; + } + + _controlMutex.lock(); + _controlPacket->setKickSpeed(kickSpeed); + _controlPacket->setChipKickAngle(chipAngle); + _controlMutex.unlock(); + + emit sendControlPacket(*_controlPacket); +} + +void Player::dribble(const bool enable) +{ + float dribbleSpeed = 0.0f; + if (enable) { + dribbleSpeed = DRIBBLE_SPEED; + } + + _controlMutex.lock(); + _controlPacket->setDribblerSpeed(dribbleSpeed); + _controlMutex.unlock(); + + emit sendControlPacket(*_controlPacket); +} + +void Player::updateFromDetection(const RobotDetectionPacket& robotDetectionPacket) { + if(robotDetectionPacket.isTeamBlue() != this->isTeamBlue()) return; + + // Get robot detection packet and parse + SSL_DetectionRobot robotDetectPacket = robotDetectionPacket.getRobotDetectionPacket(); + if (robotDetectPacket.robot_id() != this->getPlayerId()) { + if (++_missingPackets >= PACKETS_TILL_MISSING) { + _position = OUT_OF_FIELD; + _orientation = 0.0f; + } + return; + } + + // Update detection + _missingPackets = 0; + _position = QVector2D(robotDetectPacket.x() / 1000.0f, robotDetectPacket.y() / 1000.0f); + _orientation = robotDetectPacket.orientation(); + + _controlMutex.lock(); + delete _controlPacket; + _controlPacket = new RobotControlPacket(this->isTeamBlue(), + this->getPlayerId(), + 0.0f, + 0.0f, + 0.0f, + 0.0f, + 0.0f, + 0.0f); + _controlMutex.unlock(); +} diff --git a/src/entities/player/player.h b/src/entities/player/player.h new file mode 100644 index 0000000..aa74bc4 --- /dev/null +++ b/src/entities/player/player.h @@ -0,0 +1,155 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + +#ifndef PLAYER_H +#define PLAYER_H + +#include +#include +#include + +#include +#include + +// Constants for Player detection +static constexpr QVector2D OUT_OF_FIELD = QVector2D(std::numeric_limits::max(), + std::numeric_limits::max()); +static constexpr int PACKETS_TILL_MISSING = 60; +static constexpr float LINEAR_KP = 3.0f; +static constexpr float ANGULAR_KP = 5.0f; +static constexpr float MAX_SPEED = 2.5f; +static constexpr float DRIBBLE_SPEED = 50.0f; + +/*! + * \brief The Player class provides a implementation to manage a robot in the field, providing + * from simple getter methods (for position, id, orientation) to the robot control. + */ +class Player : public QObject +{ + Q_OBJECT +public: + /*! + * \brief Player class constructor. + * \param isTeamBlue If this player belongs to the team blue. + * \param playerId This Player instance id. + */ + Player(const bool& isTeamBlue, const quint8& playerId); + + /*! + * \return True if the player is missing from detection and False otherwise. + */ + bool isMissing() const; + + /*! + * \return This Player instance object position at the field. + */ + QVector2D getPosition() const; + + /*! + * \return This Player instance object orientation at the field. + * \note For reference: + * pi/2 pi/4 + * | / + * | / + * | / + * |/ + * +- pi ------------------ 0 + * |\ + * | \ + * | \ + * | \ + * -pi/2 -pi/4 + */ + float getOrientation() const; + + /*! + * \return True if this Player instance belongs to team blue and False otherwise. + */ + bool isTeamBlue() const; + + /*! + * \return This Player instance id. + */ + quint8 getPlayerId() const; + +protected: + // Mark Coach as a friend class so it can call this methods from Player + friend class Coach; + + /*! + * \brief Make this Player go to a given target position. + * \param targetPosition The given target position. + */ + void goTo(const QVector2D& targetPosition); + + /*! + * \brief Make this Player rotate to a given target position. + * \param targetPosition The given target position. + */ + void rotateTo(const QVector2D &targetPosition); + + /*! + * \brief Make this Player kick the ball with certain speed. + * \param kickSpeed The given speed of the kick. + * \param isChipped True if the kick is chipped, false otherwise. + */ + void kick(const float kickSpeed, bool isChipped); + + /*! + * \brief Turns dribble on/off. + * \param enable True to turn dribble on, false otherwise. + */ + void dribble(const bool enable); + +private: + // Player internal variables + QVector2D _position; + float _orientation; + bool _isTeamBlue; + quint8 _playerId; + + // Control management + RobotControlPacket *_controlPacket; + QMutex _controlMutex; + + // Internal detection management + int _missingPackets; + + // PID + float _lastError; + float _cumulativeError; + +signals: + /*! + * \brief Send robot control packet to the Actuator implementation. + * \param robotControlPacket The given robot control packet. + */ + void sendControlPacket(const RobotControlPacket& robotControlPacket); + +public slots: + /*! + * \brief Update this Player instance with a given detection packet. + * \param robotDetectionPacket The given detection packet. + */ + void updateFromDetection(const RobotDetectionPacket& robotDetectionPacket); +}; + +#endif // PLAYER_H diff --git a/src/entities/vision/vision.cpp b/src/entities/vision/vision.cpp new file mode 100644 index 0000000..ac91832 --- /dev/null +++ b/src/entities/vision/vision.cpp @@ -0,0 +1,171 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + +#include "vision.h" + +#include +#include + +Vision::Vision(const QString& visionAddress, const quint16& visionPort) + : _visionAddress(visionAddress), _visionPort(visionPort) +{ + // Allocate vision socket pointer + _visionSocket = new QUdpSocket(); + + // Bind socket + _visionSocket->bind(QHostAddress::AnyIPv4, getVisionPort(), QUdpSocket::ShareAddress); + + // Connects interface discover timer + _interfaceDiscoverTimer = new QTimer(); + QObject::connect(_interfaceDiscoverTimer, &QTimer::timeout, this, &Vision::connectToNetwork); + _interfaceDiscoverTimer->start(200); +} + +Vision::~Vision() { + // Disconnect the vision socket from host + _visionSocket->disconnectFromHost(); + + // Delete timer and socket + delete _interfaceDiscoverTimer; + delete _visionSocket; +} + +QString Vision::getVisionAddress() const { + return _visionAddress; +} + +quint16 Vision::getVisionPort() const { + return _visionPort; +} + +void Vision::receivePackets() { + // If reached here, the QUdpSocket has received a packet from the network. So, we mark the + // received any packets variable as true and disconnect the interface discover timer signal. + if(!_receivedAnyPackets) { + // Mark as received packets + _receivedAnyPackets = true; + _interfaceDiscoverTimer->disconnect(SIGNAL(timeout())); + spdlog::info("Received vision packet!"); + + // Discover and get host address + QList availableInterfaces = QNetworkInterface::allInterfaces(); + const QNetworkAddressEntry addrEntry = availableInterfaces.at(_interfaceIndex - 1) + .addressEntries().constFirst(); + emit sendHostAddress(addrEntry.broadcast()); + } + + // Process the pending packets + while(_visionSocket->hasPendingDatagrams()) { + // Take datagram + QNetworkDatagram datagram = _visionSocket->receiveDatagram(); + + // Check if datagram is valid + if(!datagram.isValid()) continue; + + // Try to parse to detection packet + SSL_WrapperPacket wrapperPacket; + + if (wrapperPacket.ParseFromArray(datagram.data().constData(), datagram.data().size())) { + if (wrapperPacket.has_detection()) { + // Get frame object + SSL_DetectionFrame visionFrame = wrapperPacket.detection(); + + // Send detected ball + if (visionFrame.balls_size()) { + SSL_DetectionBall ball = visionFrame.balls(0); + + emit sendBallDetection(ball); + } + + // Send blue robots + for (int i = 0; i < visionFrame.robots_blue_size(); i++) { + SSL_DetectionRobot blueRobot = visionFrame.robots_blue(i); + + emit sendRobotDetection(RobotDetectionPacket(true, blueRobot)); + } + + // Send yellow robots + for (int i = 0; i < visionFrame.robots_yellow_size(); i++) { + SSL_DetectionRobot yellowRobot = visionFrame.robots_yellow(i); + + emit sendRobotDetection(RobotDetectionPacket(false, yellowRobot)); + } + } + + // Send field geometry + if (wrapperPacket.has_geometry()) { + SSL_GeometryData fieldGeometry = wrapperPacket.geometry(); + + emit sendFieldDetection(fieldGeometry); + } + } else { + spdlog::warn("Failed to convert vision datagram"); + continue; + } + } +} + +void Vision::connectToNetwork() { + // If has already connected to a valid interface, ignore + if(_receivedAnyPackets) return ; + + // Try to found and connect the vision interface + QList availableInterfaces = QNetworkInterface::allInterfaces(); + + // Debug when not received any packet from the last try + if(_interfaceIndex != 0) { + spdlog::warn("Could not receive any vision packets from Vision at address '{}' and interface '{}'.", + getVisionAddress().toStdString(), + availableInterfaces.at(_interfaceIndex - 1).humanReadableName().toStdString()); + } + + // If could not connected to any interface, ignore + if(_interfaceIndex >= availableInterfaces.size()) { + spdlog::critical("Could not receive vision packets in any network interface."); + exit(-1); + } + + // Get the next interface to try connection + const QNetworkInterface interface = availableInterfaces.at(_interfaceIndex); + QHostAddress visionHostAddress(getVisionAddress()); + spdlog::info("Trying to connect to Vision at address '{}' and interface '{}'.", + getVisionAddress().toStdString(), interface.humanReadableName().toStdString()); + + // Disconnect the readyRead signal from the vision socket and clear pending datagrams + _visionSocket->disconnect(SIGNAL(readyRead())); + while(_visionSocket->hasPendingDatagrams()) _visionSocket->receiveDatagram(); + + // Try to join the multicast group with the given address and interface + if(_visionSocket->joinMulticastGroup(visionHostAddress, interface)) { + _receivedAnyPackets = false; + spdlog::info("Connected to Vision at address '{}', port '{}' and interface '{}'.", + getVisionAddress().toStdString(), getVisionPort(), + interface.humanReadableName().toStdString()); + QObject::connect(_visionSocket, &QUdpSocket::readyRead, this, &Vision::receivePackets); + } + else { + spdlog::error("Failed to join vision multicast group at address '{}' and interface '{}'.", + getVisionAddress().toStdString(), + interface.humanReadableName().toStdString()); + } + + _interfaceIndex++; +} diff --git a/src/entities/vision/vision.h b/src/entities/vision/vision.h new file mode 100644 index 0000000..a4a9dff --- /dev/null +++ b/src/entities/vision/vision.h @@ -0,0 +1,119 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + +#ifndef VISION_H +#define VISION_H + +#include +#include +#include +#include +#include + +#include + +/*! + * \brief The Vision class provides a implementation to receive vision data from the simulator, + * allowing to obtain information both of field objects (such as the ball or robots) and also + * from the field geometry (length, width, etc.). + */ +class Vision : public QObject +{ + Q_OBJECT +public: + /*! + * \brief Vision class constructor. It receives the network address to access the vision server + * and make the connections to enable data reception. + * \param visionAddress The vision network address. + * \param visionPort The vision network port. + */ + Vision(const QString &visionAddress = "224.5.23.2", const quint16 &visionPort = 10020); + + /*! + * \brief Vision class destructor. It disconnects from the vision network and destroys the + * created socket and deallocate objects if any. + */ + ~Vision(); + +protected: + /*! + * \return The vision address that was given in the constructor. + */ + QString getVisionAddress() const; + + /*! + * \return The vision port that was given in the constructor. + */ + quint16 getVisionPort() const; + +private: + // Internal network address variables + QString _visionAddress; + quint16 _visionPort; + + // Socket and timer for data acquisition + QUdpSocket *_visionSocket; + + // Interface discovery + QTimer *_interfaceDiscoverTimer; + bool _receivedAnyPackets = false; + int _interfaceIndex = 0; + +signals: + /*! + * \brief Send a robot detection packet signal to connected QObjects. + * \param robotDetectionPacket The robot detection packet which will be sent. + */ + void sendRobotDetection(const RobotDetectionPacket &robotDetectionPacket); + + /*! + * \brief Send a ball detection packet signal to connected QObjects. + * \param ballDetectionPacket The ball detection packet which will be sent. + */ + void sendBallDetection(const SSL_DetectionBall &ballDetectionPacket); + + /*! + * \brief Send a field detection packet signal to connected QObjects. + * \param fieldDetectionPacket The field detection packet which will be sent. + */ + void sendFieldDetection(const SSL_GeometryData &fieldDetectionPacket); + + /*! + * \brief Send the given host address to further connection with the simulator environment. + * \param hostAddress The given host address. + */ + void sendHostAddress(const QHostAddress& hostAddress); + +private slots: + /*! + * \brief Receive packets from the socket connected to the Vision server. + * \note This slot is called when the socket is in the ReadyRead state. + */ + void receivePackets(); + + /*! + * \brief Makes the connection to network using the given network address and port. + * \return A boolean that indicates if the connection was succesfully or not. + */ + void connectToNetwork(); +}; + +#endif // VISION_H diff --git a/src/entities/worldmap/worldmap.cpp b/src/entities/worldmap/worldmap.cpp new file mode 100644 index 0000000..ed2d8ac --- /dev/null +++ b/src/entities/worldmap/worldmap.cpp @@ -0,0 +1,145 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + + +#include "worldmap.h" + +WorldMap::WorldMap(const bool& isPlayingLeft) : _isPlayingLeft(isPlayingLeft) +{ + +} + +bool WorldMap::playingLeftSide() const { + return _isPlayingLeft; +} + +float WorldMap::minX() const { + return -length()/2.0f; +} + +float WorldMap::maxX() const { + return length()/2.0f; +} + +float WorldMap::minY() const { + return -width()/2.0f; +} + +float WorldMap::maxY() const { + return width()/2.0f; +} + +float WorldMap::length() const { + return _field.field().field_length() / 1000.0f; +} + +float WorldMap::width() const { + return _field.field().field_width() / 1000.0f; +} + +float WorldMap::goalDepth() const { + return _field.field().goal_depth() / 1000.0f; +} + +float WorldMap::goalWidth() const { + return _field.field().goal_width() / 1000.0f; +} + +float WorldMap::penaltyDepth() const { + return 0.15f; +} + +float WorldMap::penaltyWidth() const { + return 0.7f; +} + +float WorldMap::penaltyMarkDistanceFromGoal() const { + return 0.1125f; +} + +float WorldMap::centerRadius() const { + return 0.25f; +} + +QVector2D WorldMap::ourGoalCenter() const { + if(playingLeftSide()) { + return QVector2D(-length()/2.0f, 0.0f); + } + else { + return QVector2D(length()/2.0f, 0.0f); + } +} + +QVector2D WorldMap::ourGoalLeftPost() const { + QVector2D goalCenter = ourGoalCenter(); + float offset = (playingLeftSide() ? -goalWidth()/2.0f : goalWidth()/2.0f); + return QVector2D(goalCenter.x(), goalCenter.y() + offset); +} + +QVector2D WorldMap::ourGoalRightPost() const { + QVector2D goalCenter = ourGoalCenter(); + float offset = (playingLeftSide() ? goalWidth()/2.0f : -goalWidth()/2.0f); + return QVector2D(goalCenter.x(), goalCenter.y() + offset); +} + +QVector2D WorldMap::ourPenaltyMark() const { + QVector2D goalCenter = theirGoalCenter(); + float offset = (playingLeftSide() ? -penaltyMarkDistanceFromGoal() : penaltyMarkDistanceFromGoal()); + return QVector2D(goalCenter.x() - offset, goalCenter.y()); +} + +QVector2D WorldMap::theirGoalCenter() const { + // Take our goal center and just reflect the x coordinate + QVector2D ourCenter = ourGoalCenter(); + return QVector2D(-ourCenter.x(), ourCenter.y()); +} + +QVector2D WorldMap::theirGoalLeftPost() const { + QVector2D goalCenter = theirGoalCenter(); + float offset = (playingLeftSide() ? goalWidth()/2.0f : -goalWidth()/2.0f); + return QVector2D(goalCenter.x(), goalCenter.y() + offset); +} + +QVector2D WorldMap::theirGoalRightPost() const { + QVector2D goalCenter = theirGoalCenter(); + float offset = (playingLeftSide() ? -goalWidth()/2.0f : goalWidth()/2.0f); + return QVector2D(goalCenter.x(), goalCenter.y() + offset); +} + +QVector2D WorldMap::theirPenaltyMark() const { + QVector2D goalCenter = ourGoalCenter(); + float offset = (playingLeftSide() ? penaltyMarkDistanceFromGoal() : -penaltyMarkDistanceFromGoal()); + return QVector2D(goalCenter.x() - offset, goalCenter.y()); +} + +QVector2D WorldMap::ballPosition() const { + return QVector2D(_ball.x() / 1000.0f, _ball.y() / 1000.0f); +} + +void WorldMap::updateBallDetection(const SSL_DetectionBall &ball) +{ + _ball = ball; +} + +void WorldMap::updateFieldDetection(const SSL_GeometryData &field) +{ + _field = field; +} diff --git a/src/entities/worldmap/worldmap.h b/src/entities/worldmap/worldmap.h new file mode 100644 index 0000000..1e362ce --- /dev/null +++ b/src/entities/worldmap/worldmap.h @@ -0,0 +1,168 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + + +#ifndef WORLDMAP_H +#define WORLDMAP_H + +#include +#include + +#include + +#include + +/*! + * \brief The WorldMap class provides an interface to access field data and objects, such as ball + * and some pre-defined field locations. + */ +class WorldMap : public QObject +{ + Q_OBJECT +public: + /*! + * \brief WorldMap + * \param isPlayingLeft + */ + WorldMap(const bool& isPlayingLeft); + + /*! + * \return True if we are playing at left side and False otherwise. + */ + bool playingLeftSide() const; + + /*! + * \return The minimum x-axis value of the field. + */ + float minX() const; + + /*! + * \return The maximum x-axis value of the field. + */ + float maxX() const; + + /*! + * \return The minimum y-axis value of the field. + */ + float minY() const; + + /*! + * \return The maximum y-axis value of the field. + */ + float maxY() const; + + /*! + * \return The length of the field. + */ + float length() const; + + /*! + * \return The width of the field. + */ + float width() const; + + /*! + * \return The goal depth. + */ + float goalDepth() const; + + /*! + * \return The goal width. + */ + float goalWidth() const; + + /*! + * \return The penalty depth. + */ + float penaltyDepth() const; + + /*! + * \return The penalty width. + */ + float penaltyWidth() const; + + /*! + * \return The penalty mark distance from goal center. + */ + float penaltyMarkDistanceFromGoal() const; + + /*! + * \return The center radius. + */ + float centerRadius() const; + + /*! + * \return The position of the center of our goal. + */ + QVector2D ourGoalCenter() const; + + /*! + * \return The position of the right post of our goal. + */ + QVector2D ourGoalRightPost() const; + + /*! + * \return The position of the left post of our goal. + */ + QVector2D ourGoalLeftPost() const; + + /*! + * \return The position of our penalty mark. + */ + QVector2D ourPenaltyMark() const; + + /*! + * \return The position of the center of their goal. + */ + QVector2D theirGoalCenter() const; + + /*! + * \return The position of the right post of their goal. + */ + QVector2D theirGoalRightPost() const; + + /*! + * \return The position of the left post of their goal. + */ + QVector2D theirGoalLeftPost() const; + + /*! + * \return The position of their penalty mark. + */ + QVector2D theirPenaltyMark() const; + + /*! + * \return The position of the ball. + */ + QVector2D ballPosition() const; + +private: + // Internal variables + SSL_GeometryData _field; + SSL_DetectionBall _ball; + bool _isPlayingLeft; + +public slots: + void updateBallDetection(const SSL_DetectionBall &ball); + void updateFieldDetection(const SSL_GeometryData &field); +}; + +#endif // WORLDMAP_H diff --git a/src/utils/types/robotcontrolpacket/robotcontrolpacket.cpp b/src/utils/types/robotcontrolpacket/robotcontrolpacket.cpp new file mode 100644 index 0000000..f6b1f80 --- /dev/null +++ b/src/utils/types/robotcontrolpacket/robotcontrolpacket.cpp @@ -0,0 +1,81 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + + +#include "robotcontrolpacket.h" + +RobotControlPacket::RobotControlPacket(const bool &isTeamBlue, + const quint8 &playerId, + const float &forward, + const float &left, + const float &angular, + const float &kickSpeed, + const float &chipKick, + const float &dribblerSpeed) + : _isTeamBlue(isTeamBlue) + , _playerId(playerId) + , _forward(forward) + , _left(left) + , _angular(angular) + , _kickSpeed(kickSpeed) + , _chipKick(chipKick) + , _dribblerSpeed(dribblerSpeed) +{ + +} + +bool RobotControlPacket::isTeamBlue() const { + return _isTeamBlue; +} + +quint8 RobotControlPacket::getPlayerId() const { + return _playerId; +} + +float RobotControlPacket::forwardSpeed() const +{ + return _forward; +} + +float RobotControlPacket::leftSpeed() const +{ + return _left; +} + +float RobotControlPacket::angularSpeed() const +{ + return _angular; +} + +float RobotControlPacket::kickSpeed() const +{ + return _kickSpeed; +} + +float RobotControlPacket::chipKick() const +{ + return _chipKick; +} + +float RobotControlPacket::dribblerSpeed() const +{ + return _dribblerSpeed; +} diff --git a/src/utils/types/robotcontrolpacket/robotcontrolpacket.h b/src/utils/types/robotcontrolpacket/robotcontrolpacket.h new file mode 100644 index 0000000..904921c --- /dev/null +++ b/src/utils/types/robotcontrolpacket/robotcontrolpacket.h @@ -0,0 +1,122 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + + +#ifndef ROBOTCONTROLPACKET_H +#define ROBOTCONTROLPACKET_H + +#include + +/*! + * \brief The RobotControlpacket class provides an interface to enhance robot control packet data, + * allowing to center all information to control a robot in the field (team color, player id and + * wheels). + */ +class RobotControlPacket +{ +public: + /*! + * \brief RobotControlPacket class constructor. It receives all the required data to control + * a robot. + * \param isTeamBlue True if the control packet is sent to the blue team and False otherwise. + * \param playerId The player id which this packet is aimed for. + * \param wheelFrontLeft The wheel left speed (rad/s). + * \param wheelBottomLeft The wheel left speed (rad/s). + * \param wheelBottomRight The wheel left speed (rad/s). + * \param wheelFrontRight The wheel right speed (rad/s). + */ + RobotControlPacket(const bool &isTeamBlue, + const quint8 &playerId, + const float &forward, + const float &left, + const float &angular, + const float &kickSpeed, + const float &chipKick, + const float &dribblerSpeed); + + /*! + * \return True if the control packet is aimed to team blue and False otherwise. + */ + bool isTeamBlue() const; + + /*! + * \return The player id related to this control packet. + */ + quint8 getPlayerId() const; + + /*! + * \return The speed towards to front direction that was set in this command. + */ + float forwardSpeed() const; + + /*! + * \return The speed towards to left direction that was set in this command. + */ + float leftSpeed() const; + + /*! + * \return The angular speed that was set in this command. + */ + float angularSpeed() const; + + /*! + * \return The kick speed that was set in this command. + */ + float kickSpeed() const; + + /*! + * \return The chip kick angle that was set in this command. + */ + float chipKick() const; + + /*! + * \return The dribbler speed that was set in this command. + */ + float dribblerSpeed() const; + + /*! + * \brief Setters: Sets singular info only + */ + void setForwardSpeed(float speed) { _forward = speed; } + + void setLeftSpeed(float speed) { _left = speed; } + + void setAngularSpeed(float speed) { _angular = speed; } + + void setKickSpeed(float speed) { _kickSpeed = speed; } + + void setChipKickAngle(float angle) { _chipKick = angle; } + + void setDribblerSpeed(float speed) { _dribblerSpeed = speed; } + +private: + // Internal vars + bool _isTeamBlue; + quint8 _playerId; + float _forward; + float _left; + float _angular; + float _kickSpeed; + float _chipKick; + float _dribblerSpeed; +}; + +#endif // ROBOTCONTROLPACKET_H diff --git a/src/utils/types/robotdetectionpacket/robotdetectionpacket.cpp b/src/utils/types/robotdetectionpacket/robotdetectionpacket.cpp new file mode 100644 index 0000000..9b272d4 --- /dev/null +++ b/src/utils/types/robotdetectionpacket/robotdetectionpacket.cpp @@ -0,0 +1,42 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + + +#include "robotdetectionpacket.h" + +#include + +RobotDetectionPacket::RobotDetectionPacket(const bool &isTeamBlue, + const SSL_DetectionRobot &robotDetectionPacket) + : _isTeamBlue(isTeamBlue) + , _robotDetectionPacket(robotDetectionPacket) +{ + +} + +bool RobotDetectionPacket::isTeamBlue() const { + return _isTeamBlue; +} + +SSL_DetectionRobot RobotDetectionPacket::getRobotDetectionPacket() const +{ + return _robotDetectionPacket; +} diff --git a/src/utils/types/robotdetectionpacket/robotdetectionpacket.h b/src/utils/types/robotdetectionpacket/robotdetectionpacket.h new file mode 100644 index 0000000..abfa642 --- /dev/null +++ b/src/utils/types/robotdetectionpacket/robotdetectionpacket.h @@ -0,0 +1,58 @@ +/*** + * Maracatronics Robotics + * Federal University of Pernambuco (UFPE) at Recife + * http://www.maracatronics.com/ + * + * This file is part of Armorial project. + * + * 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 3 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + ***/ + + +#ifndef ROBOTDETECTIONPACKET_H +#define ROBOTDETECTIONPACKET_H + +#include + +/*! + * \brief The RobotDetectionPacket class provides an interface to enhance fira_message::Robot packet + * adding the team color data. + */ +class RobotDetectionPacket +{ +public: + /*! + * \brief RobotDetectionPacket class constructor. + * \param isTeamBlue True if the detection packet is from team blue and False otherwise. + * \param robotDetectionPacket The robot detection packet itself (from Vision server). + */ + RobotDetectionPacket(const bool &isTeamBlue, const SSL_DetectionRobot &robotDetectionPacket); + + /*! + * \return True if the robot detection packet is from team blue and False otherwise. + */ + bool isTeamBlue() const; + + /*! + * \return The robot detection packet associated with this class. + */ + SSL_DetectionRobot getRobotDetectionPacket() const; + +private: + // Internal vars + bool _isTeamBlue; + SSL_DetectionRobot _robotDetectionPacket; +}; + +#endif // ROBOTDETECTIONPACKET_H diff --git a/src/utils/utils.cpp b/src/utils/utils.cpp new file mode 100644 index 0000000..8f9da92 --- /dev/null +++ b/src/utils/utils.cpp @@ -0,0 +1,31 @@ +#include "utils.h" + +#include + +float Utils::smallestAngleDiff(const float &targetAngle, const float &sourceAngle) { + float a = fmod(targetAngle + 2*M_PI, 2*M_PI) - fmod(sourceAngle + 2*M_PI, 2*M_PI); + + if (a > M_PI) { + a = a - 2 * M_PI; + } else if (a < -M_PI) { + a = a + 2 * M_PI; + } + return a; +} + +float Utils::normalizeAngle(const float &angle) { + float angleRet = fmod(angle + M_PI, 2.0 * M_PI); + angleRet = (angleRet < 0.0) ? angleRet + M_PI : angleRet - M_PI; + + return angleRet; +} + +bool Utils::checkIfCanBeReversed(const float &robotAngle, const float &targetAngle) { + float angDiff = Utils::smallestAngleDiff(robotAngle, targetAngle); + + return (fabs(angDiff) > M_PI/2.0 + M_PI/20.0); +} + +float Utils::getAngle(const QVector2D ¤tPosition, const QVector2D &targetPosition) { + return atan2(targetPosition.y() - currentPosition.y(), targetPosition.x() -currentPosition.x()); +} diff --git a/src/utils/utils.h b/src/utils/utils.h new file mode 100644 index 0000000..4964b3e --- /dev/null +++ b/src/utils/utils.h @@ -0,0 +1,44 @@ +#ifndef UTILS_H +#define UTILS_H + +#include + +/*! + * \brief The Utils class provides util methods to make some calculations, generally related + * to geometry or more generic methods that are used in all classes. + */ +class Utils +{ +public: + /*! + * \brief Computes the smallest angle diff between two given angles. + * \param targetAngle The target angle. + * \param sourceAngle The source angle. + * \return The smallest angle diff between the two given angles. + */ + static float smallestAngleDiff(const float& targetAngle, const float& sourceAngle); + + /*! + * \brief Compute the angle normalization to the range [-π, π). + * \return The normalized angle in the range. + */ + static float normalizeAngle(const float& angle); + + /*! + * \brief Check if robot front can be reversed with a given target angle. + * \param robotAngle The robot angle. + * \param targetAngle The angle to the target. + * \return True if robot front can be reversed and False otherwise. + */ + static bool checkIfCanBeReversed(const float& robotAngle, const float& targetAngle); + + /*! + * \brief Get the angle between the currentPosition and the targetPosition. + * \param currentPosition The given current position. + * \param targetPosition The given target position. + * \return The angle value between the currentPosition and targetPosition. + */ + static float getAngle(const QVector2D& currentPosition, const QVector2D& targetPosition); +}; + +#endif // UTILS_H