RTT measurements are now reported per-robot (UBC-Thunderbots#3422)

* wip

* add the rest of the changes

* Removed my personal comments (weren't necessary)

* added files

* applied andrew's changes

* [pre-commit.ci lite] apply automatic fixes

---------

Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

Author: AmyKawa

src/proto/robot_statistic.proto

@@ -3,4 +3,5 @@ syntax = "proto3";
 message RobotStatistic
 {
     double round_trip_time_seconds = 1;
+    uint32 robot_id                = 2;
 }

src/software/thunderscope/robot_communication.py

@@ -288,6 +288,22 @@ def __enter__(self) -> Self:
 
         return self
 
+    def __receive_robot_status(self, robot_status: Message) -> None:
+        """Forwards the given robot status to the full system along with the round-trip time
+
+        :param robot_status: RobotStatus to forward to fullsystem
+        """
+        round_trip_time_seconds = time.time() - (
+            robot_status.adjusted_time_sent.epoch_timestamp_seconds
+        )
+        robot_statistic = RobotStatistic(
+            robot_id=robot_status.robot_id,
+            round_trip_time_seconds=round_trip_time_seconds,
+        )
+
+        self.__forward_to_proto_unix_io(RobotStatus, robot_status)
+        self.__forward_to_proto_unix_io(RobotStatistic, robot_statistic)
+
     def __exit__(self, type, value, traceback) -> None:
         """Exit RobotCommunication context manager
 

src/software/thunderscope/robot_diagnostics/robot_info.py

@@ -292,21 +292,21 @@ def create_vision_pattern(
 
         return pixmap
 
-    def update(self, robot_status: RobotStatus, round_trip_time: RobotStatistic):
+    def update(self, robot_status: RobotStatus, robot_statistic: RobotStatistic):
         """Receives parts of a RobotStatus message
 
         Saves the current time as the last robot status time
         Sets the robot UI as connected and updates the UI
         Then sets a timer callback to disconnect the robot if needed
 
         :param robot_status: The robot status message for this robot
-        :param round_trip_time: The round trip time proto for this robot's message
+        :param robot_statistic: The round trip time proto for this robot's message
         """
         self.time_of_last_robot_status = time.time()
 
         self.robot_model.setPixmap(self.color_vision_pattern)
 
-        self.__update_ui(robot_status, round_trip_time)
+        self.__update_ui(robot_status, robot_statistic)
 
         QtCore.QTimer.singleShot(int(DISCONNECT_DURATION_MS), self.disconnect_robot)
 
@@ -338,7 +338,7 @@ def __update_stop_primitive(self, is_running: bool) -> None:
         )
 
     def __update_ui(
-        self, robot_status: RobotStatus, round_trip_time: RobotStatistic
+        self, robot_status: RobotStatus, robot_statistic: RobotStatistic
     ) -> None:
         """Receives important sections of RobotStatus proto for this robot and updates widget with alerts
         Checks for
@@ -349,13 +349,13 @@ def __update_ui(
             - If the robot is stopped or running
 
         :param robot_status: The robot status message for this robot
-        :param round_trip_time: The round trip time message for this robot
+        :param robot_statistic: The round trip time message for this robot
         """
         motor_status = robot_status.motor_status
         power_status = robot_status.power_status
         network_status = robot_status.network_status
         primitive_executor_status = robot_status.primitive_executor_status
-        rtt_time_seconds = round_trip_time.round_trip_time_seconds
+        rtt_time_seconds = robot_statistic.round_trip_time_seconds
 
         self.__update_stop_primitive(primitive_executor_status.running_primitive)
 

src/software/thunderscope/robot_diagnostics/robot_view.py

@@ -62,17 +62,21 @@ def robot_status_expand(self) -> None:
         self.robot_status.toggle_visibility()
 
     def update(
-        self, robot_status: RobotStatus, round_trip_time: RobotStatistic
+        self, robot_status: RobotStatus, robot_statistic: RobotStatistic
     ) -> None:
         """Updates the Robot View Components with the new robot status message
         Updates the robot info widget and, if initialized, the robot status widget as well
 
         :param robot_status: the new message data to update the widget with
-        :param round_trip_time: robot statistic proto to update with new metrics
+        :param robot_statistic : robot statistic proto to update with new metrics
         """
-        self.robot_info.update(robot_status, round_trip_time)
-        if self.robot_status:
-            self.robot_status.update(robot_status)
+        if robot_status is not None:
+            self.robot_info.update(robot_status, robot_statistic)
+            if self.robot_status:
+                self.robot_status.update(robot_status)
+
+        if robot_statistic is not None:
+            self.robot_info.update_rtt(robot_statistic)
 
 
 class RobotView(QScrollArea):
@@ -93,7 +97,7 @@ def __init__(self, available_control_modes: list[IndividualRobotMode]) -> None:
         super().__init__()
 
         self.robot_status_buffer = ThreadSafeBuffer(10, RobotStatus)
-        self.round_trip_time_buffer = ThreadSafeBuffer(10, RobotStatistic)
+        self.robot_statistic_buffer = ThreadSafeBuffer(10, RobotStatistic)
 
         self.layout = QVBoxLayout()
 
@@ -121,11 +125,25 @@ def refresh(self) -> None:
         until the buffer is empty
         """
         robot_status = self.robot_status_buffer.get(block=False, return_cached=False)
-        round_trip_time = self.round_trip_time_buffer.get(
+        robot_statistic = self.robot_statistic_buffer.get(
             block=False, return_cached=False
         )
 
-        if robot_status is not None and round_trip_time is not None:
+        if (
+            robot_status is not None
+            and robot_statistic is not None
+            and robot_status.robot_id == robot_statistic.robot_id
+        ):  # if both pieces of data are available
             self.robot_view_widgets[robot_status.robot_id].update(
-                robot_status, round_trip_time
+                robot_status=robot_status, robot_statistic=robot_statistic
             )
+        else:
+            if robot_status is not None:
+                self.robot_view_widgets[robot_status.robot_id].update(
+                    robot_status,
+                    robot_statistic=None,
+                )
+            if robot_statistic is not None:
+                self.robot_view_widgets[robot_statistic.robot_id].update(
+                    robot_status=None, robot_statistic=robot_statistic
+                )

src/software/thunderscope/widget_setup_functions.py

@@ -320,7 +320,7 @@ def setup_robot_view(
     """
     robot_view = RobotView(available_control_modes)
     proto_unix_io.register_observer(RobotStatus, robot_view.robot_status_buffer)
-    proto_unix_io.register_observer(RobotStatistic, robot_view.round_trip_time_buffer)
+    proto_unix_io.register_observer(RobotStatistic, robot_view.robot_statistic_buffer)
     return robot_view