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someone2060pre-commit-ci-lite[bot]GrayHoangwilliamckha
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Convert ExamplePlay into an FSM play (UBC-Thunderbots#3402)
* Refactor `StopTactic` to `HaltTactic`, refactoring variables where necessary Files still need to be refactored, which will be done in the next commit * Rename `stop_tactic.cpp` and `stop_tactic.h` to `halt_tactic.cpp` and `halt_tactic.h`, renaming variables and strings where necessary Variables and strings renamed for consistency and to allow tests to successfully run * Rename `stop_tactic_test.cpp` to `halt_tactic_test.cpp` * Rename `stop_fsm` and `stop_fsm_test` to `halt_fsm` and `halt_fsm_test`, renaming where necessary * Rename `tactic/stop` folder to `tactic/halt`, renaming addresses where necessary * [pre-commit.ci lite] apply automatic fixes * Small consistency improvements * Small consistency improvements * Create `example` directory containing all example plays (fsm incomplete) * Create `example` directory containing all example plays (FSM incomplete) `example_play_fsm.cpp` and associated files have not been implemented; planned to be implemented next commit * Copy relevant code from other fsm plays to `example_play` files Still giving errors, as `example_play_fsm.cpp` has not been implemented * Remove `example_play_fsm_test.cpp` * Implement `example_play_fsm.cpp` and `example_play_fsm.h` Debugging still necessary, as the `example_play_test.cpp` is not passing * Debug `example_play_fsm.cpp` test case works now yippee * comment fix * [pre-commit.ci lite] apply automatic fixes * Remove `AIConfig` from example plays * Implement suggestions from @williamckha * [pre-commit.ci lite] apply automatic fixes * Create `example_play_fsm_test.cpp` Copied from UBC-Thunderbots#3398 by @potatoisagender * [pre-commit.ci lite] apply automatic fixes * temp push done so i can merge from remote * (try to) Merge master branch into own branch * Remove merge conflict in `play/example/BUILD` * Resolve `.BUILD` merge conflict * Adds pytests for example play * [pre-commit.ci lite] apply automatic fixes * Small fixes * [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> Co-authored-by: Grayson Hoang <grayhoang@gmail.com> Co-authored-by: williamckha <williamha@outlook.com>
1 parent e945885 commit d9b2017

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‎docs/fsm-diagrams.md‎

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@@ -106,6 +106,19 @@ Terminate:::terminate --> Terminate:::terminate
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```
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## [ExamplePlayFSM](/src/software/ai/hl/stp/play/example/example_play_fsm.h)
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```mermaid
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stateDiagram-v2
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classDef terminate fill:white,color:black,font-weight:bold
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direction LR
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[*] --> MoveState
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MoveState --> MoveState : <i>moveToPosition</i>
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Terminate:::terminate --> Terminate:::terminate
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```
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## [FreeKickPlayFSM](/src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.h)
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```mermaid

‎src/software/ai/hl/stp/play/BUILD‎

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@@ -6,20 +6,6 @@ load("@simulated_tests_deps//:requirements.bzl", "requirement")
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# "factory" design pattern to work are linked in
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# https://www.bfilipek.com/2018/02/static-vars-static-lib.html
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cc_library(
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name = "example_play",
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srcs = ["example_play.cpp"],
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hdrs = ["example_play.h"],
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deps = [
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":play",
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"//shared:constants",
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"//software/ai/hl/stp/tactic/move:move_tactic",
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"//software/logger",
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"//software/util/generic_factory",
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],
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alwayslink = True,
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)
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cc_library(
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name = "kickoff_enemy_play",
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srcs = ["kickoff_enemy_play.cpp"],
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cc_library(
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name = "all_plays",
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deps = [
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":example_play",
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":kickoff_enemy_play",
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":kickoff_friendly_play",
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":shoot_or_chip_play",
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"//software/ai/hl/stp/play/defense:defense_play",
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"//software/ai/hl/stp/play/enemy_ball_placement:enemy_ball_placement_play",
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"//software/ai/hl/stp/play/enemy_free_kick:enemy_free_kick_play",
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"//software/ai/hl/stp/play/example:example_play",
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"//software/ai/hl/stp/play/free_kick:free_kick_play",
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"//software/ai/hl/stp/play/halt_play",
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"//software/ai/hl/stp/play/hardware_challenge_plays:dribbling_parcour_play",
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],
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)
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cc_test(
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name = "example_play_test",
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srcs = ["example_play_test.cpp"],
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deps = [
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"//shared/test_util:tbots_gtest_main",
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"//software/ai/hl/stp/play:example_play",
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"//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
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"//software/simulated_tests/validation:validation_function",
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"//software/test_util",
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"//software/time:duration",
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"//software/world",
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],
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)
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cc_test(
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name = "kickoff_friendly_play_cpp_test",
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srcs = ["kickoff_friendly_play_test.cpp"],

‎src/software/ai/hl/stp/play/example/BUILD‎

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package(default_visibility = ["//visibility:public"])
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load("@simulated_tests_deps//:requirements.bzl", "requirement")
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cc_library(
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name = "example_play",
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srcs = [
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"example_play.cpp",
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"example_play_fsm.cpp",
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],
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hdrs = [
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"example_play.h",
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"example_play_fsm.h",
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],
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deps = [
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"//shared:constants",
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"//software/ai/hl/stp/play",
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"//software/ai/hl/stp/tactic/move:move_tactic",
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"//software/logger",
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"//software/util/generic_factory",
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],
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alwayslink = True,
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)
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cc_test(
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name = "example_play_test",
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srcs = ["example_play_test.cpp"],
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deps = [
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"//shared/test_util:tbots_gtest_main",
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"//software/ai/hl/stp/play/example:example_play",
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"//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
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"//software/simulated_tests/validation:validation_function",
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"//software/test_util",
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"//software/time:duration",
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"//software/world",
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],
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)
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cc_test(
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name = "example_play_fsm_test",
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srcs = ["example_play_fsm_test.cpp"],
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deps = [
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":example_play",
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"//shared/test_util:tbots_gtest_main",
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"//software/test_util",
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],
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)
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py_test(
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name = "example_play_test_py",
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srcs = ["example_play_test.py"],
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main = "example_play_test.py",
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# TODO (#2619) Remove tag to run in parallel
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tags = [
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"exclusive",
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],
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deps = [
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"//software:conftest",
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"//software/simulated_tests:speed_threshold_helpers",
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"//software/simulated_tests:validation",
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requirement("pytest"),
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],
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)

‎src/software/ai/hl/stp/play/example/example_play.cpp‎

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#include "software/ai/hl/stp/play/example/example_play.h"
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#include "shared/constants.h"
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#include "software/util/generic_factory/generic_factory.h"
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ExamplePlay::ExamplePlay(TbotsProto::AiConfig config)
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: Play(config, false), fsm{ExamplePlayFSM{}}, control_params{}
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{
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}
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void ExamplePlay::getNextTactics(TacticCoroutine::push_type &yield,
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const WorldPtr &world_ptr)
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{
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// This function doesn't get called and it will be removed once coroutines are phased
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// out
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}
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void ExamplePlay::updateTactics(const PlayUpdate &play_update)
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{
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fsm.process_event(ExamplePlayFSM::Update(control_params, play_update));
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}
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std::vector<std::string> ExamplePlay::getState()
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{
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std::vector<std::string> state;
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state.emplace_back(objectTypeName(*this) + " - " + getCurrentFullStateName(fsm));
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return state;
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}
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// Register this play in the genericFactory
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static TGenericFactory<std::string, Play, ExamplePlay, TbotsProto::AiConfig> factory;

‎src/software/ai/hl/stp/play/example/example_play.h‎

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#pragma once
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#include "software/ai/hl/stp/play/example/example_play_fsm.h"
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/**
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* An example play that moves the robots in a circle around the ball
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*/
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class ExamplePlay : public Play
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{
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public:
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/**
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* Creates an example play
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*
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* @param ai_config the play config for this play
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*/
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ExamplePlay(TbotsProto::AiConfig config);
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void getNextTactics(TacticCoroutine::push_type &yield,
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const WorldPtr &world_ptr) override;
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void updateTactics(const PlayUpdate &play_update) override;
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std::vector<std::string> getState() override;
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private:
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FSM<ExamplePlayFSM> fsm;
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ExamplePlayFSM::ControlParams control_params;
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};

‎src/software/ai/hl/stp/play/example/example_play_fsm.cpp‎

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#include "software/ai/hl/stp/play/example/example_play_fsm.h"
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ExamplePlayFSM::ExamplePlayFSM() : move_tactics(DIV_A_NUM_ROBOTS)
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{
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std::generate(move_tactics.begin(), move_tactics.end(),
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[]() { return std::make_shared<MoveTactic>(); });
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}
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void ExamplePlayFSM::moveToPosition(const Update &event)
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{
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// The angle between each robot spaced out in a circle around the ball
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Angle angle_between_robots = Angle::full() / static_cast<double>(move_tactics.size());
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for (size_t k = 0; k < move_tactics.size(); k++)
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{
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move_tactics[k]->updateControlParams(
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event.common.world_ptr->ball().position() +
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Vector::createFromAngle(angle_between_robots *
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static_cast<double>(k + 1)),
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(angle_between_robots * static_cast<double>(k + 1)) + Angle::half());
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}
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// Set the Tactics this Play wants to run, in order of priority.
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// If there are fewer robots in play, robots at the end of the list will not be
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// assigned
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TacticVector result = {};
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result.insert(result.end(), move_tactics.begin(), move_tactics.end());
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event.common.set_tactics({result});
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}

‎src/software/ai/hl/stp/play/example/example_play_fsm.h‎

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#pragma once
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#include "proto/parameters.pb.h"
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#include "shared/constants.h"
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#include "software/ai/hl/stp/play/play.h"
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#include "software/ai/hl/stp/tactic/move/move_tactic.h"
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#include "software/logger/logger.h"
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/**
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* An example play that moves the robots in a circle around the ball
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*/
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struct ExamplePlayFSM
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{
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class MoveState;
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struct ControlParams
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{
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};
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DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
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/**
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* Creates an example play FSM
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*/
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explicit ExamplePlayFSM();
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/**
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* Action that moves the robots to certain positions around the ball
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*
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* @param event the ExamplePlayFSM Update event
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*/
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void moveToPosition(const Update& event);
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auto operator()()
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{
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using namespace boost::sml;
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DEFINE_SML_STATE(MoveState)
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DEFINE_SML_EVENT(Update)
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DEFINE_SML_ACTION(moveToPosition)
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return make_transition_table(
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// src_state + event [guard] / action = dest_state
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*MoveState_S + Update_E / moveToPosition_A = MoveState_S, X + Update_E = X);
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}
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private:
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std::vector<std::shared_ptr<MoveTactic>> move_tactics;
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};

‎src/software/ai/hl/stp/play/example/example_play_fsm_test.cpp‎

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#include "software/ai/hl/stp/play/example/example_play_fsm.h"
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#include <gtest/gtest.h>
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#include "proto/parameters.pb.h"
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#include "software/test_util/equal_within_tolerance.h"
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#include "software/test_util/test_util.h"
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TEST(ExamplePlayFSMTest, test_transitions)
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{
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std::shared_ptr<World> world = ::TestUtil::createBlankTestingWorld();
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TbotsProto::AiConfig ai_config;
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FSM<ExamplePlayFSM> fsm(ExamplePlayFSM{});
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EXPECT_TRUE(fsm.is(boost::sml::state<ExamplePlayFSM::MoveState>));
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int num_tactics = 6;
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fsm.process_event(ExamplePlayFSM::Update(
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ExamplePlayFSM::ControlParams{},
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PlayUpdate(
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world, num_tactics, [](PriorityTacticVector new_tactics) {},
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InterPlayCommunication{}, [](InterPlayCommunication comm) {})));
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EXPECT_TRUE(fsm.is(boost::sml::state<ExamplePlayFSM::MoveState>));
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}

src/software/ai/hl/stp/play/example_play_test.cpp renamed to src/software/ai/hl/stp/play/example/example_play_test.cpp

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#include "software/ai/hl/stp/play/example_play.h"
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#include "software/ai/hl/stp/play/example/example_play.h"
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#include <gtest/gtest.h>
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