Coordinators (#2370)

Author: sanatd33

.clangd

@@ -0,0 +1,2 @@
+CompileFlags:
+    CompilationDatabase: build-release-debug/

launch/soccer.launch.py

@@ -227,5 +227,12 @@ def generate_launch_description():
                 parameters=[param_config_filepath],
                 on_exit=Shutdown(),
             ),
+            Node(
+                package="rj_robocup",
+                executable="kicker_picker_node",
+                output="screen",
+                parameters=[param_config_filepath],
+                on_exit=Shutdown(),
+            )
         ]
     )

rj_msgs/CMakeLists.txt

@@ -59,30 +59,33 @@ rosidl_generate_interfaces(
   msg/AgentResponse.msg
   msg/AgentResponseVariant.msg
 
+  # Coordinators
+  msg/KickerPicker.msg
+
   # Agent Request Messages
-  request/IncomingBallRequest.msg
-  request/SeekerRequest.msg
-  request/ScorerRequest.msg
-  request/ResetScorerRequest.msg
-  request/KickerRequest.msg
   request/JoinWallRequest.msg
   request/TestRequest.msg
   request/PassRequest.msg
+  request/ScorerRequest.msg
   request/BallInTransitRequest.msg
+  request/SeekerRequest.msg
   request/PositionRequest.msg
   request/LeaveWallRequest.msg
+  request/ResetScorerRequest.msg
+  request/IncomingBallRequest.msg
 
   # Agent Response Messages
+  response/ScorerResponse.msg
   response/LeaveWallResponse.msg
-  response/TestResponse.msg
   response/PositionResponse.msg
+  response/TestResponse.msg
   response/PassResponse.msg
-  response/ScorerResponse.msg
   response/Acknowledge.msg
   response/JoinWallResponse.msg
 
   # Services
   srv/AgentCommunication.srv
+  srv/KickerPicker.srv
   srv/ListJoysticks.srv
   srv/PlanHypotheticalPath.srv
   srv/QuickCommands.srv

rj_msgs/msg/AgentRequest.msg

@@ -3,14 +3,13 @@
 # 2 -> PositionResponse
 # 3 -> PassResponse
 # ACKNOWLEDGE REQUEST DOES NOT (AND SHOULD NOT) EXIST
-IncomingBallRequest[<=1] incoming_ball_request
-SeekerRequest[<=1] seeker_request
-ScorerRequest[<=1] scorer_request
-ResetScorerRequest[<=1] reset_scorer_request
-KickerRequest[<=1] kicker_request
 JoinWallRequest[<=1] join_wall_request
 TestRequest[<=1] test_request
 PassRequest[<=1] pass_request
+ScorerRequest[<=1] scorer_request
 BallInTransitRequest[<=1] ball_in_transit_request
+SeekerRequest[<=1] seeker_request
 PositionRequest[<=1] position_request
-LeaveWallRequest[<=1] leave_wall_request
+LeaveWallRequest[<=1] leave_wall_request
+ResetScorerRequest[<=1] reset_scorer_request
+IncomingBallRequest[<=1] incoming_ball_request

rj_msgs/msg/AgentResponseVariant.msg

@@ -1,7 +1,7 @@
+ScorerResponse[<=1] scorer_response
 LeaveWallResponse[<=1] leave_wall_response
-TestResponse[<=1] test_response
 PositionResponse[<=1] position_response
+TestResponse[<=1] test_response
 PassResponse[<=1] pass_response
-ScorerResponse[<=1] scorer_response
 Acknowledge[<=1] acknowledge
 JoinWallResponse[<=1] join_wall_response

rj_msgs/msg/KickerPicker.msg

@@ -0,0 +1,2 @@
+# This is a message to pick a kicker robot
+uint8 robot_id  # ID of the robot chosen to kick the ball

rj_msgs/request/KickerRequest.msg

@@ -0,0 +1,5 @@
+# Request a robot to be added to or removed from the kicker selection group
+uint8 robot_id     # ID of the robot (0 to kNumShells-1)
+bool wants_to_kick # True to add robot to kicker group, false to remove it
+---
+bool success      # Always true

rj_msgs/srv/KickerPicker.srv

@@ -87,6 +87,7 @@ add_executable(manual_control_node)
 add_executable(global_param_server_node)
 add_executable(agent_action_client_node)
 add_executable(straight_line_test_node)
+add_executable(kicker_picker_node)
 
 if(BUILD_TESTING)
   add_executable(test-soccer)
@@ -191,6 +192,9 @@ set(AGENT_ACTION_CLIENT_NODE_DEPS_LIBRARIES robocup)
 set(STRAIGHT_LINE_TEST_NODE_DEPS_SYSTEM_LIBRARIES)
 set(STRAIGHT_LINE_TEST_NODE_DEPS_LIBRARIES robocup)
 
+set(KICKER_PICKER_NODE_DEPS_SYSTEM_LIBRARIES)
+set(KICKER_PICKER_NODE_DEPS_LIBRARIES robocup)
+
 # ======================================================================
 # Include and Linking
 # ======================================================================
@@ -257,6 +261,9 @@ target_link_libraries(agent_action_client_node PRIVATE ${AGENT_ACTION_CLIENT_NOD
 target_link_libraries(straight_line_test_node PRIVATE ${STRAIGHT_LINE_TEST_NODE_DEPS_SYSTEM_LIBRARIES}
     ${STRAIGHT_LINE_TEST_NODE_DEPS_LIBRARIES})
 
+# -- kicker_picker_node --
+target_link_libraries(kicker_picker_node PUBLIC ${KICKER_PICKER_NODE_DEPS_SYSTEM_LIBRARIES} ${KICKER_PICKER_NODE_DEPS_LIBRARIES})
+
 # ======================================================================
 # Testing
 # ======================================================================
@@ -302,6 +309,7 @@ install(
         global_param_server_node
         agent_action_client_node
         straight_line_test_node
+        kicker_picker_node
         DESTINATION lib/${CMAKE_PROJECT_NAME})
 
 install(

soccer/CMakeLists.txt

@@ -96,7 +96,8 @@ set(ROBOCUP_LIB_SRC
     strategy/agent/position/zoner.cpp
     strategy/agent/position/pivot_test.cpp
     strategy/agent/position/solo_offense.cpp
-
+    strategy/coordinator/kicker_picker.cpp
+    strategy/coordinator/kicker_picker_client.cpp
         )
 
 set(SOCCER_TEST_SRC
@@ -145,6 +146,8 @@ set(AGENT_ACTION_CLIENT_NODE_SRC strategy/agent/agent_action_client_main.cpp)
 
 set(STRAIGHT_LINE_TEST_NODE_SRC strategy/agent/straight_line_test_main.cpp)
 
+set(KICKER_PICKER_NODE_SRC strategy/coordinator/kicker_picker_main.cpp)
+
 # ======================================================================
 # Add sources
 # ======================================================================
@@ -191,6 +194,9 @@ target_sources(agent_action_client_node PRIVATE ${AGENT_ACTION_CLIENT_NODE_SRC})
 # --- straight_line_test_node ----
 target_sources(straight_line_test_node PRIVATE ${STRAIGHT_LINE_TEST_NODE_SRC})
 
+# ---- kicker_picker_node ----
+target_sources(kicker_picker_node PRIVATE ${KICKER_PICKER_NODE_SRC})
+
 # Set the directory so AUTOUIC know where to find .ui files
 set_target_properties(log_viewer PROPERTIES AUTOUIC_SEARCH_PATHS ${UI_PATH})