Clean up robot constants and make them selectable at compile time (#3714)

Author: williamckha

src/.bazelrc

@@ -75,6 +75,9 @@ build --cxxopt="-DG3_DYNAMIC_LOGGING"
 build --per_file_copt=.*\.pb\.(h|cc|cpp)$@-w
 build --per_file_copt=./external/.*,./bazel-out/.*@-w
 
+# Define Robot Versions
+build --copt="-DCURRENT_ROBOT_VERSION=2026"
+
 ############## External Deps Compatibility ##############
 build --noincompatible_disallow_ctx_resolve_tools
 build --check_direct_dependencies=off

src/proto/message_translation/ssl_simulation_robot_control.cpp

@@ -52,7 +52,7 @@ std::unique_ptr<SSLSimulationProto::RobotMoveCommand> createRobotMoveCommand(
 std::unique_ptr<SSLSimulationProto::RobotCommand> getRobotCommandFromDirectControl(
     unsigned int robot_id,
     std::unique_ptr<TbotsProto::DirectControlPrimitive> direct_control,
-    RobotConstants_t& robot_constants)
+    robot_constants::RobotConstants& robot_constants)
 {
     auto move_command = createRobotMoveCommand(
         *direct_control, robot_constants.front_wheel_angle_deg,

src/proto/message_translation/ssl_simulation_robot_control.h

@@ -34,7 +34,7 @@ std::unique_ptr<SSLSimulationProto::RobotMoveCommand> createRobotMoveCommand(
 std::unique_ptr<SSLSimulationProto::RobotCommand> getRobotCommandFromDirectControl(
     unsigned int robot_id,
     std::unique_ptr<TbotsProto::DirectControlPrimitive> direct_control,
-    RobotConstants_t& robot_constants);
+    robot_constants::RobotConstants& robot_constants);
 
 /**
  * Creates a RobotCommand proto

src/proto/message_translation/ssl_simulation_robot_control_test.cpp

@@ -2,12 +2,13 @@
 
 #include <gtest/gtest.h>
 
-#include "shared/2021_robot_constants.h"
+#include "shared/robot_constants.h"
 
 class SSLSimulationProtoTest : public ::testing::Test
 {
    protected:
-    RobotConstants_t robot_constants = create2021RobotConstants();
+    robot_constants::RobotConstants robot_constants =
+        robot_constants::createRobotConstants();
 };
 
 TEST_F(SSLSimulationProtoTest, test_create_robot_move_command_forward_from_primitive)

src/proto/message_translation/tbots_protobuf.cpp

@@ -426,7 +426,7 @@ std::unique_ptr<TbotsProto::CostVisualization> createCostVisualization(
 
 std::optional<TrajectoryPath> createTrajectoryPathFromParams(
     const TbotsProto::TrajectoryPathParams2D& params, const Vector& initial_velocity,
-    const RobotConstants& robot_constants)
+    const robot_constants::RobotConstants& robot_constants)
 {
     double max_speed = convertMaxAllowedSpeedModeToMaxAllowedSpeed(
         params.max_speed_mode(), robot_constants);
@@ -476,7 +476,8 @@ std::optional<TrajectoryPath> createTrajectoryPathFromParams(
 
 BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
     const TbotsProto::TrajectoryParamsAngular1D& params,
-    const AngularVelocity& initial_velocity, const RobotConstants& robot_constants)
+    const AngularVelocity& initial_velocity,
+    const robot_constants::RobotConstants& robot_constants)
 {
     return BangBangTrajectory1DAngular(
         createAngle(params.start_angle()), createAngle(params.final_angle()),
@@ -489,7 +490,7 @@ BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
 }
 
 int convertDribblerModeToDribblerSpeed(TbotsProto::DribblerMode dribbler_mode,
-                                       RobotConstants_t robot_constants)
+                                       robot_constants::RobotConstants robot_constants)
 {
     switch (dribbler_mode)
     {
@@ -507,7 +508,7 @@ int convertDribblerModeToDribblerSpeed(TbotsProto::DribblerMode dribbler_mode,
 
 double convertMaxAllowedSpeedModeToMaxAllowedSpeed(
     TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode,
-    RobotConstants_t robot_constants)
+    robot_constants::RobotConstants robot_constants)
 {
     switch (max_allowed_speed_mode)
     {

src/proto/message_translation/tbots_protobuf.h

@@ -245,7 +245,7 @@ std::unique_ptr<TbotsProto::CostVisualization> createCostVisualization(
  */
 std::optional<TrajectoryPath> createTrajectoryPathFromParams(
     const TbotsProto::TrajectoryPathParams2D& params, const Vector& initial_velocity,
-    const RobotConstants& robot_constants);
+    const robot_constants::RobotConstants& robot_constants);
 
 /**
  * Generate an angular trajectory Path given angular trajectory proto parameters
@@ -257,7 +257,8 @@ std::optional<TrajectoryPath> createTrajectoryPathFromParams(
  */
 BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
     const TbotsProto::TrajectoryParamsAngular1D& params,
-    const AngularVelocity& initial_velocity, const RobotConstants& robot_constants);
+    const AngularVelocity& initial_velocity,
+    const robot_constants::RobotConstants& robot_constants);
 
 /**
  * Convert dribbler mode to dribbler speed
@@ -268,7 +269,7 @@ BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
  * @return the dribbler speed in RPM
  */
 int convertDribblerModeToDribblerSpeed(TbotsProto::DribblerMode dribbler_mode,
-                                       RobotConstants_t robot_constants);
+                                       robot_constants::RobotConstants robot_constants);
 
 /**
  * Convert max allowed speed mode to max allowed speed
@@ -280,4 +281,4 @@ int convertDribblerModeToDribblerSpeed(TbotsProto::DribblerMode dribbler_mode,
  */
 double convertMaxAllowedSpeedModeToMaxAllowedSpeed(
     TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode,
-    RobotConstants_t robot_constants);
+    robot_constants::RobotConstants robot_constants);

src/proto/message_translation/tbots_protobuf_test.cpp

@@ -152,7 +152,8 @@ TEST_P(TrajectoryParamConversionTest, trajectory_params_msg_test)
     // Generate a trajectory, and then generate a TbotsProto::TrajectoryPathParams2D
     // with the same parameters as the trajectory, finally, generate a second trajectory
     // from the parameters and make sure the two trajectories are equal.
-    RobotConstants robot_constants = create2021RobotConstants();
+    robot_constants::RobotConstants robot_constants =
+        robot_constants::createRobotConstants();
     Point start_position(0.0, 0.0);
     Point destination(0.0, 0.0);
 

src/proto/primitive/primitive_msg_factory_test.cpp

@@ -2,14 +2,15 @@
 
 #include <gtest/gtest.h>
 
-#include "shared/2021_robot_constants.h"
 #include "shared/constants.h"
+#include "shared/robot_constants.h"
 #include "software/test_util/test_util.h"
 
 class PrimitiveFactoryTest : public testing::Test
 {
    protected:
-    RobotConstants_t robot_constants = create2021RobotConstants();
+    robot_constants::RobotConstants robot_constants =
+        robot_constants::createRobotConstants();
 };
 
 TEST_F(PrimitiveFactoryTest, test_auto_chip_or_kick_equality)