Feature/remove interface

CMakeLists.txt

@@ -35,11 +35,9 @@ find_package(Qt5Widgets REQUIRED)
 set(UTILS_SOURCES
         ${PROJECT_SOURCE_DIR}/src/utilities/GameStateManager.cpp
         ${PROJECT_SOURCE_DIR}/src/utilities/Constants.cpp
-        ${PROJECT_SOURCE_DIR}/src/utilities/Pause.cpp
         ${PROJECT_SOURCE_DIR}/src/utilities/RefGameState.cpp
         ${PROJECT_SOURCE_DIR}/src/utilities/Dealer.cpp
         ${PROJECT_SOURCE_DIR}/src/utilities/IOManager.cpp
-        ${PROJECT_SOURCE_DIR}/src/utilities/Settings.cpp
         ${PROJECT_SOURCE_DIR}/src/utilities/StrategyManager.cpp
         )
 
@@ -203,35 +201,11 @@ set(TEST_SOURCES
 
 set(INTERFACE_SOURCES
         ${PROJECT_SOURCE_DIR}/src/interface/widgets/mainWindow.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/widget.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/api/Input.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/api/Output.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/STPVisualizerWidget.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/RobotsWidget.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/PidBox.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/PidsWidget.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/MainControlsWidget.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/VisualizationSettingsWidget.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/api/Toggles.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/RuleSetWidget.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/GraphWidget.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/SettingsWidget.cpp
         ${PROJECT_SOURCE_DIR}/src/interface/widgets/ManualControlWidget.cpp
-        ${PROJECT_SOURCE_DIR}/src/interface/widgets/PlaysWidget.cpp
 
         #QT wants to know about these headers
-        ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/PidBox.h
-        ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/PidsWidget.h
-        ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/MainControlsWidget.h
         ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/mainWindow.h
-        ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/RobotsWidget.h
-        ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/RuleSetWidget.h
-        ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/STPVisualizerWidget.h
-        ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/VisualizationSettingsWidget.h
-        ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/widget.h
-        ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/SettingsWidget.h
         ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/ManualControlWidget.h
-        ${PROJECT_SOURCE_DIR}/include/roboteam_ai/interface/widgets/PlaysWidget.hpp
         )
 
 set(WORLD_SOURCES
@@ -249,6 +223,7 @@ set(WORLD_SOURCES
 # Putting it all together so we can use it in both the main executable and the test executable
 set(AI_SOURCES
         ${PROJECT_SOURCE_DIR}/src/ApplicationManager.cpp
+        src/AI.cpp
         ${UTILS_SOURCES}
         ${SKILLS_SOURCES}
         ${TACTICS_SOURCES}
@@ -259,6 +234,8 @@ set(AI_SOURCES
         ${INTERFACE_SOURCES}
         ${WORLD_SOURCES}
         ${MANUAL_SOURCES}
+        src/AISettings.cpp
+        src/AppSettings.cpp
         )
 
 set(AI_LIBS

include/roboteam_ai/AI.h

@@ -0,0 +1,56 @@
+//
+// Created by rolf on 15-02-21.
+//
+
+#ifndef RTT_ROBOTEAM_AI_SRC_AI_H_
+#define RTT_ROBOTEAM_AI_SRC_AI_H_
+
+#include "stp/PlayChecker.hpp"
+#include "stp/PlayDecider.hpp"
+#include "AISettings.h"
+#include "world/World.hpp"
+#include <roboteam_proto/State.pb.h>
+#include <roboteam_proto/AICommand.pb.h>
+#include "control/ControlModule.h"
+
+namespace rtt {
+class AI {
+ public:
+  explicit AI(int id);
+
+  void updateState(const proto::State& state);
+  proto::AICommand decidePlay();
+  [[nodiscard]] proto::Handshake getButtonDeclarations() const;
+  [[nodiscard]] proto::Handshake getSettingValues() const;
+  void updateSettings(const proto::UiValues& values);
+ private:
+  //updates referee-related information to the game state manager, and makes sure things such as rotation, color etc. are correct
+  void updateSettingsReferee(const proto::State& state);
+
+  void onSideOrColorChanged();
+  std::unique_ptr<world::World> world = nullptr;
+  /**
+   * Current best play as picked by checker + decider
+   */
+  rtt::ai::stp::Play *currentPlay{nullptr};
+
+  /**
+   * Checks which plays are valid out of all the plays
+   */
+  rtt::ai::stp::PlayChecker playChecker;
+  /**
+   * Checks, out of the valid plays, which play is the best to choose
+   */
+  rtt::ai::stp::PlayDecider playDecider;
+
+  /**
+   * The vector that contains all plays
+   */
+  std::vector<std::unique_ptr<rtt::ai::stp::Play>> plays;
+
+  AISettings settings;
+
+  //std::unique_ptr<ai::control::ControlModule> control_module; TODO: fix staticness
+};
+}
+#endif //RTT_ROBOTEAM_AI_SRC_AI_H_

include/roboteam_ai/AISettings.h

@@ -0,0 +1,45 @@
+//
+// Created by rolf on 07-03-21.
+//
+
+#ifndef RTT_ROBOTEAM_AI_SRC_AISETTINGS_H_
+#define RTT_ROBOTEAM_AI_SRC_AISETTINGS_H_
+
+#include <string>
+#include <roboteam_proto/Handshake.pb.h>
+namespace rtt {
+  class AISettings {
+   public:
+    explicit AISettings(int id);
+
+
+    [[nodiscard]] int getId() const;
+
+    [[nodiscard]] bool isYellow() const;
+    void setYellow(bool isYellow);
+
+    [[nodiscard]] bool isLeft() const;
+    void setLeft(bool left);
+
+    [[nodiscard]] bool isPaused() const;
+    void setPause(bool paused);
+
+    [[nodiscard]] bool getListenToReferee() const;
+    void setListenToReferee(bool listen);
+
+    [[nodiscard]] proto::Handshake getButtonDeclarations() const;
+    [[nodiscard]] proto::Handshake getValues() const;
+    void updateValuesFromInterface(const proto::UiValues& values);
+   private:
+    [[nodiscard]] std::string name() const;
+
+    const int id;
+    bool is_yellow;
+    bool is_left;
+
+    bool is_paused;
+    bool listenToReferee;
+
+  };
+}
+#endif //RTT_ROBOTEAM_AI_SRC_AISETTINGS_H_

include/roboteam_ai/AppSettings.h

@@ -0,0 +1,52 @@
+//
+// Created by rolf on 07-03-21.
+//
+
+#ifndef RTT_ROBOTEAM_AI_SRC_APPSETTINGS_H_
+#define RTT_ROBOTEAM_AI_SRC_APPSETTINGS_H_
+#include <string>
+#include <roboteam_proto/Setting.pb.h>
+#include <roboteam_proto/ObserverSettings.pb.h>
+#include <roboteam_proto/RobotHubSettings.pb.h>
+#include <roboteam_proto/Handshake.pb.h>
+enum class SerialMode{
+  GRSIM = 0,
+  SERIAL = 1
+};
+
+static std::string serialModeName(SerialMode type);
+class AppSettings {
+ public:
+  AppSettings();
+  [[nodiscard]] const std::string& getRefereeIp() const;
+  void setRefereeIp(const std::string& refereeIp);
+
+  [[nodiscard]] int getRefereePort() const;
+  void setRefereePort(int port);
+
+  [[nodiscard]] const std::string& getVisionIp() const;
+  void setVisionIp(const std::string& vision_ip);
+
+  [[nodiscard]] int getVisionPort() const;
+  void setVisionPort(int port);
+
+  [[nodiscard]] proto::Handshake getButtonDeclarations() const;
+  [[nodiscard]] proto::Handshake getValues() const;
+  void updateValuesFromInterface(const proto::UiValues& values);
+
+  [[nodiscard]] proto::Setting toMessage() const;
+  [[nodiscard]] proto::ObserverSettings obsMessage() const;
+  [[nodiscard]] proto::RobotHubSettings rhMessage() const;
+ private:
+  std::string referee_ip;
+  int referee_port;
+
+  std::string vision_ip;
+  int vision_port;
+
+  std::string robothub_ip;
+  int robothub_port;
+  SerialMode mode;
+};
+
+#endif //RTT_ROBOTEAM_AI_SRC_APPSETTINGS_H_

include/roboteam_ai/ApplicationManager.h

@@ -8,51 +8,29 @@
 #include <gtest/gtest_prod.h>
 
 #include "interface/widgets/mainWindow.h"
-#include "stp/PlayChecker.hpp"
-#include "stp/PlayDecider.hpp"
+#include "AI.h"
+#include "utilities/IOManager.h"
+#include "AppSettings.h"
 
 namespace rtt {
 
 class ApplicationManager {
-   public:
-    explicit ApplicationManager(ai::interface::MainWindow* mainWindow);
 
    private:
     FRIEND_TEST(ApplicationManagerTest, it_handles_ROS_data);
 
     void runOneLoopCycle();
     bool fieldInitialized = false;
     bool robotsInitialized = false;
-    ai::interface::MainWindow* mainWindow;
-
-    /**
-     * Current best play as picked by checker + decider
-     */
-    ai::stp::Play* currentPlay{nullptr};
-
-    /**
-     * Checks which plays are valid out of all the plays
-     */
-    rtt::ai::stp::PlayChecker playChecker;
-    /**
-     * Checks, out of the valid plays, which play is the best to choose
-     */
-    rtt::ai::stp::PlayDecider playDecider;
-    /**
-     * Function that decides whether to change plays given a world and field.
-     * @param _world the current world state
-     * @param field the current field state
-     */
-    void decidePlay(world::World* _world);
 
-   public:
-    void start();
+    AppSettings settings;
+    std::unique_ptr<AI> ai;
+    std::unique_ptr<rtt::ai::io::IOManager> io;
 
-    /**
-     * The vector that contains all plays
-     */
-    static inline std::vector<std::unique_ptr<rtt::ai::stp::Play>> plays;
 
+   public:
+    void start(int ai_id);
+    ApplicationManager() = default;
     ApplicationManager(ApplicationManager const&) = delete;
     ApplicationManager& operator=(ApplicationManager const&) = delete;
 };

include/roboteam_ai/control/ControlModule.h

@@ -9,6 +9,8 @@
 
 #include "stp/StpInfo.h"
 #include "world/views/RobotView.hpp"
+#include "utilities/IOManager.h"
+#include <AISettings.h>
 
 namespace rtt::ai::control {
 
@@ -54,7 +56,7 @@ namespace rtt::ai::control {
         /**
          *
          */
-        static void sendAllCommands();
+        static std::vector<proto::RobotCommand> sendAllCommands(const AISettings& settings);
     };
 }  // namespace rtt::ai::control
 

include/roboteam_ai/control/positionControl/pathTracking/PidTracking.h

@@ -6,7 +6,6 @@
 #define RTT_PIDTRACKING_H
 
 #include "control/positionControl/PositionControlUtils.h"
-#include "interface/api/Output.h"
 #include "roboteam_utils/Position.h"
 #include "roboteam_utils/Vector2.h"
 #include "roboteam_utils/pid.h"