Rename all instances of stop tactic to halt tactic (UBC-Thunderbots#3339

)

* 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

---------

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

docs/fsm-diagrams.md

@@ -314,6 +314,21 @@ Terminate:::terminate --> Terminate:::terminate
 
 ```
 
+## [HaltFSM](/src/software/ai/hl/stp/tactic/halt/halt_fsm.h)
+
+```mermaid
+
+stateDiagram-v2
+classDef terminate fill:white,color:black,font-weight:bold
+direction LR
+[*] --> StopState
+StopState --> StopState : [!stopDone]\n<i>updateStop</i>
+StopState --> Terminate:::terminate : [stopDone]\n<i>updateStop</i>
+Terminate:::terminate --> StopState : [!stopDone]\n<i>updateStop</i>
+Terminate:::terminate --> Terminate:::terminate : [stopDone]\n<i>updateStop</i>
+
+```
+
 ## [KickFSM](/src/software/ai/hl/stp/tactic/kick/kick_fsm.h)
 
 ```mermaid
@@ -441,18 +456,3 @@ Terminate:::terminate --> Terminate:::terminate : <i>SET_STOP_PRIMITIVE_ACTION</
 
 ```
 
-## [StopFSM](/src/software/ai/hl/stp/tactic/stop/stop_fsm.h)
-
-```mermaid
-
-stateDiagram-v2
-classDef terminate fill:white,color:black,font-weight:bold
-direction LR
-[*] --> StopState
-StopState --> StopState : [!stopDone]\n<i>updateStop</i>
-StopState --> Terminate:::terminate : [stopDone]\n<i>updateStop</i>
-Terminate:::terminate --> StopState : [!stopDone]\n<i>updateStop</i>
-Terminate:::terminate --> Terminate:::terminate : [stopDone]\n<i>updateStop</i>
-
-```
-

src/proto/tactic.proto

@@ -28,7 +28,7 @@ message Tactic
         PivotKickTactic pivot_kick                          = 11;
         ReceiverTactic receiver                             = 12;
         ShadowEnemyTactic shadow_enemy                      = 13;
-        StopTactic stop                                     = 14;
+        HaltTactic halt                                     = 14;
         PassDefenderTactic pass_defender                    = 15;
     }
 }
@@ -176,4 +176,4 @@ message ShadowEnemyTactic
     required double shadow_distance = 2;
 }
 
-message StopTactic {}
+message HaltTactic {}

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

@@ -27,7 +27,7 @@ cc_library(
     deps = [
         ":play",
         "//shared:constants",
-        "//software/ai/hl/stp/tactic/stop:stop_tactic",
+        "//software/ai/hl/stp/tactic/halt:halt_tactic",
         "//software/logger",
         "//software/util/generic_factory",
     ],
@@ -82,9 +82,9 @@ cc_library(
         "//software/ai/hl/stp/tactic/attacker:attacker_tactic",
         "//software/ai/hl/stp/tactic/crease_defender:crease_defender_tactic",
         "//software/ai/hl/stp/tactic/goalie:goalie_tactic",
+        "//software/ai/hl/stp/tactic/halt:halt_tactic",
         "//software/ai/hl/stp/tactic/move:move_tactic",
         "//software/ai/hl/stp/tactic/shadow_enemy:shadow_enemy_tactic",
-        "//software/ai/hl/stp/tactic/stop:stop_tactic",
         "//software/logger",
         "//software/util/generic_factory",
         "//software/world:game_state",
@@ -119,7 +119,7 @@ cc_library(
     deps = [
         "//software/ai/hl/stp/tactic",
         "//software/ai/hl/stp/tactic/goalie:goalie_tactic",
-        "//software/ai/hl/stp/tactic/stop:stop_tactic",
+        "//software/ai/hl/stp/tactic/halt:halt_tactic",
         "//software/ai/motion_constraint:motion_constraint_set_builder",
         "//software/ai/navigator/trajectory:trajectory_planner",
         "//software/ai/passing:pass_with_rating",
@@ -303,7 +303,7 @@ cc_library(
     deps = [
         ":play",
         "//shared:constants",
-        "//software/ai/hl/stp/tactic/stop:stop_tactic",
+        "//software/ai/hl/stp/tactic/halt:halt_tactic",
         "//software/logger",
         "//software/util/generic_factory",
     ],

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

@@ -24,9 +24,9 @@ cc_library(
         "//software/ai/hl/stp/play/defense:defense_play_base",
         "//software/ai/hl/stp/tactic/crease_defender:crease_defender_tactic",
         "//software/ai/hl/stp/tactic/goalie:goalie_tactic",
+        "//software/ai/hl/stp/tactic/halt:halt_tactic",
         "//software/ai/hl/stp/tactic/move:move_tactic",
         "//software/ai/hl/stp/tactic/pass_defender:pass_defender_tactic",
-        "//software/ai/hl/stp/tactic/stop:stop_tactic",
         "//software/logger",
         "//software/util/generic_factory",
         "//software/world:game_state",

src/software/ai/hl/stp/play/halt_play.cpp

@@ -1,25 +1,25 @@
 #include "software/ai/hl/stp/play/halt_play.h"
 
-#include "software/ai/hl/stp/tactic/stop/stop_tactic.h"
+#include "software/ai/hl/stp/tactic/halt/halt_tactic.h"
 #include "software/util/generic_factory/generic_factory.h"
 
 HaltPlay::HaltPlay(TbotsProto::AiConfig config) : Play(config, false) {}
 
 void HaltPlay::getNextTactics(TacticCoroutine::push_type &yield,
                               const WorldPtr &world_ptr)
 {
-    auto stop_tactic_1 = std::make_shared<StopTactic>();
-    auto stop_tactic_2 = std::make_shared<StopTactic>();
-    auto stop_tactic_3 = std::make_shared<StopTactic>();
-    auto stop_tactic_4 = std::make_shared<StopTactic>();
-    auto stop_tactic_5 = std::make_shared<StopTactic>();
-    auto stop_tactic_6 = std::make_shared<StopTactic>();
+    auto halt_tactic_1 = std::make_shared<HaltTactic>();
+    auto halt_tactic_2 = std::make_shared<HaltTactic>();
+    auto halt_tactic_3 = std::make_shared<HaltTactic>();
+    auto halt_tactic_4 = std::make_shared<HaltTactic>();
+    auto halt_tactic_5 = std::make_shared<HaltTactic>();
+    auto halt_tactic_6 = std::make_shared<HaltTactic>();
 
     do
     {
         // yield the Tactics this Play wants to run, in order of priority
-        yield({{stop_tactic_1, stop_tactic_2, stop_tactic_3, stop_tactic_4, stop_tactic_5,
-                stop_tactic_6}});
+        yield({{halt_tactic_1, halt_tactic_2, halt_tactic_3, halt_tactic_4, halt_tactic_5,
+                halt_tactic_6}});
     } while (true);
 }
 

src/software/ai/hl/stp/play/penalty_kick/penalty_kick_play_fsm.h

@@ -3,9 +3,9 @@
 #include "proto/parameters.pb.h"
 #include "shared/constants.h"
 #include "software/ai/hl/stp/play/play_fsm.h"
+#include "software/ai/hl/stp/tactic/halt/halt_tactic.h"
 #include "software/ai/hl/stp/tactic/move/move_tactic.h"
 #include "software/ai/hl/stp/tactic/penalty_kick/penalty_kick_tactic.h"
-#include "software/ai/hl/stp/tactic/stop/stop_tactic.h"
 #include "software/logger/logger.h"
 
 

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

@@ -5,23 +5,23 @@
 #include <Tracy.hpp>
 
 #include "proto/message_translation/tbots_protobuf.h"
-#include "software/ai/hl/stp/tactic/stop/stop_tactic.h"
+#include "software/ai/hl/stp/tactic/halt/halt_tactic.h"
 #include "software/ai/motion_constraint/motion_constraint_set_builder.h"
 #include "software/logger/logger.h"
 
 
 Play::Play(TbotsProto::AiConfig ai_config, bool requires_goalie)
     : ai_config(ai_config),
       goalie_tactic(std::make_shared<GoalieTactic>(ai_config)),
-      stop_tactics(),
+      halt_tactics(),
       requires_goalie(requires_goalie),
       tactic_sequence(boost::bind(&Play::getNextTacticsWrapper, this, _1)),
       world_ptr_(std::nullopt),
       obstacle_factory(ai_config.robot_navigation_obstacle_config())
 {
     for (unsigned int i = 0; i < MAX_ROBOT_IDS; i++)
     {
-        stop_tactics.push_back(std::make_shared<StopTactic>());
+        halt_tactics.push_back(std::make_shared<HaltTactic>());
     }
 }
 
@@ -189,10 +189,10 @@ std::unique_ptr<TbotsProto::PrimitiveSet> Play::get(
             else if (i == (priority_tactics.size() - 1))
             {
                 // If assigning the last tactic vector, then assign rest of robots with
-                // StopTactics
+                // HaltTactics
                 for (unsigned int ii = 0; ii < (robots.size() - num_tactics); ii++)
                 {
-                    tactic_vector.push_back(stop_tactics[ii]);
+                    tactic_vector.push_back(halt_tactics[ii]);
                 }
             }
 

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

@@ -170,8 +170,8 @@ class Play
     virtual void getNextTactics(TacticCoroutine::push_type& yield,
                                 const WorldPtr& world_ptr) = 0;
 
-    // Stop tactic common to all plays for robots that don't have tactics assigned
-    TacticVector stop_tactics;
+    // HaltTactics common to all plays for robots that don't have tactics assigned
+    TacticVector halt_tactics;
 
     // Whether this play requires a goalie
     const bool requires_goalie;

src/software/ai/hl/stp/play/shoot_or_chip_play.cpp

@@ -7,9 +7,9 @@
 #include "software/ai/evaluation/possession.h"
 #include "software/ai/hl/stp/tactic/attacker/attacker_tactic.h"
 #include "software/ai/hl/stp/tactic/crease_defender/crease_defender_tactic.h"
+#include "software/ai/hl/stp/tactic/halt/halt_tactic.h"
 #include "software/ai/hl/stp/tactic/move/move_tactic.h"
 #include "software/ai/hl/stp/tactic/shadow_enemy/shadow_enemy_tactic.h"
-#include "software/ai/hl/stp/tactic/stop/stop_tactic.h"
 #include "software/logger/logger.h"
 #include "software/util/generic_factory/generic_factory.h"
 #include "software/world/game_state.h"

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

@@ -6,7 +6,7 @@ cc_library(
     hdrs = ["halt_test_play.h"],
     deps = [
         "//software/ai/hl/stp/play",
-        "//software/ai/hl/stp/tactic/stop:stop_tactic",
+        "//software/ai/hl/stp/tactic/halt:halt_tactic",
         "//software/util/generic_factory",
     ],
     alwayslink = True,

src/software/ai/hl/stp/play/test_plays/halt_test_play.cpp

@@ -1,6 +1,6 @@
 #include "software/ai/hl/stp/play/test_plays/halt_test_play.h"
 
-#include "software/ai/hl/stp/tactic/stop/stop_tactic.h"
+#include "software/ai/hl/stp/tactic/halt/halt_tactic.h"
 #include "software/geom/algorithms/contains.h"
 #include "software/util/generic_factory/generic_factory.h"
 
@@ -9,13 +9,13 @@ HaltTestPlay::HaltTestPlay(TbotsProto::AiConfig config) : Play(config, false) {}
 void HaltTestPlay::getNextTactics(TacticCoroutine::push_type &yield,
                                   const WorldPtr &world_ptr)
 {
-    auto stop_test_tactic_1 = std::make_shared<StopTactic>();
-    auto stop_test_tactic_2 = std::make_shared<StopTactic>();
-    auto stop_test_tactic_3 = std::make_shared<StopTactic>();
+    auto halt_test_tactic_1 = std::make_shared<HaltTactic>();
+    auto halt_test_tactic_2 = std::make_shared<HaltTactic>();
+    auto halt_test_tactic_3 = std::make_shared<HaltTactic>();
 
     do
     {
-        yield({{stop_test_tactic_1, stop_test_tactic_2, stop_test_tactic_3}});
+        yield({{halt_test_tactic_1, halt_test_tactic_2, halt_test_tactic_3}});
     } while (true);
 }
 

src/software/ai/hl/stp/stp_tactic_assignment_test.cpp

@@ -6,7 +6,7 @@
 #include "software/ai/hl/stp/play/halt_play.h"
 #include "software/ai/hl/stp/stp.h"
 #include "software/ai/hl/stp/tactic/all_tactics.h"
-#include "software/ai/hl/stp/tactic/stop/stop_tactic.h"
+#include "software/ai/hl/stp/tactic/halt/halt_tactic.h"
 #include "software/test_util/test_util.h"
 
 /**
@@ -160,12 +160,12 @@ TEST_F(STPTacticAssignmentTest,
     world.updateFriendlyTeamState(friendly_team);
 
     auto move_tactic_1 = std::make_shared<MoveTactic>();
-    auto stop_tactic_1 = std::make_shared<StopTactic>();
+    auto halt_tactic_1 = std::make_shared<HaltTactic>();
 
     move_tactic_1->updateControlParams(Point(-1, 0), Angle::zero(),
                                        TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT);
 
-    ConstTacticVector tactics = {move_tactic_1, stop_tactic_1};
+    ConstTacticVector tactics = {move_tactic_1, halt_tactic_1};
 
     // Both robots are now closest to move_tactic_1's destination. We do NOT want
     // robot_0 to be assigned to move_tactic_1, because then robot_1 has to move all the
@@ -175,11 +175,11 @@ TEST_F(STPTacticAssignmentTest,
     auto asst = stp.assignRobotsToTactics({tactics}, world, false);
 
 
-    // move_tactic_1 should be the only Tactic assigned a robot, since stop_tactic_1 is a
+    // move_tactic_1 should be the only Tactic assigned a robot, since halt_tactic_1 is a
     // lower priority than move_tactic_1 so it should be dropped since there's only 1
     // robot
     EXPECT_TRUE(asst.find(move_tactic_1) != asst.end());
-    EXPECT_FALSE(asst.find(stop_tactic_1) != asst.end());
+    EXPECT_FALSE(asst.find(halt_tactic_1) != asst.end());
 }
 
 
@@ -329,21 +329,21 @@ TEST_F(STPTacticAssignmentTest,
     friendly_team.updateRobots({robot_0, robot_1, robot_2});
     world.updateFriendlyTeamState(friendly_team);
 
-    auto stop_tactic_1 = std::make_shared<StopTactic>();
-    auto stop_tactic_2 = std::make_shared<StopTactic>();
-    auto stop_tactic_3 = std::make_shared<StopTactic>();
+    auto halt_tactic_1 = std::make_shared<HaltTactic>();
+    auto halt_tactic_2 = std::make_shared<HaltTactic>();
+    auto halt_tactic_3 = std::make_shared<HaltTactic>();
 
-    ConstTacticVector tactics = {stop_tactic_1, stop_tactic_2, stop_tactic_3};
+    ConstTacticVector tactics = {halt_tactic_1, halt_tactic_2, halt_tactic_3};
 
     // If all costs are equal, the robots and tactics are simply paired in order
     auto asst = stp.assignRobotsToTactics({tactics}, world, false);
 
-    ASSERT_TRUE(asst.find(stop_tactic_1) != asst.end());
-    ASSERT_TRUE(asst.find(stop_tactic_2) != asst.end());
-    ASSERT_TRUE(asst.find(stop_tactic_3) != asst.end());
-    EXPECT_EQ(asst.find(stop_tactic_1)->second, robot_0);
-    EXPECT_EQ(asst.find(stop_tactic_2)->second, robot_1);
-    EXPECT_EQ(asst.find(stop_tactic_3)->second, robot_2);
+    ASSERT_TRUE(asst.find(halt_tactic_1) != asst.end());
+    ASSERT_TRUE(asst.find(halt_tactic_2) != asst.end());
+    ASSERT_TRUE(asst.find(halt_tactic_3) != asst.end());
+    EXPECT_EQ(asst.find(halt_tactic_1)->second, robot_0);
+    EXPECT_EQ(asst.find(halt_tactic_2)->second, robot_1);
+    EXPECT_EQ(asst.find(halt_tactic_3)->second, robot_2);
 }
 
 TEST_F(STPTacticAssignmentTest,
@@ -359,26 +359,26 @@ TEST_F(STPTacticAssignmentTest,
     friendly_team.updateRobots({robot_0, robot_1, robot_2});
     world.updateFriendlyTeamState(friendly_team);
 
-    auto stop_tactic_1 = std::make_shared<StopTactic>();
+    auto halt_tactic_1 = std::make_shared<HaltTactic>();
     auto move_tactic_1 = std::make_shared<MoveTactic>();
-    auto stop_tactic_2 = std::make_shared<StopTactic>();
+    auto halt_tactic_2 = std::make_shared<HaltTactic>();
 
     // The destination of the move_tactic is relatively close to the robot positions, so
     // the cost of assigning any robot to the move_tactic should be less than the
-    // stop_tactics
+    // halt_tactics
     move_tactic_1->updateControlParams(Point(0, 0), Angle::zero(),
                                        TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT);
 
-    ConstTacticVector tactics = {stop_tactic_1, move_tactic_1, stop_tactic_2};
+    ConstTacticVector tactics = {halt_tactic_1, move_tactic_1, halt_tactic_2};
 
     auto asst = stp.assignRobotsToTactics({tactics}, world, false);
 
-    ASSERT_TRUE(asst.find(stop_tactic_1) != asst.end());
+    ASSERT_TRUE(asst.find(halt_tactic_1) != asst.end());
     ASSERT_TRUE(asst.find(move_tactic_1) != asst.end());
-    ASSERT_TRUE(asst.find(stop_tactic_2) != asst.end());
-    EXPECT_EQ(asst.find(stop_tactic_1)->second, robot_2);
+    ASSERT_TRUE(asst.find(halt_tactic_2) != asst.end());
+    EXPECT_EQ(asst.find(halt_tactic_1)->second, robot_2);
     EXPECT_EQ(asst.find(move_tactic_1)->second, robot_0);
-    EXPECT_EQ(asst.find(stop_tactic_2)->second, robot_1);
+    EXPECT_EQ(asst.find(halt_tactic_2)->second, robot_1);
 }
 
 TEST_F(STPTacticAssignmentTest,
@@ -450,9 +450,9 @@ TEST_F(STPTacticAssignmentTest,
 }
 
 TEST_F(STPTacticAssignmentTest,
-       test_assigning_stop_tactics_to_unassigned_non_goalie_robots)
+       test_assigning_halt_tactics_to_unassigned_non_goalie_robots)
 {
-    // Test that StopTactic is assigned to remaining robots without tactics
+    // Test that HaltTactic is assigned to remaining robots without tactics
 
     Team friendly_team(Duration::fromSeconds(0));
     Robot robot_0(0, Point(-1, 1), Vector(), Angle::zero(), AngularVelocity::zero(),

src/software/ai/hl/stp/stp_test.cpp

@@ -42,7 +42,7 @@ TEST_F(STPTest, test_get_play_info)
 
     std::string expected_play_name, expected_tactic_name;
     expected_play_name   = "HaltPlay";
-    expected_tactic_name = "StopTactic";
+    expected_tactic_name = "HaltTactic";
 
     TbotsProto::PlayInfo expected_play_info_msg = TbotsProto::PlayInfo();
     expected_play_info_msg.mutable_play()->set_play_name(expected_play_name);

src/software/ai/hl/stp/tactic/BUILD

@@ -21,14 +21,14 @@ cc_library(
         "//software/ai/hl/stp/tactic/dribble:dribble_tactic",
         "//software/ai/hl/stp/tactic/get_behind_ball:get_behind_ball_tactic",
         "//software/ai/hl/stp/tactic/goalie:goalie_tactic",
+        "//software/ai/hl/stp/tactic/halt:halt_tactic",
         "//software/ai/hl/stp/tactic/kick:kick_tactic",
         "//software/ai/hl/stp/tactic/move:move_tactic",
         "//software/ai/hl/stp/tactic/pass_defender:pass_defender_tactic",
         "//software/ai/hl/stp/tactic/penalty_kick:penalty_kick_tactic",
         "//software/ai/hl/stp/tactic/pivot_kick:pivot_kick_tactic",
         "//software/ai/hl/stp/tactic/receiver:receiver_tactic",
         "//software/ai/hl/stp/tactic/shadow_enemy:shadow_enemy_tactic",
-        "//software/ai/hl/stp/tactic/stop:stop_tactic",
     ],
 )