Merge branch 'master' of github.com:UBC-Thunderbots/Software into net…

…work-manager

docs/software-architecture-and-design.md

@@ -534,7 +534,7 @@ Thunderscope has a field visualizer that uses [PyQtGraph's 3D graphics system](h
 ### Layers
 We organize our graphics into "layers" so that we can toggle the visibility of different parts of our visualization. Each layer is responsible for visualizing a specific portion of our AI (e.g. vision data, path planning, passing, etc.). A layer can also handle layer-specific functionality; for instance, `GLWorldLayer` lets the user place or kick the ball using the mouse. The base class for a layer is [`GLLayer`](../src/software/thunderscope/gl/layers/gl_layer.py).
 
-A `GLLayer` is in fact a `GLGraphicsItem` that is added to the scenegraph. When we add or remove `GLGraphicsItem`s to a `GLLayer`, we're actually setting the `GLLayer` as the parent of the `GLGraphicsItem`; this is because the scenegraph has a tree-like structure. In theory, `GLLayer`s could also be nested within one another. 
+A `GLLayer` is in fact a `GLGraphicsItem` that is added to the scenegraph. When we add or remove `GLGraphicsItem`s to a `GLLayer`, we're actually setting the `GLLayer` as the parent of the `GLGraphicsItem`; this is because the scenegraph has a hierarchical tree-like structure. `GLLayer`s can also be nested within one another, i.e. a `GLLayer` can be added as a child of another `GLLayer`. 
 
 # Simulator
 The `Simulator` is what we use for physics simulation to do testing when we don't have access to real field. In terms of the architecture, the `Simulator` "simulates" the following components' functionalities:

environment_setup/setup_software.sh

@@ -108,6 +108,7 @@ virtualenv_opt_args=""
 if [[ $(lsb_release -rs) == "24.04" ]]; then
     host_software_packages+=(python3-pyqt6)
     host_software_packages+=(pyqt6-dev-tools)
+    host_software_packages+=(python3-pyqt6.qtsvg)
 
     virtualenv_opt_args="--system-site-packages"
 fi

environment_setup/ubuntu20_requirements.txt

@@ -6,5 +6,4 @@ iterfzf==0.5.0.20.0
 python-Levenshtein==0.25.1
 psutil==5.9.0
 PyOpenGL==3.1.6
-qt-material==2.12
 ruff==0.5.5

environment_setup/ubuntu22_requirements.txt

@@ -7,5 +7,4 @@ python-Levenshtein==0.25.1
 psutil==5.9.0
 PyOpenGL==3.1.6
 numpy==1.26.4
-qt-material==2.12
 ruff==0.5.5

environment_setup/ubuntu24_requirements.txt

@@ -4,5 +4,4 @@ iterfzf==0.5.0.20.0
 python-Levenshtein==0.25.1
 psutil==5.9.0
 PyOpenGL==3.1.6
-qt-material==2.12
 ruff==0.5.5

src/proto/message_translation/power_frame_msg.hpp

@@ -118,12 +118,12 @@ TbotsProto_PowerStatus inline createNanoPbPowerStatus(
 /**
  * Converts a google protobuf power control msg to its nanopb representation
  *
- * @param google_control protobuf message to convert
+ * @param power_control protobuf message to convert
  * @return a nanopb power control msg matching provided protobuf
  */
 
 TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
-    const TbotsProto::PowerControl& google_control, double kick_coeff, int kick_constant,
+    const TbotsProto::PowerControl& power_control, double kick_coeff, int kick_constant,
     int chip_pulse_width)
 {
     TbotsProto_PowerPulseControl nanopb_control =
@@ -133,15 +133,17 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
     kick_constant = std::min(kick_constant, MAX_KICK_CONSTANT);
     kick_coeff    = std::min(kick_coeff, MAX_KICK_COEFFICIENT);
 
-    switch (google_control.chicker().chicker_command_case())
+    switch (power_control.chicker().chicker_command_case())
     {
         case TbotsProto::PowerControl::ChickerControl::kKickSpeedMPerS:
             nanopb_control.chicker.which_chicker_command =
                 TbotsProto_PowerPulseControl_ChickerControl_kick_pulse_width_tag;
+            // TODO (#3193): refactor kick pulse width calculation out into seperate
+            // function
             nanopb_control.chicker.chicker_command.kick_pulse_width =
                 static_cast<uint32_t>(
                     kick_constant *
-                    std::exp(kick_coeff * google_control.chicker().kick_speed_m_per_s()));
+                    std::exp(kick_coeff * power_control.chicker().kick_speed_m_per_s()));
             break;
         case TbotsProto::PowerControl::ChickerControl::kChipDistanceMeters:
             nanopb_control.chicker.which_chicker_command =
@@ -151,7 +153,7 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
         case TbotsProto::PowerControl::ChickerControl::kAutoChipOrKick:
             nanopb_control.chicker.which_chicker_command =
                 TbotsProto_PowerPulseControl_ChickerControl_auto_chip_or_kick_tag;
-            switch (google_control.chicker().auto_chip_or_kick().auto_chip_or_kick_case())
+            switch (power_control.chicker().auto_chip_or_kick().auto_chip_or_kick_case())
             {
                 case TbotsProto::AutoChipOrKick::kAutokickSpeedMPerS:
                     nanopb_control.chicker.chicker_command.auto_chip_or_kick
@@ -160,7 +162,7 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
                     nanopb_control.chicker.chicker_command.auto_chip_or_kick
                         .auto_chip_or_kick.autokick_pulse_width = static_cast<uint32_t>(
                         kick_constant *
-                        std::exp(kick_coeff * google_control.chicker()
+                        std::exp(kick_coeff * power_control.chicker()
                                                   .auto_chip_or_kick()
                                                   .autokick_speed_m_per_s()));
                     break;
@@ -179,7 +181,7 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
         default:
             break;
     }
-    switch (google_control.geneva_slot())
+    switch (power_control.geneva_slot())
     {
         case TbotsProto::Geneva::LEFT:
             nanopb_control.geneva_slot = TbotsProto_Geneva_Slot_LEFT;

src/proto/message_translation/power_frame_msg_test.cpp

@@ -3,26 +3,26 @@
 #include <gtest/gtest.h>
 #include <proto/power_frame_msg.nanopb.h>
 
-TEST(PowerFrameMsgTest, google_to_nanopb)
+TEST(PowerFrameMsgTest, proto_to_nanopb)
 {
-    auto google_control = TbotsProto::PowerControl();
-    google_control.mutable_chicker()->set_chip_distance_meters(3);
-    auto nanopb_control = createNanoPbPowerPulseControl(google_control, 0, 0, 100);
+    auto power_control = TbotsProto::PowerControl();
+    power_control.mutable_chicker()->set_chip_distance_meters(3);
+    auto nanopb_control = createNanoPbPowerPulseControl(power_control, 0, 0, 100);
     EXPECT_EQ(nanopb_control.chicker.which_chicker_command,
               TbotsProto_PowerPulseControl_ChickerControl_chip_pulse_width_tag);
     EXPECT_EQ(nanopb_control.chicker.chicker_command.chip_pulse_width, 100);
 
-    google_control.mutable_chicker()->set_kick_speed_m_per_s(5);
-    nanopb_control = createNanoPbPowerPulseControl(google_control, 0.3, 300, 0);
+    power_control.mutable_chicker()->set_kick_speed_m_per_s(5);
+    nanopb_control = createNanoPbPowerPulseControl(power_control, 0.3, 300, 0);
     EXPECT_EQ(nanopb_control.chicker.which_chicker_command,
               TbotsProto_PowerPulseControl_ChickerControl_kick_pulse_width_tag);
     EXPECT_EQ(nanopb_control.chicker.chicker_command.kick_pulse_width,
               static_cast<int>(300 * std::exp(0.3 * 5)));
 
-    google_control.mutable_chicker()
+    power_control.mutable_chicker()
         ->mutable_auto_chip_or_kick()
         ->set_autokick_speed_m_per_s(4);
-    nanopb_control = createNanoPbPowerPulseControl(google_control, 0.1, 3, 0);
+    nanopb_control = createNanoPbPowerPulseControl(power_control, 0.1, 3, 0);
     EXPECT_EQ(nanopb_control.chicker.which_chicker_command,
               TbotsProto_PowerPulseControl_ChickerControl_auto_chip_or_kick_tag);
     EXPECT_EQ(
@@ -32,10 +32,10 @@ TEST(PowerFrameMsgTest, google_to_nanopb)
                   .autokick_pulse_width,
               static_cast<int>(3 * std::exp(4 * 0.1)));
 
-    google_control.mutable_chicker()
+    power_control.mutable_chicker()
         ->mutable_auto_chip_or_kick()
         ->set_autokick_speed_m_per_s(6);
-    nanopb_control = createNanoPbPowerPulseControl(google_control, 10000, 10000, 0);
+    nanopb_control = createNanoPbPowerPulseControl(power_control, 10000, 10000, 0);
     EXPECT_EQ(nanopb_control.chicker.which_chicker_command,
               TbotsProto_PowerPulseControl_ChickerControl_auto_chip_or_kick_tag);
     EXPECT_EQ(
@@ -45,10 +45,10 @@ TEST(PowerFrameMsgTest, google_to_nanopb)
                   .autokick_pulse_width,
               static_cast<int>(MAX_KICK_CONSTANT * std::exp(6 * MAX_KICK_COEFFICIENT)));
 
-    google_control.mutable_chicker()
+    power_control.mutable_chicker()
         ->mutable_auto_chip_or_kick()
         ->set_autochip_distance_meters(2);
-    nanopb_control = createNanoPbPowerPulseControl(google_control, 0, 0, 200);
+    nanopb_control = createNanoPbPowerPulseControl(power_control, 0, 0, 200);
     EXPECT_EQ(nanopb_control.chicker.which_chicker_command,
               TbotsProto_PowerPulseControl_ChickerControl_auto_chip_or_kick_tag);
     EXPECT_EQ(

src/shared/constants.h

@@ -152,6 +152,10 @@ static const unsigned int MAX_ROBOT_IDS_PER_SIDE = 8;
 // The total number of possible robot ids between two teams
 static const unsigned int MAX_ROBOT_IDS = MAX_ROBOT_IDS_PER_SIDE * 2;
 
+// How many robots are allowed in each division
+static const unsigned int DIV_A_NUM_ROBOTS = 11;
+static const unsigned int DIV_B_NUM_ROBOTS = 6;
+
 // The maximum time in seconds given to Full System to cleanly exit the process.
 static const double MAX_TIME_TO_EXIT_FULL_SYSTEM_SEC = 0.5;
 
@@ -173,9 +177,6 @@ static const double MAX_CAPACITOR_VOLTAGE = 250.0 + 50.0;  // +50v headroom
 
 static const unsigned int ROBOT_CHIP_ANGLE_DEGREES = 45;
 static const double CHICKER_TIMEOUT                = 3 * MILLISECONDS_PER_SECOND;
-// How many robots are allowed in each division
-static const unsigned DIV_A_NUM_ROBOTS = 11;
-static const unsigned DIV_B_NUM_ROBOTS = 6;
 
 // Kick Spd to Pulse Width Safety Constraint Constants
 

src/software/embedded/thunderloop.cpp

@@ -147,6 +147,7 @@ void Thunderloop::runLoop()
     struct timespec current_time;
     struct timespec last_chipper_fired;
     struct timespec last_kicker_fired;
+    struct timespec prev_iter_start_time;
 
     // Input buffer
     TbotsProto::PrimitiveSet new_primitive_set;
@@ -165,11 +166,15 @@ void Thunderloop::runLoop()
     clock_gettime(CLOCK_MONOTONIC, &last_world_received_time);
     clock_gettime(CLOCK_MONOTONIC, &last_chipper_fired);
     clock_gettime(CLOCK_MONOTONIC, &last_kicker_fired);
-
-    double loop_duration_seconds = 0.0;
+    clock_gettime(CLOCK_MONOTONIC, &prev_iter_start_time);
 
     for (;;)
     {
+        struct timespec time_since_prev_iter;
+        clock_gettime(CLOCK_MONOTONIC, &current_time);
+        ScopedTimespecTimer::timespecDiff(&current_time, &prev_iter_start_time,
+                                          &time_since_prev_iter);
+        prev_iter_start_time = current_time;
         {
             // Wait until next shot
             //
@@ -321,9 +326,11 @@ void Thunderloop::runLoop()
                 ScopedTimespecTimer timer(&poll_time);
 
                 ZoneNamedN(_tracy_motor_service, "Thunderloop: Poll MotorService", true);
+                double time_since_prev_iter_sec =
+                    getMilliseconds(time_since_prev_iter) * SECONDS_PER_MILLISECOND;
 
                 motor_status_ = motor_service_->poll(direct_control_.motor_control(),
-                                                     loop_duration_seconds);
+                                                     time_since_prev_iter_sec);
             }
             thunderloop_status_.set_motor_service_poll_time_ms(
                 getMilliseconds(poll_time));
@@ -364,12 +371,8 @@ void Thunderloop::runLoop()
         thunderloop_status_.set_iteration_time_ms(loop_duration_ns /
                                                   NANOSECONDS_PER_MILLISECOND);
 
-        // Make sure the iteration can fit inside the period of the loop
-        loop_duration_seconds =
-            static_cast<double>(loop_duration_ns) * SECONDS_PER_NANOSECOND;
-
-        // Calculate next shot taking into account how long this iteration took
-        next_shot.tv_nsec += interval - static_cast<long int>(loop_duration_ns);
+        // Calculate next shot (which is an absolute time)
+        next_shot.tv_nsec += interval;
         timespecNorm(next_shot);
 
         FrameMarkEnd(TracyConstants::THUNDERLOOP_FRAME_MARKER);

src/software/field_tests/field_test_fixture.py

@@ -13,7 +13,7 @@
 from software.thunderscope.proto_unix_io import ProtoUnixIO
 from software.thunderscope.binary_context_managers.full_system import FullSystem
 from software.thunderscope.binary_context_managers.game_controller import Gamecontroller
-from software.logger.logger import createLogger
+from software.logger.logger import create_logger
 
 
 from software.thunderscope.thunderscope_config import configure_field_test_view
@@ -22,7 +22,7 @@
 from software.thunderscope.estop_helpers import get_estop_config
 from software.py_constants import *
 
-logger = createLogger(__name__)
+logger = create_logger(__name__)
 
 WORLD_BUFFER_TIMEOUT = 5.0
 PROCESS_BUFFER_DELAY_S = 0.01

src/software/field_tests/movement_robot_field_test.py

@@ -2,10 +2,10 @@
 from software.field_tests.field_test_fixture import *
 
 from software.simulated_tests.simulated_test_fixture import *
-from software.logger.logger import createLogger
+from software.logger.logger import create_logger
 import math
 
-logger = createLogger(__name__)
+logger = create_logger(__name__)
 
 
 # TODO 2908: Support running this test in both simulator or field mode

src/software/field_tests/pivot_kick_field_test.py

@@ -6,9 +6,9 @@
 from software.field_tests.field_test_fixture import *
 
 from software.simulated_tests.simulated_test_fixture import *
-from software.logger.logger import createLogger
+from software.logger.logger import create_logger
 
-logger = createLogger(__name__)
+logger = create_logger(__name__)
 
 
 def test_pivot_kick(field_test_runner):

src/software/logger/logger.py

@@ -1,14 +1,14 @@
-import logging
+from logging import Logger, basicConfig, getLogger, INFO
 
-logging.basicConfig(
-    level=logging.INFO,
+basicConfig(
+    level=INFO,
     format="%(asctime)s - [%(levelname)s] - [%(threadName)s] - %(name)s - (%(filename)s).%(funcName)s(%(lineno)d) - %(message)s",
 )
 
 
-def createLogger(name):
+def create_logger(name) -> Logger:
     """Create a logger given the name of the logger
 
     :return: A Logger
     """
-    return logging.getLogger(name)
+    return getLogger(name)

src/software/networking/unix/threaded_unix_listener.py

@@ -2,10 +2,10 @@
 import queue
 import socketserver
 from threading import Thread
-from software.logger.logger import createLogger
+from software.logger.logger import create_logger
 from software import py_constants
 
-logger = createLogger(__name__)
+logger = create_logger(__name__)
 
 
 class ThreadedUnixListener:

src/software/simulated_tests/simulated_test_fixture.py

@@ -19,9 +19,9 @@
 from software.thunderscope.binary_context_managers.game_controller import Gamecontroller
 from software.thunderscope.thunderscope_config import configure_simulated_test_view
 
-from software.logger.logger import createLogger
+from software.logger.logger import create_logger
 
-logger = createLogger(__name__)
+logger = create_logger(__name__)
 
 LAUNCH_DELAY_S = 0.1
 WORLD_BUFFER_TIMEOUT = 0.5

src/software/simulated_tests/tbots_test_runner.py

@@ -1,10 +1,10 @@
 from proto.import_all_protos import *
-from software.logger.logger import createLogger
+from software.logger.logger import create_logger
 from software.thunderscope.thread_safe_buffer import ThreadSafeBuffer
 from proto.ssl_gc_common_pb2 import Team
+from abc import abstractmethod
 
-
-logger = createLogger(__name__)
+logger = create_logger(__name__)
 
 
 class TbotsTestRunner:
@@ -128,13 +128,15 @@ def set_play(self, play: Play, is_friendly: bool):
 
         fs_proto_unix_io.send_proto(Play, play)
 
+    @abstractmethod
     def set_worldState(self, worldstate: WorldState):
         """Sets the worldstate for the given team
 
         :param worldstate: the worldstate proto to use
         """
         raise NotImplementedError("abstract class method called set_worldstate")
 
+    @abstractmethod
     def run_test(
         self,
         always_validation_sequence_set=[[]],

src/software/simulated_tests/validation.py

@@ -1,16 +1,21 @@
 import software.python_bindings as tbots_cpp
 from proto.validation_pb2 import *
 
+from abc import abstractmethod
+
 
 class Validation:
     """A validation function"""
 
+    @abstractmethod
     def get_validation_status(self, world) -> ValidationStatus:
         raise NotImplementedError("get_validation_status is not implemented")
 
+    @abstractmethod
     def get_validation_type(self, world) -> ValidationType:
         raise NotImplementedError("get_validation_type is not implemented")
 
+    @abstractmethod
     def get_validation_geometry(self, world) -> ValidationGeometry:
         raise NotImplementedError("get_validation_geometry is not implemented")