Add Xbox controller support to Thunderscope

environment_setup/ubuntu20_requirements.txt

@@ -1,12 +1,13 @@
 protobuf==3.20.2
 pyqtgraph==0.13.7
 pyqtdarktheme==2.1.0
-pyqt6==6.5.0
-PyQt6-Qt6==6.5.0
+pyqt6==6.6.1
+PyQt6-Qt6==6.6.1
 thefuzz==0.19.0
 iterfzf==0.5.0.20.0
 python-Levenshtein==0.12.2
 psutil==5.9.0
 PyOpenGL==3.1.6
 numpy==1.24.4
 ruff==0.5.5
+evdev==1.7.0

environment_setup/ubuntu22_requirements.txt

@@ -1,12 +1,13 @@
 protobuf==3.20.2
 pyqtgraph==0.13.7
 pyqtdarktheme==2.1.0
-pyqt6==6.5.0
-PyQt6-Qt6==6.5.0
+pyqt6==6.6.1
+PyQt6-Qt6==6.6.1
 thefuzz==0.19.0
 iterfzf==0.5.0.20.0
 python-Levenshtein==0.12.2
 psutil==5.9.0
 PyOpenGL==3.1.6
 numpy==1.24.4
 ruff==0.5.5
+evdev==1.7.0

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/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
 
 
-logger = createLogger(__name__)
+logger = create_logger(__name__)
 
 
 class TbotsTestRunner:

src/software/thunderscope/BUILD

@@ -101,7 +101,7 @@ py_library(
         "//software/thunderscope/play:refereeinfo_widget",
         "//software/thunderscope/replay:proto_player",
         "//software/thunderscope/robot_diagnostics:chicker",
-        "//software/thunderscope/robot_diagnostics:diagnostics_input_widget",
+        "//software/thunderscope/robot_diagnostics:diagnostics_widget",
         "//software/thunderscope/robot_diagnostics:drive_and_dribbler_widget",
         "//software/thunderscope/robot_diagnostics:estop_view",
         "//software/thunderscope/robot_diagnostics:robot_error_log",
@@ -161,6 +161,7 @@ py_library(
         "//software:py_constants.so",
     ],
     deps = [
+        "//software/logger:py_logger",
         "//software/thunderscope:constants",
     ],
 )

src/software/thunderscope/common/common_widgets.py

@@ -145,7 +145,7 @@ def setValue(self, value: float) -> None:
 
         :param value: the float value to set
         """
-        super(ColorProgressBar, self).setValue(value * self.decimals)
+        super(ColorProgressBar, self).setValue(int(value * self.decimals))
 
         # clamp percent to make sure it's between 0% and 100%
         percent = self.getPercentage()
@@ -380,30 +380,46 @@ def set_table_data(
     table.setHorizontalHeaderLabels(horizontal_headers)
 
 
-def change_button_state(button, enable):
-    """Change button color and clickable state.
+def disconnect_signal(signal: QtCore.Signal):
+    """Helper function to disconnect all connections for a Qt signal.
+    Suppresses TypeErrors thrown by Signal.disconnect() if there are no connections.
+    """
+    try:
+        signal.disconnect()
+    except TypeError:
+        pass
+
+
+def enable_button(button):
+    """Enables the given button and sets the button UI to reflect that
+    visually to the user.
+
+    :param button: button to change the state of
+    """
+    button.setStyleSheet("")
+    button.setEnabled(True)
+
+
+def disable_button(button):
+    """Disables the given button and sets the button UI to reflect that
+    visually to the user.
 
     :param button: button to change the state of
-    :param enable: bool: if True: enable this button, if False: disable
     """
-    if enable:
-        button.setStyleSheet("background-color: White")
-        button.setCheckable(True)
-    else:
-        button.setStyleSheet("background-color: Grey")
-        button.setCheckable(False)
+    button.setStyleSheet("background-color: grey")
+    button.setEnabled(False)
 
 
 def disable_slider(slider):
     """Disables a slider by getting the current value and setting the slider to that
-    value upon every value change
+    value every time the slider is moved
 
     This results in slider value not changing even when slider is moved
 
     :param slider: slider widget to be disabled
     """
     old_val = slider.value()
-    slider.valueChanged.connect(lambda: slider.setValue(old_val))
+    slider.sliderMoved.connect(lambda new_val: slider.setValue(old_val))
     slider.setStyleSheet(
         "QSlider::sub-page:horizontal"
         "{"
@@ -417,15 +433,13 @@ def disable_slider(slider):
     )
 
 
-def enable_slider(slider, label, get_value):
-    """Enables a slider by connecting a function to update label upon value change
+def enable_slider(slider):
+    """Enables a slider that was disabled with disable_slider
 
     :param slider: slider widget to be enabled
-    :param label: label widget corresponding to the slider
-    :param get_value: function to translate slider value into label text
     """
-    slider.valueChanged.connect(lambda: label.setText(get_value(slider.value())))
-    slider.setStyleSheet("QSlider::groove:horizontal" "{" "border-width: 0px" "}")
+    disconnect_signal(slider.sliderMoved)
+    slider.setStyleSheet("")
 
 
 def disable_radio_button(button_group):