fix: messages MakeFile

navigation-ms/navigation-luffy/navigation/controller/CMakeLists.txt

@@ -13,4 +13,5 @@ robocin_cpp_library(
        messaging_receiver
        messaging_sender
        processing
+       messages
 )

navigation-ms/navigation-luffy/navigation/controller/consumer_controller.cpp

@@ -49,9 +49,10 @@ void ConsumerController::exec(std::span<const Payload> payloads) {
     return;
   }
 
-  if (std::optional<NavigationMessage> navigation_msg = navigation_processor_->process(payloads);
+  if (std::optional<::protocols::navigation::Navigation> navigation_msg
+      = navigation_processor_->process(payloads);
       navigation_msg != std::nullopt) {
-    message_sender_->send(navigation_msg->toProto());
+    message_sender_->send(*navigation_msg);
   }
 }
 

navigation-ms/navigation-luffy/navigation/processing/CMakeLists.txt

@@ -5,4 +5,5 @@ robocin_cpp_library(
   DEPS navigation_entities
        navigation_utils
        motion_parser
+       messages
 )

navigation-ms/navigation-luffy/navigation/processing/messages/CMakeLists.txt

@@ -3,7 +3,9 @@ robocin_cpp_library(
      HDRS behavior/behavior_message.h
           common/peripheral_actuation/peripheral_actuation.h
           common/robot_id/robot_id_message.h
+          common/robot_dribbler/robot_dribbler_message.h
           common/robot_kick/kick_command.h
+          common/robot_pose/robot_pose_message.h
           common/game_command/game_command_message.h
           common/game_event/game_event_message.h
           decision/decision_message.h
@@ -14,10 +16,13 @@ robocin_cpp_library(
           perception/field/field_message.h
           perception/detection/detection_message.h
           referee/game_status_message.h
+          navigation/navigation_message.h
      SRCS behavior/behavior_message.cpp
           common/peripheral_actuation/peripheral_actuation.cpp
           common/robot_id/robot_id_message.cpp
+          common/robot_dribbler/robot_dribbler_message.cpp
           common/robot_kick/kick_command.cpp
+          common/robot_pose/robot_pose_message.cpp
           common/game_command/game_command_message.cpp
           common/game_event/game_event_message.cpp
           decision/decision_message.cpp
@@ -28,6 +33,7 @@ robocin_cpp_library(
           perception/field/field_message.cpp
           perception/detection/detection_message.cpp
           referee/game_status_message.cpp
+          navigation/navigation_message.cpp
      DEPS common::utility
           common::output
           protocols::protobufs

navigation-ms/navigation-luffy/navigation/processing/messages/common/robot_pose/robot_pose_message.h

@@ -10,11 +10,13 @@ namespace navigation {
 
 class RobotPoseMessage : public robocin::IProtoConvertible<protocols::common::RobotPose> {
  public:
-  explicit RobotPoseMessage(robocin::Point2Df position, float orientation);
-  explicit RobotPoseMessage(const protocols::common::RobotPose& robot_pose_proto);
   robocin::Point2Df position;
   float orientation;
 
+  RobotPoseMessage(robocin::Point2Df position = robocin::Point2Df{0, 0}, float orientation = 0.0F);
+
+  explicit RobotPoseMessage(const protocols::common::RobotPose& robot_pose_proto);
+
   [[nodiscard]] protocols::common::RobotPose toProto() const override;
 
   void fromProto(const protocols::common::RobotPose& robot_pose_proto) override;

navigation-ms/navigation-luffy/navigation/processing/messages/navigation/navigation_message.cpp

@@ -1,21 +1,14 @@
 #include "navigation/processing/messages/navigation/navigation_message.h"
 
-#include "navigation_message.h"
-
-#include <algorithm>
-#include <utility>
-
 namespace navigation {
 
-void NavigationMessage::fromProto(
-    const protocols::navigation::Navigation& unification_behavior_proto) {
-  for (const auto& output_proto : unification_behavior_proto.output()) {
-    output.emplace_back(output_proto);
+void NavigationMessage::fromProto(const protocols::navigation::Navigation& navigation_proto) {
+  for (const auto& output_proto : navigation_proto.output()) {
+    output->emplace_back(output_proto);
   }
 }
-NavigationMessage::NavigationMessage(
-    const protocols::navigation::Navigation& unification_behavior_proto) {
-  NavigationMessage::fromProto(unification_behavior_proto);
+NavigationMessage::NavigationMessage(const protocols::navigation::Navigation& navigation_proto) {
+  NavigationMessage::fromProto(navigation_proto);
 }
 
 void NavigationOutputMessage::fromProto(const protocols::navigation::Output& output_proto) {
@@ -64,7 +57,7 @@ protocols::navigation::Output NavigationOutputMessage::toProto() const {
   return protocols::navigation::Output{};
 };
 
-NavigationMessage::NavigationMessage(std::vector<NavigationOutputMessage> output) :
+NavigationMessage::NavigationMessage(std::optional<std::vector<NavigationOutputMessage>> output) :
     output(std::move(output)) {}
 
 protocols::navigation::Navigation NavigationMessage::toProto() const {

navigation-ms/navigation-luffy/navigation/processing/messages/navigation/navigation_message.h

@@ -7,8 +7,6 @@
 
 #include <cstdint>
 #include <optional>
-#include <protocols/common/robot_id.pb.h>
-#include <protocols/common/robot_pose.pb.h>
 #include <protocols/navigation/navigation.pb.h>
 #include <robocin/geometry/point2d.h>
 #include <robocin/utility/iproto_convertible.h>
@@ -51,15 +49,16 @@ class NavigationOutputMessage : public robocin::IProtoConvertible<protocols::nav
 
 class NavigationMessage : public robocin::IProtoConvertible<protocols::navigation::Navigation> {
  public:
-  explicit NavigationMessage(std::vector<NavigationOutputMessage> output = {});
+  explicit NavigationMessage(std::optional<std::vector<NavigationOutputMessage>> output
+                             = std::nullopt);
 
-  explicit NavigationMessage(const protocols::navigation::Navigation& unification_behavior_proto);
+  explicit NavigationMessage(const protocols::navigation::Navigation& navigation_proto);
 
-  std::vector<NavigationOutputMessage> output;
+  std::optional<std::vector<NavigationOutputMessage>> output;
 
   [[nodiscard]] protocols::navigation::Navigation toProto() const override;
 
-  void fromProto(const protocols::navigation::Navigation& unification_behavior_proto) override;
+  void fromProto(const protocols::navigation::Navigation& navigation_proto) override;
 };
 
 } // namespace navigation

navigation-ms/navigation-luffy/navigation/processing/navigation_processor.cpp

@@ -11,6 +11,7 @@
 
 #include <optional>
 #include <protocols/behavior/behavior_unification.pb.h>
+#include <protocols/navigation/navigation.pb.h>
 #include <protocols/perception/detection.pb.h>
 #include <protocols/referee/game_status.pb.h>
 #include <ranges>
@@ -48,16 +49,15 @@ std::vector<rc::GameStatus> gameStatusFromPayloads(std::span<const Payload> payl
 NavigationProcessor::NavigationProcessor(std::unique_ptr<IMotionParser> motion_parser) :
     motion_parser_(std::move(motion_parser)) {}
 
-std::optional<NavigationMessage> NavigationProcessor::process(std::span<const Payload> payloads) {
-  NavigationMessage navigation_output;
-
+std::optional<::protocols::navigation::Navigation>
+NavigationProcessor::process(std::span<const Payload> payloads) {
   if (std::vector<rc::Behavior> behaviors = behaviorFromPayloads(payloads); !behaviors.empty()) {
-    last_behavior_ = BehaviorUnificationMessage(behaviors.back());
+    last_behavior_ = behaviors.back();
   }
 
   if (std::vector<rc::GameStatus> game_statuses = gameStatusFromPayloads(payloads);
       !game_statuses.empty()) {
-    last_game_status_ = GameStatusMessage(game_statuses.back());
+    last_game_status_ = game_statuses.back();
   }
 
   if (!last_behavior_ or !last_game_status_) {
@@ -69,55 +69,13 @@ std::optional<NavigationMessage> NavigationProcessor::process(std::span<const Pa
     // a new package must be generated only when a new detection is received.
     return std::nullopt;
   }
-  DetectionMessage last_detection = DetectionMessage(detections.back());
+  ::protocols::perception::Detection last_detection = detections.back();
 
   ///////////////////////////////////////////////////////////////////////////
-  for (const auto& behavior : last_behavior_->behavior_outputs) {
-    NavigationOutputMessage output;
-    RobotMessage ally;
-
-    for (auto& robot : last_detection.robots) {
-      if (robot.robot_id->number == behavior.robot_id->number) {
-        ally = RobotMessage(robot);
-        break;
-      }
-    }
-    if (ally.robot_id) {
-      output.robot_id = ally.robot_id;
-
-      if (behavior.motion) {
-        RobotMove move;
-        if (behavior.motion->go_to_point) {
-          move = motion_parser_->fromGoToPoint(behavior.motion->go_to_point.value(), ally);
-        } else if (behavior.motion->rotate_in_point) {
-          move = motion_parser_->fromRotateInPoint(behavior.motion->rotate_in_point.value(), ally);
-        } else if (behavior.motion->rotate_on_self) {
-          move = motion_parser_->fromRotateOnSelf(behavior.motion->rotate_on_self.value(), ally);
-        } else {
-          // PROCESSAMENTO DO GO_TO_POINT_WITH_TRAJECTORY
-        }
-
-        output.left_velocity = move.velocity().y;
-        output.forward_velocity = move.velocity().x;
-        output.angular_velocity = move.angularVelocity();
-
-        if (behavior.motion->peripheral_actuation) {
-          output.peripheral_actuation = behavior.motion->peripheral_actuation;
-        }
-
-        // TODO: Add other fields to output
-
-      } else if (behavior.planning) {
-        // PROCESSAMENTO DO PLANNING
-      } else {
-        // PROCESSAMENTO DO NAVIGATION
-      }
-    }
-
-    navigation_output.output.emplace_back(output);
-  }
+  ::protocols::navigation::Navigation navigation_proto;
+
   ////////////////////////////////////////////////////////////////////////////
-  return navigation_output;
+  return navigation_proto;
 }
 
 } // namespace navigation

navigation-ms/navigation-luffy/navigation/processing/navigation_processor.h

@@ -11,7 +11,9 @@
 
 #include <memory>
 #include <optional>
+#include <protocols/behavior/behavior_unification.pb.h>
 #include <protocols/navigation/navigation.pb.h>
+#include <protocols/referee/game_status.pb.h>
 #include <robocin/parameters/parameters.h>
 
 namespace navigation {
@@ -27,19 +29,21 @@ class INavigationProcessor {
 
   virtual ~INavigationProcessor() = default;
 
-  virtual std::optional<NavigationMessage> process(std::span<const Payload> payloads) = 0;
+  virtual std::optional<::protocols::navigation::Navigation>
+  process(std::span<const Payload> payloads) = 0;
 };
 
 class NavigationProcessor : public INavigationProcessor {
  public:
   explicit NavigationProcessor(std::unique_ptr<IMotionParser> motion_parser);
 
-  std::optional<NavigationMessage> process(std::span<const Payload> payloads) override;
+  std::optional<::protocols::navigation::Navigation>
+  process(std::span<const Payload> payloads) override;
 
  private:
   std::unique_ptr<IMotionParser> motion_parser_;
-  std::optional<BehaviorUnificationMessage> last_behavior_;
-  std::optional<GameStatusMessage> last_game_status_;
+  std::optional<::protocols::behavior::unification::Behavior> last_behavior_;
+  std::optional<::protocols::referee::GameStatus> last_game_status_;
 };
 
 } // namespace navigation