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GrayHoangpre-commit-ci-lite[bot]itsarune
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Halt Play to FSM (#3398)
* Moves halt_play files to their own directory and adds the necessary files * Implemented halt_play_fsm header and cpp file * Added a cpp unit test to /halt_play to test the FSM * Implements the FSM for Halt Play and adds a build statement to build the test * [pre-commit.ci lite] apply automatic fixes * Addresses comments in pull request * [pre-commit.ci lite] apply automatic fixes * fixes changes to gl_world_layer.py * Removes halt_play_cpp_test from the build file * Deletes the halt_play_test.cpp test file * Adds dependency to build file to fix build error * [pre-commit.ci lite] apply automatic fixes * Edits the dependencies in filter/BUILD to fix build errors. * [pre-commit.ci lite] apply automatic fixes * Patches failing halt_play_fsm_test * Update src/software/ai/hl/stp/play/BUILD Co-authored-by: itsarune <[email protected]> * Update src/software/sensor_fusion/filter/BUILD Co-authored-by: itsarune <[email protected]> * [pre-commit.ci lite] apply automatic fixes * address comments, add update tactics * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: itsarune <[email protected]>
1 parent c285029 commit cedb04f

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-135
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‎docs/fsm-diagrams.md

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@@ -130,6 +130,19 @@ ChipState --> Terminate:::terminate : [chipDone]
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```
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## [HaltPlayFSM](/src/software/ai/hl/stp/play/halt_play/halt_play_fsm.h)
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```mermaid
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stateDiagram-v2
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classDef terminate fill:white,color:black,font-weight:bold
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direction LR
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[*] --> HaltState
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HaltState --> HaltState : <i>updateStop</i>
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Terminate:::terminate --> Terminate:::terminate : <i>updateStop</i>
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```
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## [OffensePlayFSM](/src/software/ai/hl/stp/play/offense/offense_play_fsm.h)
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```mermaid

‎src/software/ai/BUILD

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@@ -18,8 +18,8 @@ cc_library(
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"//proto:play_info_msg_cc_proto",
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"//software/ai/hl/stp/play:all_plays",
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"//software/ai/hl/stp/play:assigned_tactics_play",
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"//software/ai/hl/stp/play:halt_play",
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"//software/ai/hl/stp/play:play_factory",
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"//software/ai/hl/stp/play/halt_play",
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"//software/ai/hl/stp/tactic:tactic_factory",
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"//software/time:timestamp",
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"//software/tracy:tracy_constants",

‎src/software/ai/ai.cpp

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@@ -2,7 +2,7 @@
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#include <Tracy.hpp>
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#include "software/ai/hl/stp/play/halt_play.h"
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#include "software/ai/hl/stp/play/halt_play/halt_play.h"
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#include "software/ai/hl/stp/play/play_factory.h"
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#include "software/tracy/tracy_constants.h"
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‎src/software/ai/hl/stp/play/BUILD

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@@ -20,20 +20,6 @@ cc_library(
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alwayslink = True,
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)
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cc_library(
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name = "halt_play",
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srcs = ["halt_play.cpp"],
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hdrs = ["halt_play.h"],
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deps = [
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":play",
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"//shared:constants",
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"//software/ai/hl/stp/tactic/halt:halt_tactic",
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"//software/logger",
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"//software/util/generic_factory",
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],
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alwayslink = True,
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)
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cc_library(
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name = "kickoff_enemy_play",
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srcs = ["kickoff_enemy_play.cpp"],
@@ -134,7 +120,6 @@ cc_library(
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name = "all_plays",
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deps = [
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":example_play",
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":halt_play",
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":kickoff_enemy_play",
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":kickoff_friendly_play",
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":shoot_or_chip_play",
@@ -145,6 +130,7 @@ cc_library(
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"//software/ai/hl/stp/play/enemy_ball_placement:enemy_ball_placement_play",
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"//software/ai/hl/stp/play/enemy_free_kick:enemy_free_kick_play",
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"//software/ai/hl/stp/play/free_kick:free_kick_play",
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"//software/ai/hl/stp/play/halt_play",
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"//software/ai/hl/stp/play/hardware_challenge_plays:dribbling_parcour_play",
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"//software/ai/hl/stp/play/hardware_challenge_plays:pass_endurance_play",
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"//software/ai/hl/stp/play/hardware_challenge_plays:scoring_from_contested_possession_play",
@@ -234,38 +220,6 @@ cc_test(
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],
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)
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cc_test(
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name = "halt_play_cpp_test",
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srcs = ["halt_play_test.cpp"],
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deps = [
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"//shared/test_util:tbots_gtest_main",
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"//software/ai/hl/stp/play:halt_play",
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"//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
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"//software/simulated_tests/terminating_validation_functions",
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"//software/simulated_tests/validation:validation_function",
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"//software/test_util",
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"//software/time:duration",
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"//software/world",
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],
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)
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py_test(
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name = "halt_play_test",
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srcs = [
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"halt_play_test.py",
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],
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# TODO (#2619) Remove tag to run in parallel
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tags = [
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"exclusive",
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],
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deps = [
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"//software:conftest",
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"//software/simulated_tests:speed_threshold_helpers",
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"//software/simulated_tests:validation",
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requirement("pytest"),
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],
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)
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cc_test(
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name = "shoot_or_chip_play_cpp_test",
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srcs = ["shoot_or_chip_play_test.cpp"],

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

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This file was deleted.

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

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package(default_visibility = ["//visibility:public"])
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load("@simulated_tests_deps//:requirements.bzl", "requirement")
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cc_library(
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name = "halt_play",
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srcs = [
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"halt_play.cpp",
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"halt_play_fsm.cpp",
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],
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hdrs = [
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"halt_play.h",
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"halt_play_fsm.h",
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],
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deps = [
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"//shared:constants",
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"//software/ai/hl/stp/play",
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"//software/ai/hl/stp/tactic/halt:halt_tactic",
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"//software/logger",
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"//software/util/generic_factory",
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],
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alwayslink = True,
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)
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cc_test(
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name = "halt_play_fsm_test",
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srcs = ["halt_play_fsm_test.cpp"],
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deps = [
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":halt_play",
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"//shared/test_util:tbots_gtest_main",
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"//software/test_util",
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],
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)
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py_test(
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name = "halt_play_test",
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srcs = [
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"halt_play_test.py",
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],
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# TODO (#2619) Remove tag to run in parallel
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tags = [
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"exclusive",
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],
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deps = [
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"//software:conftest",
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"//software/simulated_tests:speed_threshold_helpers",
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"//software/simulated_tests:validation",
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requirement("pytest"),
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],
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)

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

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#include "software/ai/hl/stp/play/halt_play/halt_play.h"
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#include "software/ai/hl/stp/tactic/halt/halt_tactic.h"
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#include "software/util/generic_factory/generic_factory.h"
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HaltPlay::HaltPlay(TbotsProto::AiConfig config)
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: Play(config, false), fsm{HaltPlayFSM{config}}, control_params{}
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{
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}
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void HaltPlay::getNextTactics(TacticCoroutine::push_type &yield,
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const WorldPtr &world_ptr)
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{
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// This function doesn't get called and will be removed when coroutines are phased
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// out.
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}
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void HaltPlay::updateTactics(const PlayUpdate &play_update)
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{
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fsm.process_event(HaltPlayFSM::Update(control_params, play_update));
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}
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// Register this play in the genericFactory
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static TGenericFactory<std::string, Play, HaltPlay, TbotsProto::AiConfig> factory;

‎src/software/ai/hl/stp/play/halt_play.h renamed to ‎src/software/ai/hl/stp/play/halt_play/halt_play.h

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#pragma once
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#include "proto/parameters.pb.h"
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#include "software/ai/hl/stp/play/halt_play/halt_play_fsm.h"
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#include "software/ai/hl/stp/play/play.h"
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/**
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void getNextTactics(TacticCoroutine::push_type &yield,
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const WorldPtr &world_ptr) override;
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void updateTactics(const PlayUpdate &play_update) override;
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private:
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FSM<HaltPlayFSM> fsm;
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HaltPlayFSM::ControlParams control_params;
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};

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

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#include "software/ai/hl/stp/play/halt_play/halt_play_fsm.h"
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#include <algorithm>
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#include <iterator>
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HaltPlayFSM::HaltPlayFSM(TbotsProto::AiConfig ai_config) : halt_tactics({{}})
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{
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std::generate_n(std::back_inserter(halt_tactics.front()), MAX_ROBOT_IDS_PER_SIDE,
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[]() { return std::make_shared<HaltTactic>(); });
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}
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void HaltPlayFSM::updateStop(const Update& event)
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{
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event.common.set_tactics(halt_tactics);
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}

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

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#pragma once
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#include "proto/parameters.pb.h"
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#include "shared/constants.h"
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#include "software/ai/hl/stp/play/play_fsm.h"
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#include "software/ai/hl/stp/tactic/halt/halt_tactic.h"
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#include "software/logger/logger.h"
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struct HaltPlayFSM
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{
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struct ControlParams
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{
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};
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class HaltState;
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DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
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/**
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* Creates a Halt Play FSM
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*
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* @param ai_config the play config for this FSM
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*/
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explicit HaltPlayFSM(TbotsProto::AiConfig ai_config);
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/**
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* Action to make each robot stop
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*
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* @param event the HaltPlayFSM Event
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*/
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void updateStop(const Update& event);
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auto operator()()
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{
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using namespace boost::sml;
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DEFINE_SML_STATE(HaltState)
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DEFINE_SML_EVENT(Update)
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DEFINE_SML_ACTION(updateStop)
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return make_transition_table(
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// src_state + event [guard] / action = dest_state
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*HaltState_S + Update_E / updateStop_A = HaltState_S,
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X + Update_E / updateStop_A = X);
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}
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private:
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PriorityTacticVector halt_tactics;
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};

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

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#include "software/ai/hl/stp/play/halt_play/halt_play_fsm.h"
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#include <gtest/gtest.h>
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#include "proto/parameters.pb.h"
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#include "software/test_util/equal_within_tolerance.h"
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#include "software/test_util/test_util.h"
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TEST(HaltPlayFSMTest, test_transitions)
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{
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std::shared_ptr<World> world = ::TestUtil::createBlankTestingWorld();
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TbotsProto::AiConfig ai_config;
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FSM<HaltPlayFSM> fsm(HaltPlayFSM{ai_config});
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EXPECT_TRUE(fsm.is(boost::sml::state<HaltPlayFSM::HaltState>));
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int num_tactics = 6;
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fsm.process_event(HaltPlayFSM::Update(
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HaltPlayFSM::ControlParams{},
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PlayUpdate(
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world, num_tactics, [](PriorityTacticVector new_tactics) {},
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InterPlayCommunication{}, [](InterPlayCommunication comm) {})));
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EXPECT_TRUE(fsm.is(boost::sml::state<HaltPlayFSM::HaltState>));
27+
}

‎src/software/ai/hl/stp/play/halt_play_test.py renamed to ‎src/software/ai/hl/stp/play/halt_play/halt_play_test.py

File renamed without changes.

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

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This file was deleted.

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

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#include <exception>
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#include "proto/parameters.pb.h"
6-
#include "software/ai/hl/stp/play/halt_play.h"
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#include "software/ai/hl/stp/play/halt_play/halt_play.h"
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#include "software/ai/hl/stp/stp.h"
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#include "software/test_util/test_util.h"
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#include "software/world/world.h"

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