Add referee display layer

src/proto/visualization.proto

@@ -41,6 +41,11 @@ message AttackerVisualization
  optional Point chip_target = 4;
 }
 
+message BallPlacementVisualization
+{
+ Point ball_placement_point = 1;
+}
+
 message CostVisualization
 {
  uint32 num_rows = 1;

src/shared/constants.h

@@ -78,6 +78,14 @@ static const double BALL_MAX_RADIUS_METERS = 0.0215;
 // cover more than 20% of the ball
 static const double MAX_FRACTION_OF_BALL_COVERED_BY_ROBOT = 0.2;
 
+// The radius of a circle region where ball placement is acceptable (in meters).
+static const double BALL_PLACEMENT_TOLERANCE_RADIUS_METERS = 0.15;
+// The radius of the outer region where robots are not allowed to be during ball
+// placement (in meters)
+static const double BALL_PLACEMENT_ROBOT_AVOID_RADIUS_METERS = 0.5;
+// The time limit for ball placement in seconds
+static const int BALL_PLACEMENT_TIME_LIMIT_S = 30;
+
 // The mass of a standard golf ball, as defined by https://en.wikipedia.org/wiki/Golf_ball
 constexpr double BALL_MASS_KG = 0.004593;
 // The max allowed speed of the robot when the stop command is issued, in meters per

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

@@ -1,5 +1,6 @@
 #include "software/ai/hl/stp/play/ball_placement/ball_placement_play.h"
 
+#include "proto/message_translation/tbots_geometry.h"
 #include "software/util/generic_factory/generic_factory.h"
 
 
@@ -17,7 +18,18 @@ void BallPlacementPlay::getNextTactics(TacticCoroutine::push_type &yield,
 
 void BallPlacementPlay::updateTactics(const PlayUpdate &play_update)
 {
- fsm.process_event(BallPlacementPlayFSM::Update(control_params, play_update));
+ auto event = BallPlacementPlayFSM::Update(control_params, play_update);
+ fsm.process_event(event);
+
+ auto placement_point = event.common.world_ptr->gameState().getBallPlacementPoint();
+ if (placement_point.has_value())
+ {
+ TbotsProto::BallPlacementVisualization ball_placement_vis_msg;
+ *(ball_placement_vis_msg.mutable_ball_placement_point()) =
+ *createPointProto(placement_point.value());
+
+ LOG(VISUALIZE) << ball_placement_vis_msg;
+ }
 }
 
 std::vector<std::string> BallPlacementPlay::getState()

src/software/py_constants.cpp

@@ -17,6 +17,11 @@ PYBIND11_MODULE(py_constants, m)
  m.attr("BALL_MAX_RADIUS_METERS") = BALL_MAX_RADIUS_METERS;
  m.attr("BALL_MAX_RADIUS_MILLIMETERS") =
  BALL_MAX_RADIUS_METERS * MILLIMETERS_PER_METER;
+ m.attr("BALL_PLACEMENT_TOLERANCE_RADIUS_METERS") =
+ BALL_PLACEMENT_TOLERANCE_RADIUS_METERS;
+ m.attr("BALL_PLACEMENT_ROBOT_AVOID_RADIUS_METERS") =
+ BALL_PLACEMENT_ROBOT_AVOID_RADIUS_METERS;
+ m.attr("BALL_PLACEMENT_TIME_LIMIT_S") = BALL_PLACEMENT_TIME_LIMIT_S;
 
  m.attr("MAX_FRACTION_OF_BALL_COVERED_BY_ROBOT") =
  MAX_FRACTION_OF_BALL_COVERED_BY_ROBOT;

src/software/thunderscope/BUILD

@@ -89,6 +89,7 @@ py_library(
  "//software/thunderscope/gl/layers:gl_obstacle_layer",
  "//software/thunderscope/gl/layers:gl_passing_layer",
  "//software/thunderscope/gl/layers:gl_path_layer",
+ "//software/thunderscope/gl/layers:gl_referee_info_layer",
  "//software/thunderscope/gl/layers:gl_sandbox_world_layer",
  "//software/thunderscope/gl/layers:gl_simulator_layer",
  "//software/thunderscope/gl/layers:gl_tactic_layer",

src/software/thunderscope/binary_context_managers/full_system.py

@@ -184,6 +184,7 @@ def setup_proto_unix_io(self, proto_unix_io: ProtoUnixIO) -> None:
  PlayInfo,
  ObstacleList,
  DebugShapes,
+ BallPlacementVisualization,
  ]:
  proto_unix_io.attach_unix_receiver(
  runtime_dir=self.full_system_runtime_dir,

src/software/thunderscope/constants.py

@@ -265,6 +265,7 @@ class Colors:
  ROBOT_MIDDLE_BLUE = QtGui.QColor(0, 0, 255, 255)
  PINK = QtGui.QColor(255, 0, 255)
  GREEN = QtGui.QColor(0, 255, 0)
+ RED = QtGui.QColor(255, 0, 0, 255)
 
  # Creates a default vision pattern lookup with the actual colors used on the robots
  VISION_PATTERN_LOOKUP = create_vision_pattern_lookup(PINK, GREEN)

src/software/thunderscope/gl/graphics/BUILD

@@ -106,3 +106,12 @@ py_library(
  ":gl_shape",
  ],
 )
+
+py_library(
+ name = "gl_label",
+ srcs = ["gl_label.py"],
+ deps = [
+ requirement("pyqtgraph"),
+ ":gl_shape",
+ ],
+)

src/software/thunderscope/gl/graphics/gl_label.py

@@ -0,0 +1,78 @@
+from PyQt6.QtGui import QFont, QColor
+from pyqtgraph.opengl.GLGraphicsItem import GLGraphicsItem
+from pyqtgraph.Qt import QtCore, QtGui
+
+from typing import Optional
+
+from software.thunderscope.gl.graphics.gl_painter import GLPainter
+from software.thunderscope.constants import Colors
+
+
+class GLLabel(GLPainter):
+ """Displays a 2D text label on the viewport"""
+
+ def __init__(
+ self,
+ parent_item: Optional[GLGraphicsItem] = None,
+ font: QFont = QFont("Roboto", 8),
+ text_color: QColor = Colors.PRIMARY_TEXT_COLOR,
+ offset: tuple[int, int] = (0, 0),
+ text: str = "",
+ ) -> None:
+ """Initialize the GLLabel
+
+ :param parent_item: The parent item of the graphic
+ :param font: The font using to render the text
+ :param text_color: The color for rendering the text.
+ :param offset: The offset (x, y) from the viewport left and top edge
+ to use when positioning the label.
+ If x is negative then the x offset is |x| pixels from
+ the viewport right edge.
+ If y is negative then the y offset is |y| pixels from
+ the viewport bottom edge.
+ :param text: The optional title to display above the legend
+ """
+ super().__init__(parent_item=parent_item)
+
+ self.text_pen = QtGui.QPen(text_color)
+ self.font = font
+ self.offset = offset
+ self.text = text
+
+ self.add_draw_function(self.draw_label)
+
+ def draw_label(self, painter: QtGui.QPainter, viewport_rect: QtCore.QRect) -> None:
+ """Draw the label
+
+ :param painter: The QPainter to perform drawing operations with
+ :param viewport_rect: The QRect indicating the viewport dimensions
+ """
+ # calculate width and height of the label
+ painter.setFont(self.font)
+ bounds = painter.boundingRect(
+ QtCore.QRectF(0, 0, 0, 0),
+ QtCore.Qt.AlignmentFlag.AlignLeft | QtCore.Qt.AlignmentFlag.AlignVCenter,
+ str(self.text),
+ )
+
+ width = round(bounds.width())
+ height = round(bounds.height())
+
+ # Determine x and y coordinates of the label
+ if self.offset[0] < 0:
+ x = viewport_rect.right() + self.offset[0] - width
+ else:
+ x = viewport_rect.left() + self.offset[0]
+ if self.offset[1] < 0:
+ y = viewport_rect.bottom() + self.offset[1] - height
+ else:
+ y = viewport_rect.top() + self.offset[1]
+
+ if self.text:
+ painter.drawText(QtCore.QPoint(x, y), self.text)
+
+ def set_text(self, new_text: str) -> None:
+ """Update the text being displayed
+ :param new_text: new text being displayed
+ """
+ self.text = new_text

src/software/thunderscope/gl/layers/BUILD

@@ -156,3 +156,13 @@ py_library(
  requirement("pyqtgraph"),
  ],
 )
+
+py_library(
+ name = "gl_referee_info_layer",
+ srcs = ["gl_referee_info_layer.py"],
+ deps = [
+ ":gl_layer",
+ "//software/thunderscope/gl/graphics:gl_label",
+ requirement("pyqtgraph"),
+ ],
+)