Add referee display layer

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/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 GLGradientLegend
+
+ :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"),
+ ],
+)

src/software/thunderscope/gl/layers/gl_referee_info_layer.py

@@ -0,0 +1,68 @@
+from typing import Optional
+
+from google.protobuf.json_format import MessageToDict
+
+from proto.import_all_protos import *
+from software.thunderscope.constants import DepthValues
+from software.thunderscope.gl.graphics.gl_label import GLLabel
+from software.thunderscope.gl.helpers.observable_list import ObservableList
+from software.thunderscope.gl.layers.gl_layer import GLLayer
+from software.thunderscope.thread_safe_buffer import ThreadSafeBuffer
+
+
+class GLRefereeInfoLayer(GLLayer):
+ """GLLayer that visualizes referee info"""
+
+ REFEREE_COMMAND_PREFIX = "Command: "
+ GAMESTATE_PREFIX = "Game State: "
+
+ def __init__(self, name: str, buffer_size: int = 1) -> None:
+ """Initialize the GLRefereeInfoLayer
+
+ :param name: The displayed name of the layer
+ :param buffer_size: the buffer size, set higher for smoother plots.
+ Set lower for more realtime plots. Default is arbitrary.
+ """
+ super().__init__(name)
+ self.setDepthValue(DepthValues.OVERLAY_DEPTH)
+ self.referee_vis_buffer = ThreadSafeBuffer(buffer_size, Referee, False)
+
+ self.referee_text_graphics = ObservableList(self._graphics_changed)
+
+ # initialize the two text items to display
+ self.gamestate_type_text: Optional[GLLabel] = None
+ self.command_type_text: Optional[GLLabel] = None
+
+ def refresh_graphics(self) -> None:
+ """Update displays in the layer"""
+ referee_proto = self.referee_vis_buffer.get(block=False, return_cached=False)
+ if not referee_proto:
+ return
+
+ referee_msg_dict = MessageToDict(referee_proto)
+ if not referee_msg_dict:
+ return
+
+ if not self.gamestate_type_text:
+ self.gamestate_type_text = GLLabel(
+ parent_item=self,
+ offset=(-10, 50),
+ text=GLRefereeInfoLayer.GAMESTATE_PREFIX + referee_msg_dict["stage"],
+ )
+ self.referee_text_graphics.append(self.gamestate_type_text)
+ else:
+ self.gamestate_type_text.set_text(
+ GLRefereeInfoLayer.GAMESTATE_PREFIX + referee_msg_dict["stage"]
+ )
+
+ if not self.command_type_text:
+ self.command_type_text = GLLabel(
+ parent_item=self,
+ offset=(-10, 70),
+ text=GLRefereeInfoLayer.GAMESTATE_PREFIX + referee_msg_dict["command"],
+ )
+ self.referee_text_graphics.append(self.command_type_text)
+ else:
+ self.command_type_text.set_text(
+ GLRefereeInfoLayer.REFEREE_COMMAND_PREFIX + referee_msg_dict["command"]
+ )

src/software/thunderscope/widget_setup_functions.py

@@ -27,6 +27,7 @@
  gl_tactic_layer,
  gl_cost_vis_layer,
  gl_trail_layer,
+ gl_referee_info_layer,
 )
 
 
@@ -129,6 +130,9 @@ def setup_gl_widget(
  )
  tactic_layer = gl_tactic_layer.GLTacticLayer("Tactics", visualization_buffer_size)
  trail_layer = gl_trail_layer.GLTrailLayer("Trail", visualization_buffer_size)
+ referee_layer = gl_referee_info_layer.GLRefereeInfoLayer(
+ "Referee Info", visualization_buffer_size
+ )
 
  gl_widget.add_layer(world_layer)
  gl_widget.add_layer(simulator_layer, False)
@@ -141,6 +145,7 @@ def setup_gl_widget(
  gl_widget.add_layer(validation_layer)
  gl_widget.add_layer(trail_layer, False)
  gl_widget.add_layer(debug_shapes_layer, True)
+ gl_widget.add_layer(referee_layer, False)
 
  simulation_control_toolbar = gl_widget.get_sim_control_toolbar()
  simulation_control_toolbar.set_speed_callback(world_layer.set_simulation_speed)
@@ -189,6 +194,7 @@ def setup_gl_widget(
  (CostVisualization, cost_vis_layer.cost_visualization_buffer),
  (World, trail_layer.world_buffer),
  (DebugShapes, debug_shapes_layer.debug_shapes_buffer),
+ (Referee, referee_layer.referee_vis_buffer),
  ]:
  full_system_proto_unix_io.register_observer(*arg)