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Send back score of a duplicate report #572

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merged 3 commits into from
Aug 25, 2020
Merged

Send back score of a duplicate report #572

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d1b4a51
Send back score of a duplicate report
Aug 24, 2020
24b37a1
Fix score logic
Aug 24, 2020
8c6061b
merged
Aug 25, 2020
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49 changes: 28 additions & 21 deletions subt_ign/src/GameLogicPlugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -112,9 +112,12 @@ class subt::GameLogicPluginPrivate
/// \brief Calculate the score of a new artifact request.
/// \param[in] _type The object type. See ArtifactType.
/// \param[in] _pose The object pose.
/// \return The score obtained for this object.
public: double ScoreArtifact(const subt::ArtifactType &_type,
const ignition::msgs::Pose &_pose);
/// \return A tuple where the first parameter is the score obtained for this
/// report, and the second parameter is true if the artifact report is a
/// duplicate and false otherwise.
public: std::tuple<double, bool> ScoreArtifact(
const subt::ArtifactType &_type,
const ignition::msgs::Pose &_pose);

/// \brief Create an ArtifactType from an integer.
//
Expand Down Expand Up @@ -385,8 +388,8 @@ class subt::GameLogicPluginPrivate
/// \brief Robot types for keeping track of unique robot platform types.
public: std::set<std::string> robotTypes;

/// \brief The unique artifact reports received.
public: std::vector<std::string> uniqueReports;
/// \brief The unique artifact reports received, and the score it received.
public: std::map<std::string, double> uniqueReports;

/// \brief Current state.
public: std::string state="init";
Expand Down Expand Up @@ -1198,10 +1201,14 @@ bool GameLogicPluginPrivate::OnNewArtifact(const subt::msgs::Artifact &_req,
else
{
std::lock_guard<std::mutex> lock(this->mutex);
auto scoreDiff = this->ScoreArtifact(artifactType, _req.pose());
auto [scoreDiff, duplicate] = this->ScoreArtifact(
artifactType, _req.pose());

_resp.set_score_change(scoreDiff);
_resp.set_report_status("scored");
this->totalScore += scoreDiff;

if (!duplicate)
this->totalScore += scoreDiff;

ignmsg << "Total score: " << this->totalScore << std::endl;
this->Log() << "new_total_score " << this->totalScore << std::endl;
Expand Down Expand Up @@ -1247,23 +1254,23 @@ bool GameLogicPluginPrivate::ArtifactFromInt(const uint32_t &_typeInt,
}

/////////////////////////////////////////////////
double GameLogicPluginPrivate::ScoreArtifact(const ArtifactType &_type,
const ignition::msgs::Pose &_pose)
std::tuple<double, bool> GameLogicPluginPrivate::ScoreArtifact(
const ArtifactType &_type, const ignition::msgs::Pose &_pose)
{
// Sanity check: Make sure that we have crossed the starting gate.
if (!this->started)
{
ignmsg << " The task hasn't started yet" << std::endl;
this->Log() << "task_not_started" << std::endl;
return 0.0;
return {0.0, false};
}

// Sanity check: Make sure that we still have artifacts.
if (this->foundArtifacts.size() >= this->artifactCount)
{
ignmsg << " No artifacts remaining" << std::endl;
this->Log() << "no_remaining_artifacts_of_specified_type" << std::endl;
return 0.0;
return {0.0, false};
}

// The teams are reporting the artifact poses relative to the fiducial located
Expand All @@ -1288,7 +1295,7 @@ double GameLogicPluginPrivate::ScoreArtifact(const ArtifactType &_type,
<< " reported_artifact_type: " << reportType << "\n";
this->LogEvent(stream.str());

return 0.0;
return {0.0, false};
}

// Pose converted into a string.
Expand All @@ -1297,12 +1304,12 @@ double GameLogicPluginPrivate::ScoreArtifact(const ArtifactType &_type,
std::to_string(_pose.position().z());

// Unique report Id: Type and pose combined into a string.
std::string uniqueReport = reportType + "_" + reportPose;
std::string uniqueReportStr = reportType + "_" + reportPose;

auto uniqueReport = this->uniqueReports.find(uniqueReportStr);

// Check whether we received the same report before.
if (std::find(this->uniqueReports.begin(),
this->uniqueReports.end(),
uniqueReport) != this->uniqueReports.end())
if (uniqueReport != this->uniqueReports.end())
{
ignmsg << "This report has been received before" << std::endl;
this->Log() << "This report has been received before" << std::endl;
Expand All @@ -1317,12 +1324,9 @@ double GameLogicPluginPrivate::ScoreArtifact(const ArtifactType &_type,
this->LogEvent(stream.str());

this->duplicateReportCount++;
return 0.0;
return {uniqueReport->second, true};
}

// This is a new unique report, let's save it.
this->uniqueReports.push_back(uniqueReport);

// This is a unique report.
this->reportCount++;

Expand Down Expand Up @@ -1391,6 +1395,9 @@ double GameLogicPluginPrivate::ScoreArtifact(const ArtifactType &_type,
}
}

// This is a new unique report, let's save it.
this->uniqueReports[uniqueReportStr] = score;

auto outDist = std::isinf(std::get<2>(minDistance)) ? -1 :
std::get<2>(minDistance);
std::ostringstream stream;
Expand All @@ -1413,7 +1420,7 @@ double GameLogicPluginPrivate::ScoreArtifact(const ArtifactType &_type,
ignmsg << " [Total]: " << score << std::endl;
this->Log() << "modified_score " << score << std::endl;

return score;
return {score, false};
}

/////////////////////////////////////////////////
Expand Down