Cleaned up debugging statements and removed unused code

rj_msgs/CMakeLists.txt

@@ -75,7 +75,6 @@ rosidl_generate_interfaces(
   # Agent Response Messages
   response/Acknowledge.msg
   response/PassResponse.msg
-  response/AcceptDirectPassResponse.msg
   response/PositionResponse.msg
   response/TestResponse.msg
   response/ScorerResponse.msg

rj_msgs/msg/AgentResponseVariant.msg

@@ -2,7 +2,6 @@ Acknowledge[<=1] acknowledge_response
 TestResponse[<=1] test_response
 PositionResponse[<=1] position_response
 PassResponse[<=1] pass_response
-AcceptDirectPassResponse[<=1] accept_direct_pass_response
 ScorerResponse[<=1] scorer_response
 JoinWallResponse[<=1] join_wall_response
 LeaveWallResponse[<=1] leave_wall_response

soccer/src/soccer/strategy/agent/communication/communication.cpp

@@ -52,10 +52,6 @@ bool operator==(const PassResponse& a, const PassResponse& b) {
     return a.response_uid == b.response_uid;
 }
 
-bool operator==(const AcceptDirectPassResponse& a, const AcceptDirectPassResponse& b) {
-    return a.response_uid == b.response_uid;
-}
-
 bool operator==(const PositionResponse& a, const PositionResponse& b) {
     return a.response_uid == b.response_uid;
 }
@@ -157,13 +153,6 @@ void generate_uid(PassResponse& response) {
     response_uid_mutex.unlock();
 }
 
-void generate_uid(AcceptDirectPassResponse& response) {
-    response_uid_mutex.lock();
-    response.response_uid = response_uid;
-    response_uid++;
-    response_uid_mutex.unlock();
-}
-
 void generate_uid(PositionResponse& response) {
     response_uid_mutex.lock();
     response.response_uid = response_uid;

soccer/src/soccer/strategy/agent/communication/communication.hpp

@@ -19,7 +19,6 @@
 #include "rj_msgs/msg/leave_wall_response.hpp"
 #include "rj_msgs/msg/pass_request.hpp"
 #include "rj_msgs/msg/pass_response.hpp"
-#include "rj_msgs/msg/accept_direct_pass_response.hpp"
 #include "rj_msgs/msg/position_request.hpp"
 #include "rj_msgs/msg/position_response.hpp"
 #include "rj_msgs/msg/reset_scorer_request.hpp"
@@ -169,14 +168,6 @@ struct Acknowledge {
 };
 bool operator==(const Acknowledge& a, const Acknowledge& b);
 
-
-struct AcceptDirectPassResponse {
-    u_int32_t response_uid;
-    u_int8_t robot_id;
-};
-bool operator==(const AcceptDirectPassResponse& a, const AcceptDirectPassResponse& b);
-
-
 /**
  * @brief response from an open agent that will let the sender know that the
  * receiver is open for a pass.
@@ -259,7 +250,7 @@ bool operator==(const LeaveWallResponse& a, const LeaveWallResponse& b);
  *
  */
 using AgentResponseVariant = std::variant<Acknowledge, PassResponse, PositionResponse, TestResponse,
-                                          JoinWallResponse, LeaveWallResponse, ScorerResponse, AcceptDirectPassResponse>;
+                                          JoinWallResponse, LeaveWallResponse, ScorerResponse>;
 
 /**
  * @brief response message that is sent from the receiver of the request to the
@@ -349,7 +340,6 @@ void generate_uid(LeaveWallRequest& request);
 
 void generate_uid(Acknowledge& response);
 void generate_uid(PassResponse& response);
-void generate_uid(AcceptDirectPassResponse& response);
 void generate_uid(PositionResponse& response);
 void generate_uid(TestResponse& response);
 void generate_uid(ScorerResponse& response);
@@ -634,25 +624,6 @@ struct RosConverter<strategy::communication::PassResponse, rj_msgs::msg::PassRes
 
 ASSOCIATE_CPP_ROS(strategy::communication::PassResponse, rj_msgs::msg::PassResponse);
 
-template <>
-struct RosConverter<strategy::communication::AcceptDirectPassResponse, rj_msgs::msg::AcceptDirectPassResponse> {
-    static rj_msgs::msg::AcceptDirectPassResponse to_ros(const strategy::communication::AcceptDirectPassResponse& from) {
-        rj_msgs::msg::AcceptDirectPassResponse result;
-        result.response_uid = from.response_uid;
-        result.robot_id = from.robot_id;
-        return result;
-    }
-
-    static strategy::communication::AcceptDirectPassResponse from_ros(const rj_msgs::msg::AcceptDirectPassResponse& from) {
-        strategy::communication::AcceptDirectPassResponse result{};
-        result.response_uid = from.response_uid;
-        result.robot_id = from.robot_id;
-        return result;
-    }
-};
-
-ASSOCIATE_CPP_ROS(strategy::communication::AcceptDirectPassResponse, rj_msgs::msg::AcceptDirectPassResponse);
-
 template <>
 struct RosConverter<strategy::communication::PositionResponse, rj_msgs::msg::PositionResponse> {
     static rj_msgs::msg::PositionResponse to_ros(
@@ -768,9 +739,6 @@ struct RosConverter<strategy::communication::AgentResponse, rj_msgs::msg::AgentR
         } else if (const auto* pass_response =
                        std::get_if<strategy::communication::PassResponse>(&(from.response))) {
             result.response.pass_response.emplace_back(convert_to_ros(*pass_response));
-        } else if (const auto* direct_pass_response =
-                       std::get_if<strategy::communication::AcceptDirectPassResponse>(&(from.response))) {
-            result.response.accept_direct_pass_response.emplace_back(convert_to_ros(*direct_pass_response));
         } else if (const auto* scorer_response =
                        std::get_if<strategy::communication::ScorerResponse>(&(from.response))) {
             result.response.scorer_response.emplace_back(convert_to_ros(*scorer_response));
@@ -798,8 +766,6 @@ struct RosConverter<strategy::communication::AgentResponse, rj_msgs::msg::AgentR
             result.response = convert_from_ros(from.response.position_response.front());
         } else if (!from.response.pass_response.empty()) {
             result.response = convert_from_ros(from.response.pass_response.front());
-        } else if (!from.response.accept_direct_pass_response.empty()) {
-            result.response = convert_from_ros(from.response.accept_direct_pass_response.front());
         } else if (!from.response.scorer_response.empty()) {
             result.response = convert_from_ros(from.response.scorer_response.front());
         } else if (!from.response.join_wall_response.empty()) {

soccer/src/soccer/strategy/agent/position/offense.cpp

@@ -96,10 +96,6 @@ std::optional<RobotIntent> Offense::state_to_task(RobotIntent intent) {
         intent.motion_command = empty_motion_cmd;
         return intent;
     } else if (current_state_ == PASSING) {
-        // SPDLOG_INFO("Target Pass ID: {}", target_robot_id);
-        // attempt to pass the ball to the target robot
-        SPDLOG_INFO("I am {} and I am passing to {}", robot_id_, target_robot_id);
-
         rj_geometry::Point target_robot_pos =
             world_state()->get_robot(true, target_robot_id).pose.position();
         planning::LinearMotionInstant target{target_robot_pos};
@@ -227,9 +223,6 @@ communication::PosAgentResponseWrapper Offense::receive_communication_request(
             min_path_dist = std::min(min_path_dist, pass_path.dist_to(opp_pos));
         }
 
-        SPDLOG_INFO("I am {} and my min_robot_dist is {} and my min_path_dist is {}", robot_id_, min_robot_dist, min_path_dist);
-
-
         if (min_robot_dist > max_receive_distance && min_path_dist > max_receive_distance) {
             communication::PassResponse response = receive_pass_request(*pass_request);
             comm_response.response = response;
@@ -246,7 +239,6 @@ communication::PassResponse Offense::receive_pass_request(
 
     if (pass_request.direct) {
         // Handle direct pass request
-        // TODO: Make this rely on actually being open
         pass_response.direct_open = true;
     } else {
         // TODO: Handle indirect pass request
@@ -352,7 +344,4 @@ void Offense::derived_acknowledge_ball_in_transit() {
     chasing_ball = false;
 }
 
-void Offense::revive() { current_state_ = AWAITING_SEND_PASS; }
-
-
 }  // namespace strategy

soccer/src/soccer/strategy/agent/position/offense.hpp

@@ -33,8 +33,6 @@ class Offense : public Position {
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
 
-    void revive() override;
-
 private:
     bool kicking_{true};