Example play to FSM

docs/fsm-diagrams.md

@@ -106,6 +106,19 @@ Terminate:::terminate --> Terminate:::terminate
 
 ```
 
+## [ExamplePlayFSM](/src/software/ai/hl/stp/play/example/example_play_fsm.h)
+
+```mermaid
+
+stateDiagram-v2
+classDef terminate fill:white,color:black,font-weight:bold
+direction LR
+[*] --> MoveState
+MoveState --> MoveState : <i>moveToPosition</i>
+Terminate:::terminate --> Terminate:::terminate
+
+```
+
 ## [FreeKickPlayFSM](/src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.h)
 
 ```mermaid

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

@@ -6,20 +6,6 @@ load("@simulated_tests_deps//:requirements.bzl", "requirement")
 # "factory" design pattern to work are linked in
 # https://www.bfilipek.com/2018/02/static-vars-static-lib.html
 
-cc_library(
-    name = "example_play",
-    srcs = ["example_play.cpp"],
-    hdrs = ["example_play.h"],
-    deps = [
-        ":play",
-        "//shared:constants",
-        "//software/ai/hl/stp/tactic/move:move_tactic",
-        "//software/logger",
-        "//software/util/generic_factory",
-    ],
-    alwayslink = True,
-)
-
 cc_library(
     name = "kickoff_enemy_play",
     srcs = ["kickoff_enemy_play.cpp"],
@@ -119,7 +105,6 @@ cc_library(
 cc_library(
     name = "all_plays",
     deps = [
-        ":example_play",
         ":kickoff_enemy_play",
         ":kickoff_friendly_play",
         ":shoot_or_chip_play",
@@ -129,6 +114,7 @@ cc_library(
         "//software/ai/hl/stp/play/defense:defense_play",
         "//software/ai/hl/stp/play/enemy_ball_placement:enemy_ball_placement_play",
         "//software/ai/hl/stp/play/enemy_free_kick:enemy_free_kick_play",
+        "//software/ai/hl/stp/play/example:example_play",
         "//software/ai/hl/stp/play/free_kick:free_kick_play",
         "//software/ai/hl/stp/play/halt_play",
         "//software/ai/hl/stp/play/hardware_challenge_plays:dribbling_parcour_play",
@@ -142,20 +128,6 @@ cc_library(
     ],
 )
 
-cc_test(
-    name = "example_play_test",
-    srcs = ["example_play_test.cpp"],
-    deps = [
-        "//shared/test_util:tbots_gtest_main",
-        "//software/ai/hl/stp/play:example_play",
-        "//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
-        "//software/simulated_tests/validation:validation_function",
-        "//software/test_util",
-        "//software/time:duration",
-        "//software/world",
-    ],
-)
-
 cc_test(
     name = "kickoff_friendly_play_cpp_test",
     srcs = ["kickoff_friendly_play_test.cpp"],

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

@@ -0,0 +1,63 @@
+package(default_visibility = ["//visibility:public"])
+
+load("@simulated_tests_deps//:requirements.bzl", "requirement")
+
+cc_library(
+    name = "example_play",
+    srcs = [
+        "example_play.cpp",
+        "example_play_fsm.cpp",
+    ],
+    hdrs = [
+        "example_play.h",
+        "example_play_fsm.h",
+    ],
+    deps = [
+        "//shared:constants",
+        "//software/ai/hl/stp/play",
+        "//software/ai/hl/stp/tactic/move:move_tactic",
+        "//software/logger",
+        "//software/util/generic_factory",
+    ],
+    alwayslink = True,
+)
+
+cc_test(
+    name = "example_play_test",
+    srcs = ["example_play_test.cpp"],
+    deps = [
+        "//shared/test_util:tbots_gtest_main",
+        "//software/ai/hl/stp/play/example:example_play",
+        "//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
+        "//software/simulated_tests/validation:validation_function",
+        "//software/test_util",
+        "//software/time:duration",
+        "//software/world",
+    ],
+)
+
+cc_test(
+    name = "example_play_fsm_test",
+    srcs = ["example_play_fsm_test.cpp"],
+    deps = [
+        ":example_play",
+        "//shared/test_util:tbots_gtest_main",
+        "//software/test_util",
+    ],
+)
+
+py_test(
+    name = "example_play_test_py",
+    main = "example_play_test.py",
+    srcs = ["example_play_test.py"],
+    # TODO (#2619) Remove tag to run in parallel
+    tags = [
+        "exclusive",
+    ],
+    deps = [
+        "//software:conftest",
+        "//software/simulated_tests:speed_threshold_helpers",
+        "//software/simulated_tests:validation",
+        requirement("pytest"),
+    ],
+)

src/software/ai/hl/stp/play/example/example_play.cpp

@@ -0,0 +1,31 @@
+#include "software/ai/hl/stp/play/example/example_play.h"
+
+#include "shared/constants.h"
+#include "software/util/generic_factory/generic_factory.h"
+
+ExamplePlay::ExamplePlay(TbotsProto::AiConfig config)
+    : Play(config, false), fsm{ExamplePlayFSM{}}, control_params{}
+{
+}
+
+void ExamplePlay::getNextTactics(TacticCoroutine::push_type &yield,
+                                  const WorldPtr &world_ptr)
+{
+    // This function doesn't get called and it will be removed once coroutines are phased
+    // out
+}
+
+void ExamplePlay::updateTactics(const PlayUpdate &play_update)
+{
+    fsm.process_event(ExamplePlayFSM::Update(control_params, play_update));
+}
+
+std::vector<std::string> ExamplePlay::getState()
+{
+    std::vector<std::string> state;
+    state.emplace_back(objectTypeName(*this) + " - " + getCurrentFullStateName(fsm));
+    return state;
+}
+
+// Register this play in the genericFactory
+static TGenericFactory<std::string, Play, ExamplePlay, TbotsProto::AiConfig> factory;

src/software/ai/hl/stp/play/example/example_play.h

@@ -0,0 +1,26 @@
+#pragma once
+
+#include "software/ai/hl/stp/play/example/example_play_fsm.h"
+
+/**
+ * An example play that moves the robots in a circle around the ball
+ */
+class ExamplePlay : public Play
+{
+public:
+    /**
+     * Creates an example play
+     *
+     * @param ai_config the play config for this play
+     */
+    ExamplePlay(TbotsProto::AiConfig config);
+
+    void getNextTactics(TacticCoroutine::push_type &yield,
+                        const WorldPtr &world_ptr) override;
+    void updateTactics(const PlayUpdate &play_update) override;
+    std::vector<std::string> getState() override;
+
+private:
+    FSM<ExamplePlayFSM> fsm;
+    ExamplePlayFSM::ControlParams control_params;
+};

src/software/ai/hl/stp/play/example/example_play_fsm.cpp

@@ -0,0 +1,29 @@
+#include "software/ai/hl/stp/play/example/example_play_fsm.h"
+
+ExamplePlayFSM::ExamplePlayFSM() : move_tactics(DIV_A_NUM_ROBOTS)
+{
+    std::generate(move_tactics.begin(), move_tactics.end(),
+                  []() { return std::make_shared<MoveTactic>(); });
+}
+
+void ExamplePlayFSM::moveToPosition(const Update &event)
+{
+    // The angle between each robot spaced out in a circle around the ball
+    Angle angle_between_robots = Angle::full() / static_cast<double>(move_tactics.size());
+
+    for (size_t k = 0; k < move_tactics.size(); k++)
+    {
+        move_tactics[k]->updateControlParams(
+            event.common.world_ptr->ball().position() +
+                Vector::createFromAngle(angle_between_robots *
+                                        static_cast<double>(k + 1)),
+            (angle_between_robots * static_cast<double>(k + 1)) + Angle::half());
+    }
+
+    // set the Tactics this Play wants to run, in order of priority
+    // If there are fewer robots in play, robots at the end of the list will not be
+    // assigned
+    TacticVector result = {};
+    result.insert(result.end(), move_tactics.begin(), move_tactics.end());
+    event.common.set_tactics({result});
+}

src/software/ai/hl/stp/play/example/example_play_fsm.h

@@ -0,0 +1,55 @@
+#pragma once
+
+#include "proto/parameters.pb.h"
+#include "shared/constants.h"
+#include "software/ai/hl/stp/play/play.h"
+#include "software/ai/hl/stp/tactic/move/move_tactic.h"
+#include "software/logger/logger.h"
+
+/**
+ * An example Play that moves the robots in a circle around the ball
+ */
+
+struct ExamplePlayFSM
+{
+    class MoveState;
+
+    struct ControlParams
+    {
+    };
+
+    DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
+
+    /**
+     * Creates an example play FSM
+     *
+     */
+    explicit ExamplePlayFSM();
+
+    /**
+     * Action that moves the robots to certain positions around the ball
+     *
+     * @param event the ExamplePlayFSM Update event
+     */
+    void moveToPosition(const Update& event);
+
+    auto operator()()
+    {
+        using namespace boost::sml;
+
+        DEFINE_SML_STATE(MoveState)
+
+        DEFINE_SML_EVENT(Update)
+
+        DEFINE_SML_ACTION(moveToPosition)
+
+        return make_transition_table(
+            // src_state + event [guard] / action = dest_state
+            *MoveState_S + Update_E / moveToPosition_A = MoveState_S,
+
+            X + Update_E = X);
+    }
+
+   private:
+    std::vector<std::shared_ptr<MoveTactic>> move_tactics;
+};

src/software/ai/hl/stp/play/example/example_play_fsm_test.cpp

@@ -0,0 +1,27 @@
+#include "software/ai/hl/stp/play/example/example_play_fsm.h"
+
+#include <gtest/gtest.h>
+
+#include "proto/parameters.pb.h"
+#include "software/test_util/equal_within_tolerance.h"
+#include "software/test_util/test_util.h"
+
+TEST(ExamplePlayFSMTest, test_transitions)
+{
+    std::shared_ptr<World> world = ::TestUtil::createBlankTestingWorld();
+    TbotsProto::AiConfig ai_config;
+
+    FSM<ExamplePlayFSM> fsm(ExamplePlayFSM{});
+
+    EXPECT_TRUE(fsm.is(boost::sml::state<ExamplePlayFSM::MoveState>));
+
+    int num_tactics = 6;
+
+    fsm.process_event(ExamplePlayFSM::Update(
+        ExamplePlayFSM::ControlParams{},
+        PlayUpdate(
+            world, num_tactics, [](PriorityTacticVector new_tactics) {},
+            InterPlayCommunication{}, [](InterPlayCommunication comm) {})));
+
+    EXPECT_TRUE(fsm.is(boost::sml::state<ExamplePlayFSM::MoveState>));
+}

src/software/ai/hl/stp/play/example_play_test.cpp → src/software/ai/hl/stp/play/example/example_play_test.cpp

@@ -1,4 +1,4 @@
-#include "software/ai/hl/stp/play/example_play.h"
+#include "software/ai/hl/stp/play/example/example_play.h"
 
 #include <gtest/gtest.h>