Add client handles implementation

Author: petergarud

.github/workflows/remove-stale-branches.yml

@@ -21,7 +21,7 @@ jobs:
       - name: Preview stale branches
         uses: fpicalausa/remove-stale-branches@v2.4.0
         with:
-          dry-run: true
+          dry-run: false
           # curr threshold is >= 2 years
           days-before-branch-stale: 730
           days-before-branch-delete: 2

docs/source/installation.rst

@@ -7,7 +7,7 @@ or virtual machine running Ubuntu 22.04, and the second is to use Docker.
 .. Note::
    If you elect to use Docker, you need to ensure your system has sufficient
    memory as Docker is not the greatest with RAM management. In particular, it's
-   recommended that you have at least 16 GB of RAM allocated.
+   recommended that you have at least 8 GB of RAM allocated.
 
 
 Native/Virtual Machine Setup

docs/source/tutorial.rst

@@ -17,6 +17,11 @@ _colcon_prefix_chain_bash_source_script() {
   fi
 }
 
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
 # source this prefix
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
 COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"

install/setup.bash

@@ -17,6 +17,11 @@ _colcon_prefix_chain_zsh_source_script() {
   fi
 }
 
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
 # source this prefix
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
 COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"

install/setup.zsh

@@ -160,9 +160,8 @@ coverage:
 		--gcov-options '\-lp'
 
 clean:
-	((rm build-debug -rf); (rm build-release -rf); (rm build-release-debug -rf)) || true
+	rm -rf build install log
 	git clean -f -X -d cmake-*
-	rm -rf install/bin install/lib install/share install/include
 
 static-analysis:
 	mkdir -p build/static-analysis

makefile

@@ -50,8 +50,8 @@ class AgentActionClient;
 namespace strategy {
 
 struct ClientHandles {
-    std::unique_ptr<KickerPickerClient> kickerPickerClient;
-    std::unique_ptr<MarkingClient> markingClient;
+    std::unique_ptr<KickerPickerClient> kicker_picker;
+    std::unique_ptr<MarkingClient> marking;
 };
 
 /*
@@ -238,7 +238,9 @@ class Position {
      */
     virtual void set_goalie_id(int goalie_id);
 
-    // Allow external code (e.g., RobotFactoryPosition) to inject shared client handles
+    /**
+     * @brief allows RobotFactoryPosition to synchronize with its client handles
+     */
     void set_client_handles(std::shared_ptr<ClientHandles> client_handles);
 
 protected:

src/rj_strategy/include/rj_strategy/agent/position.hpp

@@ -32,7 +32,6 @@
 #include "rj_strategy/agent/position/smartidling.hpp"
 #include "rj_strategy/agent/position/solo_offense.hpp"
 #include "rj_strategy/agent/position/zoner.hpp"
-#include "rj_strategy/coordinator/kicker_picker_client.hpp"
 
 namespace strategy {
 

src/rj_strategy/include/rj_strategy/agent/position/robot_factory_position.hpp

@@ -2,13 +2,14 @@
 
 namespace strategy {
 
-Position::Position(int r_id)
-    : robot_id_(r_id), client_handles_(std::make_shared<ClientHandles>()) {}
+Position::Position(int r_id) : robot_id_(r_id) {
+    client_handles_ = std::make_shared<ClientHandles>();
+}
 
 Position::Position(int r_id, std::string position_name)
-    : position_name_{std::move(position_name)},
-      robot_id_{r_id},
-      client_handles_(std::make_shared<ClientHandles>()){};
+    : position_name_{std::move(position_name)}, robot_id_{r_id} {
+    client_handles_ = std::make_shared<ClientHandles>();
+};
 
 std::optional<RobotIntent> Position::get_task(WorldState& world_state,
                                               FieldDimensions& field_dimensions,
@@ -39,10 +40,6 @@ void Position::set_goal_canceled() { goal_canceled_ = true; }
 
 void Position::set_goalie_id(int goalie_id) { goalie_id_ = goalie_id; }
 
-void Position::set_client_handles(std::shared_ptr<ClientHandles> client_handles) {
-    client_handles_ = std::move(client_handles);
-}
-
 bool Position::check_is_done() {
     if (is_done_) {
         is_done_ = false;
@@ -85,6 +82,10 @@ bool Position::assert_world_state_valid() {
     return true;
 }
 
+void Position::set_client_handles(std::shared_ptr<ClientHandles> client_handles) {
+    client_handles_ = client_handles;
+}
+
 std::deque<communication::PosAgentRequestWrapper> Position::send_communication_request() {
     // Return and reset this member
     return std::exchange(communication_requests_, {});

src/rj_strategy/src/agent/position.cpp

@@ -36,8 +36,8 @@ Defense::State Defense::update_state() {
             return IDLING;
         }
 
-        if (client_handles_->markingClient->am_i_member() &&
-            client_handles_->markingClient->am_i_marking()) {
+        if (client_handles_->marking->am_i_member() &&
+            client_handles_->marking->am_i_marking()) {
             return MARKING;
         } else {
             return IDLING;
@@ -98,8 +98,8 @@ Defense::State Defense::update_state() {
             }
             break;
         case MARKING:
-            if (!client_handles_->markingClient->am_i_member() ||
-                !client_handles_->markingClient->am_i_marking()) {
+            if (!client_handles_->marking->am_i_member() ||
+                !client_handles_->marking->am_i_marking()) {
                 next_state = IDLING;
             }
             break;
@@ -110,7 +110,7 @@ Defense::State Defense::update_state() {
                 sent_join_marking_group_request_ = true;
                 request_time_ = RJ::now();
 
-                client_handles_->markingClient->join_group(
+                client_handles_->marking->join_group(
                     [this](const bool is_member) {
                         if (is_member) {
                             pending_marking_state_ = true;
@@ -122,7 +122,7 @@ Defense::State Defense::update_state() {
                 // reset flag
                 sent_join_marking_group_request_ = false;
                 // ensure not in coordinator group
-                client_handles_->markingClient->leave_group();
+                client_handles_->marking->leave_group();
                 SPDLOG_INFO("Robot {}: Timeout on join group, IDLING now", robot_id_);
                 next_state = IDLING;
             }
@@ -200,7 +200,7 @@ std::optional<RobotIntent> Defense::state_to_task(RobotIntent intent) {
         return intent;
     } else if (current_state_ == MARKING) {
         rj_geometry::Point targetPoint =
-            last_world_state_->get_robot(false, client_handles_->markingClient->who_am_i_marking())
+            last_world_state_->get_robot(false, client_handles_->marking->who_am_i_marking())
                 .pose.position();
 
         rj_geometry::Point ballPoint = last_world_state_->ball.position;