実機用パケットでgrSimを駆動する (#3)

* use C++17 * add ibis_robot_packet.hpp * add ibis_ssl_client.h * (WIP) connect ibis packet * adjust dribbler * format * succeeded to conncet ibis packet * comment out unused code * Add ibis * set correct robot * Delete unnecessary diffs * Delete unnecessary diffs * Delete unnecessary diffs * Delete unnecessary diffs * Delete unnecessary diffs * Delete unnecessary diffs * Delete unnecessary diffs * Delete unnecessary diffs * Delete unnecessary diffs * update * ibis_orion.hを追加 * AIコマンドを受け取る部分 * ビルドエラー修正 * orionのパラメータを反映 * 不要なDiffの削除 * Update src/sslworld.cpp * Apply suggestions from code review * Update src/sslworld.cpp * ibis_orion.hを消してファイルまるごとコピーに変更 * windows向けのCIを削除 * mac向けのCIを削除 * よく分からん * とりあえずAIパケットで動くようになった * dockerイメージ作るやつを作った * イメージ名に大文字はだめらしい * 誤字ってたw * リングバッファ関連のファイルを追加 * omniOdometryの移植 * 変な動きをするね * AIパケットで動くことを優先して一旦理想速度指令で動かすようにした
ibis-ssl · Jun 4, 2024 · d4b47cc · d4b47cc
1 parent 588c6c2
commit d4b47cc
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Showing 18 changed files with 1,924 additions and 100 deletions.
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -20,45 +20,3 @@ jobs:
         run: sudo apt-get install -y build-essential cmake pkg-config qtbase5-dev libqt5opengl5-dev libgl1-mesa-dev libglu1-mesa-dev libprotobuf-dev protobuf-compiler libode-dev libboost-dev
       - name: "Build"
         run: make
-
-  build-macos:
-    runs-on: ${{ matrix.os }}
-    continue-on-error: true
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ macos-12, macos-13 ]
-    steps:
-      - uses: actions/checkout@v4
-      - name: "Install dependencies"
-        run: brew tap robotology/formulae && brew install cmake pkg-config qt@5
-      - name: "Build"
-        # for some reason qt5 is not correctly in the path and this will break whenever the location of it changes
-        # 5.15.11 is for macos-12 and 5.15.12 is for macos-13
-        run: PATH=/usr/local/Cellar/qt@5/5.15.11/lib/cmake/Qt5:/usr/local/Cellar/qt@5/5.15.12/lib/cmake/Qt5:$PATH && make
-
-# Windows build does not work currently, see https://github.com/RoboCup-SSL/grSim/issues/183
-#  build-windows:
-#    runs-on: windows-latest
-#    steps:
-#      - uses: actions/checkout@v4
-#
-#      - name: Install dependencies # saves / restores cache to avoid rebuilding dependencies
-#        uses: lukka/run-vcpkg@v11
-#        with:
-#          vcpkgGitCommitId: 8eb57355a4ffb410a2e94c07b4dca2dffbee8e50
-#          vcpkgDirectory: c:/vcpkg  # folder must reside in c:\ otherwise qt wont install due to long path errors
-#
-#      - name: Run CMake and run vcpkg to build packages
-#        uses: lukka/run-cmake@v10
-#        with:
-#          # this preset is needed to actually install the vcpkg dependencies
-#          configurePreset: "ninja-multi-vcpkg"
-#          configPresetAdditionalArgs: "[-DVCPKG_TARGET_TRIPLET=x64-windows]"
-#          buildPreset: "ninja-multi-vcpkg"
-#          buildPresetAdditionalArgs: "['--config Release']"
-#    env:
-#      # [OPTIONAL] Define the vcpkg's triplet you want to enforce, otherwise the default one
-#      # for the hosting system will be automatically choosen (x64 is the default on all
-#      # platforms, e.g. `x64-osx`).
-#      VCPKG_DEFAULT_TRIPLET: "x64-windows"
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
@@ -0,0 +1,33 @@
+name: build and push ibis customized grSim image
+
+on:
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          push: true
+          tags: ghcr.io/ibis-ssl/grsim:customized
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -51,12 +51,13 @@ if(UNIX)
 endif()
 
 # set explicitly the c++ standard to use
-set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 
 # add src dir to included directories
 include_directories(${PROJECT_SOURCE_DIR}/include)
 include_directories(${PROJECT_SOURCE_DIR}/include/net)
 include_directories(${PROJECT_SOURCE_DIR}/include/physics)
+include_directories(${PROJECT_SOURCE_DIR}/include/ibis)
 
 
 ## Handling depenendcies
@@ -193,6 +194,10 @@ set(SOURCES
     src/physics/pray.cpp
     src/net/robocup_ssl_server.cpp
     src/net/robocup_ssl_client.cpp
+    src/ibis/util.c
+#    src/ibis/ring_buffer.c
+#    src/ibis/robot_control.c
+    src/net/ibis_ssl_client.cpp
     src/sslworld.cpp
     src/robot.cpp
     src/configwidget.cpp
@@ -216,6 +221,11 @@ set(HEADERS
     include/physics/pray.h
     include/net/robocup_ssl_server.h
     include/net/robocup_ssl_client.h
+    include/net/ibis_ssl_client.h
+    include/ibis/util.h
+    include/ibis/ring_buffer.h
+    include/ibis/robot_control.h
+    include/ibis/management.h
     include/sslworld.h
     include/robot.h
     include/configwidget.h
@@ -237,75 +247,58 @@ set(srcs
     ${SOURCES}
 )
 
+
+message(WARNING "Sources: ${srcs}")
+
 file(GLOB CONFIG_FILES "config/*.ini")
 set_source_files_properties(${CONFIG_FILES}  PROPERTIES MACOSX_PACKAGE_LOCATION "config")
 
 target_sources(${app} PRIVATE ${srcs})
 install(TARGETS ${app} DESTINATION bin)
 target_link_libraries(${app} ${libs})
 
-if(APPLE AND CMAKE_MACOSX_BUNDLE)
-  # use CMAKE_MACOSX_BUNDLE if you want to build a mac bundle
-  set(MACOSX_BUNDLE_ICON_FILE "${PROJECT_SOURCE_DIR}/resources/icons/grsim.icns")
-  set(MACOSX_BUNDLE_SHORT_VERSION_STRING ${VERSION})
-  set(MACOSX_BUNDLE_VERSION ${VERSION})
-  set(MACOSX_BUNDLE_LONG_VERSION_STRING "Version ${VERSION}")
-  set(BUNDLE_APP ${PROJECT_SOURCE_DIR}/bin/${app}.app)
-  install(
-      CODE "
-      include(BundleUtilities)
-      fixup_bundle(\"${BUNDLE_APP}\"   \"\"   \"/opt/local/lib;/usr/local/lib\")"
-      COMPONENT Runtime)
-  set(CPACK_GENERATOR "DragNDrop" "TGZ")
-elseif(WIN32 AND CMAKE_WIN32_EXECUTABLE)
-  # use CMAKE_WIN32_EXECUTABLE if you want to build a windows exe
-  install(DIRECTORY config DESTINATION .)
-  install(DIRECTORY bin DESTINATION .
-          FILES_MATCHING PATTERN "*.dll")
-  set(CPACK_PACKAGE_EXECUTABLES ${app} ${app})
-else()
-  install(DIRECTORY config DESTINATION share/${app})
-  install(FILES resources/grsim.desktop DESTINATION share/applications)
-  install(FILES resources/icons/grsim.svg DESTINATION share/icons/hicolor/scalable/apps)
-endif()
+install(DIRECTORY config DESTINATION share/${app})
+install(FILES resources/grsim.desktop DESTINATION share/applications)
+install(FILES resources/icons/grsim.svg DESTINATION share/icons/hicolor/scalable/apps)
+
 
 option(BUILD_CLIENTS "Choose this option if you want to build the example Qt client." ON)
 if(BUILD_CLIENTS)
-    add_subdirectory(clients/qt)
+#    add_subdirectory(clients/qt)
 endif()
 
 file(COPY README.md LICENSE.md DESTINATION ${CMAKE_BINARY_DIR})
 file(RENAME ${CMAKE_BINARY_DIR}/README.md ${CMAKE_BINARY_DIR}/README.txt)
 file(RENAME ${CMAKE_BINARY_DIR}/LICENSE.md ${CMAKE_BINARY_DIR}/LICENSE.txt)
 
-## Packaging
-if(UNIX)
-    execute_process(COMMAND uname -p OUTPUT_VARIABLE ARCH)
-    string(STRIP ${ARCH} ARCH)
-    if(APPLE)
-        set(ARCH "osx-universal")
-    endif()
-elseif(WIN32)
-    set(ARCH "win32")
-    set(CPACK_GENERATOR ZIP NSIS)
-endif()
-set(CPACK_OUTPUT_FILE_PREFIX ${PROJECT_SOURCE_DIR}/dist)
-set(CPACK_PACKAGE_CONTACT ${MAINTAINER})
-if(VENDOR)
-    set(CPACK_PACKAGE_VENDOR ${VENDOR})
-    string(TOLOWER ${CPACK_PACKAGE_VENDOR} FLAVOR)
-endif()
-set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_BINARY_DIR}/LICENSE.txt")
-set(CPACK_RESOURCE_FILE_README "${CMAKE_BINARY_DIR}/README.txt")
-#set(CPACK_RESOURCE_FILE_WELCOME "${CMAKE_SOURCE_DIR}/WELCOME.txt")
-set(CPACK_PACKAGE_VERSION ${VERSION})
-# Debian based specific
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "libode1 (>=0.11), vartypes (>=0.7.0)")
-if(FLAVOR)
-    set(CPACK_PACKAGE_FILE_NAME "${CMAKE_PROJECT_NAME_LOWER}_${CPACK_PACKAGE_VERSION}-${FLAVOR}_${ARCH}")
-else()
-    set(CPACK_PACKAGE_FILE_NAME "${CMAKE_PROJECT_NAME_LOWER}_${CPACK_PACKAGE_VERSION}_${ARCH}")
-endif()
-include(CPack)
+### Packaging
+#if(UNIX)
+#    execute_process(COMMAND uname -p OUTPUT_VARIABLE ARCH)
+#    string(STRIP ${ARCH} ARCH)
+#    if(APPLE)
+#        set(ARCH "osx-universal")
+#    endif()
+#elseif(WIN32)
+#    set(ARCH "win32")
+#    set(CPACK_GENERATOR ZIP NSIS)
+#endif()
+#set(CPACK_OUTPUT_FILE_PREFIX ${PROJECT_SOURCE_DIR}/dist)
+#set(CPACK_PACKAGE_CONTACT ${MAINTAINER})
+#if(VENDOR)
+#    set(CPACK_PACKAGE_VENDOR ${VENDOR})
+#    string(TOLOWER ${CPACK_PACKAGE_VENDOR} FLAVOR)
+#endif()
+#set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_BINARY_DIR}/LICENSE.txt")
+#set(CPACK_RESOURCE_FILE_README "${CMAKE_BINARY_DIR}/README.txt")
+##set(CPACK_RESOURCE_FILE_WELCOME "${CMAKE_SOURCE_DIR}/WELCOME.txt")
+#set(CPACK_PACKAGE_VERSION ${VERSION})
+## Debian based specific
+#set(CPACK_DEBIAN_PACKAGE_DEPENDS "libode1 (>=0.11), vartypes (>=0.7.0)")
+#if(FLAVOR)
+#    set(CPACK_PACKAGE_FILE_NAME "${CMAKE_PROJECT_NAME_LOWER}_${CPACK_PACKAGE_VERSION}-${FLAVOR}_${ARCH}")
+#else()
+#    set(CPACK_PACKAGE_FILE_NAME "${CMAKE_PROJECT_NAME_LOWER}_${CPACK_PACKAGE_VERSION}_${ARCH}")
+#endif()
+#include(CPack)
 
 
diff --git a/config/ibis.ini b/config/ibis.ini
@@ -0,0 +1,35 @@
+[Geometery]
+CenterFromKicker= 0.073
+Radius = 0.089
+Height = 0.090
+RobotBottomZValue = 0.02
+KickerZValue = 0.005
+KickerThickness = 0.005
+KickerWidth = 0.08
+KickerHeight = 0.04
+WheelRadius = 0.027
+WheelThickness = 0.005
+Wheel1Angle = 60
+Wheel2Angle = 135
+Wheel3Angle = 225
+Wheel4Angle = 300
+[Physics]
+Bodymass = 2
+Wheelmass = 0.2
+Kickermass =0.02
+KickerDampFactor = 0.2
+RollerTorqueFactor = 0.06
+RollerPerpendicularTorqueFactor = 0.005
+KickerFriction = 0.8
+WheelTangentFriction = 0.8
+WheelPerpendicularFriction = 0.05
+WheelMotorMaximumApplyingTorque= 0.2
+
+MaxLinearKickSpeed=10
+MaxChipKickSpeed=10
+AccSpeedupAbsoluteMax=4
+AccSpeedupAngularMax=50
+AccBrakeAbsoluteMax=4
+AccBrakeAngularMax=50
+VelAbsoluteMax=5
+VelAngularMax=20