Skip to content

feat(referee): integrate referee state and sentry commands into decision #17

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
gqsdjhh wants to merge 3 commits into from
Closed

feat(referee): integrate referee state and sentry commands into decision #17

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
38691ae
feat(referee): integrate referee state and sentry commands into decision
gqsdjhh May 7, 2026
556e561
fix(referee): guard command update with io mutex
gqsdjhh May 7, 2026
b8e70f6
fix(blackboard): correct dart hit count field spelling
gqsdjhh May 7, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
194 changes: 187 additions & 7 deletions src/cxx/component.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
#include <string>
#if defined(__clang__)
# pragma clang diagnostic ignored "-Wdeprecated-declarations"
#elif defined(__GNUC__)
Expand All @@ -7,7 +8,9 @@
#include "cxx/context.hh"
#include "cxx/util/navigation/navigation.hh"
#include "cxx/util/node_mixin.hh"

#include <algorithm>
#include <chrono>
#include <cstdint>
#include <filesystem>

#include <Eigen/Geometry>
Expand Down Expand Up @@ -52,6 +55,12 @@ class Navigation
OutputInterface<ChassisMode> chassis_behavior;
OutputInterface<Eigen::Vector2d> chassis_speed;
OutputInterface<Eigen::Vector2d> gimbal_speed;
OutputInterface<bool> sentry_decision_enabled;
OutputInterface<std::uint16_t> sentry_bullet_exchange_value;
OutputInterface<std::uint8_t> requested_mode;
OutputInterface<bool> sentry_confirm_revive;
std::chrono::steady_clock::time_point sentry_decision_clear_at =
std::chrono::steady_clock::time_point::min();

auto init(Navigation& component) -> void {
component.register_output("/rmcs_navigation/enable_control", enable_control, false);
Expand All @@ -62,6 +71,71 @@ class Navigation
"/rmcs_navigation/chassis_velocity", chassis_speed, Eigen::Vector2d::Zero());
component.register_output(
"/rmcs_navigation/gimbal_velocity", gimbal_speed, Eigen::Vector2d::Zero());
component.register_output(
"/referee/sentry/decision/enabled", sentry_decision_enabled, false);
component.register_output(
"/referee/sentry/decision/bullet_exchange_value", sentry_bullet_exchange_value,
std::uint16_t{0});
component.register_output(
"/referee/sentry/decision/mode", requested_mode, std::uint8_t{0});
component.register_output(
"/referee/sentry/decision/confirm_revive", sentry_confirm_revive, false);
}

auto exchange_17mm_bullet(int amount) -> void {
constexpr int max_bullet_exchange_value = 0x07ff;
amount = std::clamp(amount, 0, max_bullet_exchange_value);

if (amount == 0) {
clear_sentry_decision();
return;
}

reset_all_decisions();
*sentry_bullet_exchange_value = static_cast<std::uint16_t>(amount);
activate_decision();
}

auto switch_mode(int mode) -> void {
if (mode < 1 || mode > 3)
return;

reset_all_decisions();
*requested_mode = static_cast<std::uint8_t>(mode);
activate_decision();
}

auto confirm_revive() -> void {
reset_all_decisions();
*sentry_confirm_revive = true;
activate_decision();
}

auto update() -> void {
if (sentry_decision_clear_at == std::chrono::steady_clock::time_point::min())
return;

if (std::chrono::steady_clock::now() >= sentry_decision_clear_at)
clear_sentry_decision();
}
Comment thread
coderabbitai[bot] marked this conversation as resolved.

private:
auto reset_all_decisions() -> void {
*sentry_bullet_exchange_value = std::uint16_t{0};
*requested_mode = std::uint8_t{0};
*sentry_confirm_revive = false;
}

auto activate_decision() -> void {
*sentry_decision_enabled = true;
sentry_decision_clear_at =
std::chrono::steady_clock::now() + std::chrono::milliseconds{800};
}

auto clear_sentry_decision() -> void {
*sentry_decision_enabled = false;
reset_all_decisions();
sentry_decision_clear_at = std::chrono::steady_clock::time_point::min();
}
} command;

Expand Down Expand Up @@ -108,6 +182,15 @@ class Navigation
api.set_function("update_chassis_vel", [this](double x, double y) {
*command.chassis_speed = Eigen::Vector2d{x, y};
});
api.set_function("exchange_17mm_bullet", [this](int amount) {
command.exchange_17mm_bullet(amount);
});
api.set_function("switch_mode", [this](int mode) {
command.switch_mode(mode);
});
api.set_function("confirm_revive", [this]()-> void {
command.confirm_revive();
});
}

auto make_option_injection() {
Expand Down Expand Up @@ -156,20 +239,112 @@ class Navigation
auto lua_sync() {
const auto [x, y, yaw] = navigation.check_position();

auto read_context =
[]<typename T>(const details::Context::InputInterface<T>& input, T fallback) -> T {
if (input.ready())
return *input;

return fallback;
};

auto user = lua_blackboard["user"].get<sol::table>();
user["health"] = *context.robot_health;
user["bullet"] = *context.robot_bullet;
user["chassis_power_limit"] = *context.chassis_power_limit_referee;
user["health"] = read_context(context.robot_health, std::uint16_t{0});
user["bullet"] = read_context(context.robot_bullet, std::uint16_t{0});
user["chassis_power_limit"] = read_context(context.chassis_power_limit_referee, 0.0);
user["x"] = x;
user["y"] = y;
user["yaw"] = yaw;
user["chassis_power"] = read_context(context.chassis_power_referee, 0.0);
user["chassis_buffer_energy"] = read_context(context.chassis_buffer_energy_referee, 0.0);
user["chassis_output_status"] = read_context(context.chassis_output_status, false);
user["shooter_cooling"] = read_context(context.robot_shooter_cooling, std::int64_t{0});
user["shooter_heat_limit"] =
read_context(context.robot_shooter_heat_limit, std::int64_t{0});
user["bullet_42mm"] = read_context(context.robot_42mm_bullet, std::uint16_t{0});
user["fortress_17mm_bullet"] =
read_context(context.robot_fortress_17mm_bullet, std::uint16_t{0});
user["initial_speed"] = read_context(context.robot_initial_speed, 0.0F);
user["shoot_timestamp"] = read_context(context.robot_shoot_timestamp, 0.0);

auto game = lua_blackboard["game"].get<sol::table>();
game["stage"] = rmcs_msgs::to_string(*context.game_stage);
game["stage"] =
rmcs_msgs::to_string(read_context(context.game_stage, rmcs_msgs::GameStage::UNKNOWN));
game["sync_timestamp"] = read_context(context.sync_timestamp, std::uint64_t{0});
game["outpost_health"] = read_context(context.ally_outpost_hp, std::uint16_t{0});
game["base_health"] = read_context(context.ally_base_hp, std::uint16_t{0});
game["hero_health"] = read_context(context.ally_hero_hp, std::uint16_t{0});
game["infantry_1_health"] = read_context(context.ally_infantry_1_hp, std::uint16_t{0});
game["infantry_2_health"] = read_context(context.ally_infantry_2_hp, std::uint16_t{0});
game["engineer_health"] = read_context(context.ally_engineer_hp, std::uint16_t{0});
game["remaining_time"] = read_context(context.stage_remain_time, std::uint16_t{0});
game["gold_coin"] = read_context(context.remaining_gold_coin, std::uint16_t{0});
game["exchangeable_ammunition_quantity"] =
read_context(context.sentry_exchangeable_bullet, std::uint16_t{0});
const auto our_dart_number_of_hits = static_cast<int>(
read_context(context.dart_latest_hit_target_total_count, std::uint8_t{0}));
game["our_dart_number_of_hits"] = our_dart_number_of_hits;
game["fortress_occupied"] =
read_context(context.ally_fortress_occupation_status, std::uint8_t{0}) != 0;
game["big_energy_mechanism_activated"] =
read_context(context.ally_big_energy_activation_status, std::uint8_t{0}) != 0;
game["small_energy_mechanism_activated"] =
read_context(context.ally_small_energy_activation_status, std::uint8_t{0}) != 0;
game["red_score"] = read_context(context.red_score, std::uint32_t{0});
game["blue_score"] = read_context(context.blue_score, std::uint32_t{0});

auto set_position = [](sol::table position, double x, double y) {
position["x"] = x;
position["y"] = y;
};
set_position(
game["hero_position"].get<sol::table>(),
read_context(context.ally_hero_position_x, 0.0),
read_context(context.ally_hero_position_y, 0.0));
set_position(
game["infantry_1_position"].get<sol::table>(),
read_context(context.ally_infantry_1_position_x, 0.0),
read_context(context.ally_infantry_1_position_y, 0.0));
set_position(
game["infantry_2_position"].get<sol::table>(),
read_context(context.ally_infantry_2_position_x, 0.0),
read_context(context.ally_infantry_2_position_y, 0.0));
set_position(
game["engineer_position"].get<sol::table>(),
read_context(context.ally_engineer_position_x, 0.0),
read_context(context.ally_engineer_position_y, 0.0));

game["robot_id"] = static_cast<int>(
read_context(context.robot_id, rmcs_msgs::RobotId{rmcs_msgs::RobotId::UNKNOWN}));
game["can_confirm_free_revive"] =
read_context(context.sentry_can_confirm_free_revive, false);
game["can_exchange_instant_revive"] =
read_context(context.sentry_can_exchange_instant_revive, false);
game["instant_revive_cost"] =
read_context(context.sentry_instant_revive_cost, std::uint16_t{0});
game["exchanged_bullet"] =
read_context(context.sentry_exchanged_bullet, std::uint16_t{0});
game["remote_bullet_exchange_count"] =
read_context(context.sentry_remote_bullet_exchange_count, std::uint8_t{0});
game["sentry_mode"] = read_context(context.sentry_mode, std::uint8_t{0});
game["energy_mechanism_activatable"] =
read_context(context.sentry_energy_mechanism_activatable, false);

auto play = lua_blackboard["play"].get<sol::table>();
play["rswitch"] = rmcs_msgs::to_string(*context.switch_right);
play["lswitch"] = rmcs_msgs::to_string(*context.switch_left);
play["rswitch"] =
rmcs_msgs::to_string(read_context(context.switch_right, rmcs_msgs::Switch::UNKNOWN));
play["lswitch"] =
rmcs_msgs::to_string(read_context(context.switch_left, rmcs_msgs::Switch::UNKNOWN));
auto map_command = lua_blackboard["map_command"].get<sol::table>();
map_command["x"] = read_context(context.map_command_event_x, 0.0);
map_command["y"] = read_context(context.map_command_event_y, 0.0);
map_command["keyboard"] =
static_cast<int>(read_context(context.map_command_event_keyboard, std::uint8_t{0}));
map_command["target_robot_id"] = static_cast<int>(
read_context(context.map_command_event_target_robot_id, std::uint8_t{0}));
map_command["source"] =
static_cast<int>(read_context(context.map_command_event_source, std::uint16_t{0}));
map_command["sequence"] =
read_context(context.map_command_event_sequence, std::uint64_t{0});

auto meta = lua_blackboard["meta"].get<sol::table>();
meta["timestamp"] = this->now().seconds();
Expand Down Expand Up @@ -266,6 +441,11 @@ class Navigation
}

auto update() -> void override {
{
auto lock = std::scoped_lock{io_mutex};
command.update();
}

if (lua_tick_count++ == 100) {
lua_tick_count = 0;
auto lock = std::scoped_lock{io_mutex};
Expand Down
81 changes: 81 additions & 0 deletions src/cxx/context.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -85,13 +85,94 @@ struct Context::Impl {

auto init(std::mutex& io_mutex, bool mock) {
make_input("/referee/chassis/power_limit", context.chassis_power_limit_referee, mock);
make_input("/referee/chassis/power", context.chassis_power_referee, mock);
make_input("/referee/chassis/buffer_energy", context.chassis_buffer_energy_referee, mock);
make_input("/referee/chassis/output_status", context.chassis_output_status, mock);

make_input("/referee/id", context.robot_id, mock);
make_input("/remote/switch/right", context.switch_right, mock);
make_input("/remote/switch/left", context.switch_left, mock);
make_input("/referee/game/stage", context.game_stage, mock);
make_input("/referee/game/stage_remain_time", context.stage_remain_time, mock);
make_input("/referee/game/sync_timestamp", context.sync_timestamp, mock);
make_input(
"/referee/event/ally_big_energy_activation_status",
context.ally_big_energy_activation_status, mock);
make_input(
"/referee/event/ally_small_energy_activation_status",
context.ally_small_energy_activation_status, mock);
make_input(
"/referee/event/ally_fortress_occupation_status",
context.ally_fortress_occupation_status, mock);
make_input(
"/referee/dart/latest_hit_target_total_count",
context.dart_latest_hit_target_total_count, mock);
make_input("/referee/current_hp", context.robot_health, mock);
make_input("/referee/shooter/bullet_allowance", context.robot_bullet, mock);
make_input("/referee/shooter/cooling", context.robot_shooter_cooling, mock);
make_input("/referee/shooter/heat_limit", context.robot_shooter_heat_limit, mock);
make_input("/referee/shooter/42mm_bullet_allowance", context.robot_42mm_bullet, mock);
make_input(
"/referee/shooter/fortress_17mm_bullet_allowance",
context.robot_fortress_17mm_bullet, mock);
make_input("/referee/remaining_gold_coin", context.remaining_gold_coin, mock);
make_input("/referee/shooter/initial_speed", context.robot_initial_speed, mock);
make_input("/referee/shooter/shoot_timestamp", context.robot_shoot_timestamp, mock);
make_input(
"/referee/map_command/event/target_position_x", context.map_command_event_x, mock);
make_input(
"/referee/map_command/event/target_position_y", context.map_command_event_y, mock);
make_input(
"/referee/map_command/event/keyboard", context.map_command_event_keyboard, mock);
make_input(
"/referee/map_command/event/target_robot_id",
context.map_command_event_target_robot_id, mock);
make_input("/referee/map_command/event/source", context.map_command_event_source, mock);
make_input(
"/referee/map_command/event/sequence", context.map_command_event_sequence, mock);

make_input("/referee/ally/hero_hp", context.ally_hero_hp, mock);
make_input("/referee/ally/engineer_hp", context.ally_engineer_hp, mock);
make_input("/referee/ally/infantry_1_hp", context.ally_infantry_1_hp, mock);
make_input("/referee/ally/infantry_2_hp", context.ally_infantry_2_hp, mock);
make_input("/referee/ally/outpost/hp", context.ally_outpost_hp, mock);
make_input("/referee/ally/base/hp", context.ally_base_hp, mock);
make_input("/referee/ally/hero_position_x", context.ally_hero_position_x, mock);
make_input("/referee/ally/hero_position_y", context.ally_hero_position_y, mock);
make_input("/referee/ally/engineer_position_x", context.ally_engineer_position_x, mock);
make_input("/referee/ally/engineer_position_y", context.ally_engineer_position_y, mock);
make_input(
"/referee/ally/infantry_1_position_x", context.ally_infantry_1_position_x, mock);
make_input(
"/referee/ally/infantry_1_position_y", context.ally_infantry_1_position_y, mock);
make_input(
"/referee/ally/infantry_2_position_x", context.ally_infantry_2_position_x, mock);
make_input(
"/referee/ally/infantry_2_position_y", context.ally_infantry_2_position_y, mock);

make_input(
"/referee/sentry/can_confirm_free_revive",
context.sentry_can_confirm_free_revive, mock);
make_input(
"/referee/sentry/can_exchange_instant_revive",
context.sentry_can_exchange_instant_revive, mock);
make_input(
"/referee/sentry/instant_revive_cost", context.sentry_instant_revive_cost, mock);
make_input(
"/referee/sentry/exchanged_bullet_allowance",
context.sentry_exchanged_bullet, mock);
make_input(
"/referee/sentry/remote_bullet_exchange_count",
context.sentry_remote_bullet_exchange_count, mock);
make_input(
"/referee/sentry/exchangeable_bullet_allowance",
context.sentry_exchangeable_bullet, mock);
make_input("/referee/sentry/mode", context.sentry_mode, mock);
make_input(
"/referee/sentry/energy_mechanism_activatable",
context.sentry_energy_mechanism_activatable, mock);
make_input("/referee/game/red_score", context.red_score, mock);
make_input("/referee/game/blue_score", context.blue_score, mock);

if (mock) {
constexpr auto topic = "/rmcs_navigation/context/mock";
Expand Down
Loading