Add referee display layer

src/proto/visualization.proto

@@ -41,6 +41,11 @@ message AttackerVisualization
     optional Point chip_target = 4;
 }
 
+message BallPlacementVisualization
+{
+    Point ball_placement_point = 1;
+}
+
 message CostVisualization
 {
     uint32 num_rows      = 1;

src/shared/constants.h

@@ -79,6 +79,14 @@ static const double BALL_MAX_RADIUS_METERS = 0.0215;
 // cover more than 20% of the ball
 static const double MAX_FRACTION_OF_BALL_COVERED_BY_ROBOT = 0.2;
 
+// The radius of a circle region where ball placement is acceptable (in meters).
+constexpr double BALL_PLACEMENT_TOLERANCE_RADIUS_METERS = 0.15;
+// The radius of the outer region where robots are not allowed to be during ball
+// placement (in meters)
+constexpr double BALL_PLACEMENT_ROBOT_AVOID_RADIUS_METERS = 0.5;
+// The time limit for ball placement in seconds
+constexpr int BALL_PLACEMENT_TIME_LIMIT_S = 30;
+
 // The mass of a standard golf ball, as defined by https://en.wikipedia.org/wiki/Golf_ball
 constexpr double BALL_MASS_KG = 0.004593;
 // The max allowed speed of the robot when the stop command is issued, in meters per

src/software/ai/hl/stp/play/ball_placement/ball_placement_play.cpp

@@ -1,5 +1,6 @@
 #include "software/ai/hl/stp/play/ball_placement/ball_placement_play.h"
 
+#include "proto/message_translation/tbots_geometry.h"
 #include "software/util/generic_factory/generic_factory.h"
 
 
@@ -17,7 +18,19 @@ void BallPlacementPlay::getNextTactics(TacticCoroutine::push_type &yield,
 
 void BallPlacementPlay::updateTactics(const PlayUpdate &play_update)
 {
-    fsm.process_event(BallPlacementPlayFSM::Update(control_params, play_update));
+    auto event = BallPlacementPlayFSM::Update(control_params, play_update);
+    fsm.process_event(event);
+
+    std::optional<Point> placement_point =
+        event.common.world_ptr->gameState().getBallPlacementPoint();
+    if (placement_point.has_value())
+    {
+        TbotsProto::BallPlacementVisualization ball_placement_vis_msg;
+        *(ball_placement_vis_msg.mutable_ball_placement_point()) =
+            *createPointProto(placement_point.value());
+
+        LOG(VISUALIZE) << ball_placement_vis_msg;
+    }
 }
 
 std::vector<std::string> BallPlacementPlay::getState()

src/software/py_constants.cpp

@@ -17,6 +17,11 @@ PYBIND11_MODULE(py_constants, m)
     m.attr("BALL_MAX_RADIUS_METERS")        = BALL_MAX_RADIUS_METERS;
     m.attr("BALL_MAX_RADIUS_MILLIMETERS") =
         BALL_MAX_RADIUS_METERS * MILLIMETERS_PER_METER;
+    m.attr("BALL_PLACEMENT_TOLERANCE_RADIUS_METERS") =
+        BALL_PLACEMENT_TOLERANCE_RADIUS_METERS;
+    m.attr("BALL_PLACEMENT_ROBOT_AVOID_RADIUS_METERS") =
+        BALL_PLACEMENT_ROBOT_AVOID_RADIUS_METERS;
+    m.attr("BALL_PLACEMENT_TIME_LIMIT_S") = BALL_PLACEMENT_TIME_LIMIT_S;
 
     m.attr("MAX_FRACTION_OF_BALL_COVERED_BY_ROBOT") =
         MAX_FRACTION_OF_BALL_COVERED_BY_ROBOT;

src/software/thunderscope/BUILD

@@ -89,6 +89,7 @@ py_library(
         "//software/thunderscope/gl/layers:gl_obstacle_layer",
         "//software/thunderscope/gl/layers:gl_passing_layer",
         "//software/thunderscope/gl/layers:gl_path_layer",
+        "//software/thunderscope/gl/layers:gl_referee_info_layer",
         "//software/thunderscope/gl/layers:gl_sandbox_world_layer",
         "//software/thunderscope/gl/layers:gl_simulator_layer",
         "//software/thunderscope/gl/layers:gl_tactic_layer",

src/software/thunderscope/binary_context_managers/full_system.py

@@ -184,6 +184,7 @@ def setup_proto_unix_io(self, proto_unix_io: ProtoUnixIO) -> None:
             PlayInfo,
             ObstacleList,
             DebugShapes,
+            BallPlacementVisualization,
         ]:
             proto_unix_io.attach_unix_receiver(
                 runtime_dir=self.full_system_runtime_dir,

src/software/thunderscope/constants.py

@@ -173,6 +173,8 @@ class EstopMode(IntEnum):
     """
 )
 
+THUNDERSCOPE_UI_FONT_NAME = "Roboto"
+
 
 def is_field_message_empty(field: Field) -> bool:
     """Checks if a field message is empty
@@ -265,6 +267,7 @@ class Colors:
     ROBOT_MIDDLE_BLUE = QtGui.QColor(0, 0, 255, 255)
     PINK = QtGui.QColor(255, 0, 255)
     GREEN = QtGui.QColor(0, 255, 0)
+    RED = QtGui.QColor(255, 0, 0, 255)
 
     # Creates a default vision pattern lookup with the actual colors used on the robots
     VISION_PATTERN_LOOKUP = create_vision_pattern_lookup(PINK, GREEN)

src/software/thunderscope/gl/graphics/BUILD

@@ -106,3 +106,12 @@ py_library(
         ":gl_shape",
     ],
 )
+
+py_library(
+    name = "gl_label",
+    srcs = ["gl_label.py"],
+    deps = [
+        requirement("pyqtgraph"),
+        ":gl_shape",
+    ],
+)

src/software/thunderscope/gl/graphics/gl_gradient_legend.py

@@ -4,7 +4,7 @@
 from typing import Optional
 
 from software.thunderscope.gl.graphics.gl_painter import GLPainter
-from software.thunderscope.constants import Colors
+from software.thunderscope.constants import Colors, THUNDERSCOPE_UI_FONT_NAME
 
 
 class GLGradientLegend(GLPainter):
@@ -47,8 +47,10 @@ def __init__(
         self.title = title
 
         self.text_pen = QtGui.QPen(Colors.PRIMARY_TEXT_COLOR)
-        self.labels_font = QtGui.QFont("Roboto", 8)
-        self.title_font = QtGui.QFont("Roboto", 9, QtGui.QFont.Weight.Bold)
+        self.labels_font = QtGui.QFont(THUNDERSCOPE_UI_FONT_NAME, 8)
+        self.title_font = QtGui.QFont(
+            THUNDERSCOPE_UI_FONT_NAME, 9, QtGui.QFont.Weight.Bold
+        )
 
         self.add_draw_function(self.draw_gradient_legend)
 

src/software/thunderscope/gl/graphics/gl_label.py

@@ -0,0 +1,77 @@
+from PyQt6.QtGui import QFont, QColor
+from pyqtgraph.opengl.GLGraphicsItem import GLGraphicsItem
+from pyqtgraph.Qt import QtCore, QtGui
+
+from typing import Optional
+
+from software.thunderscope.gl.graphics.gl_painter import GLPainter
+from software.thunderscope.constants import Colors, THUNDERSCOPE_UI_FONT_NAME
+
+
+class GLLabel(GLPainter):
+    """Displays a 2D text label on the viewport"""
+
+    def __init__(
+        self,
+        parent_item: Optional[GLGraphicsItem] = None,
+        font: QFont = QFont(THUNDERSCOPE_UI_FONT_NAME, 8),
+        text_color: QColor = Colors.PRIMARY_TEXT_COLOR,
+        offset: tuple[int, int] = (0, 0),
+        text: str = "",
+    ) -> None:
+        """Initialize the GLLabel
+
+        :param parent_item: The parent item of the graphic
+        :param font: The font using to render the text
+        :param text_color: The color for rendering the text.
+        :param offset: The offset (x, y) from the viewport left and top edge
+                       to use when positioning the label.
+                       If x is negative then the x offset is |x| pixels from
+                       the viewport right edge.
+                       If y is negative then the y offset is |y| pixels from
+                       the viewport bottom edge.
+        :param text: The optional title to display above the legend
+        """
+        super().__init__(parent_item=parent_item)
+
+        self.text_pen = QtGui.QPen(text_color)
+        self.font = font
+        self.offset = offset
+        self.text = text
+
+        self.add_draw_function(self.draw_label)
+
+    def draw_label(self, painter: QtGui.QPainter, viewport_rect: QtCore.QRect) -> None:
+        """Draw the label
+        :param painter: The QPainter to perform drawing operations with
+        :param viewport_rect: The QRect indicating the viewport dimensions
+        """
+        # calculate width and height of the label
+        painter.setFont(self.font)
+        bounds = painter.boundingRect(
+            QtCore.QRectF(0, 0, 0, 0),
+            QtCore.Qt.AlignmentFlag.AlignLeft | QtCore.Qt.AlignmentFlag.AlignVCenter,
+            str(self.text),
+        )
+
+        width = round(bounds.width())
+        height = round(bounds.height())
+
+        # Determine x and y coordinates of the label
+        if self.offset[0] < 0:
+            x = viewport_rect.right() + self.offset[0] - width
+        else:
+            x = viewport_rect.left() + self.offset[0]
+        if self.offset[1] < 0:
+            y = viewport_rect.bottom() + self.offset[1] - height
+        else:
+            y = viewport_rect.top() + self.offset[1]
+
+        if self.text:
+            painter.drawText(QtCore.QPoint(x, y), self.text)
+
+    def set_text(self, new_text: str) -> None:
+        """Update the text being displayed
+        :param new_text: new text being displayed
+        """
+        self.text = new_text

src/software/thunderscope/gl/layers/BUILD

@@ -156,3 +156,13 @@ py_library(
         requirement("pyqtgraph"),
     ],
 )
+
+py_library(
+    name = "gl_referee_info_layer",
+    srcs = ["gl_referee_info_layer.py"],
+    deps = [
+        ":gl_layer",
+        "//software/thunderscope/gl/graphics:gl_label",
+        requirement("pyqtgraph"),
+    ],
+)

src/software/thunderscope/gl/layers/gl_attacker_layer.py

@@ -6,7 +6,11 @@
 
 from proto.visualization_pb2 import AttackerVisualization
 
-from software.thunderscope.constants import Colors, DepthValues
+from software.thunderscope.constants import (
+    Colors,
+    DepthValues,
+    THUNDERSCOPE_UI_FONT_NAME,
+)
 from software.thunderscope.thread_safe_buffer import ThreadSafeBuffer
 from software.thunderscope.gl.layers.gl_layer import GLLayer
 from software.thunderscope.gl.graphics.gl_circle import GLCircle
@@ -97,7 +101,8 @@ def refresh_graphics(self) -> None:
             self.shot_open_angle_graphics.resize(
                 1,
                 lambda: GLTextItem(
-                    font=QtGui.QFont("Roboto", 8), color=Colors.SHOT_VISUALIZATION_COLOR
+                    font=QtGui.QFont(THUNDERSCOPE_UI_FONT_NAME, 8),
+                    color=Colors.SHOT_VISUALIZATION_COLOR,
                 ),
             )
 

src/software/thunderscope/gl/layers/gl_debug_shapes_layer.py

@@ -6,7 +6,11 @@
 
 from proto.visualization_pb2 import DebugShapes
 
-from software.thunderscope.constants import Colors, DepthValues
+from software.thunderscope.constants import (
+    Colors,
+    DepthValues,
+    THUNDERSCOPE_UI_FONT_NAME,
+)
 from software.thunderscope.thread_safe_buffer import ThreadSafeBuffer
 from software.thunderscope.gl.layers.gl_layer import GLLayer
 from software.thunderscope.gl.graphics.gl_circle import GLCircle
@@ -89,7 +93,8 @@ def refresh_graphics(self) -> None:
         self.poly_shape_name_graphics.resize(
             len(poly_named_shapes),
             lambda: GLTextItem(
-                font=QtGui.QFont("Roboto", 8), color=Colors.DEBUG_SHAPES_COLOR
+                font=QtGui.QFont(THUNDERSCOPE_UI_FONT_NAME, 8),
+                color=Colors.DEBUG_SHAPES_COLOR,
             ),
         )
 
@@ -100,7 +105,8 @@ def refresh_graphics(self) -> None:
         self.circle_shape_name_graphics.resize(
             len(circle_named_shapes),
             lambda: GLTextItem(
-                font=QtGui.QFont("Roboto", 8), color=Colors.DEBUG_SHAPES_COLOR
+                font=QtGui.QFont(THUNDERSCOPE_UI_FONT_NAME, 8),
+                color=Colors.DEBUG_SHAPES_COLOR,
             ),
         )
 
@@ -111,7 +117,8 @@ def refresh_graphics(self) -> None:
         self.stadium_shape_name_graphics.resize(
             len(stadium_named_shapes),
             lambda: GLTextItem(
-                font=QtGui.QFont("Roboto", 8), color=Colors.DEBUG_SHAPES_COLOR
+                font=QtGui.QFont(THUNDERSCOPE_UI_FONT_NAME, 8),
+                color=Colors.DEBUG_SHAPES_COLOR,
             ),
         )
 

src/software/thunderscope/gl/layers/gl_measure_layer.py

@@ -5,7 +5,11 @@
 import numpy as np
 
 from software.py_constants import *
-from software.thunderscope.constants import Colors, DepthValues
+from software.thunderscope.constants import (
+    Colors,
+    DepthValues,
+    THUNDERSCOPE_UI_FONT_NAME,
+)
 
 from software.thunderscope.gl.layers.gl_layer import GLLayer
 from software.thunderscope.gl.graphics.gl_sphere import GLSphere
@@ -80,7 +84,7 @@ def mouse_in_scene_pressed(self, event: MouseInSceneEvent) -> None:
 
             self.measurement_text_graphics.append(
                 GLTextItem(
-                    font=QtGui.QFont("Roboto", 8),
+                    font=QtGui.QFont(THUNDERSCOPE_UI_FONT_NAME, 8),
                     color=Colors.PRIMARY_TEXT_COLOR,
                     text=f"{distance:.2f} m",
                     pos=np.array([midpoint.x(), midpoint.y(), 0]),
@@ -111,7 +115,7 @@ def mouse_in_scene_pressed(self, event: MouseInSceneEvent) -> None:
 
             self.measurement_text_graphics.append(
                 GLTextItem(
-                    font=QtGui.QFont("Roboto", 8),
+                    font=QtGui.QFont(THUNDERSCOPE_UI_FONT_NAME, 8),
                     color=Colors.PRIMARY_TEXT_COLOR,
                     text=f"{angle:.1f}°",
                     pos=np.array([placement_point.x(), placement_point.y(), 0]),
@@ -142,7 +146,7 @@ def refresh_graphics(self) -> None:
         if not self.cursor_coords_graphic:
             self.cursor_coords_graphic = GLTextItem(
                 parentItem=self,
-                font=QtGui.QFont("Roboto", 10),
+                font=QtGui.QFont(THUNDERSCOPE_UI_FONT_NAME, 10),
                 color=Colors.PRIMARY_TEXT_COLOR,
             )