Proto commits in UBC-Thunderbots/Software

These commits are when the Protocol Buffers files have changed: (only the last 100 relevant commits are shown)

2026-06-10

Implement dribbler control in Powerloop (#3732) * setup dribbler interface * add cppcrc * protobuf changes for fault messaging * gpio resources * stspin motor controller implementation * motor.h and cpp edits * remove gpio libraries * spi utils * thunderloop * make enum * adjust tests * trinamics * [pre-commit.ci lite] apply automatic fixes * embedded BUILD file * fix ansible BUILD * docs and motor_index * various fixes * [pre-commit.ci lite] apply automatic fixes * setup dribbler interface * route dribbler commands from motorservice * dribble ramping * fix compilation * address comments * merge conflict * re-add constants * ramping adjustments * link comments to issues * [pre-commit.ci lite] apply automatic fixes * build fixes * [pre-commit.ci lite] apply automatic fixes * tests and compilation * [pre-commit.ci lite] apply automatic fixes * set pin * [pre-commit.ci lite] apply automatic fixes * bugfix * [pre-commit.ci lite] apply automatic fixes * Revert changes * Refactor Motor/PowerService to take DirectControlPrimitive in poll method + handle dribbler control in PowerService * Add docs and cleanup * Move speed ramping code to Dribbler class * working flashes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: williamckha <williamha@outlook.com> Co-authored-by: Andrew Mao <andrewyxmao@gmail.com>

The documentation is generated from this commit.

2026-05-29

Stspin Motor driver integration (#3734) * add cppcrc * protobuf changes for fault messaging * gpio resources * stspin motor controller implementation * motor.h and cpp edits * remove gpio libraries * spi utils * thunderloop * make enum * adjust tests * trinamics * [pre-commit.ci lite] apply automatic fixes * embedded BUILD file * fix ansible BUILD * docs and motor_index * various fixes * [pre-commit.ci lite] apply automatic fixes * address comments * merge conflict * re-add constants * [pre-commit.ci lite] apply automatic fixes * link comments to issues * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

2026-05-18

Update robot_status_msg.proto

Refactor motor service and implement STSPIN motor controller

2026-05-03

Add control input

2026-04-24

Remove redundant orientation fields from Primitive proto

2026-04-19

Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into high-level-mp # Conflicts: # src/shared/constants.h # src/software/embedded/BUILD # src/software/embedded/primitive_executor.cpp # src/software/embedded/primitive_executor.h # src/software/embedded/thunderloop.h # src/software/field_tests/movement_robot_field_test.py

2026-04-14

Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into motor_firmware_integration # Conflicts: # src/software/embedded/primitive_executor.cpp # src/software/embedded/primitive_executor.h # src/software/embedded/services/robot_auto_test.cpp # src/software/embedded/thunderloop.h # src/software/field_tests/movement_robot_field_test.py # src/software/world/robot.cpp # src/software/world/robot.h

2026-04-07

merge master

2026-03-30

refactored protobuf to simplify

Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into sauravbanna/test_pass_data_collection

2026-03-16

Added ability to control pulse width for kick and chip commands in RobotDiagnostics (#3440) Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: StarrryNight <lausingsamuel@gmail.com> Co-authored-by: Thunderbots <ubcrobocup@gmail.com>

Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into motor_firmware_integration # Conflicts: # docs/useful-robot-commands.md # src/software/embedded/BUILD # src/software/embedded/ansible/BUILD # src/software/embedded/services/BUILD # src/software/embedded/services/motor.h # src/software/embedded/services/robot_auto_test.cpp # src/software/embedded/thunderloop.cpp # src/software/field_tests/movement_robot_field_test.py

2026-03-14

I THINK THE MERGE WORKED

2026-03-12

[pre-commit.ci lite] apply automatic fixes

2026-03-11

Remove ChipTactic and KickTactic messages Removed ChipTactic and KickTactic messages from tactic.proto. Added reserved fields for identifiers 2 and 7.

2026-03-10

fix proto issues:

change old protos to reserved

update potos

2026-03-08

Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into sauravbanna/test_pass_data_collection

2026-03-01

idk if this works

2026-02-22

Deprecate Jetson Nanos (#3619) * Remove jetson nano build from github ci * Remove NANO platform * Remove JetsonStatus message * Remove ansible playbook for setting up jetson nano * Update comments and logs from jetson nano to pi * Add back platform param for tbots.py * Delete host_platform from docs * Remove platform param from tbots.py * Remove embedded:platform everywhere * Remove stuff related to platforms * Remove mentions of jetson from docs * Remove host_platform param from github ci * Rename k8_jetson_nano_cross_compile to k8_aarch64_linux * Remove mention of jetson nano in docs * Add build file for cross compiler

2026-02-21

Merge branch 'master' into control_pulse_width

2026-02-12

format

use protos instead

2026-01-26

fixed bugs + goal shot detection logic + reduced noise

2026-01-25

added posession tracking + enemy shots taken count

added new vis proto for goalie stats

2026-01-09

Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into ball_placement # Conflicts: # src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm.cpp # src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm.h # src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm_test.cpp # src/software/ai/hl/stp/tactic/dribble/dribble_tactic.cpp

2025-11-15

Merge branch 'master' of github.com:UBC-Thunderbots/Software into high-level-mp

2025-10-24

Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into motor_firmware_integration # Conflicts: # src/WORKSPACE # src/shared/2021_robot_constants.cpp # src/software/embedded/services/motor.cpp # src/software/embedded/services/robot_auto_test.cpp

2025-09-16

Andrewyx/Upgrade Bazel 8 (#3459) * init * partial migration * new bazel upgrade * partial convert * libs * workaround on eigen * changes * deduplicate proto lib * instanity * chaos * WIP: fix protobuf headers * diffs * working * logging change * use eigen from bcr * estop fixed * caching working + offline usage * minor cleanup * toolchain protoc * g3log repo rules * changes * use bazelisk * cleanup * use bazelisk & cleanup * refactored * rework gen * removed * building * protos compile * Add grpcio-tools to requirements * almost working * building * pathing issues * hacky * fix g3log * fix cross compile on aarch64 * revise util.sh * fix nanopb pb.h * [may revert] fix powerloop tar package * rename generated nanopb files to .nanopb.c and .nanopb.h * got nanopb to work * fix aarch64 absolute path issue * fix ci * cleanup comments * deps fix * remove sensor_msg from src * fixes protolibs * missing deps * debug removed * missing deps * missing deps * deps fixes * linking fixes * updated crc * proto fixes * hermit fixes * fix uart test case failure * fixes * [pre-commit.ci lite] apply automatic fixes * fix nanopb constraints * generalize nanopb options * [pre-commit.ci lite] apply automatic fixes * remove hacky copts * [pre-commit.ci lite] apply automatic fixes * rework buildifier * integrate new buildifier to ci * [pre-commit.ci lite] apply automatic fixes * fixes and changed platformio build upstream * working on robot * address comments * pass ci * [pre-commit.ci lite] apply automatic fixes * Add nanopb requirements to compile_pip_requirements.sh * cleanup * removed trinamic hacks * working on robot, tar broken * [pre-commit.ci lite] apply automatic fixes * tar fixes * partial fix to warnings --------- Co-authored-by: Minghao Li <mli131@student.ubc.ca> Co-authored-by: williamckha <williamha@outlook.com> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Thunderbots <ubcrobocup@gmail.com>

2025-08-14

Merge remote-tracking branch 'upstream/master' into motor_firmware_integration

Merge remote-tracking branch 'origin/high-level-mp' into high-level-mp

Merge branch 'master' of github.com:UBC-Thunderbots/Software into high-level-mp

[pre-commit.ci lite] apply automatic fixes

Addressed more comments

2025-07-19

Shadow Defense Base (#3450)

2025-07-16

Merge branch 'master' of github.com:UBC-Thunderbots/Software into high-level-mp

2025-07-12

addressed comments + build errors

2025-06-14

3304: Limit number of crease defenders (#3456)

2025-05-31

Merge branch 'master' of github.com:UBC-Thunderbots/Software into high-level-mp

2025-05-17

Implement checkDriverFault in StSpinMotorController

2025-05-16

Draw Virtual Obstacles (#3406) * added feature to draw virtual obstacles * fixed a refactor * removed debugging comments * [pre-commit.ci lite] apply automatic fixes * following conventions after reading on a few pr * [pre-commit.ci lite] apply automatic fixes * fixed tests? * fixed minor bugs * [pre-commit.ci lite] apply automatic fixes * made some changes * [pre-commit.ci lite] apply automatic fixes * should work * [pre-commit.ci lite] apply automatic fixes * fixed typo * made some simple changes * made some changes to the logic * remove unnecessary import * [pre-commit.ci lite] apply automatic fixes * kind of implemented double click * better double click and now handles single click * added more docs * removed commentsq * added menu * fixed sizing * basically done, need to do cleanup * [pre-commit.ci lite] apply automatic fixes * updated documentation * moved stuff into different file * made some changes * final clean up I hope * [pre-commit.ci lite] apply automatic fixes * Update src/software/thunderscope/constants.py Co-authored-by: itsarune <42703774+itsarune@users.noreply.github.com> * Update src/software/thunderscope/constants.py Co-authored-by: itsarune <42703774+itsarune@users.noreply.github.com> * made some small changes * removed a todo * [pre-commit.ci lite] apply automatic fixes * fixed build? * remove all toolbar related code * update docs * Formatting * [pre-commit.ci lite] apply automatic fixes * Update src/software/world/world.h Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com> * hopefully this fixed it? * Refactored GLDrawPolygonObstacleLayer and fixed GLPolygon not rendering outline correctly * [pre-commit.ci lite] apply automatic fixes * Fix small nitpicks * [pre-commit.ci lite] apply automatic fixes * address comments --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: itsarune <42703774+itsarune@users.noreply.github.com> Co-authored-by: williamckha <williamha@outlook.com> Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com>

2025-03-27

Use tracked dribble displacement from World in DribbleFSM (#3441) * Use tracked dribble displacement from World in DribbleFSM * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

2025-03-14

RTT measurements are now reported per-robot (#3422) * wip * add the rest of the changes * Removed my personal comments (weren't necessary) * added files * applied andrew's changes * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

2025-03-01

Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into ball_placement

Merged!

2025-02-27

Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into control_pulse_width

Type change in chicker_widget.py and updated errors and handling in message translation

2025-02-23

Add bookmark system & Integrate toast message into thunderscope (#3418) * add stubs and new proto * investigate missing logs * add listener to bookmark * work? * refactor proto_player.py * finish refactoring for proto_player.py * refactor bookmark visual * display bookmark visual * fix time stamp calculation * fix bookmark visual * update documentations * use kwargs as argument list * optimize bookmark button * [pre-commit.ci lite] apply automatic fixes * add documentation * add shortcut doc * add toast msg dependency * [pre-commit.ci lite] apply automatic fixes * build toast helper and apply * [pre-commit.ci lite] apply automatic fixes * upgrade pyqt6-qt * fix index test * add _ms suffix * adjust offset * add None as return type * remove magic number * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

2025-02-22

RobotStatus should indicate when Thunderloop was last flashed for each robot (#3399) * Add Thunderloop version (computed by MD5 hash) and date of flashing to Robot Status messages * [pre-commit.ci lite] apply automatic fixes * Fix typo Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com> * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com>

2025-02-14

Add referee display layer (#3337) * Add new layer * Update format * [pre-commit.ci lite] apply automatic fixes * Fix typo Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com> * Add ball placement vis? * Migrate ball placement * Add ball placement visuals * [pre-commit.ci lite] apply automatic fixes * Refactor code * Fix refactor * [pre-commit.ci lite] apply automatic fixes * Rename methods * [pre-commit.ci lite] apply automatic fixes * replace auto with optional * [pre-commit.ci lite] apply automatic fixes * partially introduce constexpr * use cpp library calls * [pre-commit.ci lite] apply automatic fixes * nit * replace all font name with constant * [pre-commit.ci lite] apply automatic fixes * update flag logic * update flag logic * remove font name instance * fix * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com>

2025-02-01

Unicast and other networking improvements (#3417) * project vimrc for FZF * filter out .swp files * udp listener refactoring in-progress * in-progress: add latency_tester module * latency scripts compile * formatting * Revert "Logger now creates a log directory if doesn't exist (#3143)" This reverts commit 0e8bf7e153b4f309b0b842764338952ffc18178e. * cleanup test script * wip * add tracy symbols * working on ansibleing * init * wip * wip * mayhaps it works * wip * wip * wip * wip * debugging * should clean this up * wip * various thunderscope improvements * add some unit tests * wip * wip * wip * wip * wip & cleanup * wip * cleanup * revert unintentional change * [pre-commit.ci lite] apply automatic fixes * bug fix and update getting_started guide * [pre-commit.ci lite] apply automatic fixes * formatting + fix CI * [pre-commit.ci lite] apply automatic fixes * address PR comments * [pre-commit.ci lite] apply automatic fixes * [pre-commit.ci lite] apply automatic fixes * update getting started * further improve docs * doc cleanup * simplify getting_started more * remove unnecessary socket closing * cleanup edge case handling of robot_communication binding * [pre-commit.ci lite] apply automatic fixes * cleanup edge cases * formatting * cleanup logic * simplify logic for selecting interface * further simplify selection logic * remove redundant caching * delete duplicated code * [pre-commit.ci lite] apply automatic fixes * address PR comments * update documentation for getLocalIp * [pre-commit.ci lite] apply automatic fixes * add initial delay before starting the test * maybe fix ci * [pre-commit.ci lite] apply automatic fixes * standardize latency testing * add unicast support to benchmarking scripts * [pre-commit.ci lite] apply automatic fixes * wip * fix communication bug * Add documentation, tests and cleanup code in benchmarking_utils * Add documentation and cleanup some code * initial changes for unicast comm support * WIP network service implementation * network service implemented * wip python changes * begin outlines of wifi communication manager * wip * wip refactor RobotCommunication to use new WifiNetworkManager module * wip * wip but Thunderscope doesn't yet run * wip debugged thunderscope and seems to work * working on host mode * Finish up changes * constexpr evaluation in Thunderloop constructor * doc update * Change order of tracy calls * [pre-commit.ci lite] apply automatic fixes * debugging integration problems * seems to work? * wip * wip * wip * formatting yo! * update ansible * getting ready for PR * docs for benchmarking utils * ci + documentation * [pre-commit.ci lite] apply automatic fixes * fix ansible linting * wip not yet done * [pre-commit.ci lite] apply automatic fixes * wip * [pre-commit.ci lite] apply automatic fixes * wip * [pre-commit.ci lite] apply automatic fixes * C++ appears to compile, working through Python * [pre-commit.ci lite] apply automatic fixes * update wifi_communication_manager * some cleanup + stray forgotten type hinting return types * wip * [pre-commit.ci lite] apply automatic fixes * fixing network log listener * [pre-commit.ci lite] apply automatic fixes * wip * [pre-commit.ci lite] apply automatic fixes * network log listener is finally done * wip * fix broken compile and tests * [pre-commit.ci lite] apply automatic fixes * minor nit from field testing --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

2025-01-18

addressed some comments

2025-01-13

Annie/ implementation for enemy goal obstacle check (#3409) * wip * implemented and tested enemy_goal and friendly_goal constraints * implemented and tested enemy_goal and friendly_goal constraints * [pre-commit.ci lite] apply automatic fixes * implemented and tested enemy_goal and friendly_goal constraints * [pre-commit.ci lite] apply automatic fixes * implemented and tested enemy_goal and friendly_goal constraints * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

2025-01-11

Max Dribble Visualization (#3413) * Adds the gl_max_dribble_layer.py file and the BUILD file entry. * fixes some errors introduced in the last commit * Adds the toggle to the widget setup functions. * Adds changes from pr #3246 with regards to updateDribbleDisplacement Adds touching_ball_threshold to sensorfusion protobuf * Starts implementation for dribble layer * Adds dribble displacement field to world, with a getter and setter, from pr #3246 * Adds dribble displacement field to python bindings * CONTINUE THE PIPELINE * Adds framework * bug fixes world.h * Undos the changes to pybindings * Finished. * changes the default setting * Address comments * Fixes mistake * [pre-commit.ci lite] apply automatic fixes * Changes default setting * Adds sigmoid function to protobuffer * [pre-commit.ci lite] apply automatic fixes * fixes some colour scaling bug, and implements the protobuffed sigmoid function * [pre-commit.ci lite] apply automatic fixes * Implements abstract color from gradient function * [pre-commit.ci lite] apply automatic fixes * move the helper function to util.py * Type annotation * [pre-commit.ci lite] apply automatic fixes * Adds line to BUILD file * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

2024-11-16

wip

2024-10-20

Preliminary support for Ubuntu 24 and Ubuntu 24 ARM (#3316) * Update to python 3.10.0 and bazel 5.4.0 * No need to import `typing` for collections as of python 3.9 * Update black formatter to 24.4.2 * Run fix_formatting.sh * Remove PyOpenGL-accelerate dependency * Install latest pip in setup_software.sh * Install latest pip in setup_software.sh * Testing * Testing * Remove testing * Bump pyqtgraph to 0.13.3 * Update setup_software.sh * Try fixing precommit * Try fixing precommit * Try fixing precommit * Replace black/autoflake with ruff * Remove black binary * Remove git attribute * Remove unused check_formatting_ci.sh * Run fix_formatting.sh * Add simulated/field test fixtures to conftest.py * Address #3251 * Python code cleanup and fix Thunderscope * Enable pydocstyle rules in ruff * Add compile pip requirements to pre-commit * Formatting and fix pre-commit * Fix pre-commit * Fix pre-commit * Fix pre-commit and fsm_diagram_generator.py * Update docstrings * Formatting * Fix type errors * Nuke jetson_nano/display :( * Switch to pyqtdarktheme * Bump pytqtgraph to 0.13.7 * If build fails, download autoref from Google Drive mirror * Fix setup_software.sh * If build fails, download autoref from releases in github fork * Remove Qt deps from ER Force Simulator and improve code quality * Remove Qt from bazel and setup_software.sh * Misc code quality changes * Rename formatting_scripts to scripts * Fix docstring * FIx docstring * [pre-commit.ci lite] apply automatic fixes * Add ASCII diagram to robotmesh.cpp * Fix pyqtdarktheme dep missing * Misc changes * Nits * Use python dataclasses, remove unused stuff, nits * [pre-commit.ci lite] apply automatic fixes * Use dataclass * Update setup_software for Ubuntu 24 ARM Start migrating to python3.12 * fixup installation issues * Working on pybind11 compilation * downgrade pybind11 slightly * thunderscope is running, but slowly + autoref problems * play around with newer protobuf version * Fix python protobuf slowness * update ssl protos * resolve some build issues * Seems to compile correctly on x86 Ubuntu 2020 * fix a whole bunch of issues and leave a bunch more * Wip add support for new Tigers Autoref * Remove auto_continue from old gamecontroller proto message * Wip update autoref wrapper with new autoref * [pre-commit.ci lite] apply automatic fixes * Fixup last little niggly issues with game controller and autoref migration * fixing up formatting * migrate to gcc 10 and upgrade boost * improve jetson toolchain * work on nano build * fix jetson nano * fix ensurepip for ubuntu 24 * update linux gcc extlibs paths * not yet compiling, adding arm64 support * update cross compile toolchain names * wip * wip * [pre-commit.ci lite] apply automatic fixes * update setup software for pyqt6 * install nvm * works on William (not William's) computer * update g3log and some docs * update tbots_protobuf_test * [pre-commit.ci lite] apply automatic fixes * update github 24 arm machine * hopefully fix platform io in CI * wip toolchain resolution issue * fixup github builds mayhaps * cleanup PR and fixup tests * address PR comments * cleanup documentation * [pre-commit.ci lite] apply automatic fixes * fixup clang format for ARM builds --------- Co-authored-by: williamckha <williamha@outlook.com> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: arun <arun@zaber.com> Co-authored-by: wmostrenko <wmostrenko@gmail.com>

Implemented basic robot localizer

2024-10-12

Rename all instances of stop tactic to halt tactic (#3339) * Refactor `StopTactic` to `HaltTactic`, refactoring variables where necessary Files still need to be refactored, which will be done in the next commit * Rename `stop_tactic.cpp` and `stop_tactic.h` to `halt_tactic.cpp` and `halt_tactic.h`, renaming variables and strings where necessary Variables and strings renamed for consistency and to allow tests to successfully run * Rename `stop_tactic_test.cpp` to `halt_tactic_test.cpp` * Rename `stop_fsm` and `stop_fsm_test` to `halt_fsm` and `halt_fsm_test`, renaming where necessary * Rename `tactic/stop` folder to `tactic/halt`, renaming addresses where necessary * [pre-commit.ci lite] apply automatic fixes * Small consistency improvements * Small consistency improvements --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

2024-10-08

Final_speed and Target_spins_per_s (#3328) * Final_speed and Target_spins_per_s * [pre-commit.ci lite] apply automatic fixes * Field chancge * Update src/proto/tactic.proto Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com> * Update tactic.proto Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com> * simulated hrvo fix --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com>

2024-09-30

Remove GenevaController message (#3326)

2024-09-25

Remove Qt dependency from ER Force Simulator (#3311) * Update to python 3.10.0 and bazel 5.4.0 * No need to import `typing` for collections as of python 3.9 * Update black formatter to 24.4.2 * Run fix_formatting.sh * Remove PyOpenGL-accelerate dependency * Install latest pip in setup_software.sh * Install latest pip in setup_software.sh * Testing * Testing * Remove testing * Bump pyqtgraph to 0.13.3 * Update setup_software.sh * Try fixing precommit * Try fixing precommit * Try fixing precommit * Replace black/autoflake with ruff * Remove black binary * Remove git attribute * Remove unused check_formatting_ci.sh * Run fix_formatting.sh * Add simulated/field test fixtures to conftest.py * Address #3251 * Python code cleanup and fix Thunderscope * Enable pydocstyle rules in ruff * Add compile pip requirements to pre-commit * Formatting and fix pre-commit * Fix pre-commit * Fix pre-commit * Fix pre-commit and fsm_diagram_generator.py * Update docstrings * Formatting * Fix type errors * Nuke jetson_nano/display :( * Switch to pyqtdarktheme * Bump pytqtgraph to 0.13.7 * If build fails, download autoref from Google Drive mirror * Fix setup_software.sh * If build fails, download autoref from releases in github fork * Remove Qt deps from ER Force Simulator and improve code quality * Remove Qt from bazel and setup_software.sh * Misc code quality changes * Rename formatting_scripts to scripts * Fix docstring * FIx docstring * [pre-commit.ci lite] apply automatic fixes * Add ASCII diagram to robotmesh.cpp * Fix pyqtdarktheme dep missing * Misc changes * Nits * Use python dataclasses, remove unused stuff, nits * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

2024-08-24

Seems to compile correctly on x86 Ubuntu 2020

resolve some build issues

2024-08-20

update ssl protos

2024-08-08

Convert StopTactic into StopSkill

Convert MoveTactic into MoveSkill

2024-08-07

Merge branch 'update_python' into new_gameplay_staging

2024-07-25

[pre-commit.ci lite] apply automatic fixes

Changes from robocup

2024-07-21

Improve defender/supporter balance in OffensePlay (#3285) * Increase defenders when possession is IN_CONTEST & add more controls over supporter/defender balance * Clearer logic --------- Co-authored-by: williamckha <williamha@outlook.com>

Use ShadowEnemyTactic in DefensePlay

2024-07-20

Set abs_min_pass_score to 0

Increase abs_min_pass_score to 0.05

Increase EnemyBallPlacementPlay distance_to_keep_meters

Commanded velocity in robot status (#3277)

2024-07-19

Set `override_game_controller_friendly_goalie_id`/`override_game_controller_enemy_goalie_id` default to false

Make goalie avoid chipping when robots are in front of it

Inflate the half-meter around ball obstacle even more

Inflate half-meter around ball obstacle

2024-07-18

Stop passing to the goalie

Avoid Crease Defender Clumping (#3254) * working * added dynamic param * modified crease defender * adjustments to get around static problem * formatting * comments pt 1 * fixed bug in step_along_perimiter alg * removed unused param in test * reverted goalie change for other reasons * Update src/proto/parameters.proto Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com> * added test * extracted method * [pre-commit.ci lite] apply automatic fixes * fixed CI issue maybe? * oops I wrote the test wrong * Update src/software/geom/polygon.h Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com> --------- Co-authored-by: William Ha <60044853+williamckha@users.noreply.github.com> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Saurav Banna <90598576+sauravbanna@users.noreply.github.com>

2024-07-17

Stop dribbling when angular velocity is below threshold

Max robot angular velocity for pivot kick

Merge #3262 - Max angular velocity

2024-07-16

Merge #3243 - Ball placement improvements

Merge branch 'field_testing_june_4' of https://github.com/mkhlb/Software into new_gameplay_staging

Merge #3235 - Specify network interface in thunderscope

Merge #3246 - New offensive gameplay

Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into new_gameplay_staging

[Gameplay] PassDefenders Should Attempt to Steal Intercepted Balls (#3240) * added steal * tests changed * tests added * small changes * changes * changes * draft changes * small redesign * [pre-commit.ci lite] apply automatic fixes * typo fixed * [pre-commit.ci lite] apply automatic fixes * [pre-commit.ci lite] apply automatic fixes * Update parameters.proto * Update pass_defender_fsm.cpp * [pre-commit.ci lite] apply automatic fixes * addressed nits * [pre-commit.ci lite] apply automatic fixes --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

Improve FreeKickPlay behaviour and convert it to use FSMs (#2953) * testing * testing * test * fix * fixed cost function * formatting * fix * test * test * test * fix tests * formatting + docs * formatting + docs * test * test * added tests for backward passes * uncomment + formatting * docs * fix * added new field tets for passing * fix * fixed tests * fix * fix * fix tests * fix? * fix? * Fix free kick passing * Implement shooting behavior if possible * Move free kick play to new folder * Fix build file * Convert FreeKickPlay to use FSMs * Remove unused imports * wip * wip * Revert changes to free kick test * fix tests * Add docs * Improve commenting * Delete extra newline * Initialize constants in header file * Improve log for free kick passing * Start moving pass receivers earlier * Fix formatting * Add docs * Undo change in pytest * [pre-commit.ci lite] apply automatic fixes * implemented new pass changes * fix * removed unecessary changes * [pre-commit.ci lite] apply automatic fixes * formatting * fix types * fix * testing changes * fix * [pre-commit.ci lite] apply automatic fixes * removed unecessary changes * WIP error with map brace initialization in play.cpp * Visualize shapes in debug layer * Visualize other shapes * todo * fix * Revert "fix" This reverts commit 7b127db59e45057a436e06a0fe0dccdcb1d78db0. * [pre-commit.ci lite] apply automatic fixes * formatting * fix bug * Update to use map and visualize 3 shapes * clean up * formatting * cleanup * fix * bug * Cleanup parameter names * [pre-commit.ci lite] apply automatic fixes * fix tests * [pre-commit.ci lite] apply automatic fixes * merge * fix build * test * fix * fix * address comments * [pre-commit.ci lite] apply automatic fixes * new sampling pass generator * Initial jank working implementation * updated rateZoneSmart based on previous implementation. Should visualize and check * Not sure why there's no pass cost viz * fixing stuff * fix bug * Fix bug * tune some constants, update viz, and formatting * updated recv rating and added some code. * spread out receivers * freeze layers if sim paused * Update debug shapes to include unique ID * wip * fix heatmap visualization * cleanup and additional fixed * Update some parameter constants + fix calculateInterceptRisk * Merge prev changes * Update calculateInterceptRisk and ratePassShootScore * fix typo * changes * Keepaway doesn't look away unless in risk, receiver positions are spread out better, * add simulation speed control * Fix abort pass constants which improves one touch kick chance. Update pass visualization colors if comitted * Update variable sim speed to use qmenu * add ReceiverTacticConfig * Receivers position themselves based on pass destination for passes in flight * Remove unnecessary check in AttackerFSM::shouldKick * Update freekick play * Use Pass::fromDestReceiveSpeed * refactor keepaway cost functions and visualize them * Don't refresh layers if sim is paused * Added createAttackerVisualization proto. Need to update tscope to visualize it * Add gl_attacker_layer.py * Formatting * Add shortcut for changing sim speed * Add attacker tactic visualizations, thunderscope sim speed control, update debug shapes layer * Add function docs * update calculateInterceptRisk and add constants to parameters.proto * Reorder parameters for passing for visualization and add new params for sampling_pass_generator.cpp * address comments + fix tests * fix * fix * Delete CornerKickPlay * Use dynamic params, fix formatting * Build with optimization flags by default and don't run under GDB by default * Remove -o comment * Support ignoring robots to pass to and Remove BasePassGenerator * Add score for open angle for ratePassShootScore * clean up ratePassShootScore and add constants to parameters.proto * Add passing config to most cost functions and cleanup. KeepAwayTest is failing * Fix calculateProximityRisk * Fix merge * Move more constants to parameters.proto Add documentation to receiver_position_generator.hpp * Fix tests in cost_function_test.cpp and remove TODOs. Visualize additional cost functions * Add tests for newly added cost functions * fix shoot_or_pass_play_fsm_test.cpp * add size check to shoot_or_pass_play_fsm.cpp * update attacker_tactic_keep_away_test.cpp to ignore checks * remove extra passing_sim_test.py due to bad merge * Fix formatting * Move debug pass visualizations to parameters.proto * WIP receiver_position_generator_test.cpp * Fix formatting * Fix build file * Replace sampling_pass_generator with gradient_descent_pass_generator * Added ratePassNotTooClose and formatting * Update gradient_descent_pass_generator to store prev best passes per robot * some cleanup * todo * Make sampling circle dynamic * some cleanup * formatting * cleanup receiver_position_generator * address some of the comments * Remove old pass gen code * Add tests for new pass gen * remove extra cost functions * update ShootOrPassPlayFSM::passFound to stop the passes from being aborted early * Remove old TODOs * Revert Thunderscope changes * Some more cleanup * Add enemy_interception_time_multiplier * wip fixes * formatting * fix shoot or pass fsm test * Addressing PR comments * Add tests for receiver_position_generator * Fix tests * cleanup * Re-enable old tests * Use normalizeValueToRange * address some comments * add TODO for ball model * Remove dup comment * Reserve play 5 to not break logs * Add crease defenders, experiment with chip passing * Chip towards enemy goal center * Shoot ball at max speed * fix bug in pytest sequenced eventual validations * Cleanup passing_sim_test.py and few small bug fixes * [pre-commit.ci lite] apply automatic fixes * disable shoot_or_pass_play_test.cpp again * wip. should update get behind ball polygon and check speed * Update behind ball polygon and update kick/chip fsm * wip using defense play * working impl of using defense play * formatting and update some logic * additional cleanup * remove extra ; * remove -0.5 kick speed * Add some basic validations for friendly freekick * remove extra logs * update shouldRealignWithBall * use kick_origin instead of ball position * Fix tests * formatting * remove dup test from bad merge * Address comments * move constant * update where we align to, and update test validation * [pre-commit.ci lite] apply automatic fixes * address comment * update --------- Co-authored-by: sauravbanna <sauravbanna@gmail.com> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: nima <nimazareian80@gmail.com>

2024-07-15

Merge branch 'raymond/fix_free_kick' of https://github.com/raymond212/Software into new_gameplay_staging

Merge upstream

Merge #2953 - Fix Freekick

pull master

2024-07-14

Nits

2024-07-10

Run formatting