Proto commits in UBC-Thunderbots/Software

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

2026-09-12

Add opt-in per wheel acceleration limits to the ER-Force simulator Ports upstream's per wheel acceleration limit (upstream 3ad65ad6, 7388a292), which bounds how fast each wheel of a simulated robot may accelerate instead of bounding the acceleration of the robot as a whole. Upstream hardcodes their own wheel geometry and specifies the limits per wheel rotation. Ours instead takes the coupling matrix from EuclideanToWheel, so the limit reflects our drivetrain, and specifies the limits in m/s^2 at the wheel, matching motor_max_acceleration_m_per_s_2 in our robot constants. This is off by default, both in the ErForceSimulator constructor and behind --enable_wheel_acceleration_limits on er_force_simulator_main, and it composes with our existing wheel ramping rather than replacing it: ramping limits the commands we send, this limits the robot inside the physics simulation. It is off by default for a reason worth knowing before turning it on: the limit applies to whatever the simulator's internal velocity controller asks for, and that asks for far more acceleration than any robot can deliver, so the limit ends up starving whichever of translation and rotation demands less of the wheels. A robot told to drive and spin at the same time therefore barely spins. Also records in the extlib README which upstream commit this fork is synced with, and what was deliberately left unported, so the next sync is a diff away.

Simulate the corner blocks and goal line boundary of the SSL field Ports the field collider changes upstream made for the newer SSL field layouts (upstream 74afb1f4, d496e5ff, 48245210, c002db2f, db1fddb0): - triangular blocks that smooth out the corners of the field, which real fields have had since 2023. Both of our field configs now declare them, so a ball rolled into a corner is deflected instead of coming to rest in the corner - boundary_width_goal_line, for fields whose boundary behind the goal lines is wider than the one along the touch lines. It falls back to boundary_width, so our fields keep the walls exactly where they are, and the side walls of the goals now extend back to the wall - a mode for playing without any boundary area at all, where the goals stand outside the field lines and the wall behind the goal line is split around them The three new geometry fields are added to the simulator's world.proto and to our SSL_GeometryFieldSize, using the field numbers of the official SSL Vision protocol so that we stay compatible with real vision. Field keeps its single boundary_buffer_size for now; a non uniform boundary there belongs with adopting the 2026 field dimensions. Note that this also shifts the goals by half a line width, which is what upstream's code does (their comment says the opposite).

Add ER-Force simulator realism options from upstream Ports the realism options that upstream added to their simulator since we forked it. All of them default to off, so the simulator behaves exactly as before unless they are configured. - missing_robot_detections (upstream 0f49e671), and missing ball detections are now rolled per camera instead of for all cameras at once (upstream 6bb0bdce), which is what the real vision does - command_delay (upstream 89158739). Our fork applies robot control commands immediately rather than from a queue, so delayed commands are held in a per team queue and applied, with their radio responses, once the delay passed - robot_rotation_error (upstream b6c119de), which makes a robot drift instead of driving perfectly straight - rotated_robot_detections_start/stop (upstream 2a94f56b), which reports a robot a second time with its pattern misread as the one rotated by 90 degrees The robot detection code in getWrapperPackets moves into createRobotDetection along the way, mirroring upstream. Realism settings that live on the robots themselves are applied through applyRobotRealism, so that robots created after the configuration arrives (by setTeam, moveRobot or resetFlipped) get them too; upstream only applies them to robots that already exist. createRealisticRealismConfig is synced with upstream's Realistic.txt, keeping our perfect dribbler, and no longer sets missing_ball_detections twice.

2026-09-10

Refactor ImuService to write ImuStatus into RobotStatus (#3932) Change ImuService::poll() to write an ImuStatus message into the robot status instead of returning an ImuData struct, and add the ImuStatus proto message.

The documentation is generated from this commit.

Thunderloop Refactor: Refactor PrimitiveExecutor and RobotLocalizer (#3931) * Refactor PrimitiveExecutor and RobotLocalizer - PrimitiveExecutor takes robot_id and writes RobotStatus directly. - RobotLocalizer takes explicit time and exposes getRobotState(). - Move localization and primitive stepping into the loop, removing updateLocalization(), stepActivePrimitive(), and assembleRobotStatus(). - Rename the primitive tracking and executor timing fields. - Clean up ErForceSimulator. * Comment out sendLinearMotionToPlotJuggler debug call * Address review comments

2026-09-08

Refactor ImuService to write ImuStatus into RobotStatus Change ImuService::poll() to write an ImuStatus message into the robot status instead of returning an ImuData struct, and add the ImuStatus proto message.

2026-09-07

Combine chip_tactic and kick_tactic (#3624) * finish initial migration * update to use AutoChipOrKick Enum instead * finish migrating to shoot or chip and kickofffriendly pplay runs * finish migration to freekick play and penalty tactic * [pre-commit.ci lite] apply automatic fixes * fix bugs in penalty kick fsm test * add tests for kick or chip fsm * idk if this works * Adjust kick target calculation in kickoff play * Update AutoChipOrKick calculation for kickoff play * Delete \ * clean up stray files * Remove kick tactic and chip tactic * Remove ChipTactic and KickTactic messages Removed ChipTactic and KickTactic messages from tactic.proto. Added reserved fields for identifiers 2 and 7. * changed passing sim test and passing field test * [pre-commit.ci lite] apply automatic fixes * [pre-commit.ci lite] apply automatic fixes * fix merge residuals * fix passing sim test * combine tests and convert to pytest * add variable obstacle avoidance mode * fix kick or chip actions in constructor * fix typo * [pre-commit.ci lite] apply automatic fixes * fix merge issues --------- Co-authored-by: Thunderbots <ubcrobocup@gmail.com> Co-authored-by: StarrryNight <lausingsamuel@gmail,com> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

Refactor PrimitiveExecutor and RobotLocalizer - PrimitiveExecutor takes robot_id and writes RobotStatus directly. - RobotLocalizer takes explicit time and exposes getRobotState(). - Move localization and primitive stepping into the loop, removing updateLocalization(), stepActivePrimitive(), and assembleRobotStatus(). - Rename the primitive tracking and executor timing fields. - Clean up ErForceSimulator.

2026-09-06

Refactor ImuService to write ImuStatus into RobotStatus Change ImuService::poll() to write an ImuStatus message into the robot status instead of returning an ImuData struct, and add the ImuStatus proto message.

Refactor PrimitiveExecutor and RobotLocalizer - PrimitiveExecutor takes robot_id and writes RobotStatus directly. - RobotLocalizer takes explicit time and exposes getRobotState(). - Move localization and primitive stepping into the loop, removing updateLocalization(), stepActivePrimitive(), and assembleRobotStatus(). - Rename the primitive tracking and executor timing fields. - Clean up ErForceSimulator.

Refactor Thunderloop loop, PrimitiveExecutor, and RobotLocalizer - Rewrite the main loop with std::chrono, moving status assembly (localization, error codes, chicker/dribbler status) into the services. - Refactor PrimitiveExecutor to take robot_id and write RobotStatus directly. - Refactor RobotLocalizer to take explicit time and expose getRobotState(). - Refactor ImuService to write ImuStatus into RobotStatus. - Add ImuStatus/AngularAcceleration protos and rename the primitive executor timing field. - Clean up ErForceSimulator and remove ScopedTimespecTimer and the battery test.

Refactor NetworkService and add PrimitiveTracker - Introduce PrimitiveTracker to track primitive packet loss and round-trip time, replacing ProtoTracker. - Move primitive receive logic (including the stop-on-timeout safety) and the rate-limiting of robot status / IP notification sends into NetworkService. - Replace NetworkService's constructor parameters with a NetworkConfig struct. - Move the network connectivity wait into NetworkService. - Rename last_handled_primitive_set to last_handled_primitive_seq_num.

2026-09-05

deprecate TMC motor controller (#3889) * deprecate * change docs and fix BUILD files * [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: Thunderbots <ubcrobocup@gmail.com>

2026-09-03

merge master

2026-08-26

Allow Sim to have Zero Robots (#3832) * remove check that prevents 0 robots * format * get latest timestamp directly from vision capture instead of robots, in the case of 0 robots * format * fix issue with tests when empy worldstate proto received. added wrapper around robotstates to differentiate between empty vs unset robots * remove prints + add docs + format * fix test * fix other test * fix build

2026-08-19

merge master

2026-06-30

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

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>

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

2026-03-27

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

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