Merge pull request #34 from robocup-logistics/thofmann/randomize-field-from-shell

Randomize playing field from shell

Author: morxa

src/games/rcll/game.clp

@@ -9,26 +9,6 @@
 ;  Licensed under BSD license, cf. LICENSE file
 ;---------------------------------------------------------------------------
 
-(deffunction game-reset ()
-
-  ; Retract machine initialization state, if set
-  (do-for-fact ((?mi machines-initialized)) TRUE
-    (retract ?mi)
-  )
-
-  ; retract all delivery periods
-  ;(printout t "Retracting delivery periods" crlf)
-  (delayed-do-for-all-facts ((?dp delivery-period)) TRUE
-    (retract ?dp)
-  )
-
-  ; reset all down periods
-  ;(printout t "Resetting down periods" crlf) 
-  (delayed-do-for-all-facts ((?m machine)) TRUE
-    (modify ?m (down-period (deftemplate-slot-default-value machine down-period)))
-  )
-)
-
 (deffunction game-calc-phase-points (?team-color ?phase)
   (bind ?phase-points 0)
   (do-for-all-facts ((?p points)) (and (eq ?p:phase ?phase) (eq ?p:team ?team-color))
@@ -46,33 +26,6 @@
   (return ?points)
 )
 
-(defrule game-reset
-  (game-reset) ; this is a fact
-  =>
-  (game-reset) ; this is a function
-)
-
-(defrule game-reset-re-parameterize
-  (game-reset)
-  ?gf <- (game-parameterized)
-  =>
-  (retract ?gf)
-)
-
-(defrule game-reset-print
-  (game-reset)
-  ?gf <- (game-printed)
-  =>
-  (retract ?gf)
-)
-  
-(defrule game-reset-done
-  (declare (salience -10000))
-  ?gf <- (game-reset)
-  =>
-  (retract ?gf)
-)
-
 (defrule game-mps-solver-start
   "start the solver"
   (gamestate (game-time ?gt))
@@ -401,3 +354,42 @@
   (retract ?w)
   (game-summary)
 )
+
+(deffunction game-reset ()
+	; Retract machine initialization state, if set
+	(do-for-fact ((?mi machines-initialized)) TRUE
+		(retract ?mi)
+	)
+	; Retract all delivery periods
+	(delayed-do-for-all-facts ((?dp delivery-period)) TRUE
+		(retract ?dp)
+	)
+	; Reset all down periods
+	(delayed-do-for-all-facts ((?m machine)) TRUE
+		(modify ?m (down-period (deftemplate-slot-default-value machine down-period)))
+	)
+	; Reset game parameterization
+	(do-for-fact ((?gp game-parameterized)) TRUE
+		(retract ?gp)
+	)
+	; Reset machine generation
+	(do-for-fact ((?mg machine-generation)) TRUE
+		(modify ?mg (state NOT-STARTED))
+	)
+	; Print machines again
+	(do-for-fact ((?mp machines-printed)) TRUE
+		(retract ?mp)
+	)
+	; Print game info again
+	(do-for-fact ((?gp game-printed)) TRUE
+		(retract ?gp)
+	)
+)
+
+(defrule game-reset
+	"Allow calling the function via fact to avoid file loading order issues"
+	?gr <- (game-reset)
+	=>
+	(retract ?gr)
+	(game-reset)
+)

src/games/rcll/machines.clp

@@ -182,13 +182,6 @@
   (assert (machines-initialized))
 )
 
-(defrule machines-reset-print
-  (game-reset)
-  ?mf <- (machines-printed)
-  =>
-  (retract ?mf)
-)
-
 (defrule machines-print
   (machines-initialized)
   (gamestate (teams $?teams) (phase PRODUCTION|EXPLORATION))

src/games/rcll/mongodb.clp

@@ -281,11 +281,13 @@
 )
 
 (defrule mongodb-load-machine-zones
-  (declare (salience ?*PRIORITY_FIRST*))
-  (gamestate (phase SETUP|EXPLORATION|PRODUCTION) (prev-phase PRE_GAME))
-  (not (game-parameterized))
-  (test (any-factp ((?m machine)) (eq ?m:zone TBD)))
+	(declare (salience ?*PRIORITY_FIRST*))
+	(gamestate (phase SETUP|EXPLORATION|PRODUCTION) (prev-phase PRE_GAME))
+	(not (confval (path "/llsfrb/game/random-field") (type BOOL) (value true)))
+	; load only once
+	(not (loaded-machine-zones-from-db))
 	=>
-  (printout t "load from mongo" crlf)
+	(printout t "Loading machine positions from database" crlf)
+	(assert (loaded-machine-zones-from-db))
 	(mongodb-load-machine-zones)
 )

src/games/rcll/net.clp

@@ -263,6 +263,19 @@
     then (delayed-do-for-all-facts ((?r robot)) TRUE (retract ?r)))
 )
 
+(defrule net-recv-RandomizeField
+	?sf <- (gamestate (phase PRE_GAME|SETUP))
+	?mf <- (protobuf-msg (type "llsf_msgs.RandomizeField") (ptr ?p) (rcvd-via STREAM))
+	=>
+	(retract ?mf)
+	(assert (game-reset))
+	(delayed-do-for-all-facts ((?m machine)) TRUE
+	  (modify ?m (zone TBD))
+	)
+)
+
+
+
 (deffunction net-create-GameState (?gs)
   (bind ?gamestate (pb-create "llsf_msgs.GameState"))
   (bind ?gamestate-time (pb-field-value ?gamestate "game_time"))

src/libs/mps_placing_clips/mps_placing_clips.cpp

@@ -117,6 +117,10 @@ MPSPlacingGenerator::generator_thread()
 void
 MPSPlacingGenerator::generate_start()
 {
+  if (generator_thread_) {
+    generator_thread_->join();
+    generator_thread_.reset();
+  }
   is_generation_running_ = true;
   is_field_generated_ = false;
 

src/msgs/GameState.proto

@@ -101,3 +101,10 @@ message SetGamePhase {
   // The new desired phase
   required GameState.Phase phase = 1;
 }
+
+message RandomizeField {
+  enum CompType {
+    COMP_ID  = 2000;
+    MSG_TYPE = 23;
+  }
+}

src/shell/menus.cpp

@@ -172,78 +172,6 @@ GenericItemsMenu::max_cols(int n_items, NCursesMenuItem **items)
 }
 
 
-MachinePlacingMenu::MachinePlacingMenu(NCursesWindow *parent,
-				       std::string machine, std::string puck,
-				       bool can_be_placed_under_rfid, bool can_be_loaded_with)
-  : Menu(det_lines(can_be_placed_under_rfid, can_be_loaded_with), 30,
-	 (parent->lines() - 5)/2, (parent->cols() - 30)/2)
-{
-  valid_selected_ = false;
-  place_under_rfid_ = false;
-  s_under_rfid_ = "Place " + puck.substr(0,2) + " under RFID of " + machine;
-  s_loaded_with_ = "Load " + machine + " with " + puck.substr(0,2);
-  s_cancel_ = "** CANCEL **";
-  NCursesMenuItem **mitems = new NCursesMenuItem*[4];
-
-  int idx = 0;
-
-  if (can_be_placed_under_rfid) {
-    SignalItem *item = new SignalItem(s_under_rfid_);
-    item->signal().connect(boost::bind(&MachinePlacingMenu::item_selected, this, true));
-    mitems[idx++] = item;
-  }
-
-  if (can_be_loaded_with) {
-    SignalItem *item = new SignalItem(s_loaded_with_);
-    item->signal().connect(boost::bind(&MachinePlacingMenu::item_selected, this, false));
-    mitems[idx++] = item;
-  }
-  mitems[idx++] = new SignalItem(s_cancel_);
-  mitems[idx++] = new NCursesMenuItem();
-    
-
-  set_mark("");
-  set_format(idx-1, 1);
-  InitMenu(mitems, true, true);
-  frame("Placing");
-}
-
-int
-MachinePlacingMenu::det_lines(bool can_be_placed_under_rfid, bool can_be_loaded_with)
-{
-  int rv = 3;
-  if (can_be_placed_under_rfid) rv += 1;
-  if (can_be_loaded_with) rv += 1;
-  return rv;
-}
-
-void
-MachinePlacingMenu::item_selected(bool under_rfid)
-{
-  valid_selected_ = true;
-  place_under_rfid_ = under_rfid;
-}
-
-bool
-MachinePlacingMenu::place_under_rfid()
-{
-  return place_under_rfid_;
-}
-
-void
-MachinePlacingMenu::On_Menu_Init()
-{
-  bkgd(' '|COLOR_PAIR(COLOR_DEFAULT));
-  //subWindow().bkgd(parent_->getbkgd());
-  refresh();
-}
-
-MachinePlacingMenu::operator bool() const
-{
-  return valid_selected_;
-}
-
-
 TeamSelectMenu::TeamSelectMenu(NCursesWindow *parent,
 			       llsf_msgs::Team team,
 			       std::shared_ptr<llsf_msgs::GameInfo> gameinfo,
@@ -396,6 +324,78 @@ TeamColorSelectMenu::det_lines()
   return team_enum_desc->value_count();
 }
 
+GameMenu::GameMenu(NCursesWindow *parent)
+: Menu(det_lines(), det_cols(), (parent->lines() - det_lines()) / 2, (parent->cols() - det_cols()) / 2),
+  menu_selected_(false)
+{
+	NCursesMenuItem **mitems         = new NCursesMenuItem *[3];
+	SignalItem *      randomize_item = new SignalItem(s_randomize_);
+	SignalItem *      cancel_item    = new SignalItem(s_cancel_);
+	randomize_item->signal().connect([this]() {
+		next_menu_     = randomize;
+		menu_selected_ = true;
+	});
+	int idx       = 0;
+	mitems[idx++] = randomize_item;
+	mitems[idx++] = cancel_item;
+	mitems[idx++] = new NCursesMenuItem();
+	set_mark("");
+	set_format(idx, 1);
+	InitMenu(mitems, true, true);
+}
+
+void
+GameMenu::On_Menu_Init()
+{
+  bkgd(' ' | COLOR_PAIR(COLOR_DEFAULT));
+  box();
+  attron(' ' | COLOR_PAIR(COLOR_BLACK_ON_BACK) | A_BOLD);
+  addstr(0, (width() - 6) / 2, " GAME ");
+  attroff(A_BOLD);
+  refresh();
+}
+
+GameMenu::SubMenu
+GameMenu::get_next_menu() const
+{
+  return next_menu_;
+}
+
+GameMenu::operator bool() const
+{
+  return menu_selected_;
+}
+
+
+RandomizeFieldMenu::RandomizeFieldMenu(NCursesWindow *parent)
+: Menu(det_lines(), det_cols(), (parent->lines() - det_lines()) / 2, (parent->cols() - det_cols()) / 2),
+  confirmed_(false)
+{
+	NCursesMenuItem **mitems   = new NCursesMenuItem *[3];
+	SignalItem *      yes_item = new SignalItem(s_yes_);
+	yes_item->signal().connect([this]() { confirmed_ = true; });
+	SignalItem *no_item = new SignalItem(s_no_);
+	no_item->signal().connect([this]() { confirmed_ = false; });
+	int idy       = 0;
+	mitems[idy++] = yes_item;
+	mitems[idy++] = no_item;
+  mitems[idy++] = new NCursesMenuItem();
+	set_mark("");
+	set_format(1, idy - 1);
+	InitMenu(mitems, true, true);
+}
+
+void
+RandomizeFieldMenu::On_Menu_Init()
+{
+  bkgd(' ' | COLOR_PAIR(COLOR_DEFAULT));
+  box();
+  attron(' ' | COLOR_PAIR(COLOR_BLACK_ON_BACK) | A_BOLD);
+  addstr(0, (width() - 18) / 2, " Randomize Field? ");
+  attroff(A_BOLD);
+  refresh();
+}
+
 
 RobotMaintenanceMenu::RobotMaintenanceMenu(NCursesWindow *parent, llsf_msgs::Team team,
 					   std::shared_ptr<llsf_msgs::RobotInfo> rinfo)