Merge pull request #141 from robocup-junior/update-webots

Update webots to R2023b

.pre-commit-config.yml

@@ -2,19 +2,19 @@ default_language_version:
   python: python3.8
 repos:
   - repo: https://github.com/pycqa/isort
-    rev: 5.10.1
+    rev: 5.12.0
     hooks:
       - id: isort
         entry: bash -c 'isort --check-only .'
         stages: [commit]
   - repo: https://github.com/ambv/black
-    rev: 21.11b1
+    rev: 23.9.1
     hooks:
       - id: black
         entry: bash -c 'black --check .'
         stages: [commit]
   - repo: https://gitlab.com/pycqa/flake8
-    rev: 4.0.1
+    rev: 6.1.0
     hooks:
       - id: flake8
         entry: bash -c 'python3 -m flake8 .'

CHANGELOG.md

@@ -2,6 +2,12 @@
 
 ## Unreleased
 
+* Features
+  * **BREAKING** Change the message format sent between Emitter and Receiver
+  * Update Webots from R2022a to R2023b
+* Other
+  * Update development requirements
+
 ## v2.1
 
 * Features

README.md

@@ -3,24 +3,24 @@
 This is the official repository of the RoboCupJunior Soccer Simulator. The
 simulator is based on [Webots](https://github.com/cyberbotics/webots) and this
 repository provides both the "automatic referee" (which implements the [Soccer
-Simulated Rules](https://github.com/RoboCupJuniorTC/soccer-rules-simulation))
+Simulated Rules](https://github.com/robocup-junior/soccer-rules-simulation))
 as well as a sample simulated team of robots with some basic strategy.
 
 ![Soccer Sim](./docs/docs/images/soccer_sim.png)
 
-*Learn more in the [documentation](https://robocupjuniortc.github.io/rcj-soccersim/).*
+*Learn more in the [documentation](https://robocup-junior.github.io/rcj-soccersim/).*
 
 # How do I try this out?
 
 ## Installation
 
 1. Install Python 3.7 (or higher) 64 bit from the [official website](https://www.python.org/downloads/) (please make sure it is version 3.7 or higher for Windows, and 3.8 or higher if installing on MacOS or Linux). On Windows, please make sure your Python is referenced in Windows PATH by selecting the option "Add Python 3.x to PATH" during the installation. Check out this great [installation guide](https://realpython.com/installing-python/) if you need some help!
 
-2. Download [Webots](https://www.cyberbotics.com/#download) from their official website. Currently, version R2022a is stable with the Soccer Simulator. You can find detailed installation procedure on the official [Webots Installation guide](https://cyberbotics.com/doc/guide/installation-procedure).
+2. Download [Webots](https://www.cyberbotics.com/#download) from their official website. Currently, version R2023b is stable with the Soccer Simulator. You can find detailed installation procedure on the official [Webots Installation guide](https://cyberbotics.com/doc/guide/installation-procedure).
 
-3. Clone the rcj-soccersim repository to your computer by downloading the ZIP file from [here](https://github.com/RoboCupJuniorTC/rcj-soccersim/archive/master.zip) or running
+3. Clone the rcj-soccersim repository to your computer by downloading the ZIP file from [here](https://github.com/robocup-junior/rcj-soccersim/archive/master.zip) or running
 
-        git clone https://github.com/RoboCupJuniorTC/rcj-soccersim.git
+        git clone https://github.com/robocup-junior/rcj-soccersim.git
 
 4. Finally, run Webots, go to `Tools > Preferences > Python command` and set it to `python` or `python3` to point Webots to Python 3. Depending on your system, the reference to Python 3 can be via the command `python` or `python3`. More information on how to configure Webots to work with Python can be found [here](https://cyberbotics.com/doc/guide/using-python).
 
@@ -48,7 +48,7 @@ avoid any compilation issues.
 
 ## Development
 
-We are open to contributions! Have a look at our [issues](https://github.com/RoboCupJuniorTC/rcj-soccersim/issues).
+We are open to contributions! Have a look at our [issues](https://github.com/robocup-junior/rcj-soccersim/issues).
 Before you make a pull request, make sure the code is formatted
 with `black` and `isort`, and `flake8` issues are fixed.
 

controllers/rcj_soccer_ball/rcj_soccer_ball.py

@@ -1,12 +1,9 @@
-import struct
-
 from controller import Robot
 
 robot = Robot()
 ball_emitter = robot.getDevice("ball emitter")
 
-data = [True]  # Packet cannot be empty
-packet = struct.pack("?", *data)
+data = "x"  # Packet cannot be empty
 
 while robot.step(32) != -1:
-    ball_emitter.send(packet)
+    ball_emitter.send(data)

controllers/rcj_soccer_referee_supervisor/rcj_soccer_referee_supervisor.py

@@ -30,7 +30,6 @@ def output_path(
     match_id: int,
     half_id: int,
 ) -> PosixPath:
-
     now_str = datetime.utcnow().strftime("%Y%m%dT%H%M%S")
     team_blue = team_blue_id.replace(" ", "_")
     team_yellow = team_yellow_id.replace(" ", "_")

controllers/rcj_soccer_referee_supervisor/recorder/recorder.py

@@ -17,7 +17,6 @@ def __init__(
         fastforward_rate: int = 1,
         resolution: str = "720p",
     ):
-
         self.supervisor = supervisor
         self.output_path = output_path
         self.fastforward_rate = fastforward_rate

controllers/rcj_soccer_referee_supervisor/referee/progress_checker.py

@@ -15,10 +15,10 @@ def reset(self):
         self.prev_position = None
 
     def track(self, position: List[float]):
-        """Make ProgressChecker react to a new position. Internally, it computes
-        the Euclidian distance from the previous position and saves it so that
-        it can be used when computing whether the given object has made
-        progress.
+        """Make ProgressChecker react to a new position. Internally, it
+        computes the Euclidian distance from the previous position and
+        saves it so that it can be used when computing whether the given
+        object has made progress.
 
         Args:
             position (list): Current position of the object

controllers/rcj_soccer_referee_supervisor/referee/referee.py

@@ -1,5 +1,5 @@
+import json
 import random
-import struct
 from typing import List, Optional, Tuple
 
 from controller import Supervisor
@@ -91,21 +91,18 @@ def __init__(
         self.sv.draw_team_names(self.team_name_blue, self.team_name_yellow)
         self.sv.draw_scores(self.score_blue, self.score_yellow)
 
-    def _pack_packet(self) -> bytes:
-        """Pack data into packet.
+    def _pack_data(self) -> str:
+        """Pack data into json string.
 
         Returns:
-            bytes: the packed packet.
+            str: json data encoded into string.
         """
-        # True/False telling whether the goal was scored
-        struct_fmt = "?"
-        data = list()
+        # Add Notification if the goal is scored and we are
+        # waiting for kickoff. The value is True or False
+        waiting_for_kickoff = self.ball_reset_timer > 0
 
-        # Add Notification if the goal is scored and we are waiting for kickoff
-        # The value is True or False
-        data.append(self.ball_reset_timer > 0)
-
-        return struct.pack(struct_fmt, *data)
+        data = {"waiting_for_kickoff": waiting_for_kickoff}
+        return json.dumps(data)
 
     def _add_initial_position_noise(
         self, translation: List[float]
@@ -396,7 +393,7 @@ def tick(self) -> bool:
             )
 
         self.sv.update_positions()
-        self.sv.emit_data(self._pack_packet())
+        self.sv.emit_data(self._pack_data())
         self.time -= TIME_STEP / 1000.0
 
         # On the very last tick, note that the match has finished

controllers/rcj_soccer_referee_supervisor/referee/supervisor.py

@@ -217,13 +217,13 @@ def move_object_to_neutral_spot(self, object_name: str, neutral_spot: str):
                 object_name, ROBOT_INITIAL_ROTATION[object_name]
             )
 
-    def emit_data(self, packet: bytes):
+    def emit_data(self, data: str):
         """Send packet via emitter
 
         Args:
-            packet (bytes): the packet to be sent
+            data (str): the data to be sent
         """
-        self.emitter.send(packet)
+        self.emitter.send(data)
 
     def draw_team_names(self, team_name_blue: str, team_name_yellow: str):
         """Visualize (draw) the names of the teams.

controllers/rcj_soccer_referee_supervisor/referee/tests/test_referee.py

@@ -32,7 +32,7 @@ def referee() -> RCJSoccerReferee:
 
 
 def test_pack_packet(referee: RCJSoccerReferee):
-    assert referee._pack_packet() == b"\x00"
+    assert referee._pack_data() == '{"waiting_for_kickoff": false}'
 
 
 def test_add_initial_position_noise(referee: RCJSoccerReferee):

controllers/rcj_soccer_team_blue/rcj_soccer_robot.py

@@ -1,5 +1,5 @@
+import json
 import math
-import struct
 
 TIME_STEP = 32
 ROBOT_NAMES = ["B1", "B2", "B3", "Y1", "Y2", "Y3"]
@@ -47,33 +47,30 @@ def __init__(self, robot):
         self.left_motor.setVelocity(0.0)
         self.right_motor.setVelocity(0.0)
 
-    def parse_supervisor_msg(self, packet: str) -> dict:
+    def parse_supervisor_msg(self, data: str) -> dict:
         """Parse message received from supervisor
 
+        Args:
+            data: json data encoded into string
+
         Returns:
-            dict: Location info about each robot and the ball.
+            dict: data decoded into dictionary
             Example:
                 {
                     'waiting_for_kickoff': False,
                 }
         """
-        # True/False telling whether the goal was scored
-        struct_fmt = "?"
-        unpacked = struct.unpack(struct_fmt, packet)
-
-        data = {"waiting_for_kickoff": unpacked[0]}
-        return data
+        return json.loads(data)
 
     def get_new_data(self) -> dict:
         """Read new data from supervisor
 
         Returns:
             dict: See `parse_supervisor_msg` method
         """
-        packet = self.receiver.getData()
+        data = self.receiver.getString()
         self.receiver.nextPacket()
-
-        return self.parse_supervisor_msg(packet)
+        return self.parse_supervisor_msg(data)
 
     def is_new_data(self) -> bool:
         """Check if there is new data from supervisor to be received
@@ -83,28 +80,26 @@ def is_new_data(self) -> bool:
         """
         return self.receiver.getQueueLength() > 0
 
-    def parse_team_msg(self, packet: str) -> dict:
+    def parse_team_msg(self, data: str) -> dict:
         """Parse message received from team robot
 
+        Args:
+            dict: json data encoded into string
+
         Returns:
-            dict: Parsed message stored in dictionary.
+            dict: data decoded into dictionary
         """
-        struct_fmt = "i"
-        unpacked = struct.unpack(struct_fmt, packet)
-        data = {
-            "robot_id": unpacked[0],
-        }
-        return data
+        return json.loads(data)
 
     def get_new_team_data(self) -> dict:
         """Read new data from team robot
 
         Returns:
             dict: See `parse_team_msg` method
         """
-        packet = self.team_receiver.getData()
+        data = self.team_receiver.getString()
         self.team_receiver.nextPacket()
-        return self.parse_team_msg(packet)
+        return self.parse_team_msg(data)
 
     def is_new_team_data(self) -> bool:
         """Check if there is new data from team robots to be received
@@ -114,16 +109,14 @@ def is_new_team_data(self) -> bool:
         """
         return self.team_receiver.getQueueLength() > 0
 
-    def send_data_to_team(self, robot_id) -> None:
+    def send_data_to_team(self, robot_id: int) -> None:
         """Send data to the team
 
         Args:
              robot_id (int): ID of the robot
         """
-        struct_fmt = "i"
-        data = [robot_id]
-        packet = struct.pack(struct_fmt, *data)
-        self.team_emitter.send(packet)
+        data = {"robot_id": robot_id}
+        self.team_emitter.send(json.dumps(data))
 
     def get_new_ball_data(self) -> dict:
         """Read new data from IR sensor
@@ -138,9 +131,12 @@ def get_new_ball_data(self) -> dict:
                     'strength': 0.1
                 }
         """
-        _ = self.ball_receiver.getData()
+        _ = self.ball_receiver.getString()
         data = {
-            "direction": self.ball_receiver.getEmitterDirection(),
+            # TODO: Remove [:3] once
+            #   https://github.com/cyberbotics/webots/pull/6394
+            #   is released and Webots updated
+            "direction": self.ball_receiver.getEmitterDirection()[:3],
             "strength": self.ball_receiver.getSignalStrength(),
         }
         self.ball_receiver.nextPacket()