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

Author: sunghyuneun

scripts/lint_and_format.sh

@@ -70,6 +70,15 @@ function run_ruff() {
         printf "\n***Failed to lint/format Python files!***\n\n"
         exit 1
     fi
+
+    # F403: https://docs.astral.sh/ruff/rules/undefined-local-with-import-star/
+    # F405: https://docs.astral.sh/ruff/rules/undefined-local-with-import-star-usage/
+    /opt/tbotspython/bin/python3 -m ruff check $BAZEL_ROOT_DIR --select F403,F405
+
+    if [[ "$?" != 0 ]]; then
+        printf "\n***Wildcard imports should not be used (F403/F405)!***\n\n"
+        exit 1
+    fi
 }
 
 function run_code_spell(){

src/proto/BUILD

@@ -251,7 +251,10 @@ py_library(
         "import_all_protos.py",
     ],
     deps = [
+        ":estop_state_py_proto",
         ":software_py_proto",
         ":tbots_py_proto",
+        ":validation_py_proto",
+        ":visualization_py_proto",
     ],
 )

src/proto/import_all_protos.py

@@ -44,5 +44,5 @@ def import_all_classes(package, input_globals):
 # Import all the protobuf classes that are generated into the proto library
 import_all_classes(proto, globals())
 
-# Now add the following line to get access to all protobufs
-# from proto.import_all_protos import *
+# Now add the following line to get access to all protobufs through a single module
+# import proto.import_all_protos as protos

src/proto/message_translation/tbots_protobuf.py

@@ -1,6 +1,6 @@
 from __future__ import annotations
 
-from proto.import_all_protos import *
+import proto.import_all_protos as protos
 import software.python_bindings as tbots_cpp
 import numpy
 import math
@@ -13,7 +13,7 @@ def create_world_state(
     ball_velocity: tbots_cpp.Vector,
     blue_robot_orientations: list[tbots_cpp.Angle] = [],
     blue_robot_velocities: list[tbots_cpp.Vector] = [],
-) -> WorldState:
+) -> protos.WorldState:
     """Initializes the world from a list of robot locations and ball location/velocity.
 
     NOTE: (index is robot id)
@@ -25,17 +25,17 @@ def create_world_state(
     :param blue_robot_orientations: A list of blue robots orientations
     :param blue_robot_velocities: A list of blue robots velocities
     """
-    world_state = WorldState()
+    world_state = protos.WorldState()
 
     if yellow_robot_locations:
-        yellow_robot_states = RobotStates()
+        yellow_robot_states = protos.RobotStates()
         for robot_id, robot_location in enumerate(yellow_robot_locations):
             yellow_robot_states.robot_states[robot_id].CopyFrom(
-                RobotState(
-                    global_position=Point(
+                protos.RobotState(
+                    global_position=protos.Point(
                         x_meters=robot_location.x(), y_meters=robot_location.y()
                     ),
-                    global_orientation=Angle(radians=math.pi),
+                    global_orientation=protos.Angle(radians=math.pi),
                 )
             )
         world_state.yellow_robots.CopyFrom(yellow_robot_states)
@@ -44,7 +44,7 @@ def create_world_state(
         orientation = tbots_cpp.Angle.zero()
         velocity = tbots_cpp.Vector(0, 0)
 
-        blue_robot_states = RobotStates()
+        blue_robot_states = protos.RobotStates()
         for robot_id, robot_location in enumerate(blue_robot_locations):
             try:
                 orientation = blue_robot_orientations[robot_id]
@@ -57,8 +57,8 @@ def create_world_state(
                 pass
 
             blue_robot_states.robot_states[robot_id].CopyFrom(
-                RobotState(
-                    global_position=Point(
+                protos.RobotState(
+                    global_position=protos.Point(
                         x_meters=robot_location.x(), y_meters=robot_location.y()
                     ),
                     global_orientation=tbots_cpp.createAngleProto(orientation),
@@ -68,11 +68,11 @@ def create_world_state(
         world_state.blue_robots.CopyFrom(blue_robot_states)
 
     world_state.ball_state.CopyFrom(
-        BallState(
-            global_position=Point(
+        protos.BallState(
+            global_position=protos.Point(
                 x_meters=ball_location.x(), y_meters=ball_location.y()
             ),
-            global_velocity=Vector(
+            global_velocity=protos.Vector(
                 x_component_meters=ball_velocity.x(),
                 y_component_meters=ball_velocity.y(),
             ),
@@ -82,7 +82,7 @@ def create_world_state(
     return world_state
 
 
-def create_default_world_state(num_robots: int) -> WorldState:
+def create_default_world_state(num_robots: int) -> protos.WorldState:
     """Create a WorldState proto with num_robots yellow and blue robots evenly spaced in two parallel lines on the field.
 
     :param num_robots: Number of robots for the yellow and blue teams

src/software/ai/hl/stp/play/ball_placement/ball_placement_play_test.py

@@ -2,8 +2,8 @@
 import software.python_bindings as tbots_cpp
 from software.py_constants import ENEMY_BALL_PLACEMENT_DISTANCE_METERS
 
-from proto.import_all_protos import *
-from proto.ssl_gc_common_pb2 import Team
+import proto.import_all_protos as protos
+from proto.ssl_gc_common_pb2 import Team as SslTeam
 from proto.message_translation.tbots_protobuf import create_world_state
 from software.gameplay_tests.validation.ball_enters_region import (
     BallAlwaysStaysInRegion,
@@ -124,18 +124,19 @@ def ball_placement_play_setup(
 
     # Game Controller Setup
     simulated_test_runner.send_gamecontroller_command(
-        gc_command=Command.Type.STOP, team=Team.UNKNOWN
+        gc_command=protos.Command.Type.STOP, team=SslTeam.UNKNOWN
     )
     # Pass in placement point here - not required for all play tests
     simulated_test_runner.send_gamecontroller_command(
-        gc_command=Command.Type.BALL_PLACEMENT,
-        team=Team.BLUE,
+        gc_command=protos.Command.Type.BALL_PLACEMENT,
+        team=SslTeam.BLUE,
         final_ball_placement_point=ball_placement_point,
     )
 
     # Force play override here
     simulated_test_runner.set_plays(
-        blue_play=PlayName.BallPlacementPlay, yellow_play=PlayName.HaltPlay
+        blue_play=protos.PlayName.BallPlacementPlay,
+        yellow_play=protos.PlayName.HaltPlay,
     )
 
 

src/software/ai/hl/stp/play/crease_defense/crease_defense_play_test.py

@@ -1,8 +1,7 @@
 import software.python_bindings as tbots_cpp
-from proto.play_pb2 import PlayName
-from proto.import_all_protos import *
+import proto.import_all_protos as protos
 from proto.message_translation.tbots_protobuf import create_world_state
-from proto.ssl_gc_common_pb2 import Team
+from proto.ssl_gc_common_pb2 import Team as SslTeam
 from software.gameplay_tests.simulated_test_fixture import (
     pytest_main,
 )
@@ -44,11 +43,12 @@ def setup(*args):
         )
 
         simulated_test_runner.set_plays(
-            blue_play=PlayName.CreaseDefensePlay, yellow_play=PlayName.HaltPlay
+            blue_play=protos.PlayName.CreaseDefensePlay,
+            yellow_play=protos.PlayName.HaltPlay,
         )
 
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+            gc_command=protos.Command.Type.STOP, team=SslTeam.UNKNOWN
         )
 
     eventually_validations = [

src/software/ai/hl/stp/play/defense/defense_play_test.py

@@ -1,13 +1,15 @@
 import pytest
 
 import software.python_bindings as tbots_cpp
-from proto.play_pb2 import PlayName
-from software.gameplay_tests.validation.ball_enters_region import *
+import proto.import_all_protos as protos
+from software.gameplay_tests.validation.ball_enters_region import (
+    BallNeverEntersRegion,
+)
 from software.gameplay_tests.validation.friendly_has_ball_possession import (
     FriendlyEventuallyHasBallPossession,
 )
 from proto.message_translation.tbots_protobuf import create_world_state
-from proto.ssl_gc_common_pb2 import Team
+from proto.ssl_gc_common_pb2 import Team as SslTeam
 from software.gameplay_tests.simulated_test_fixture import (
     pytest_main,
 )
@@ -49,14 +51,14 @@ def setup(*args):
         )
 
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+            gc_command=protos.Command.Type.STOP, team=SslTeam.UNKNOWN
         )
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.FORCE_START, team=Team.BLUE
+            gc_command=protos.Command.Type.FORCE_START, team=SslTeam.BLUE
         )
 
         simulated_test_runner.set_plays(
-            blue_play=PlayName.DefensePlay, yellow_play=PlayName.HaltPlay
+            blue_play=protos.PlayName.DefensePlay, yellow_play=protos.PlayName.HaltPlay
         )
 
     simulated_test_runner.run_test(
@@ -114,14 +116,15 @@ def setup(*args):
         )
 
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+            gc_command=protos.Command.Type.STOP, team=SslTeam.UNKNOWN
         )
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.FORCE_START, team=Team.BLUE
+            gc_command=protos.Command.Type.FORCE_START, team=SslTeam.BLUE
         )
 
         simulated_test_runner.set_plays(
-            blue_play=PlayName.DefensePlay, yellow_play=PlayName.ShootOrPassPlay
+            blue_play=protos.PlayName.DefensePlay,
+            yellow_play=protos.PlayName.ShootOrPassPlay,
         )
 
     simulated_test_runner.run_test(

src/software/ai/hl/stp/play/enemy_ball_placement/enemy_ball_placement_play_test.py

@@ -1,13 +1,15 @@
 import pytest
 
 import software.python_bindings as tbots_cpp
-from proto.play_pb2 import PlayName
-from software.gameplay_tests.validation.robot_enters_placement_region import *
+import proto.import_all_protos as protos
+from software.gameplay_tests.validation.robot_enters_placement_region import (
+    RobotNeverEntersPlacementRegion,
+)
 from software.gameplay_tests.simulated_test_fixture import (
     pytest_main,
 )
 from proto.message_translation.tbots_protobuf import create_world_state
-from proto.ssl_gc_common_pb2 import Team
+from proto.ssl_gc_common_pb2 import Team as SslTeam
 
 
 @pytest.mark.parametrize(
@@ -55,17 +57,17 @@ def setup(*args):
         )
 
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+            gc_command=protos.Command.Type.STOP, team=SslTeam.UNKNOWN
         )
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.BALL_PLACEMENT,
-            team=Team.YELLOW,
+            gc_command=protos.Command.Type.BALL_PLACEMENT,
+            team=SslTeam.YELLOW,
             final_ball_placement_point=ball_placement_point,
         )
 
         simulated_test_runner.set_plays(
-            blue_play=PlayName.EnemyBallPlacementPlay,
-            yellow_play=PlayName.BallPlacementPlay,
+            blue_play=protos.PlayName.EnemyBallPlacementPlay,
+            yellow_play=protos.PlayName.BallPlacementPlay,
         )
 
     always_validation_sequence_set = [

src/software/ai/hl/stp/play/enemy_free_kick/enemy_free_kick_play_test.py

@@ -1,18 +1,19 @@
 import pytest
 
 import software.python_bindings as tbots_cpp
-from proto.play_pb2 import PlayName
+import proto.import_all_protos as protos
 
 from software.gameplay_tests.validation.or_validation import OrValidation
 
-from software.gameplay_tests.validation.friendly_team_scored import *
-from software.gameplay_tests.validation.ball_enters_region import *
+from software.gameplay_tests.validation.ball_enters_region import (
+    BallNeverEntersRegion,
+)
 from software.gameplay_tests.validation.robot_enters_region import (
     RobotEventuallyEntersRegion,
     RobotNeverEntersRegion,
 )
 from proto.message_translation.tbots_protobuf import create_world_state
-from proto.ssl_gc_common_pb2 import Team
+from proto.ssl_gc_common_pb2 import Team as SslTeam
 from software.gameplay_tests.simulated_test_fixture import (
     pytest_main,
 )
@@ -106,14 +107,15 @@ def setup(*args):
         )
 
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+            gc_command=protos.Command.Type.STOP, team=SslTeam.UNKNOWN
         )
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.DIRECT, team=Team.YELLOW
+            gc_command=protos.Command.Type.DIRECT, team=SslTeam.YELLOW
         )
 
         simulated_test_runner.set_plays(
-            blue_play=PlayName.EnemyFreeKickPlay, yellow_play=PlayName.FreeKickPlay
+            blue_play=protos.PlayName.EnemyFreeKickPlay,
+            yellow_play=protos.PlayName.FreeKickPlay,
         )
 
     # Validation RoboCup SSL rules: can't be within 0.5m of ball before its kicked

src/software/ai/hl/stp/play/example/example_play_test.py

@@ -4,9 +4,8 @@
     NumberOfRobotsEventuallyEntersRegion,
 )
 from proto.message_translation.tbots_protobuf import create_world_state
-from proto.ssl_gc_common_pb2 import Team
-from proto.play_pb2 import PlayName
-from proto.import_all_protos import Command
+from proto.ssl_gc_common_pb2 import Team as SslTeam
+import proto.import_all_protos as protos
 from software.gameplay_tests.simulated_test_fixture import (
     pytest_main,
 )
@@ -48,17 +47,17 @@ def setup(*args):
         )
 
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.STOP, team=Team.UNKNOWN
+            gc_command=protos.Command.Type.STOP, team=SslTeam.UNKNOWN
         )
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.NORMAL_START, team=Team.BLUE
+            gc_command=protos.Command.Type.NORMAL_START, team=SslTeam.BLUE
         )
         simulated_test_runner.send_gamecontroller_command(
-            gc_command=Command.Type.DIRECT, team=Team.BLUE
+            gc_command=protos.Command.Type.DIRECT, team=SslTeam.BLUE
         )
 
         simulated_test_runner.set_plays(
-            blue_play=PlayName.ExamplePlay, yellow_play=PlayName.HaltPlay
+            blue_play=protos.PlayName.ExamplePlay, yellow_play=protos.PlayName.HaltPlay
         )
 
     eventually_validations = [