feat: simulator-cli にibisバイナリプロトコルを移植

.github/workflows/docker-publish.yaml

@@ -0,0 +1,82 @@
+name: Build and Push Docker Image
+
+on:
+  push:
+    branches:
+      - ibis
+    tags:
+      - 'v*.*.*'
+  pull_request:
+    branches:
+      - ibis
+    paths:
+      - 'data/docker/Dockerfile.simulatorcli'
+      - 'data/docker/simulatorcli_entrypoint.bash'
+      - '.github/workflows/docker-publish.yaml'
+  workflow_dispatch:
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ibis-ssl/framework-simulatorcli
+
+jobs:
+  build-and-push:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+      attestations: write
+      id-token: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to Container Registry
+        if: github.event_name != 'pull_request'
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels)
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=raw,value=latest,enable={{is_default_branch}}
+            type=ref,event=branch
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+            type=sha,prefix=,format=short
+            type=ref,event=pr
+
+      - name: Build and push Docker image
+        id: push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: ./data/docker/Dockerfile.simulatorcli
+          platforms: linux/amd64
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+          provenance: true
+          sbom: true
+
+      - name: Generate artifact attestation
+        if: github.event_name != 'pull_request'
+        uses: actions/attest-build-provenance@v2
+        with:
+          subject-name: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          subject-digest: ${{ steps.push.outputs.digest }}
+          push-to-registry: true

CMakeLists.txt

@@ -222,6 +222,8 @@ find_package(V8 10.5.7)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 add_subdirectory(src)
 
+install(DIRECTORY config/ DESTINATION config FILES_MATCHING PATTERN "*.txt")
+
 if(UNIX AND NOT APPLE)
     configure_file(data/pkg/ra.desktop.in ra.desktop)
     configure_file(data/pkg/ra-logplayer.desktop.in ra-logplayer.desktop)

data/docker/Dockerfile.simulatorcli

@@ -10,8 +10,7 @@ RUN set -xe; \
 	apt-get install --no-install-recommends -y \
 		cmake make g++ libssl-dev patch \
 		protobuf-compiler libprotobuf-dev \
-		qt6-base-dev libqt6opengl6-dev \
-		qtbase5-dev libqt5opengl5-dev; \
+		qt6-base-dev libqt6opengl6-dev; \
 	apt-get clean -y; \
 	rm -rf /var/lib/apt/lists/*;
 
@@ -22,9 +21,9 @@ COPY . .
 RUN set -xe; \
 	mkdir build; \
 	cd build; \
-	cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..; \
+	cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DRELATIVE_DATA_DIRS=ON ..; \
 	make simulator-cli -j $(nproc); \
-	find . -maxdepth 1 ! -name 'bin' -exec rm -r {} \; ;
+	cmake --install . --prefix /home/default/install;
 
 #
 # Run stage
@@ -37,25 +36,22 @@ ARG DEBIAN_FRONTEND=noninteractive
 RUN set -xe; \
 	apt-get update; \
 	apt-get install --no-install-recommends -y \
-	    qt6-base-dev libqt6opengl6-dev \
-		qtbase5-dev libqt5opengl5-dev \
-		libprotobuf-dev tini; \
+		libqt6core6t64 libqt6gui6t64 libqt6network6t64 libqt6opengl6t64 \
+		libprotobuf32t64 tini; \
 	apt-get clean -y; \
 	rm -rf /var/lib/apt/lists/*;
 
 RUN useradd --create-home --shell /bin/bash default
 USER default
 WORKDIR /home/default
 
-COPY --chown=default:default /data/docker/simulatorcli_entrypoint.bash .
-ENTRYPOINT ["tini", "--", "./simulatorcli_entrypoint.bash"]
-
-COPY --chown=default:default --from=build-stage /home/default/COPYING .
-COPY --chown=default:default --from=build-stage /home/default/COPYING.GPL .
-COPY --chown=default:default --from=build-stage /home/default/config config
-COPY --chown=default:default --from=build-stage /home/default/build build
+COPY --chown=default:default --from=build-stage /home/default/install/bin/simulator-cli bin/simulator-cli
+COPY --chown=default:default --from=build-stage /home/default/install/config config
 
 # 10300: Control - Accepts simulator configuration commands
 # 10301: Blue    - Accepts robot commands by the blue team
 # 10302: Yellow  - Accepts robot commands by the yellow team
 EXPOSE 10300 10301 10302
+
+ENTRYPOINT ["tini", "--"]
+CMD ["./bin/simulator-cli"]

data/docker/Dockerfile.simulatorcli.dockerignore

@@ -16,6 +16,5 @@
 /strategy
 /data
 !/data/pkg
-!/data/docker/simulatorcli_entrypoint.bash
 
 # vim: filetype=gitignore

src/amun/simulator/include/simulator/simulator.h

@@ -35,7 +35,7 @@
 
 // higher values break the rolling friction of the ball
 const float SIMULATOR_SCALE = 10.0f;
-const float SUB_TIMESTEP = 1/200.f;
+const float SUB_TIMESTEP = 1/250.f;
 const float COLLISION_MARGIN = 0.04f;
 const unsigned FOCAL_LENGTH = 390;
 
@@ -78,6 +78,7 @@ class camun::simulator::Simulator : public QObject
     void sendStatus(const Status &status);
     void sendRadioResponses(const QList<robot::RadioResponse> &responses);
     void sendRealData(const QByteArray& data); // sends amun::SimulatorState
+    void sendGroundTruth(const QByteArray& data); // sends world::SimulatorState at 125Hz, no noise
     void sendSSLSimError(const QList<SSLSimError>& errors, ErrorSource source);
 
 public slots:
@@ -117,7 +118,7 @@ private slots:
     const Timer *m_timer;
     QTimer *m_trigger;
     qint64 m_time;
-    qint64 m_lastSentStatusTime;
+    unsigned int m_simulationFrameCounter;
     double m_timeScaling;
     bool m_enabled;
     bool m_charge;

src/amun/simulator/simulator.cpp

@@ -118,15 +118,15 @@ Simulator::Simulator(const Timer *timer, const amun::SimulatorSetup &setup, bool
     m_isPartial(useManualTrigger),
     m_timer(timer),
     m_time(0),
-    m_lastSentStatusTime(0),
+    m_simulationFrameCounter(0),
     m_timeScaling(1.),
     m_enabled(false),
     m_charge(false),
     m_visionDelay(35 * 1000 * 1000),
     m_visionProcessingTime(5 * 1000 * 1000),
     m_aggregator(new ErrorAggregator(this))
 {
-    // triggers by default every 5 milliseconds if simulator is enabled
+    // triggers by default every 8 milliseconds if simulator is enabled
     // timing may change if time is scaled
     m_trigger = new QTimer(this);
     m_trigger->setTimerType(Qt::PreciseTimer);
@@ -274,9 +274,24 @@ void Simulator::process()
     m_data->dynamicsWorld->stepSimulation(timeDelta, 10, SUB_TIMESTEP);
     m_time = current_time;
 
-    // only send a vision packet every third frame = 15 ms - epsilon (=half frame)
-    // gives a vision frequency of 66.67Hz
-    if (m_lastSentStatusTime + 12500000 <= m_time) {
+    // Emit ground truth robot positions at full simulation rate (125Hz), without noise
+    {
+        world::SimulatorState gt;
+        gt.set_time(m_time);
+        for (auto it = m_data->robotsBlue.cbegin(); it != m_data->robotsBlue.cend(); ++it) {
+            it.value().first->update(gt.add_blue_robots(), m_data->ball);
+        }
+        for (auto it = m_data->robotsYellow.cbegin(); it != m_data->robotsYellow.cend(); ++it) {
+            it.value().first->update(gt.add_yellow_robots(), m_data->ball);
+        }
+        QByteArray gtData(static_cast<int>(gt.ByteSizeLong()), 0);
+        gt.SerializeToArray(gtData.data(), gtData.size());
+        emit sendGroundTruth(gtData);
+    }
+
+    // send a vision packet every second simulation frame
+    // with the 125 Hz base loop this results in an effective vision frequency of 62.5 Hz
+    if ((m_simulationFrameCounter++ % 2) == 0) {
         auto data = createVisionPacket();
 
 
@@ -297,8 +312,6 @@ void Simulator::process()
             timer->start(timeout);
             m_visionTimers.enqueue(timer);
         }
-
-        m_lastSentStatusTime = m_time;
     }
 
     // send timing information
@@ -785,6 +798,7 @@ void Simulator::handleCommand(const Command &command)
         if (sim.has_enable()) {
             m_enabled = sim.enable();
             m_time = m_timer->currentTime();
+            m_simulationFrameCounter = 0;
             // update timer when simulator status is changed
             setScaling(m_timeScaling);
         }
@@ -950,8 +964,8 @@ void Simulator::setScaling(double scaling)
         // clear pending vision packets
         resetVisionPackets();
     } else {
-        // scale default timing of 5 milliseconds
-        const int t = 5 / scaling;
+        // scale default timing of 8 milliseconds (125Hz)
+        const int t = 8 / scaling;
         m_trigger->start(qMax(1, t));
 
         // The vision packet timings are wrong after a scaling change

src/simulator/CMakeLists.txt

@@ -20,6 +20,7 @@
 add_executable(simulator-cli WIN32 MACOSX_BUNDLE
     simulator.cpp
     ssl_robocup_server.cpp
+    packet_sender_thread.cpp
 )
 
 target_link_libraries(simulator-cli
@@ -29,3 +30,5 @@ target_link_libraries(simulator-cli
     Qt6::Widgets
     amun::simulator
 )
+
+install(TARGETS simulator-cli RUNTIME DESTINATION bin)