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nkoenigNate Koenig
nkoenig
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Nate Koenig
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Final prelim update (#992)
* Fix region events Signed-off-by: Nate Koenig <[email protected]> * Finals prelim worlds Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
1 parent ce5905f commit de39df5

18 files changed

+5338
-15
lines changed

‎subt_ign/launch/cloudsim_sim.ign‎

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Original file line numberDiff line numberDiff line change
@@ -375,6 +375,9 @@
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<% elsif $worldName.include?('final_event') &&
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!$worldName.include?('practice') %>
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<world_file>final_event/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
378+
<% elsif $worldName.include?('final_prelim') &&
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!$worldName.include?('practice') %>
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<world_file>final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
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<% else %>
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<world_file><%= $worldName %>.sdf</world_file>
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<% end %>

‎subt_ign/launch/competition.ign‎

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@@ -289,6 +289,9 @@
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<% elsif $worldName.include?('final_event') &&
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!$worldName.include?('practice') %>
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<world_file>final_event/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
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<% elsif $worldName.include?('final_prelim') &&
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!$worldName.include?('practice') %>
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<world_file>final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
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<% else %>
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<world_file><%= $worldName %>.sdf</world_file>
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<% end %>

‎subt_ign/launch/validate_artifacts.ign‎

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Original file line numberDiff line numberDiff line change
@@ -66,6 +66,9 @@ ign service -s /artifact/move_to \
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<% elsif $worldName.include?('final_event') &&
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!$worldName.include?('practice') %>
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<world_file>final_event/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
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<% elsif $worldName.include?('final_prelim') &&
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!$worldName.include?('practice') %>
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<world_file>final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
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<% else %>
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<world_file><%= $worldName %>.sdf</world_file>
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<% end %>

‎subt_ign/launch/validate_connections.ign‎

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Original file line numberDiff line numberDiff line change
@@ -72,6 +72,9 @@ ign service -s /connection/prev \
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<% elsif $worldName.include?('final_event') &&
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!$worldName.include?('practice') %>
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<world_file>final_event/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
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<% elsif $worldName.include?('final_prelim') &&
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!$worldName.include?('practice') %>
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<world_file>final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
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<% else %>
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<world_file><%= $worldName %>.sdf</world_file>
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<% end %>

‎subt_ign/launch/visibility.ign‎

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Original file line numberDiff line numberDiff line change
@@ -91,6 +91,9 @@
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<% elsif $worldName.include?('final_event') &&
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!$worldName.include?('practice') %>
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<world_file>final_event/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
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<% elsif $worldName.include?('final_prelim') &&
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!$worldName.include?('practice') %>
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<world_file>final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
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<% else %>
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<world_file><%= $worldName %>.sdf</world_file>
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<% end %>

‎subt_ign/src/Common.cc‎

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Original file line numberDiff line numberDiff line change
@@ -107,6 +107,7 @@ bool FullWorldPath(const std::string &_worldName,
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const std::string urbanPrefix = "urban_circuit_";
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const std::string cavePrefix = "cave_circuit_";
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const std::string finalPrefix = "final_event_";
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const std::string finalPrelimPrefix = "final_prelim_";
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if (0 == _worldName.compare(0, tunnelPrefix.size(), tunnelPrefix))
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{
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std::string suffix = _worldName.substr(tunnelPrefix.size());
@@ -143,6 +144,12 @@ bool FullWorldPath(const std::string &_worldName,
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worldsDirectory = ignition::common::joinPaths(worldsDirectory,
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"final_event", suffix);
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}
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else if (_worldName.find(finalPrelimPrefix) != std::string::npos)
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{
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std::string suffix = _worldName.substr(finalPrelimPrefix.size());
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worldsDirectory = ignition::common::joinPaths(worldsDirectory,
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"final_prelim", suffix);
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}
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else if (_worldName.find("simple") == std::string::npos &&
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_worldName.find("_qual") == std::string::npos &&
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_worldName.find("_stix") == std::string::npos &&

‎subt_ign/src/ConnectionHelper.cc‎

Lines changed: 123 additions & 9 deletions
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‎subt_ign/src/GameLogicPlugin.cc‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1113,7 +1113,7 @@ void GameLogicPluginPrivate::OnEvent(const ignition::msgs::Pose &_msg)
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// there should be only 1 key-value pair. Just in case, we will grab
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// only the first. The key is currently always "type", which we can
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// ignore when sending the ROS message.
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if (regionEventType.empty())
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if (regionEventType.empty() && data.first == "type")
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{
11181118
if (data.second.find("performer_detector_rockfall") ==
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std::string::npos)
@@ -2390,6 +2390,10 @@ bool GameLogicPluginPrivate::OnFinishCall(const ignition::msgs::Boolean &_req,
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ignition::msgs::Time localSimTime(this->simTime);
23912391
if (this->started && _req.data() && !this->finished)
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{
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ignmsg << "User triggered OnFinishCall." << std::endl;
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this->Log(localSimTime) << "User triggered OnFinishCall." << std::endl;
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this->logStream.flush();
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this->Finish(localSimTime);
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_res.set_data(true);
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}

‎subt_ign/src/apps/dot_generator.cc‎

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Original file line numberDiff line numberDiff line change
@@ -94,15 +94,15 @@ void printGraph(std::vector<VertexData> &_vertexData,
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_vertexData[i].tileType);
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if (ct1It == subt::ConnectionHelper::circuitTypes.end())
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{
97-
ignwarn << "No circuit information for: " << _vertexData[i].tileType
98-
<< std::endl;
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std::cerr << "No circuit information for: "
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<< _vertexData[i].tileType << std::endl;
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}
100100
auto ct2It = subt::ConnectionHelper::circuitTypes.find(
101101
_vertexData[j].tileType);
102102
if (ct2It == subt::ConnectionHelper::circuitTypes.end())
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{
104-
ignwarn << "No circuit information for: " << _vertexData[j].tileType
105-
<< std::endl;
104+
std::cerr << "No circuit information for: "
105+
<< _vertexData[j].tileType << std::endl;
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}
107107

108108
// Is one of the tile a starting area? If so, the cost should be 1.
@@ -191,7 +191,16 @@ void generateDOT(const std::string &_sdfFile, const std::string &_circuit)
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filter = [](const std::string &/*_name*/,
192192
const std::string &_type)
193193
{
194-
return subt::ConnectionHelper::connectionPoints.count(_type) <= 0;
194+
for (const auto &connection : subt::ConnectionHelper::connectionPoints)
195+
{
196+
if (ignition::common::lowercase(connection.first) ==
197+
ignition::common::lowercase(_type))
198+
{
199+
return false;
200+
}
201+
}
202+
203+
return true;
195204
};
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197206
std::vector<VertexData> vertexData;
@@ -202,6 +211,7 @@ void generateDOT(const std::string &_sdfFile, const std::string &_circuit)
202211
if (result == std::string::npos || result > str.size())
203212
break;
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214+
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VertexData vd;
206216
bool filled = SdfParser::FillVertexData(includeStr, vd, filter);
207217
if (filled)

‎subt_ign/worlds/final_prelim/01/final_prelim_01.dat‎

11 MB
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