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Final prelim update #992

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Merged
merged 2 commits into from
Aug 12, 2021
Merged

Final prelim update #992

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40ad63a
Fix region events
Aug 12, 2021
716a56f
Finals prelim worlds
Aug 12, 2021
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3 changes: 3 additions & 0 deletions subt_ign/launch/cloudsim_sim.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -375,6 +375,9 @@
<% elsif $worldName.include?('final_event') &&
!$worldName.include?('practice') %>
<world_file>final_event/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
<% elsif $worldName.include?('final_prelim') &&
!$worldName.include?('practice') %>
<world_file>final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
<% else %>
<world_file><%= $worldName %>.sdf</world_file>
<% end %>
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3 changes: 3 additions & 0 deletions subt_ign/launch/competition.ign
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Expand Up @@ -289,6 +289,9 @@
<% elsif $worldName.include?('final_event') &&
!$worldName.include?('practice') %>
<world_file>final_event/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
<% elsif $worldName.include?('final_prelim') &&
!$worldName.include?('practice') %>
<world_file>final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
<% else %>
<world_file><%= $worldName %>.sdf</world_file>
<% end %>
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3 changes: 3 additions & 0 deletions subt_ign/launch/validate_artifacts.ign
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Expand Up @@ -66,6 +66,9 @@ ign service -s /artifact/move_to \
<% elsif $worldName.include?('final_event') &&
!$worldName.include?('practice') %>
<world_file>final_event/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
<% elsif $worldName.include?('final_prelim') &&
!$worldName.include?('practice') %>
<world_file>final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
<% else %>
<world_file><%= $worldName %>.sdf</world_file>
<% end %>
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3 changes: 3 additions & 0 deletions subt_ign/launch/validate_connections.ign
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Expand Up @@ -72,6 +72,9 @@ ign service -s /connection/prev \
<% elsif $worldName.include?('final_event') &&
!$worldName.include?('practice') %>
<world_file>final_event/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
<% elsif $worldName.include?('final_prelim') &&
!$worldName.include?('practice') %>
<world_file>final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
<% else %>
<world_file><%= $worldName %>.sdf</world_file>
<% end %>
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3 changes: 3 additions & 0 deletions subt_ign/launch/visibility.ign
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Expand Up @@ -91,6 +91,9 @@
<% elsif $worldName.include?('final_event') &&
!$worldName.include?('practice') %>
<world_file>final_event/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
<% elsif $worldName.include?('final_prelim') &&
!$worldName.include?('practice') %>
<world_file>final_prelim/<%= worldNumber %>/<%= $worldName %>.sdf</world_file>
<% else %>
<world_file><%= $worldName %>.sdf</world_file>
<% end %>
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7 changes: 7 additions & 0 deletions subt_ign/src/Common.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,7 @@ bool FullWorldPath(const std::string &_worldName,
const std::string urbanPrefix = "urban_circuit_";
const std::string cavePrefix = "cave_circuit_";
const std::string finalPrefix = "final_event_";
const std::string finalPrelimPrefix = "final_prelim_";
if (0 == _worldName.compare(0, tunnelPrefix.size(), tunnelPrefix))
{
std::string suffix = _worldName.substr(tunnelPrefix.size());
Expand Down Expand Up @@ -143,6 +144,12 @@ bool FullWorldPath(const std::string &_worldName,
worldsDirectory = ignition::common::joinPaths(worldsDirectory,
"final_event", suffix);
}
else if (_worldName.find(finalPrelimPrefix) != std::string::npos)
{
std::string suffix = _worldName.substr(finalPrelimPrefix.size());
worldsDirectory = ignition::common::joinPaths(worldsDirectory,
"final_prelim", suffix);
}
else if (_worldName.find("simple") == std::string::npos &&
_worldName.find("_qual") == std::string::npos &&
_worldName.find("_stix") == std::string::npos &&
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132 changes: 123 additions & 9 deletions subt_ign/src/ConnectionHelper.cc
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Large diffs are not rendered by default.

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

this->Finish(localSimTime);
_res.set_data(true);
}
Expand Down
20 changes: 15 additions & 5 deletions subt_ign/src/apps/dot_generator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -94,15 +94,15 @@ void printGraph(std::vector<VertexData> &_vertexData,
_vertexData[i].tileType);
if (ct1It == subt::ConnectionHelper::circuitTypes.end())
{
ignwarn << "No circuit information for: " << _vertexData[i].tileType
<< std::endl;
std::cerr << "No circuit information for: "
<< _vertexData[i].tileType << std::endl;
}
auto ct2It = subt::ConnectionHelper::circuitTypes.find(
_vertexData[j].tileType);
if (ct2It == subt::ConnectionHelper::circuitTypes.end())
{
ignwarn << "No circuit information for: " << _vertexData[j].tileType
<< std::endl;
std::cerr << "No circuit information for: "
<< _vertexData[j].tileType << std::endl;
}

// Is one of the tile a starting area? If so, the cost should be 1.
Expand Down Expand Up @@ -191,7 +191,16 @@ void generateDOT(const std::string &_sdfFile, const std::string &_circuit)
filter = [](const std::string &/*_name*/,
const std::string &_type)
{
return subt::ConnectionHelper::connectionPoints.count(_type) <= 0;
for (const auto &connection : subt::ConnectionHelper::connectionPoints)
{
if (ignition::common::lowercase(connection.first) ==
ignition::common::lowercase(_type))
{
return false;
}
}

return true;
};

std::vector<VertexData> vertexData;
Expand All @@ -202,6 +211,7 @@ void generateDOT(const std::string &_sdfFile, const std::string &_circuit)
if (result == std::string::npos || result > str.size())
break;


VertexData vd;
bool filled = SdfParser::FillVertexData(includeStr, vd, filter);
if (filled)
Expand Down
Binary file added subt_ign/worlds/final_prelim/01/final_prelim_01.dat
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116 changes: 116 additions & 0 deletions subt_ign/worlds/final_prelim/01/final_prelim_01.dot
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Original file line number Diff line number Diff line change
@@ -0,0 +1,116 @@
/* Visibility graph generated by dot_generator */

graph {
/* ==== Vertices ==== */

/* Base station / Staging area */
0 [label="0::base_station::BaseStation"];

1 [label="1::4-Way Finals Transition 2::tile_1"];
2 [label="2::Urban Service Room Straight Lights::tile_2"];
3 [label="3::Cave Vertical Shaft Straight Bottom Type A::tile_3"];
4 [label="4::Cave Straight 01 Type B::tile_4"];
5 [label="5::Cave Corner 01 Type B::tile_5"];
6 [label="6::Cave Tunnel Transition::tile_6"];
7 [label="7::Cave Tunnel Transition::tile_7"];
8 [label="8::Cave Transition Type A to and from Type B Lights::tile_8"];
9 [label="9::Cave Tunnel Transition::tile_9"];
10 [label="10::Urban 2 Story Lights::tile_10"];
11 [label="11::Urban Large Room Split Lights::tile_11"];
12 [label="12::Rough Tunnel Tile 90-degree Turn Lights::tile_12"];
13 [label="13::Rough Tunnel Tile Straight::tile_13"];
14 [label="14::Tunnel Tile 2::tile_14"];
15 [label="15::Universal Shift 5x5::tile_15"];
16 [label="16::Tunnel Bend Right::tile_16"];
17 [label="17::Universal Shift 5x5::tile_17"];
18 [label="18::Universal Shift 5x5::tile_18"];
19 [label="19::Universal Straight 10::tile_19"];
20 [label="20::Urban Large Room Split::tile_20"];
21 [label="21::Urban Service Room Straight Lights::tile_21"];
22 [label="22::4-Way Finals Transition 2::tile_22"];
23 [label="23::Constrained Tunnel Tile Short::tile_23"];
24 [label="24::Tunnel Tile 6::tile_24"];
25 [label="25::Tunnel Tile 1::tile_25"];
26 [label="26::Tunnel Tile 6::tile_26"];
27 [label="27::Tunnel Tile 2::tile_27"];
28 [label="28::Universal Straight 10::tile_28"];
29 [label="29::Universal Straight 5::tile_29"];
30 [label="30::Urban 3-Way Right Intersection::tile_30"];
31 [label="31::Universal Straight 10::tile_31"];
32 [label="32::Urban Tunnel Transition::tile_32"];
33 [label="33::Rough Tunnel Tile Vertical Shaft::tile_33"];
34 [label="34::Rough Tunnel Tile 4-way Intersection Lights::tile_34"];
35 [label="35::Rough Tunnel Tile 90-degree Turn Lights::tile_35"];
36 [label="36::Constrained Tunnel Tile Tall::tile_36"];
37 [label="37::Universal Straight 10::tile_37"];
38 [label="38::Universal Straight 10::tile_38"];
39 [label="39::Universal Straight 5::tile_39"];
40 [label="40::Cave Corner 04 Type A::tile_40"];
41 [label="41::Urban Service Room Centered Lights::tile_41"];
46 [label="46::Urban Platform::tile_46"];
51 [label="51::Cave Cap Type A::tile_51"];
53 [label="53::Rough Tunnel Tile Ramp::tile_53"];
54 [label="54::Rough Tunnel Tile Straight Lights::tile_54"];
56 [label="56::Rough Tunnel Tile Vertical Shaft::tile_56"];
57 [label="57::Constrained Tunnel Tile Short::tile_57"];
58 [label="58::Tunnel Tile 7::tile_58"];
60 [label="60::Rough Tunnel Tile Vertical Shaft::tile_60"];
61 [label="61::Cave Vertical Shaft Dead End Type A::shaft_1"];

/* ==== Edges ==== */

0 -- 1 [label=3];
1 -- 2 [label=3];
1 -- 4 [label=3];
2 -- 10 [label=3];
3 -- 61 [label=3];
3 -- 7 [label=3];
3 -- 9 [label=3];
4 -- 5 [label=3];
5 -- 8 [label=3];
6 -- 7 [label=1];
6 -- 8 [label=1];
6 -- 12 [label=3];
7 -- 23 [label=1];
9 -- 33 [label=1];
9 -- 40 [label=3];
10 -- 11 [label=6];
10 -- 41 [label=3];
11 -- 15 [label=3];
11 -- 20 [label=6];
12 -- 13 [label=2];
13 -- 14 [label=2];
14 -- 16 [label=3];
15 -- 17 [label=1];
16 -- 19 [label=3];
17 -- 18 [label=1];
18 -- 19 [label=1];
20 -- 21 [label=3];
21 -- 28 [label=1];
22 -- 26 [label=3];
22 -- 28 [label=2];
22 -- 31 [label=2];
23 -- 24 [label=1];
24 -- 25 [label=2];
25 -- 27 [label=3];
25 -- 53 [label=2];
26 -- 29 [label=1];
27 -- 29 [label=3];
30 -- 31 [label=3];
30 -- 32 [label=3];
30 -- 46 [label=6];
32 -- 37 [label=1];
33 -- 34 [label=2];
34 -- 36 [label=2];
34 -- 56 [label=2];
34 -- 60 [label=2];
35 -- 38 [label=3];
35 -- 39 [label=3];
36 -- 38 [label=1];
37 -- 39 [label=1];
40 -- 51 [label=6];
53 -- 54 [label=1];
56 -- 57 [label=1];
57 -- 58 [label=2];
}

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