Support switching between Radio/UDP for robot communication (#3151)

* Move unix and udp networking files into separate directories * Add radio listener + sender * Update NetworkService * [pre-commit.ci lite] apply automatic fixes * Fix include * [pre-commit.ci lite] apply automatic fixes * Fix help text * Fix include * Fix failing build * Add docs * [pre-commit.ci lite] apply automatic fixes * Add enable radio flag to field test fixture --------- Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
UBC-Thunderbots · Mar 30, 2024 · aaa16cb · aaa16cb
1 parent c6e5fa4
commit aaa16cb
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Showing 55 changed files with 620 additions and 538 deletions.
diff --git a/src/software/BUILD b/src/software/BUILD
@@ -17,9 +17,9 @@ cc_binary(
         "//software/estop:arduino_util",
         "//software/logger",
         "//software/multithreading:observer_subject_adapter",
-        "//software/networking:threaded_proto_udp_listener",
-        "//software/networking:threaded_proto_udp_sender",
-        "//software/networking:threaded_proto_unix_listener",
+        "//software/networking/udp:threaded_proto_udp_listener",
+        "//software/networking/udp:threaded_proto_udp_sender",
+        "//software/networking/unix:threaded_proto_unix_listener",
         "//software/sensor_fusion:threaded_sensor_fusion",
         "//software/util/generic_factory",
         "@boost//:program_options",
@@ -32,8 +32,8 @@ cc_binary(
     srcs = ["er_force_simulator_main.cpp"],
     deps = [
         "//software:constants",
-        "//software/networking:threaded_proto_unix_listener",
-        "//software/networking:threaded_proto_unix_sender",
+        "//software/networking/unix:threaded_proto_unix_listener",
+        "//software/networking/unix:threaded_proto_unix_sender",
         "//software/simulation:er_force_simulator",
         "@boost//:program_options",
     ],
@@ -45,7 +45,7 @@ cc_binary(
     deps = [
         "//proto:tbots_cc_proto",
         "//shared:constants",
-        "//software/networking:threaded_proto_udp_listener",
+        "//software/networking/udp:threaded_proto_udp_listener",
         "@boost//:program_options",
     ],
 )
@@ -89,8 +89,9 @@ pybind_library(
         "//software/geom:segment",
         "//software/geom:vector",
         "//software/geom/algorithms",
-        "//software/networking:threaded_proto_udp_listener",
-        "//software/networking:threaded_proto_udp_sender",
+        "//software/networking/radio:threaded_proto_radio_sender",
+        "//software/networking/udp:threaded_proto_udp_listener",
+        "//software/networking/udp:threaded_proto_udp_sender",
         "//software/uart:boost_uart_communication",
         "//software/world",
         "//software/world:field",

diff --git a/src/software/backend/BUILD b/src/software/backend/BUILD
@@ -26,8 +26,8 @@ cc_library(
         "//shared:constants",
         "//software:constants",
         "//software/logger",
-        "//software/networking:threaded_proto_unix_listener",
-        "//software/networking:threaded_proto_unix_sender",
+        "//software/networking/unix:threaded_proto_unix_listener",
+        "//software/networking/unix:threaded_proto_unix_sender",
         "//software/util/generic_factory",
     ],
     # We force linking so that the static variables required for the "factory"

diff --git a/src/software/backend/unix_simulator_backend.h b/src/software/backend/unix_simulator_backend.h
@@ -6,8 +6,8 @@
 #include "proto/sensor_msg.pb.h"
 #include "proto/tbots_software_msgs.pb.h"
 #include "software/backend/backend.h"
-#include "software/networking/threaded_proto_unix_listener.hpp"
-#include "software/networking/threaded_proto_unix_sender.hpp"
+#include "software/networking/unix/threaded_proto_unix_listener.hpp"
+#include "software/networking/unix/threaded_proto_unix_sender.hpp"
 
 class UnixSimulatorBackend : public Backend, public Subject<TbotsProto::ThunderbotsConfig>
 {

diff --git a/src/software/er_force_simulator_main.cpp b/src/software/er_force_simulator_main.cpp
@@ -7,8 +7,8 @@
 #include "proto/world.pb.h"
 #include "software/constants.h"
 #include "software/logger/logger.h"
-#include "software/networking/threaded_proto_unix_listener.hpp"
-#include "software/networking/threaded_proto_unix_sender.hpp"
+#include "software/networking/unix/threaded_proto_unix_listener.hpp"
+#include "software/networking/unix/threaded_proto_unix_sender.hpp"
 #include "software/simulation/er_force_simulator.h"
 
 int main(int argc, char **argv)

diff --git a/src/software/field_tests/BUILD b/src/software/field_tests/BUILD
@@ -13,8 +13,8 @@ py_library(
     deps = [
         "//proto:import_all_protos",
         "//software/logger:py_logger",
-        "//software/networking:threaded_unix_listener_py",
-        "//software/networking:threaded_unix_sender_py",
+        "//software/networking/unix:threaded_unix_listener_py",
+        "//software/networking/unix:threaded_unix_sender_py",
         "//software/simulated_tests:tbots_test_runner",
         "//software/simulated_tests:validation",
         "//software/thunderscope",

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
@@ -298,6 +298,13 @@ def load_command_line_arguments():
         help="Which channel to communicate over",
     )
 
+    parser.add_argument(
+        "--enable_radio",
+        action="store_true",
+        default=False,
+        help="Whether to use radio (True) or Wi-Fi (False) for sending primitives to robots",
+    )
+
     parser.add_argument(
         "--estop_baudrate",
         action="store",
@@ -372,6 +379,7 @@ def field_test_runner():
         interface=args.interface,
         estop_mode=estop_mode,
         estop_path=estop_path,
+        enable_radio=args.enable_radio,
     ) as rc_friendly:
         with Gamecontroller(
             supress_logs=(not args.show_gamecontroller_logs), ci_mode=True

diff --git a/src/software/jetson_nano/services/network/BUILD b/src/software/jetson_nano/services/network/BUILD
@@ -9,8 +9,9 @@ cc_library(
         "//proto:tbots_cc_proto",
         "//shared:robot_constants",
         "//software/logger",
-        "//software/networking:threaded_proto_udp_listener",
-        "//software/networking:threaded_proto_udp_sender",
+        "//software/networking/radio:threaded_proto_radio_listener",
+        "//software/networking/udp:threaded_proto_udp_listener",
+        "//software/networking/udp:threaded_proto_udp_sender",
         "@boost//:asio",
     ],
 )

diff --git a/src/software/jetson_nano/services/network/network.cpp b/src/software/jetson_nano/services/network/network.cpp
@@ -7,10 +7,15 @@ NetworkService::NetworkService(const std::string& ip_address,
 {
     sender = std::make_unique<ThreadedProtoUdpSender<TbotsProto::RobotStatus>>(
         ip_address, robot_status_sender_port, multicast);
-    listener_primitive_set =
+
+    udp_listener_primitive_set =
         std::make_unique<ThreadedProtoUdpListener<TbotsProto::PrimitiveSet>>(
             ip_address, primitive_listener_port,
             boost::bind(&NetworkService::primitiveSetCallback, this, _1), multicast);
+
+    radio_listener_primitive_set =
+        std::make_unique<ThreadedProtoRadioListener<TbotsProto::PrimitiveSet>>(
+            boost::bind(&NetworkService::primitiveSetCallback, this, _1));
 }
 
 TbotsProto::PrimitiveSet NetworkService::poll(TbotsProto::RobotStatus& robot_status)

diff --git a/src/software/jetson_nano/services/network/network.h b/src/software/jetson_nano/services/network/network.h
@@ -8,8 +8,9 @@
 #include "shared/constants.h"
 #include "shared/robot_constants.h"
 #include "software/jetson_nano/services/network/proto_tracker.h"
-#include "software/networking/threaded_proto_udp_listener.hpp"
-#include "software/networking/threaded_proto_udp_sender.hpp"
+#include "software/networking/radio/threaded_proto_radio_listener.hpp"
+#include "software/networking/udp/threaded_proto_udp_listener.hpp"
+#include "software/networking/udp/threaded_proto_udp_sender.hpp"
 
 class NetworkService
 {
@@ -63,7 +64,9 @@ class NetworkService
 
     std::unique_ptr<ThreadedProtoUdpSender<TbotsProto::RobotStatus>> sender;
     std::unique_ptr<ThreadedProtoUdpListener<TbotsProto::PrimitiveSet>>
-        listener_primitive_set;
+        udp_listener_primitive_set;
+    std::unique_ptr<ThreadedProtoRadioListener<TbotsProto::PrimitiveSet>>
+        radio_listener_primitive_set;
 
     unsigned int network_ticks     = 0;
     unsigned int thunderloop_ticks = 0;

diff --git a/src/software/logger/BUILD b/src/software/logger/BUILD
@@ -117,7 +117,7 @@ cc_library(
         "//proto/message_translation:tbots_protobuf",
         "//shared:constants",
         "//software/logger:plotjuggler_sink",
-        "//software/networking:threaded_proto_udp_sender",
+        "//software/networking/udp:threaded_proto_udp_sender",
         "@base64",
         "@g3log",
     ],
@@ -135,7 +135,7 @@ cc_library(
     deps = [
         "//proto:visualization_cc_proto",
         "//shared:constants",
-        "//software/networking:threaded_udp_sender",
+        "//software/networking/udp:threaded_udp_sender",
         "@g3log",
     ],
 )
@@ -153,7 +153,7 @@ cc_library(
         "//proto:any_cc_proto",
         "//proto:tbots_cc_proto",
         "//shared:constants",
-        "//software/networking:threaded_unix_sender",
+        "//software/networking/unix:threaded_unix_sender",
         "@base64",
         "@g3log",
     ],

diff --git a/src/software/logger/network_sink.h b/src/software/logger/network_sink.h
@@ -6,7 +6,7 @@
 #include "proto/robot_log_msg.pb.h"
 #include "proto/visualization.pb.h"
 #include "software/logger/log_merger.h"
-#include "software/networking/threaded_proto_udp_sender.hpp"
+#include "software/networking/udp/threaded_proto_udp_sender.hpp"
 
 
 /**

diff --git a/src/software/logger/plotjuggler_sink.h b/src/software/logger/plotjuggler_sink.h
@@ -4,7 +4,7 @@
 
 #include "proto/visualization.pb.h"
 #include "software/logger/custom_logging_levels.h"
-#include "software/networking/threaded_udp_sender.h"
+#include "software/networking/udp/threaded_udp_sender.h"
 
 
 /**

diff --git a/src/software/logger/protobuf_sink.h b/src/software/logger/protobuf_sink.h
@@ -5,7 +5,7 @@
 
 #include "google/protobuf/any.pb.h"
 #include "software/logger/custom_logging_levels.h"
-#include "software/networking/threaded_unix_sender.h"
+#include "software/networking/unix/threaded_unix_sender.h"
 
 static const std::string TYPE_DELIMITER = "!!!";
 

diff --git a/src/software/network_log_listener_main.cpp b/src/software/network_log_listener_main.cpp
@@ -6,7 +6,7 @@
 #include "proto/robot_log_msg.pb.h"
 #include "proto/tbots_software_msgs.pb.h"
 #include "shared/constants.h"
-#include "software/networking/threaded_proto_udp_listener.hpp"
+#include "software/networking/udp/threaded_proto_udp_listener.hpp"
 
 /*
  * This standalone program listens for RobotLog protos on the specified ip address

diff --git a/src/software/networking/BUILD b/src/software/networking/BUILD
@@ -1,165 +1,5 @@
 package(default_visibility = ["//visibility:public"])
 
-cc_library(
-    name = "proto_udp_client",
-    hdrs = [
-        "proto_udp_client.hpp",
-    ],
-    deps = [
-        "//software/logger",
-        "//software/util/typename",
-    ],
-)
-
-cc_library(
-    name = "proto_udp_listener",
-    hdrs = [
-        "proto_udp_listener.hpp",
-    ],
-    visibility = ["//visibility:private"],
-    deps = [
-        "//software/logger",
-        "//software/util/typename",
-    ],
-)
-
-cc_library(
-    name = "udp_sender",
-    srcs = [
-        "udp_sender.cpp",
-    ],
-    hdrs = [
-        "udp_sender.h",
-    ],
-    visibility = ["//visibility:private"],
-    deps = [
-        "@boost//:asio",
-    ],
-)
-
-cc_library(
-    name = "threaded_proto_udp_listener",
-    hdrs = [
-        "threaded_proto_udp_listener.hpp",
-    ],
-    deps = [
-        ":proto_udp_listener",
-        "@boost//:asio",
-    ],
-)
-
-cc_library(
-    name = "threaded_proto_udp_sender",
-    hdrs = [
-        "threaded_proto_udp_sender.hpp",
-    ],
-    deps = [
-        ":udp_sender",
-        "@boost//:asio",
-    ],
-)
-
-cc_library(
-    name = "unix_sender",
-    srcs = [
-        "unix_sender.cpp",
-    ],
-    hdrs = [
-        "unix_sender.h",
-    ],
-    visibility = ["//visibility:private"],
-    deps = [
-        "//software:constants",
-        "@boost//:asio",
-    ],
-)
-
-cc_library(
-    name = "threaded_udp_sender",
-    srcs = [
-        "threaded_udp_sender.cpp",
-    ],
-    hdrs = [
-        "threaded_udp_sender.h",
-    ],
-    deps = [
-        ":udp_sender",
-    ],
-)
-
-cc_library(
-    name = "proto_unix_listener",
-    hdrs = [
-        "proto_unix_listener.hpp",
-    ],
-    visibility = ["//visibility:private"],
-    deps = [
-        "//software:constants",
-        "//software/util/typename",
-        "@boost//:asio",
-    ],
-)
-
-cc_library(
-    name = "threaded_unix_sender",
-    srcs = [
-        "threaded_unix_sender.cpp",
-    ],
-    hdrs = [
-        "threaded_unix_sender.h",
-    ],
-    deps = [
-        ":unix_sender",
-        "@boost//:asio",
-    ],
-)
-
-cc_library(
-    name = "threaded_proto_unix_sender",
-    hdrs = [
-        "threaded_proto_unix_sender.hpp",
-    ],
-    deps = [
-        ":unix_sender",
-        "@boost//:asio",
-    ],
-)
-
-cc_library(
-    name = "threaded_proto_unix_listener",
-    hdrs = [
-        "threaded_proto_unix_listener.hpp",
-    ],
-    deps = [
-        ":proto_unix_listener",
-        "@boost//:asio",
-    ],
-)
-
-py_library(
-    name = "threaded_unix_listener_py",
-    srcs = ["threaded_unix_listener.py"],
-    data = [
-        "//software:py_constants.so",
-    ],
-    deps = [
-        "//proto:software_py_proto",
-        "//software/logger:py_logger",
-    ],
-)
-
-py_library(
-    name = "threaded_unix_sender_py",
-    srcs = ["threaded_unix_sender.py"],
-    data = [
-        "//software:py_constants.so",
-    ],
-    deps = [
-        "//proto:software_py_proto",
-        "//software/logger:py_logger",
-    ],
-)
-
 py_library(
     name = "ssl_proto_communication",
     srcs = ["ssl_proto_communication.py"],