Removed thirds, added communication-based heuristic for seeking (#2226)

rj_msgs/CMakeLists.txt

@@ -59,23 +59,24 @@ rosidl_generate_interfaces(
   msg/AgentResponseVariant.msg
 
   # Agent Request Messages
-  request/ResetScorerRequest.msg
-  request/PositionRequest.msg
+  request/LeaveWallRequest.msg
+  request/PassRequest.msg
+  request/SeekerRequest.msg
   request/TestRequest.msg
   request/BallInTransitRequest.msg
+  request/JoinWallRequest.msg
   request/ScorerRequest.msg
   request/IncomingBallRequest.msg
-  request/PassRequest.msg
-  request/LeaveWallRequest.msg
-  request/JoinWallRequest.msg
+  request/ResetScorerRequest.msg
+  request/PositionRequest.msg
 
   # Agent Response Messages
   response/LeaveWallResponse.msg
-  response/Acknowledge.msg
-  response/PassResponse.msg
+  response/ScorerResponse.msg
   response/JoinWallResponse.msg
+  response/Acknowledge.msg
   response/PositionResponse.msg
-  response/ScorerResponse.msg
+  response/PassResponse.msg
   response/TestResponse.msg
 
   # Services

rj_msgs/msg/AgentRequest.msg

@@ -3,12 +3,13 @@
 # 2 -> PositionResponse
 # 3 -> PassResponse
 # ACKNOWLEDGE REQUEST DOES NOT (AND SHOULD NOT) EXIST
-ResetScorerRequest[<=1] reset_scorer_request
-PositionRequest[<=1] position_request
+LeaveWallRequest[<=1] leave_wall_request
+PassRequest[<=1] pass_request
+SeekerRequest[<=1] seeker_request
 TestRequest[<=1] test_request
 BallInTransitRequest[<=1] ball_in_transit_request
+JoinWallRequest[<=1] join_wall_request
 ScorerRequest[<=1] scorer_request
 IncomingBallRequest[<=1] incoming_ball_request
-PassRequest[<=1] pass_request
-LeaveWallRequest[<=1] leave_wall_request
-JoinWallRequest[<=1] join_wall_request
+ResetScorerRequest[<=1] reset_scorer_request
+PositionRequest[<=1] position_request

rj_msgs/msg/AgentResponseVariant.msg

@@ -1,7 +1,7 @@
 LeaveWallResponse[<=1] leave_wall_response
-Acknowledge[<=1] acknowledge
-PassResponse[<=1] pass_response
+ScorerResponse[<=1] scorer_response
 JoinWallResponse[<=1] join_wall_response
+Acknowledge[<=1] acknowledge
 PositionResponse[<=1] position_response
-ScorerResponse[<=1] scorer_response
+PassResponse[<=1] pass_response
 TestResponse[<=1] test_response

rj_msgs/request/SeekerRequest.msg

@@ -0,0 +1,9 @@
+# /**
+#  * @brief request sent by an agent to one or many agents indicating
+#  * that it would like to seek
+#  */
+uint32 request_uid
+uint8 robot_id
+float64 seeking_point_x
+float64 seeking_point_y
+bool adding

soccer/src/soccer/strategy/agent/communication/acknowledge.hpp

@@ -7,7 +7,6 @@
 
 #include <rj_common/time.hpp>
 #include <rj_convert/ros_convert.hpp>
-
 #include "rj_msgs/msg/acknowledge.hpp"
 
 namespace strategy::communication {

soccer/src/soccer/strategy/agent/communication/ball_in_transit_request.hpp

@@ -7,7 +7,6 @@
 
 #include <rj_common/time.hpp>
 #include <rj_convert/ros_convert.hpp>
-
 #include "rj_msgs/msg/ball_in_transit_request.hpp"
 
 namespace strategy::communication {

soccer/src/soccer/strategy/agent/communication/communication.cpp

@@ -8,11 +8,15 @@ u_int32_t request_uid = 0;
 std::mutex response_uid_mutex;
 u_int32_t response_uid = 0;
 
-bool operator==(const ResetScorerRequest& a, const ResetScorerRequest& b) {
+bool operator==(const LeaveWallRequest& a, const LeaveWallRequest& b) {
     return a.request_uid == b.request_uid;
 }
 
-bool operator==(const PositionRequest& a, const PositionRequest& b) {
+bool operator==(const PassRequest& a, const PassRequest& b) {
+    return a.request_uid == b.request_uid;
+}
+
+bool operator==(const SeekerRequest& a, const SeekerRequest& b) {
     return a.request_uid == b.request_uid;
 }
 
@@ -24,47 +28,47 @@ bool operator==(const BallInTransitRequest& a, const BallInTransitRequest& b) {
     return a.request_uid == b.request_uid;
 }
 
-bool operator==(const ScorerRequest& a, const ScorerRequest& b) {
+bool operator==(const JoinWallRequest& a, const JoinWallRequest& b) {
     return a.request_uid == b.request_uid;
 }
 
-bool operator==(const IncomingBallRequest& a, const IncomingBallRequest& b) {
+bool operator==(const ScorerRequest& a, const ScorerRequest& b) {
     return a.request_uid == b.request_uid;
 }
 
-bool operator==(const PassRequest& a, const PassRequest& b) {
+bool operator==(const IncomingBallRequest& a, const IncomingBallRequest& b) {
     return a.request_uid == b.request_uid;
 }
 
-bool operator==(const LeaveWallRequest& a, const LeaveWallRequest& b) {
+bool operator==(const ResetScorerRequest& a, const ResetScorerRequest& b) {
     return a.request_uid == b.request_uid;
 }
 
-bool operator==(const JoinWallRequest& a, const JoinWallRequest& b) {
+bool operator==(const PositionRequest& a, const PositionRequest& b) {
     return a.request_uid == b.request_uid;
 }
 
 bool operator==(const LeaveWallResponse& a, const LeaveWallResponse& b) {
     return a.response_uid == b.response_uid;
 }
 
-bool operator==(const Acknowledge& a, const Acknowledge& b) {
+bool operator==(const ScorerResponse& a, const ScorerResponse& b) {
     return a.response_uid == b.response_uid;
 }
 
-bool operator==(const PassResponse& a, const PassResponse& b) {
+bool operator==(const JoinWallResponse& a, const JoinWallResponse& b) {
     return a.response_uid == b.response_uid;
 }
 
-bool operator==(const JoinWallResponse& a, const JoinWallResponse& b) {
+bool operator==(const Acknowledge& a, const Acknowledge& b) {
     return a.response_uid == b.response_uid;
 }
 
 bool operator==(const PositionResponse& a, const PositionResponse& b) {
     return a.response_uid == b.response_uid;
 }
 
-bool operator==(const ScorerResponse& a, const ScorerResponse& b) {
+bool operator==(const PassResponse& a, const PassResponse& b) {
     return a.response_uid == b.response_uid;
 }
 
@@ -76,14 +80,21 @@ bool operator==(const AgentResponse& a, const AgentResponse& b) {
     return (a.associated_request == b.associated_request) && (a.response == b.response);
 }
 
-void generate_uid(ResetScorerRequest& request) {
+void generate_uid(LeaveWallRequest& request) {
     request_uid_mutex.lock();
     request.request_uid = request_uid;
     request_uid++;
     request_uid_mutex.unlock();
 }
 
-void generate_uid(PositionRequest& request) {
+void generate_uid(PassRequest& request) {
+    request_uid_mutex.lock();
+    request.request_uid = request_uid;
+    request_uid++;
+    request_uid_mutex.unlock();
+}
+
+void generate_uid(SeekerRequest& request) {
     request_uid_mutex.lock();
     request.request_uid = request_uid;
     request_uid++;
@@ -104,35 +115,35 @@ void generate_uid(BallInTransitRequest& request) {
     request_uid_mutex.unlock();
 }
 
-void generate_uid(ScorerRequest& request) {
+void generate_uid(JoinWallRequest& request) {
     request_uid_mutex.lock();
     request.request_uid = request_uid;
     request_uid++;
     request_uid_mutex.unlock();
 }
 
-void generate_uid(IncomingBallRequest& request) {
+void generate_uid(ScorerRequest& request) {
     request_uid_mutex.lock();
     request.request_uid = request_uid;
     request_uid++;
     request_uid_mutex.unlock();
 }
 
-void generate_uid(PassRequest& request) {
+void generate_uid(IncomingBallRequest& request) {
     request_uid_mutex.lock();
     request.request_uid = request_uid;
     request_uid++;
     request_uid_mutex.unlock();
 }
 
-void generate_uid(LeaveWallRequest& request) {
+void generate_uid(ResetScorerRequest& request) {
     request_uid_mutex.lock();
     request.request_uid = request_uid;
     request_uid++;
     request_uid_mutex.unlock();
 }
 
-void generate_uid(JoinWallRequest& request) {
+void generate_uid(PositionRequest& request) {
     request_uid_mutex.lock();
     request.request_uid = request_uid;
     request_uid++;
@@ -146,21 +157,21 @@ void generate_uid(LeaveWallResponse& response) {
     response_uid_mutex.unlock();
 }
 
-void generate_uid(Acknowledge& response) {
+void generate_uid(ScorerResponse& response) {
     response_uid_mutex.lock();
     response.response_uid = response_uid;
     response_uid++;
     response_uid_mutex.unlock();
 }
 
-void generate_uid(PassResponse& response) {
+void generate_uid(JoinWallResponse& response) {
     response_uid_mutex.lock();
     response.response_uid = response_uid;
     response_uid++;
     response_uid_mutex.unlock();
 }
 
-void generate_uid(JoinWallResponse& response) {
+void generate_uid(Acknowledge& response) {
     response_uid_mutex.lock();
     response.response_uid = response_uid;
     response_uid++;
@@ -174,7 +185,7 @@ void generate_uid(PositionResponse& response) {
     response_uid_mutex.unlock();
 }
 
-void generate_uid(ScorerResponse& response) {
+void generate_uid(PassResponse& response) {
     response_uid_mutex.lock();
     response.response_uid = response_uid;
     response_uid++;