Fsm debug window

environment_setup/setup_software.sh

@@ -92,9 +92,9 @@ fi
 
 virtualenv_opt_args=""
 if [[ $(lsb_release -rs) == "24.04" ]]; then
-    host_software_packages+=(python3-pyqt6)
-    host_software_packages+=(pyqt6-dev-tools)
-    host_software_packages+=(python3-pyqt6.qtsvg)
+    # host_software_packages+=(python3-pyqt6)
+    # host_software_packages+=(pyqt6-dev-tools)
+    # host_software_packages+=(python3-pyqt6.qtsvg)
 
     virtualenv_opt_args="--system-site-packages"
 fi

environment_setup/ubuntu24_requirements.txt

@@ -1,5 +1,4 @@
 ansible-lint==25.8.1
-pyqtgraph==0.13.7
 thefuzz==0.19.0
 iterfzf==0.5.0.20.0
 python-Levenshtein==0.25.1

src/MODULE.bazel

@@ -22,6 +22,7 @@ bazel_dep(name = "rules_proto", version = "7.1.0")
 bazel_dep(name = "yaml-cpp", version = "0.8.0")
 bazel_dep(name = "buildifier_prebuilt", version = "8.0.3")
 bazel_dep(name = "pybind11_protobuf", version = "0.0.0-20250210-f02a2b7")
+bazel_dep(name = "aspect_rules_py", version = "1.6.6")
 bazel_dep(name = "bazel_lib", version = "3.1.0")
 
 ##############################################

src/proto/play_info_msg.proto

@@ -7,12 +7,16 @@ message PlayInfo
     message Play
     {
         repeated string play_state = 1;
+        string last_transition = 2;
+        string last_guard = 3;
     }
 
     message Tactic
     {
         string tactic_name      = 1;
         string tactic_fsm_state = 2;
+        string last_transition = 3;
+        string last_guard = 4;
     }
 
     map<uint32, Tactic> robot_tactic_assignment = 1;

src/software/ai/ai.cpp

@@ -8,8 +8,9 @@
 
 
 Ai::Ai(std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr)
-    : ai_config_ptr(ai_config_ptr),
-      fsm(std::make_unique<FSM<PlaySelectionFSM>>(PlaySelectionFSM{ai_config_ptr})),
+    : logger(),
+      ai_config_ptr(ai_config_ptr),
+      fsm(std::make_unique<FSM<PlaySelectionFSM>>(PlaySelectionFSM{ai_config_ptr}, logger)),
       override_play(nullptr),
       current_play(std::make_unique<HaltPlay>(ai_config_ptr)),
       ai_config_changed(false)
@@ -46,7 +47,7 @@ void Ai::checkAiConfig()
     {
         ai_config_changed = false;
 
-        fsm = std::make_unique<FSM<PlaySelectionFSM>>(PlaySelectionFSM{ai_config_ptr});
+        fsm = std::make_unique<FSM<PlaySelectionFSM>>(PlaySelectionFSM{ai_config_ptr}, logger);
 
         auto current_override = ai_config_ptr->ai_control_config().override_ai_play();
         if (current_override != TbotsProto::PlayName::UseAiSelection)
@@ -121,5 +122,7 @@ TbotsProto::PlayInfo Ai::getPlayInfo() const
         (*info.mutable_robot_tactic_assignment())[robot_id] = tactic_msg;
     }
 
+    FSMLogger::getTransitionAndGuard(info);
+
     return info;
 }

src/software/ai/ai.h

@@ -62,9 +62,10 @@ class Ai final
      */
     void updateAiConfig();
 
-   private:
+private:
     void checkAiConfig();
 
+    FSMLogger logger;
     std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr;
     std::unique_ptr<FSM<PlaySelectionFSM>> fsm;
     std::unique_ptr<Play> override_play;

src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm.h

@@ -143,6 +143,13 @@ struct BallPlacementPlayFSM : public PlayFSM<BallPlacementPlayFSM>
      */
     void setupMoveTactics(const Update& event);
 
+    DEFINE_SML_GUARD_CLASS(shouldKickOffWall, BallPlacementPlayFSM)
+    DEFINE_SML_GUARD_CLASS(alignDone, BallPlacementPlayFSM)
+    DEFINE_SML_GUARD_CLASS(kickDone, BallPlacementPlayFSM)
+    DEFINE_SML_GUARD_CLASS(ballPlaced, BallPlacementPlayFSM)
+    DEFINE_SML_GUARD_CLASS(waitDone, BallPlacementPlayFSM)
+    DEFINE_SML_GUARD_CLASS(retreatDone, BallPlacementPlayFSM)
+
     auto operator()()
     {
         using namespace boost::sml;
@@ -155,19 +162,20 @@ struct BallPlacementPlayFSM : public PlayFSM<BallPlacementPlayFSM>
         DEFINE_SML_STATE(RetreatState)
         DEFINE_SML_EVENT(Update)
 
-        DEFINE_SML_ACTION(alignPlacement)
-        DEFINE_SML_ACTION(placeBall)
-        DEFINE_SML_ACTION(kickOffWall)
-        DEFINE_SML_ACTION(startWait)
-        DEFINE_SML_ACTION(retreat)
-
         DEFINE_SML_GUARD(shouldKickOffWall)
         DEFINE_SML_GUARD(alignDone)
         DEFINE_SML_GUARD(kickDone)
         DEFINE_SML_GUARD(ballPlaced)
         DEFINE_SML_GUARD(waitDone)
         DEFINE_SML_GUARD(retreatDone)
 
+        DEFINE_SML_ACTION(alignPlacement)
+        DEFINE_SML_ACTION(placeBall)
+        DEFINE_SML_ACTION(kickOffWall)
+        DEFINE_SML_ACTION(startWait)
+        DEFINE_SML_ACTION(retreat)
+
+
         return make_transition_table(
             // src_state + event [guard] / action = dest_state
             *StartState_S + Update_E[!shouldKickOffWall_G] / alignPlacement_A =

src/software/ai/hl/stp/play/ball_placement/ball_placement_play_fsm_test.cpp

@@ -20,9 +20,9 @@ TEST(BallPlacementPlayFSMTest, test_transitions)
     game_state.setBallPlacementPoint(ball_placement_point);
     world_ptr->updateGameState(game_state);
 
-
+    FSMLogger logger{};
     FSM<BallPlacementPlayFSM> fsm(
-        BallPlacementPlayFSM{std::make_shared<TbotsProto::AiConfig>()});
+            BallPlacementPlayFSM{std::make_shared<TbotsProto::AiConfig>()}, logger);
 
     EXPECT_TRUE(fsm.is(boost::sml::state<BallPlacementPlayFSM::StartState>));
 
@@ -50,10 +50,11 @@ TEST(BallPlacementPlayFSMTest, test_kick_off_wall_transitions)
     Point ball_placement_point(0, 0);
     game_state.setBallPlacementPoint(ball_placement_point);
     world_ptr->updateGameState(game_state);
-
-
+    
+    FSMLogger logger{};
     FSM<BallPlacementPlayFSM> fsm(
-        BallPlacementPlayFSM{std::make_shared<TbotsProto::AiConfig>()});
+            BallPlacementPlayFSM{std::make_shared<TbotsProto::AiConfig>()}, logger);
+
 
     EXPECT_TRUE(fsm.is(boost::sml::state<BallPlacementPlayFSM::StartState>));
 

src/software/ai/hl/stp/play/crease_defense/crease_defense_play_fsm_test.cpp

@@ -10,8 +10,8 @@ TEST(CreaseDefensePlayFSMTest, test_transitions)
 {
     std::shared_ptr<World> world = ::TestUtil::createBlankTestingWorld();
 
-    FSM<CreaseDefensePlayFSM> fsm(
-        CreaseDefensePlayFSM{std::make_shared<TbotsProto::AiConfig>()});
+    FSMLogger logger{};
+    FSM<CreaseDefensePlayFSM> fsm(CreaseDefensePlayFSM{std::make_shared<TbotsProto::AiConfig>()}, logger);
     EXPECT_TRUE(fsm.is(boost::sml::state<CreaseDefensePlayFSM::DefenseState>));
 
     fsm.process_event(CreaseDefensePlayFSM::Update(

src/software/ai/hl/stp/play/defense/defense_play_fsm.h

@@ -81,6 +81,7 @@ struct DefensePlayFSM : public DefensePlayFSMBase
     void setTactics(const Update& event);
 
 
+    DEFINE_SML_GUARD_CLASS(shouldDefendAggressively, DefensePlayFSM)
 
     auto operator()()
     {

src/software/ai/hl/stp/play/defense/defense_play_fsm_test.cpp

@@ -10,7 +10,8 @@ TEST(DefensePlayFSMTest, test_transitions)
 {
     std::shared_ptr<World> world = ::TestUtil::createBlankTestingWorld();
 
-    FSM<DefensePlayFSM> fsm(DefensePlayFSM{std::make_shared<TbotsProto::AiConfig>()});
+    FSMLogger logger{};
+    FSM<DefensePlayFSM> fsm(DefensePlayFSM{std::make_shared<TbotsProto::AiConfig>()}, logger);
     EXPECT_TRUE(fsm.is(boost::sml::state<DefensePlayFSM::DefenseState>));
 
     // Place enemy robots behind the ball implying there is a large attack