feat: simulator-cli にibisバイナリプロトコルを移植

.github/workflows/docker-publish.yaml

@@ -0,0 +1,82 @@
+name: Build and Push Docker Image
+
+on:
+  push:
+    branches:
+      - ibis
+    tags:
+      - 'v*.*.*'
+  pull_request:
+    branches:
+      - ibis
+    paths:
+      - 'data/docker/Dockerfile.simulatorcli'
+      - 'data/docker/simulatorcli_entrypoint.bash'
+      - '.github/workflows/docker-publish.yaml'
+  workflow_dispatch:
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ibis-ssl/framework-simulatorcli
+
+jobs:
+  build-and-push:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+      attestations: write
+      id-token: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to Container Registry
+        if: github.event_name != 'pull_request'
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels)
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=raw,value=latest,enable={{is_default_branch}}
+            type=ref,event=branch
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+            type=sha,prefix=,format=short
+            type=ref,event=pr
+
+      - name: Build and push Docker image
+        id: push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: ./data/docker/Dockerfile.simulatorcli
+          platforms: linux/amd64
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+          provenance: true
+          sbom: true
+
+      - name: Generate artifact attestation
+        if: github.event_name != 'pull_request'
+        uses: actions/attest-build-provenance@v2
+        with:
+          subject-name: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          subject-digest: ${{ steps.push.outputs.digest }}
+          push-to-registry: true

CMakeLists.txt

@@ -222,6 +222,8 @@ find_package(V8 10.5.7)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 add_subdirectory(src)
 
+install(DIRECTORY config/ DESTINATION config FILES_MATCHING PATTERN "*.txt")
+
 if(UNIX AND NOT APPLE)
     configure_file(data/pkg/ra.desktop.in ra.desktop)
     configure_file(data/pkg/ra-logplayer.desktop.in ra-logplayer.desktop)

README.md

@@ -57,6 +57,26 @@ The `simulator-cli` takes three command line arguments:
 A `short_file_name` is just the filename without the path or the extension.
 For example, to start the binary with no realism and 2018 setup, call `simulator-cli -g 2018 --realism None`
 
+#### Robot-side position control (ibis)
+
+The ibis command receiver emulates the robot's STM32 (G474) main board: it
+accepts `POLAR_VELOCITY_TARGET` (control mode 3) only and does **not** close a
+position loop. In the robot-side position control setup, `crane` sends
+`POSITION_TARGET` (mode 4) commands that are consumed by the CM4 position
+controller (`cm4_sim`) running between `crane` and the simulator:
+
+```text
+crane --mode 4--> cm4_sim --mode 3--> simulator-cli
+                     ^                     |
+                     +--- ibis feedback ---+
+```
+
+A mode 4 command arriving directly at the simulator means `cm4_sim` is missing
+from the chain; the simulator stops that robot and logs why instead of
+misreading the mode arguments. See
+[docs/robot-side-position-control.md](docs/robot-side-position-control.md) for
+the packet contract and port assignment.
+
 ### Other utilities
 This repo also contains various utilities:
 - `amun-cli` - run an AI script from the command line.

config/simulator-realism/Ibis.txt

@@ -0,0 +1,21 @@
+stddev_ball_p: 0.0014
+stddev_robot_p: 0.0013
+stddev_robot_phi: 0.01
+stddev_ball_area: 6.5
+enable_invisible_ball: true
+ball_visibility_threshold: 0.4
+camera_overlap: 1
+dribbler_ball_detections: 0.05
+camera_position_error: 0.1
+robot_command_loss: 0.03
+robot_response_loss: 0.1
+missing_ball_detections: 0.05
+vision_delay: 35000000
+vision_processing_time: 10000000
+simulate_dribbling: false
+object_position_offset: 0.02
+missing_robot_detections: 0.02
+command_delay: 3000000
+robot_rotation_error: 0.5
+rotated_robot_detections_start: 0.001
+rotated_robot_detections_stop: 0.3

data/docker/Dockerfile.simulatorcli

@@ -10,8 +10,7 @@ RUN set -xe; \
 	apt-get install --no-install-recommends -y \
 		cmake make g++ libssl-dev patch \
 		protobuf-compiler libprotobuf-dev \
-		qt6-base-dev libqt6opengl6-dev \
-		qtbase5-dev libqt5opengl5-dev; \
+		qt6-base-dev libqt6opengl6-dev; \
 	apt-get clean -y; \
 	rm -rf /var/lib/apt/lists/*;
 
@@ -22,9 +21,9 @@ COPY . .
 RUN set -xe; \
 	mkdir build; \
 	cd build; \
-	cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..; \
+	cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DRELATIVE_DATA_DIRS=ON ..; \
 	make simulator-cli -j $(nproc); \
-	find . -maxdepth 1 ! -name 'bin' -exec rm -r {} \; ;
+	cmake --install . --prefix /home/default/install;
 
 #
 # Run stage
@@ -37,25 +36,22 @@ ARG DEBIAN_FRONTEND=noninteractive
 RUN set -xe; \
 	apt-get update; \
 	apt-get install --no-install-recommends -y \
-	    qt6-base-dev libqt6opengl6-dev \
-		qtbase5-dev libqt5opengl5-dev \
-		libprotobuf-dev tini; \
+		libqt6core6t64 libqt6gui6t64 libqt6network6t64 libqt6opengl6t64 \
+		libprotobuf32t64 tini; \
 	apt-get clean -y; \
 	rm -rf /var/lib/apt/lists/*;
 
 RUN useradd --create-home --shell /bin/bash default
 USER default
 WORKDIR /home/default
 
-COPY --chown=default:default /data/docker/simulatorcli_entrypoint.bash .
-ENTRYPOINT ["tini", "--", "./simulatorcli_entrypoint.bash"]
-
-COPY --chown=default:default --from=build-stage /home/default/COPYING .
-COPY --chown=default:default --from=build-stage /home/default/COPYING.GPL .
-COPY --chown=default:default --from=build-stage /home/default/config config
-COPY --chown=default:default --from=build-stage /home/default/build build
+COPY --chown=default:default --from=build-stage /home/default/install/bin/simulator-cli bin/simulator-cli
+COPY --chown=default:default --from=build-stage /home/default/install/config config
 
 # 10300: Control - Accepts simulator configuration commands
 # 10301: Blue    - Accepts robot commands by the blue team
 # 10302: Yellow  - Accepts robot commands by the yellow team
 EXPOSE 10300 10301 10302
+
+ENTRYPOINT ["tini", "--"]
+CMD ["./bin/simulator-cli"]

data/docker/Dockerfile.simulatorcli.dockerignore

@@ -16,6 +16,5 @@
 /strategy
 /data
 !/data/pkg
-!/data/docker/simulatorcli_entrypoint.bash
 
 # vim: filetype=gitignore