DavidMansolino
commented
4 years ago I checked your general_image-fetch example, the Makefile has several issues:
- The include path for the
cppcodeclibrary is wrong. - The include path for the
opencvlibrary is missing. - The link path for the
opencvlibrary is wrong. - It seems we should link with
ws2_32on Windows. - The
LIBRARIESvariable is not used for the link pass.
Here is an example with all this corrections (of course you may need to adjust path and version of opencv):
CXX := g++
CXXFLAGS := -pedantic-errors -Wall -std=c++14
BUILD := ./build
OBJ_DIR := $(BUILD)/objects
TARGET := general_image-fetch
INCLUDE := -I../common -I../../extlibs/cppcodec/include -I../../extlibs/opencv/include
LIBRARIES := -L../../extlibs/opencv/x64/vc16/bin -lopencv_core346 -lopencv_highgui346 -lws2_32
SRC := general_image-fetch.cpp ../common/participant.cpp
OBJECTS := $(SRC:%.cpp=$(OBJ_DIR)/%.o)
all: build $(TARGET)
@echo "Done."
$(OBJ_DIR)/%.o: %.cpp
@mkdir -p $(@D)
$(CXX) $(CXXFLAGS) $(INCLUDE) -o $@ -c $<
$(TARGET): $(OBJECTS)
@mkdir -p $(@D)
$(CXX) $(CXXFLAGS) $(LDFLAGS) -o $(TARGET) $(OBJECTS) $(LIBRARIES)
.PHONY: all build clean debug release
build:
@mkdir -p $(OBJ_DIR)
debug: CXXFLAGS += -DDEBUG -g
debug: all
release: CXXFLAGS += -O2
release: all
clean:
-@rm -rvf $(BUILD)
-@rm -rvf $(TARGET)I am not an expert of opencv, so maybe some libraries links are still missing, but the structure is now correct. Let me know if you still have issues with this.
chshong
lfelipesv
omichel
An effort to port AIWC simulation to Windows is being conducted at https://github.com/omichel/test_world. Basically, the communication system between the simulation supervisor and competitor code was changed. The supervisor was ported to Python and uses a simplified network protocol without any dependency on boost or bonefish libraries. This issue lists all the remaining problems and bugs that need to be fixed to complete the support for Windows:
[x] 1. Commentator and Reporter APIs: Fixed by @stefaniapedrazzi.
[x] 2. The Python supervisor does not transfer image frames to the participant programs (also image_buffer.cpp/hpp is not in Python counterpart). Fixed by @davidmansolino.
[ ] 3. C++ participant example program is missing.
player_random-walk_pywas converted to C++ by @davidmansolino,[x] 4. Robot positions reset are not matched to the formations. Fixed by @chshong.
[x] 5. The sample participant program is not working as intended: If the program is correct, F2 robot should move toward and kick the ball to initiate the kickoff. Instead, F2 robot seems to move away from the ball (it seems like it is highly possible that either incorrect position/orientation data are sent to the participant or the wheel speeds sent from the participant programs are not applied to the robots correctly. Fixed by @omichel.
[x] 6. The key string is not used in validation of the participant programs' credentials. The only place the key is used is in Line 171. Since this only checks if the key is same with Team RED's key, the commentator and the reporter will be able to control Team BLUE's robots if they use 'aiwc.set_speeds'. In the cpp program, 'aiwc.set_speeds' can only be used by red and blue participants, 'aiwc.comment' by commentator, and 'aiwc.report' by reporter. Fixed by @stefaniapedrazzi .
[x] 7. Rules do not seem to be applied accordingly.
[x] 8. The timestamp (one updated by update_label()) is not updated in real time but once in a second. Fixed by @chshong.
[x] 9. 'address already in use' error seems to happen occasionally. Fixed by @stefaniapedrazzi.
[x] 10. reset_reason messages are sent to the client programs multiple times instead of just one. Fixed by @stefaniapedrazzi.
[x] 11. frame messages sent could be concatenated and truncated when reading them from the socket buffer in the client program. Fixed by @stefaniapedrazzi and @DavidMansolino.
[x] 12. Remove the dependency on
boostfrom thesoccer_robotcontroller. Fixed by @omichel.[x] 13. 'data path' not handed over to AI Soccer programs. Fixed by @stefaniapedrazzi.
[x] 14. The simulation runs slower than when C++ controllers were used (with C++ controllers, the simulation usually ran in x1.0. with Python controllers, the simulation runs in about x0.66). Simulation not running in real-time can greatly affect participant programs since the simulation should be asynchronous. (additional note: This looks like a bug. The simulation returns to x1.0 speed when a goal is made and game is resumed. Only the "beginning->first goal of the game" segment is slowed down) (additional note 2: The issue looks more severe on Windows. The simulation speed even drops to about x0.33. The simulation returns to normal speed just like on Linux after a goal is made.). Fixed by @omichel.
[x] 15. The reporter's report is not received by the supervisor.
[x] 16. Participant programs seem to start operate 0.2-0.5 seconds (in simulation game_time) after the game begins. This can be seen by the timestamp put on the comments and the robots not moving for about first 0.2-0.5 seconds. Fixed by @omichel (note: after fixing 14, I could not reproduce this problem).
[ ] 17. The supervisor does not start or terminate the game after WAIT_READY_MS seconds have passed when one of programs does not send aiwc.ready. If at least two AI Soccer participants are ready, the supervisor should drop not responding commentator/reporter and start the game. If any of AI Soccer participant was not ready within WAIT_READY_MS seconds, the game should be terminated.
[x] 18. The goalkeeper behavior of rulebased when put on Team B seems to imply that the team acts as if they are located on left in view of spectators. The data sent to Team B should be rotated by 180 degrees.
[x] 19. When the supervisor launches the participant program, it ignores the shebang on Linux. (Although the shebang specified python3, the python launched is python2 - can be checked by print(sys.version))
[ ] 20. The supervisor publishes frames 10 ms period (basic time step) instead of 50 ms period (PERIOD_MS). (In the C++ AIWC system, we have
game::step(std::size_t ms)method to be used instead of directly using Webots' supervisor step method.) This mismatch between the basic time step and supervisor step was an intended one so that the simulator can have more continuous simulation (such as minimizing the chance for the ball to pierce through robots due to the simulation step being too large) while the participants can control the robot with 50 ms period (50 ms is the control period of real AI Soccer robots).[ ] 21. The comments made by commentator are handled bit delayed. When a goal is made, the commentator's "Team Red Scored!!" message was shown immediately in C++ system. In current Python system, the message is displayed only after the field is reset and the game resumes. (I checked that the commentator program receives the frame as soon as the goal is made. However, when the commentator program sends the comment to the supervisor,
callback(self, client, message)method is called after the game resumes instead of before the game goes in halt.)[ ] 22. In the game_info json, unnecessary information are handed over to the participants (team_info and key). In the case of 'key', TeamA's key is distributed to the commentator and reporter in game_info that this makes a door for the commentator and reporter algorithms to masquerade as Team A.