Worked on receiving the proto file

docker/Dockerfile

@@ -1,3 +1,4 @@
+
 # RTT Build Environment
 # The purpose of this container is to have a stable, quick and reliable environment
 # to build RTT software.
@@ -104,4 +105,4 @@ ENV LD_LIBRARY_PATH=$HOME/lib/
 
 # Copy just build binaries (roboteam software) from volume to container home
 # Note: cannot COPY from outside context, build from parent folder
-COPY --chown=$USER:$USER ../build/release/ $HOME/
+COPY --chown=$USER:$USER ../build/release/ $HOME/

docker/builder/docker-compose.yml

@@ -7,7 +7,7 @@ services:
     container_name: RTT_roboteam_builder
     restart: "no"
     working_dir: "/home/roboteamtwente/"
-    command: sh -c "./build.sh"
+    command: sh -c "git config --global --add safe.directory /home/roboteamtwente && git config --global --add safe.directory /home/roboteamtwente/build/_deps/tracy-src && ./build.sh"
     volumes:
       - ../../:/home/roboteamtwente/
 

roboteam_ai/src/RL/receive_action_command.py

@@ -0,0 +1,33 @@
+import zmq
+import sys
+import os
+
+# Make sure to go back to the main roboteam directory
+current_dir = os.path.dirname(os.path.abspath(__file__))
+roboteam_path = os.path.abspath(os.path.join(current_dir, "..", "..", ".."))
+
+# Add to sys.path
+sys.path.append(roboteam_path)
+
+# Import the generated protobuf classes
+from roboteam_networking.proto import ActionCommand_pb2
+
+def receive_action_command():
+    context = zmq.Context()
+    socket = context.socket(zmq.PULL)  # Use PULL to receive messages
+    socket.connect("tcp://localhost:5555")  # Connect to the sender's port.
+
+    while True:
+        message = socket.recv()  # Receive the message.
+
+        action_command = ActionCommand_pb2.ActionCommand()
+        action_command.ParseFromString(message)  # Deserialize the message.
+
+        # Print the received data
+        print(f"Received: numDefender={action_command.numDefender}, "
+              f"numAttacker={action_command.numAttacker}, "
+              f"numWaller={action_command.numWaller}")
+
+if __name__ == "__main__":
+    print("Receiver is running...")
+    receive_action_command()

roboteam_ai/src/RL/sentActionCommand.py

@@ -1,6 +1,7 @@
 import zmq
 import sys
 import os
+import time  # Importing time for sleep
 
 # Make sure to go back to the main roboteam directory
 current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -9,23 +10,25 @@
 # Add to sys.path
 sys.path.append(roboteam_path)
 
-# Now import the generated protobuf classes
+# Import the generated protobuf classes
 from roboteam_networking.proto import ActionCommand_pb2
 
 def send_action_command(num_attacker, num_defender, num_waller):
     context = zmq.Context()
-    socket = context.socket(zmq.PUB)
-    socket.bind("tcp://*:5555") # Send data over this port.
+    socket = context.socket(zmq.PUSH)  # Use PUSH socket type
+    socket.bind("tcp://*:5555")  # Send data over this port.
 
+
     action_command = ActionCommand_pb2.ActionCommand()
     action_command.numDefender = num_defender
     action_command.numAttacker = num_attacker
     action_command.numWaller = num_waller
 
     message = action_command.SerializeToString()
-    socket.send(message)
-    #print(f"Sent: numDefender={num_defender}, numAttacker={num_attacker}, numWaller={num_waller}")
+    socket.send(message) 
+    print(f"Sent: numDefender={num_defender}, numAttacker={num_attacker}, numWaller={num_waller}")
+
 
 if __name__ == "__main__":
     # Example usage
-    send_action_command(2, 3, 1)
+    send_action_command(2, 3, 1)

roboteam_ai/src/stp/plays/offensive/Attack.cpp

@@ -1,7 +1,7 @@
-#include "stp/plays/offensive/Attack.h"
-
+#include <iostream>
+#include <thread>
+#include "stp/plays/offensive/Attack.h" 
 #include <roboteam_utils/Hungarian.h>
-
 #include "stp/computations/GoalComputations.h"
 #include "stp/computations/PositionScoring.h"
 #include "stp/roles/Keeper.h"
@@ -11,6 +11,58 @@
 
 namespace rtt::ai::stp::play {
 
+void Attack::receiveActionCommand() {
+    zmq::context_t context(1); // Create a context
+    zmq::socket_t socket(context, ZMQ_PULL); // Create a PULL socket
+    socket.bind("tcp://*:5555"); // Bind to the same port as the sender
+
+    while (true) {
+        zmq::message_t message; // Create a message to receive
+        socket.recv(&message); // Receive the message
+
+        // Parse the protobuf message
+        ActionCommand action_command;
+        action_command.ParseFromArray(message.data(), message.size()); // Deserialize
+
+        int num_attacker = action_command.numAttacker();
+        int num_defender = action_command.numDefender();
+        int num_waller = action_command.numWaller();
+
+        // Clear existing roles (if any)
+        roles.clear();
+
+        // Create Striker roles
+        for (int i = 0; i < num_attacker; ++i) {
+            std::string name = "striker_" + std::to_string(i);
+            roles.push_back(std::make_unique<role::Striker>(name));
+        }
+
+        // Create Defender roles
+        for (int i = 0; i < num_defender; ++i) {
+            std::string name = "defender_" + std::to_string(i);
+            roles.push_back(std::make_unique<role::Defender>(name));
+        }
+
+        // Create Waller roles
+        for (int i = 0; i < num_waller; ++i) {
+            std::string name = "waller_" + std::to_string(i);
+            roles.push_back(std::make_unique<role::Defender>(name)); // Assuming Waller is also a Defender
+        }
+
+        // Print the received values for debugging
+        std::cout << "Received: numDefender=" << num_defender
+                  << ", numAttacker=" << num_attacker
+                  << ", numWaller=" << num_waller << std::endl;
+
+        // Optionally, print created roles
+        for (const auto& role : roles) {
+            std::cout << "Created role: " << role->getName() << std::endl; // Assuming getName() method exists
+        }
+    }
+}
+
+
+
 Attack::Attack() : Play() {
     // Evaluations that have to be true in order for this play to be considered valid.
     startPlayEvaluation.clear();
@@ -102,3 +154,26 @@ bool Attack::shouldEndPlay() noexcept {
 const char* Attack::getName() const { return "Attack"; }
 
 }  // namespace rtt::ai::stp::play
+
+
+
+
+
+
+int main() {
+    // Create an instance of the Attack class
+    rtt::ai::stp::play::Attack attack;
+
+    // Start receiving action commands in a separate thread
+    std::thread receiver_thread(&rtt::ai::stp::play::Attack::receiveActionCommand, &attack);
+    receiver_thread.detach(); // Detach the thread to allow it to run independently
+
+    // Allow some time for receiving messages
+    std::cout << "Receiving messages. Press Enter to exit..." << std::endl;
+
+    // Wait for user input to exit
+    std::cin.get();  // This will block until you press Enter
+
+    return 0;
+}
+

roboteam_networking/CMakeLists.txt

@@ -57,3 +57,7 @@ target_link_libraries(roboteam_networking_syscheck
 
 gtest_discover_tests(roboteam_networking_syscheck)
 
+add_executable(test_attack test_attack.cpp)
+target_link_libraries(test_attack PRIVATE zmq protobuf::libprotobuf)
+
+