initial pipline implementation (not working)

.gitconfig

@@ -0,0 +1,81 @@
+[safe]
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src
+	directory = /home/roboteamtwente
+	directory = /home/roboteamtwente/build/_deps/tracy-src

.gitignore

@@ -37,3 +37,9 @@ ENV/
 env.bak/
 venv.bak/
 __pycache__/
+tigers_sumatra
+docker/runner/ssl-game-controller-config/20*
+roboteam_ai/src/RL/src/ppo_*
+roboteam_ai/src/RL/src/best_model_PPO.zip
+roboteam_ai/src/RL/src/tmp/eval_monitor.monitor.csv
+roboteam_ai/src/RL/src/tmp/monitor.monitor.csv

roboteam_ai/CMakeLists.txt

@@ -300,3 +300,11 @@ gtest_discover_tests(roboteam_ai_tests)
 #         PRIVATE roboteam_utils
 #         PRIVATE testHelpers
 # )
+# Add the protobuf generated source files
+set(PROTO_SRCS 
+    ${CMAKE_SOURCE_DIR}/roboteam_networking/proto/ActionCommand.pb.cc
+)
+target_sources(roboteam_ai PRIVATE ${PROTO_SRCS})
+find_package(Protobuf REQUIRED)
+
+target_link_libraries(roboteam_ai PRIVATE protobuf::libprotobuf)

roboteam_ai/include/roboteam_ai/stp/plays/offensive/Attack.h

@@ -2,11 +2,12 @@
 #define RTT_ATTACK_H
 
 #include "stp/Play.hpp"
+#include <vector>  // For std::vector
 
 namespace rtt::ai::stp::play {
 
 /**
- * @brief The attack play is executed when there is a chance to shoot at the enemey goal
+ * @brief The attack play is executed when there is a chance to shoot at the enemy goal
  */
 class Attack : public Play {
    public:
@@ -15,6 +16,14 @@ class Attack : public Play {
      */
     Attack();
 
+    ~Attack() override;
+
+
+    /**
+     * @brief Receives action commands dynamically to modify roles
+     */
+    void receiveActionCommand();
+
     /**
      * @brief Calculates the score of this play to determine which play is best in this situation
      * @param field The current Field
@@ -34,7 +43,7 @@ class Attack : public Play {
     void calculateInfoForRoles() noexcept override;
 
     /**
-     * @brief Check if play should end. True when stri role is finished.
+     * @brief Check if play should end. True when striker role is finished.
      */
     bool shouldEndPlay() noexcept override;
 
@@ -43,6 +52,9 @@ class Attack : public Play {
      * @return The name of the play as string
      */
     const char* getName() const override;
+
+   private:
+    std::vector<std::unique_ptr<Role>> roles;  // Updated to std::vector
 };
 
 }  // namespace rtt::ai::stp::play

roboteam_ai/src/RL/sentActionCommand.py

@@ -8,7 +8,8 @@
 roboteam_path = os.path.abspath(os.path.join(current_dir, "..", "..", ".."))
 
 # Add to sys.path
-sys.path.append(roboteam_path)
+sys.path.append(roboteam_path)  
+pipe_path = os.path.join(os.path.dirname(__file__), "action_pipe")
 
 # Import the generated protobuf classes
 from roboteam_networking.proto import ActionCommand_pb2
@@ -18,16 +19,20 @@ def send_action_command(num_attacker, num_defender, num_waller):
     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) 
+    # socket.send(message) 
     print(f"Sent: numDefender={num_defender}, numAttacker={num_attacker}, numWaller={num_waller}")
 
+    with open(pipe_path, "wb") as fifo:
+        fifo.write(message)
+        print(f"Sent: numDefender={num_defender}, numAttacker={num_attacker}, numWaller={num_waller}")
+
 
 if __name__ == "__main__":
     # Example usage