Oracle + Fix of simulation#33
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The oracle is modeled as a sensor attached to each robot. It must contains all the information simulator can provide, bypassing sensoring computation (e.g. position of the ball can be provided directly from the simulator, instead of doing ball detection from camera images, ...)
Added variables are necessary due to how the main.cpp and application.cpp files are
This is due to the fact that the bridge probably will run also on the robot. On the robot we are not interested on the timer, it is useful just for the simulation. So moving it outside the bridge guarantees an easier integration of the bridge in the real robot
Adding just the ball_position to the message genereates a EAGAIN or EWOULDBLOCK error. So adding a tcp-like message when sending information helps to prevent this (on the other side of the socket, i.e. the simbridge), there is a corresponding receiving function that manage correctly this type of message
Didn't end up using it in the end, but why waste a good (?) function
So the robot can save its color name for sending to the framework
Needed to make use of the forward declaration of Team in the next commit.
Via environment vars
Had to solve one forward decaration earlier, why not another one
…ge (REMEMBER TO BUILD THE SIMBRIDGE)
Paving the way for what's coming next (Team using the same code)
Still paving the way for the future (team subnets)
Most of this will be reverted in the enxt commit b/c I actually needed a single /16 net, but I'm not deleting all that I self-learned about docker nets just like that Still, this is completely stable btw
Revert most of the previous commit and make a single network for all the containers to connect to with static IPs. GC is ok and teammates hear each other in 5v5.
Depth has to be checked
Circus network into oracle See #31
Now the connection and the ready are decoupled. Still some functions must be moved out from SimulationThread
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Questa PR contiene sia l'invio delle informazioni dell'oracolo, sia il fix della simulazione.
Riguardo l'oracolo:
Riguardo il fix della simulazione, è cambiato proprio il design del simulatore. I cambiamenti sono i seguenti: