Position Override created to allow position testing

rj_msgs/msg/OverridePosition.msg

@@ -2,5 +2,4 @@
 # to set for that ID, based on the enum OverridingPositions,
 # which is contained in soccer/src/soccer/strategy/agent/position/overriding_positions.hpp
 
-uint32 robot_id
 uint32 overriding_position

soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp

@@ -19,8 +19,8 @@
     std::string node_name{"robot_factory_position_"};
     _node = std::make_shared<rclcpp::Node>(node_name.append(std::to_string(robot_id_)));
     override_play_sub_ = _node->create_subscription<rj_msgs::msg::OverridePosition>(
-        "override_position_for_robot", 1,
+        "override_position_for_robot_" + std::to_string(robot_id_), 1,
         [this](const rj_msgs::msg::OverridePosition::SharedPtr msg) { test_play_callback(msg); });
     _executor.add_node(_node);
     _executor_thread = std::thread([this]() { _executor.spin(); });
 }
@@ -126,9 +126,11 @@
     }
 }
 
 void RobotFactoryPosition::update_position() {
     bool manual_position_set = check_for_position_override();
-    if (manual_position_set) return;
+    if (manual_position_set) {
+        return;
+    }
 
     switch (current_play_state_.state()) {
         case PlayState::State::Playing: {
@@ -350,11 +352,9 @@
 }
 
 void RobotFactoryPosition::test_play_callback(
     const rj_msgs::msg::OverridePosition::SharedPtr message) {
-    if (message->robot_id == this->robot_id_) {
-        override_play_position_ =
-            static_cast<Strategy::OverridingPositions>(message->overriding_position);
-    }
+    override_play_position_ =
+        static_cast<Strategy::OverridingPositions>(message->overriding_position);
 }
 
 /**

soccer/src/soccer/ui/main_window.cpp

@@ -188,8 +188,11 @@ MainWindow::MainWindow(Processor* processor, bool has_external_ref, QWidget* par
     _set_game_settings = _node->create_client<rj_msgs::srv::SetGameSettings>(
         config_server::topics::kGameSettingsSrv);
 
-    override_play_pub_ =
-        _node->create_publisher<rj_msgs::msg::OverridePosition>("override_position_for_robot", 1);
+    // Publishers to signal when a manual position override is occurring
+    for (int i = 0; i < 16; ++i) {
+        override_play_pubs_.push_back(_node->create_publisher<rj_msgs::msg::OverridePosition>(
+            "override_position_for_robot_" + std::to_string(i), 1));
+    }
 
     _executor.add_node(_node);
     _executor_thread = std::thread([this]() { _executor.spin(); });
@@ -1050,13 +1053,14 @@ void MainWindow::on_actionUse_Multiple_Joysticks_toggled(bool value) {
 void MainWindow::on_goalieID_currentIndexChanged(int value) {
     update_cache(_game_settings.request_goalie_id, value - 1, &_game_settings_valid);
     QString goalieNum = _ui.goalieID->currentText();
-    bool goalieNumIsInt{false};
+    bool goalieNumIsInt{false};  // TODO: Better type conversion? - QT5 Requires bool in its toInt.
     int goalieInt = goalieNum.toInt(&goalieNumIsInt);
     current_goalie_num_ = goalieInt;
-    if (goalieNumIsInt)
+    if (goalieNumIsInt) {
         setGoalieDropdown(goalieInt);
-    else
+    } else {
         setGoalieDropdown(-1);
+    }
 }
 
 ////////////////
@@ -1277,21 +1281,19 @@ void MainWindow::on_robotPosition_15_currentIndexChanged(int value) {
 
 void MainWindow::onResetButtonClicked(int robot) {
     rj_msgs::msg::OverridePosition message;
-    message.robot_id = robot;
     message.overriding_position = 0;
 
-    override_play_pub_->publish(message);
+    override_play_pubs_.at(robot)->publish(message);
     position_reset_buttons.at(robot)->setEnabled(false);
     robot_pos_selectors.at(robot)->setCurrentIndex(0);
 }
 
 void MainWindow::onPositionDropdownChanged(int robot, int position_number) {
     if (current_goalie_num_ != robot) {
         rj_msgs::msg::OverridePosition message;
-        message.robot_id = robot;
         message.overriding_position = position_number;
 
-        override_play_pub_->publish(message);
+        override_play_pubs_.at(robot)->publish(message);
         if (position_number != 0) {
             position_reset_buttons.at(robot)->setEnabled(true);
         } else {

soccer/src/soccer/ui/main_window.hpp

@@ -165,9 +165,9 @@
     void on_fastYellow_clicked();
 
     // Robot Position Dropdowns and Reset Buttons
     void on_robotPosition_0_currentIndexChanged(int value);
     void on_robotPosition_1_currentIndexChanged(int value);
     void on_robotPosition_2_currentIndexChanged(int value);
     void on_robotPosition_3_currentIndexChanged(int value);
     void on_robotPosition_4_currentIndexChanged(int value);
     void on_robotPosition_5_currentIndexChanged(int value);
@@ -297,7 +297,7 @@
     rclcpp::Node::SharedPtr _node;
     rclcpp::Client<rj_msgs::srv::QuickCommands>::SharedPtr _quick_commands_srv;
     rclcpp::Client<rj_msgs::srv::SetGameSettings>::SharedPtr _set_game_settings;
-    rclcpp::Publisher<rj_msgs::msg::OverridePosition>::SharedPtr override_play_pub_;
+    std::vector<rclcpp::Publisher<rj_msgs::msg::OverridePosition>::SharedPtr> override_play_pubs_{};
     rclcpp::executors::SingleThreadedExecutor _executor;
     std::thread _executor_thread;