Visualize tactic name in GUI

consai_game/consai_game/core/tactic/agent.py

@@ -26,7 +26,8 @@
 from consai_msgs.msg import MotionCommand
 
 from consai_game.core.tactic.role import Role, RoleConst
-from consai_game.core.tactic.tactic_base import TacticState
+from consai_game.core.tactic.tactic_state import TacticState
+from consai_game.core.tactic.robot_tactic_status import RobotTacticStatus
 from consai_game.world_model.world_model import WorldModel
 
 
@@ -88,3 +89,21 @@ def reset_tactic(self) -> None:
 
         self.present_tactic = self.role.tactics[self.present_tactic_index]
         self.present_tactic.reset(self.role.robot_id)
+
+    def get_robot_tactic_status(self) -> Optional[RobotTacticStatus]:
+        """ロボットが実行しているTacticの状態を取得する関数.
+
+        TacticかロボットIDが無効な場合はNoneを返す.
+        """
+
+        if self.present_tactic is None:
+            return None
+
+        if self.role.robot_id == RoleConst.INVALID_ROLE_ID:
+            return None
+
+        return RobotTacticStatus(
+            robot_id=self.role.robot_id,
+            tactic_name=self.present_tactic.name,
+            tactic_state="none",  # TODO: tacticが状態遷移器を持っていたら、状態をセットする
+        )

consai_game/consai_game/core/tactic/agent_scheduler_node.py

@@ -27,6 +27,7 @@
 
 from consai_game.core.tactic.agent import Agent
 from consai_game.core.tactic.role import Role
+from consai_game.core.tactic.robot_tactic_status import RobotTacticStatus
 from consai_game.utils.process_info import process_info
 from consai_game.world_model.world_model import WorldModel
 
@@ -78,3 +79,13 @@ def set_roles(self, roles: list[Role]):
         with self.lock:
             for role, agent in zip(roles, self.agents):
                 agent.set_role(role)
+
+    def get_robot_tactic_status_list(self) -> list[RobotTacticStatus]:
+        """各エージェントのロボットID, 戦術名, 戦術状態を取得する関数."""
+        status_list = []
+
+        for agent in self.agents:
+            if status := agent.get_robot_tactic_status():
+                status_list.append(status)
+
+        return status_list

consai_game/consai_game/core/tactic/robot_tactic_status.py

@@ -0,0 +1,24 @@
+# Copyright 2025 Roots
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass
+
+
+@dataclass
+class RobotTacticStatus:
+    """ロボットが実行しているTacticと状態をまとめたクラス"""
+
+    robot_id: int
+    tactic_name: str
+    tactic_state: str

consai_game/consai_game/core/tactic/tactic_base.py

@@ -19,28 +19,21 @@
 """
 
 from abc import ABC, abstractmethod
-from enum import Enum, auto
 
+from consai_game.core.tactic.tactic_state import TacticState
 from consai_game.world_model.world_model import WorldModel
 
 from consai_msgs.msg import MotionCommand
 
 
-class TacticState(Enum):
-    """戦術の状態を表す列挙型."""
-
-    BEFORE_INIT = 0
-    RUNNING = auto()
-    FINISHED = auto()
-
-
 class TacticBase(ABC):
     """戦術の基本クラス."""
 
     def __init__(self):
         """TacticBaseの初期化を行う関数."""
         self._robot_id = -1
         self._state = TacticState.BEFORE_INIT
+        self._name = self.__class__.__name__
 
     @abstractmethod
     def run(self, world_model: WorldModel) -> MotionCommand:
@@ -75,3 +68,13 @@ def state(self) -> TacticState:
     def state(self, value: TacticState) -> None:
         """戦術の状態を設定する関数."""
         self._state = value
+
+    @property
+    def name(self) -> str:
+        """戦術の名前を取得する関数."""
+        return self._name
+
+    @name.setter
+    def name(self, value: str) -> None:
+        """戦術の名前を設定する関数."""
+        self._name = value

consai_game/consai_game/core/tactic/tactic_state.py

@@ -0,0 +1,24 @@
+# Copyright 2025 Roots
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from enum import Enum, auto
+
+
+class TacticState(Enum):
+    """戦術の状態を表す列挙型."""
+
+    BEFORE_INIT = 0
+    RUNNING = auto()
+    FINISHED = auto()

consai_game/consai_game/core/tactic/wrapper_tactic_base.py

@@ -0,0 +1,38 @@
+# Copyright 2025 Roots
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from consai_game.core.tactic.tactic_base import TacticBase
+
+
+class WrapperTacticBase(TacticBase):
+    """WrapperTacticの基底クラス.
+
+    WrapperTacticは、他のTacticをラップして、特定の機能を追加する
+    """
+
+    def __init__(self, tactic=TacticBase):
+        """内部tacticを初期化する関数."""
+        super().__init__()
+        self.inner_tactic = tactic
+        self.name += f"({self.inner_tactic.name})"
+
+    def reset(self, robot_id: int) -> None:
+        """inner_tacticをリセットする関数."""
+        super().reset(robot_id)
+        self.inner_tactic.reset(robot_id)
+
+    def exit(self):
+        """inner_tacticをexitする関数."""
+        super().exit()
+        self.inner_tactic.exit()

consai_game/consai_game/main.py

@@ -30,7 +30,7 @@
 
 from consai_game.core.play.play_node import PlayNode
 from consai_game.core.tactic.agent_scheduler_node import AgentSchedulerNode
-from consai_game.world_model.visualize_msg_publisher_node import VisualizeMsgPublisherNode
+from consai_game.visualization.visualize_msg_publisher_node import VisualizeMsgPublisherNode
 from consai_game.world_model.world_model_provider_node import WorldModelProviderNode
 
 
@@ -40,6 +40,8 @@ def main():
         world_model = world_model_provider_node.world_model
         play_node.set_world_model(world_model)
         agent_scheduler_node.set_world_model(world_model)
+
+        vis_msg_publisher_node.set_robot_tactic_status_list(agent_scheduler_node.get_robot_tactic_status_list())
         vis_msg_publisher_node.publish(world_model)
 
         time.sleep(1 / UPDATE_HZ)

consai_game/consai_game/tactic/back_dribble.py

@@ -19,7 +19,6 @@
 """
 
 from consai_game.core.tactic.tactic_base import TacticBase
-from consai_game.core.tactic.tactic_base import TacticState
 from consai_game.world_model.world_model import WorldModel
 from consai_game.utils.generate_dummy_ball_position import generate_dummy_ball_position
 
@@ -132,8 +131,7 @@ def __init__(self, x=0.0, y=0.0):
 
     def reset(self, robot_id: int) -> None:
         """Reset the tactic state for the specified robot."""
-        self.robot_id = robot_id
-        self.state = TacticState.RUNNING
+        super().reset(robot_id)
         self.machine.reset()
 
     def run(self, world_model: WorldModel) -> MotionCommand:

consai_game/consai_game/tactic/dribble.py

@@ -19,7 +19,6 @@
 """
 
 from consai_game.core.tactic.tactic_base import TacticBase
-from consai_game.core.tactic.tactic_base import TacticState
 from consai_game.world_model.world_model import WorldModel
 from consai_game.utils.generate_dummy_ball_position import generate_dummy_ball_position
 
@@ -126,8 +125,7 @@ def __init__(self, x=0.0, y=0.0):
 
     def reset(self, robot_id: int) -> None:
         """Reset the tactic state for the specified robot."""
-        self.robot_id = robot_id
-        self.state = TacticState.RUNNING
+        super().reset(robot_id)
         self.machine.reset()
 
     def run(self, world_model: WorldModel) -> MotionCommand:

consai_game/consai_game/tactic/kick.py

@@ -21,7 +21,7 @@
 from consai_tools.geometry import geometry_tools as tool
 
 from consai_game.world_model.world_model import WorldModel
-from consai_game.core.tactic.tactic_base import TacticBase, TacticState
+from consai_game.core.tactic.tactic_base import TacticBase
 from consai_game.utils.generate_dummy_ball_position import generate_dummy_ball_position
 
 from transitions.extensions import GraphMachine
@@ -113,8 +113,7 @@ def __init__(self, x=0.0, y=0.0, is_pass=False, is_tapping=False, is_setplay=Fal
 
     def reset(self, robot_id: int) -> None:
         """ロボットIDを設定し, Tacticの状態をRUNNINGにリセットする関数."""
-        self.robot_id = robot_id
-        self.state = TacticState.RUNNING
+        super().reset(robot_id)
         self.machine.reset()
 
     def run(self, world_model: WorldModel) -> MotionCommand:

consai_game/consai_game/tactic/man_mark.py

@@ -1,4 +1,4 @@
-from consai_game.core.tactic.tactic_base import TacticBase, TacticState
+from consai_game.core.tactic.tactic_base import TacticBase
 from consai_msgs.msg import MotionCommand
 from consai_msgs.msg import State2D
 from consai_game.world_model.world_model import WorldModel
@@ -21,10 +21,6 @@ def __init__(self, target_robot_id: int, mark_distance: float = 0.5):
         # ペナルティエリア際に移動するためのマージン
         self.area_margin = 0.15
 
-    def reset(self, robot_id: int):
-        self.robot_id = robot_id
-        self.state = TacticState.RUNNING
-
     def run(self, world_model: WorldModel) -> MotionCommand:
         command = MotionCommand()
         command.robot_id = self.robot_id

consai_game/consai_game/tactic/receive.py

@@ -19,7 +19,6 @@
 """
 
 from consai_game.core.tactic.tactic_base import TacticBase
-from consai_game.core.tactic.tactic_base import TacticState
 from consai_game.world_model.world_model import WorldModel
 
 from consai_msgs.msg import MotionCommand
@@ -43,11 +42,6 @@ def __init__(self):
         super().__init__()
         self.receive_pos = State2D()
 
-    def reset(self, robot_id: int) -> None:
-        """Reset the tactic state for the specified robot."""
-        self.robot_id = robot_id
-        self.state = TacticState.RUNNING
-
     def run(self, world_model: WorldModel, diff_angle_threshold: int = 20) -> MotionCommand:
         """Run the tactic and return a MotionCommand based on the ball's position and movement."""
         command = MotionCommand()

consai_game/consai_game/tactic/stop.py

@@ -17,7 +17,7 @@
 from consai_msgs.msg import MotionCommand
 
 from consai_game.world_model.world_model import WorldModel
-from consai_game.core.tactic.tactic_base import TacticBase, TacticState
+from consai_game.core.tactic.tactic_base import TacticBase
 
 
 class Stop(TacticBase):
@@ -27,11 +27,6 @@ def __init__(self):
         """StopTacticのインスタンスを初期化する関数."""
         super().__init__()
 
-    def reset(self, robot_id: int) -> None:
-        """ロボットIDを設定し, Tacticの状態をRUNNINGにリセットする関数."""
-        self.robot_id = robot_id
-        self.state = TacticState.RUNNING
-
     def run(self, world_model: WorldModel) -> MotionCommand:
         """ロボットを停止させるためのMotionCommandを生成する関数."""
         command = MotionCommand()

consai_game/consai_game/tactic/swab.py

@@ -18,7 +18,7 @@
 from consai_msgs.msg import State2D
 
 from consai_game.world_model.world_model import WorldModel
-from consai_game.core.tactic.tactic_base import TacticBase, TacticState
+from consai_game.core.tactic.tactic_base import TacticBase
 
 from transitions.extensions import GraphMachine
 
@@ -73,8 +73,7 @@ def __init__(self):
 
     def reset(self, robot_id: int) -> None:
         """ロボットIDを設定し、Tacticの状態をRUNNINGにリセットする関数."""
-        self.robot_id = robot_id
-        self.state = TacticState.RUNNING
+        super().reset(robot_id)
         self.machine.reset()
 
     def run(self, world_model: WorldModel) -> MotionCommand:

consai_game/consai_game/tactic/wrapper/allow_move_in_defense_area.py

@@ -14,31 +14,16 @@
 
 from consai_msgs.msg import MotionCommand
 
+from consai_game.core.tactic.wrapper_tactic_base import WrapperTacticBase
 from consai_game.world_model.world_model import WorldModel
-from consai_game.core.tactic.tactic_base import TacticBase
 
 
-class AllowMoveInDefenseArea(TacticBase):
+class AllowMoveInDefenseArea(WrapperTacticBase):
     """ディフェンスエリア内での移動を許可するWrapperTactic."
 
     AllowMoveInDefenseArea(tactic=Position()) のように使用する
     """
 
-    def __init__(self, tactic=TacticBase):
-        """inner_tacticを初期化する関数."""
-        super().__init__()
-        self.inner_tactic = tactic
-
-    def reset(self, robot_id: int) -> None:
-        """inner_tacticをリセットする関数."""
-        super().reset(robot_id)
-        self.inner_tactic.reset(robot_id)
-
-    def exit(self):
-        """inner_tacticをexitする関数."""
-        super().exit()
-        self.inner_tactic.exit()
-
     def run(self, world_model: WorldModel) -> MotionCommand:
         """ディフェンスエリア内での移動と、ボールとの接触を許可する."""
         command = self.inner_tactic.run(world_model)