Add plotting and new functionallity playground folder

Author: AntonOstman

Dockerfile

@@ -6,6 +6,9 @@ RUN apk add --no-cache bash
 COPY .bash_history /root/.bash_history
 WORKDIR /var/controller
 
+# Add rendering dependencies
+RUN apk update && apk add go gcc libxcursor-dev libxrandr-dev libxinerama-dev libxi-dev linux-headers mesa-dev libstdc++ mesa-utils mesa-dri-gallium && apk add --virtual build-dependencies build-base gcc wget git
+
 COPY . .
 RUN go mod download
 CMD ["go", "run", "cmd/main.go"]

cmd/cmd

@@ -5,6 +5,7 @@ import (
 	"os"
 
 	"github.com/LiU-SeeGoals/controller/internal/demos"
+	"github.com/LiU-SeeGoals/controller/internal/visualisation"
 )
 
 func main() {
@@ -16,5 +17,8 @@ func main() {
 		}
 	}
 
-	demos.AoSimScenario()
+	go demos.AoSimScenario()
+	// Visualiser NEEDS to run in main thread
+	vis := visualisation.GetVisualiser()
+	vis.Run()
 }

cmd/main.go

@@ -21,11 +21,50 @@ require (
 // golang.org/x/net v1.2.3
 )
 
-require golang.org/x/sys v0.17.0 // indirect
+require golang.org/x/sys v0.20.0 // indirect
 
 require (
+	fyne.io/fyne/v2 v2.5.5
+	go.uber.org/zap v1.27.0
+	gonum.org/v1/plot v0.10.1
+	gopkg.in/natefinch/lumberjack.v2 v2.2.1
+)
+
+require (
+	fyne.io/systray v1.11.0 // indirect
+	git.sr.ht/~sbinet/gg v0.3.1 // indirect
+	github.com/BurntSushi/toml v1.4.0 // indirect
+	github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect
+	github.com/davecgh/go-spew v1.1.1 // indirect
+	github.com/fredbi/uri v1.1.0 // indirect
+	github.com/fsnotify/fsnotify v1.7.0 // indirect
+	github.com/fyne-io/gl-js v0.0.0-20220119005834-d2da28d9ccfe // indirect
+	github.com/fyne-io/glfw-js v0.0.0-20241126112943-313d8a0fe1d0 // indirect
+	github.com/fyne-io/image v0.0.0-20220602074514-4956b0afb3d2 // indirect
+	github.com/go-fonts/liberation v0.3.0 // indirect
+	github.com/go-gl/gl v0.0.0-20211210172815-726fda9656d6 // indirect
+	github.com/go-gl/glfw/v3.3/glfw v0.0.0-20240506104042-037f3cc74f2a // indirect
+	github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect
+	github.com/go-pdf/fpdf v0.6.0 // indirect
+	github.com/go-text/render v0.2.0 // indirect
+	github.com/go-text/typesetting v0.2.0 // indirect
+	github.com/godbus/dbus/v5 v5.1.0 // indirect
+	github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 // indirect
+	github.com/gopherjs/gopherjs v1.17.2 // indirect
+	github.com/jeandeaual/go-locale v0.0.0-20240223122105-ce5225dcaa49 // indirect
+	github.com/jsummers/gobmp v0.0.0-20151104160322-e2ba15ffa76e // indirect
+	github.com/nfnt/resize v0.0.0-20180221191011-83c6a9932646 // indirect
+	github.com/nicksnyder/go-i18n/v2 v2.4.0 // indirect
+	github.com/pmezard/go-difflib v1.0.0 // indirect
+	github.com/rymdport/portal v0.3.0 // indirect
+	github.com/srwiley/oksvg v0.0.0-20221011165216-be6e8873101c // indirect
+	github.com/srwiley/rasterx v0.0.0-20220730225603-2ab79fcdd4ef // indirect
+	github.com/stretchr/testify v1.8.4 // indirect
+	github.com/yuin/goldmark v1.7.1 // indirect
 	go.uber.org/multierr v1.11.0 // indirect
-	go.uber.org/zap v1.27.0 // indirect
-	golang.org/x/net v0.21.0 // indirect
-	gopkg.in/natefinch/lumberjack.v2 v2.2.1 // indirect
+	golang.org/x/image v0.18.0 // indirect
+	golang.org/x/mobile v0.0.0-20231127183840-76ac6878050a // indirect
+	golang.org/x/net v0.25.0 // indirect
+	golang.org/x/text v0.16.0 // indirect
+	gopkg.in/yaml.v3 v3.0.1 // indirect
 )

go.mod

@@ -8,6 +8,9 @@ import (
 
 	ai "github.com/LiU-SeeGoals/controller/internal/ai/activity"
 	"github.com/LiU-SeeGoals/controller/internal/info"
+	"github.com/LiU-SeeGoals/controller/internal/logger"
+	vis "github.com/LiU-SeeGoals/controller/internal/visualisation"
+	"gonum.org/v1/plot/plotter"
 )
 
 type SlowBrainAo struct {
@@ -50,7 +53,9 @@ func (m *SlowBrainAo) run() {
 	//	- Function that returns indices for robots that should perform defense
 	// Attacker: Chase ball, kick toward goal, turn to support when away from ball;
 	// Support: Stand a bit away from attack so he can pass, turn into attacker when get ball
+	robotPos := plotter.XYs{}
 
+	fig := vis.GetVisualiser().CreateEmptyPlotWindow()
 	for {
 		// No need for slow brain to be fast
 		time.Sleep(1 * time.Millisecond)
@@ -64,6 +69,16 @@ func (m *SlowBrainAo) run() {
 		defenders := []info.ID{0,1}
 		attackers := []info.ID{3}
 
+		myRobotPos, err := gameInfo.State.GetTeam(m.team)[0].GetPosition()
+		if err != nil {
+			logger.Logger.Debugln("Big err")
+		}
+
+		robotPos = append(robotPos, plotter.XY{X: myRobotPos.X, Y: myRobotPos.Y})
+		p := vis.ScatterPlt(robotPos)
+		p.Title.Text = fmt.Sprintf("Robot %v team %v", 0, m.team)
+		fig.UpdatePlotWindow(p)
+
 		m.defense(defenders)
 		m.attack(attackers)
 

go.sum

@@ -0,0 +1,51 @@
+
+# Visualiser
+
+The visualiser is a local GUI that can run directly in go, currently (2025-04-06) used to create plots.
+But the GUI can be used to visualise more thigns if desired in the future.
+
+As of (2025-04-06) visualiser consists of an interface with functions used to plot. 
+The interface exists in case fayne (current GUI) is bad for some reason, and hopefully it is easy to switch
+
+``` go
+func test() {
+	// Initialize the global Visualiser
+	vis := GetVisualiser()
+
+	// Start plot creation in separate goroutines
+	go func() {
+		points1 := plotter.XYs{
+			{X: 0, Y: 0},
+			{X: 1, Y: 1},
+			{X: 2, Y: 4},
+			{X: 3, Y: 9},
+		}
+		p := scatterPlt(points1)
+		vis.CreatePlotWindow(p)
+	}()
+
+	go func() {
+		points2 := plotter.XYs{
+			{X: 0, Y: 0},
+			{X: 1, Y: 1},
+			{X: 2, Y: 4},
+		}
+		p := linePlt(points2)
+		fig := vis.CreatePlotWindow(p)
+		for{
+			val := points2[len(points2) - 1]
+			newx := val.X + 1
+			newy := newx * newx
+			fmt.Println(val)
+
+			points2 = append(points2, plotter.XY{X: newx, Y: newy})
+
+			p := scatterPlt(points2)
+			fig.UpdatePlotWindow(p)
+		}
+	}()
+
+	// Run the application main event loop
+	vis.Run()
+}
+```

internal/ai/slow_brain/slow_brain_ao.go

@@ -0,0 +1,168 @@
+package visualisation
+
+import (
+	"image"
+	"sync"
+
+	fyne "fyne.io/fyne/v2"
+	fyneapp "fyne.io/fyne/v2/app"
+	fynecanvas "fyne.io/fyne/v2/canvas"
+	fynecontainer "fyne.io/fyne/v2/container"
+	"gonum.org/v1/plot"
+	"gonum.org/v1/plot/plotter"
+	"gonum.org/v1/plot/vg"
+	"gonum.org/v1/plot/vg/draw"
+	"gonum.org/v1/plot/vg/vgimg"
+)
+
+// An example of how to use the visualiser can be seen in README.md contained in this package.
+
+type Visualiser interface {
+	// Create window with static plot
+	CreatePlotWindow(p *plot.Plot) Figure
+
+	// Create empty plot, used in e.g. real-time plots
+	CreateEmptyPlotWindow() Figure
+
+	// Start the GUI application, generally is blocking and
+	// needs to run on main thread
+	Run()
+}
+
+type Figure interface{
+	// A figure belongs to a specific visualiser
+	// e.g. A FayneFigure is used to update plots in Fayne windows
+
+	UpdatePlotWindow(p *plot.Plot)
+}
+
+type fayneVisualiser struct {
+	app        fyne.App
+	mainWindow fyne.Window
+}
+
+type fayneFigure struct {
+	imageCanvas *fynecanvas.Image
+}
+
+var (
+	globalVis Visualiser
+	globalVisOnce sync.Once
+)
+
+/*
+	Creates singleton visualiser that needs to run from main thread
+
+	Return another Visualiser to change the backend GUI
+*/
+func GetVisualiser() Visualiser {
+	globalVisOnce.Do(func() {
+		visApp := fyneapp.New()
+		FayneVis := &fayneVisualiser{app: visApp}
+		globalVis = FayneVis
+
+		// Create a persistent invisible window
+		// One window needs to be open or main thread will die
+		FayneVis.mainWindow = visApp.NewWindow("Persistent Window")
+		FayneVis.mainWindow.Resize(fyne.NewSize(0, 0))
+		FayneVis.mainWindow.SetFixedSize(true)
+		FayneVis.mainWindow.SetCloseIntercept(func() {
+			FayneVis.mainWindow.Hide()
+		})
+		FayneVis.mainWindow.Show() // Keep this window always open
+
+		hide := func(){
+			// Hack to hide the main window on startup to keep app running....
+			// time.Sleep(100 * time.Millisecond)
+			FayneVis.mainWindow.Hide()
+		}
+		visApp.Lifecycle().SetOnStarted(hide)
+		visApp.Lifecycle().SetOnEnteredForeground(hide)
+		visApp.Lifecycle().SetOnExitedForeground(hide)
+	})
+	return globalVis
+}
+
+func (vis *fayneVisualiser) Run() {
+	vis.app.Run()
+}
+
+func (fig *fayneFigure) UpdatePlotWindow(p *plot.Plot) {
+	img := getPlotImg(p)
+
+	fig.imageCanvas.Image = img
+	fynecanvas.Refresh(fig.imageCanvas)
+
+}
+
+// Creates an empty plotting window
+func (vis *fayneVisualiser) CreateEmptyPlotWindow() Figure {
+	w := vis.app.NewWindow("")
+
+	imageCanvas := fynecanvas.NewImageFromImage(image.NewAlpha(image.Rect(0, 0, 600, 400)))
+	imageCanvas.FillMode = fynecanvas.ImageFillOriginal
+
+	content := fynecontainer.NewCenter(imageCanvas)
+	w.SetContent(content)
+	w.Resize(fyne.NewSize(700, 500))
+	w.Show()
+
+	return &fayneFigure{imageCanvas}
+}
+
+// Create a plotting window with initial plot
+func (vis *fayneVisualiser) CreatePlotWindow(p *plot.Plot) Figure {
+	w := vis.app.NewWindow(p.Title.Text)
+
+	imageCanvas := fynecanvas.NewImageFromImage(image.NewAlpha(image.Rect(0, 0, 600, 400)))
+	imageCanvas.FillMode = fynecanvas.ImageFillOriginal
+
+	content := fynecontainer.NewCenter(imageCanvas)
+	w.SetContent(content)
+	w.Resize(fyne.NewSize(700, 500))
+	w.Show()
+
+	// Get image of current plot
+	img := getPlotImg(p)
+
+	imageCanvas.Image = img
+	fynecanvas.Refresh(imageCanvas)
+	return &fayneFigure{imageCanvas}
+}
+
+func getPlotImg(p *plot.Plot) image.Image{
+
+	imgCanvas := vgimg.New(6*vg.Inch, 4*vg.Inch)
+	p.Draw(draw.New(imgCanvas))
+	return imgCanvas.Image()
+}
+
+func ScatterPlt(points plotter.XYs) *plot.Plot {
+	p := plot.New()
+	p.Title.Text = "Real-Time Plot"
+	p.X.Label.Text = "X-axis"
+	p.Y.Label.Text = "Y-axis"
+
+	scatter, err := plotter.NewScatter(points)
+	if err != nil {
+		panic(err)
+	}
+	p.Add(scatter)
+
+	return p
+}
+
+func LinePlt(points plotter.XYs) *plot.Plot {
+	p := plot.New()
+	p.Title.Text = "Real-Time Plot"
+	p.X.Label.Text = "X-axis"
+	p.Y.Label.Text = "Y-axis"
+
+	line, err := plotter.NewLine(points)
+	if err != nil {
+		panic(err)
+	}
+	p.Add(line)
+
+	return p
+}