Shortcut for pausing/resuming simulation in thunderscope (UBC-Thunderbots#2827)

* first commit on adding pause shortcut for thunderscope. still needs to add register_observer for proto

* last commit for pause simulation shortcut. fully functional. will add a button as a part of a new pr later

* Update src/software/thunderscope/field/world_layer.py

Co-authored-by: Nima Zareian <[email protected]>

* second commit. removed unnecessary comments

---------

Co-authored-by: Nima Zareian <[email protected]>

Author: sarphion

src/proto/ssl_simulation_control.proto

@@ -77,7 +77,6 @@ message SimulatorControl
     // Change the simulation speed
     optional float simulation_speed = 3;
 }
-
 // Command from the connected client to the simulator
 message SimulatorCommand
 {
@@ -86,7 +85,6 @@ message SimulatorCommand
     // Configure the simulation
     optional SimulatorConfig config = 2;
 }
-
 // Response of the simulator to the connected client
 message SimulatorResponse
 {

src/proto/world.proto

@@ -51,6 +51,10 @@ message SimulatorTick
     required double milliseconds = 1;
 }
 
+message SimulationState
+{
+    required bool is_playing = 1 [default = true];
+}
 message Pass
 {
     // The location of the passer

src/software/thunderscope/field/world_layer.py

@@ -50,7 +50,9 @@ def __init__(self, simulator_io, friendly_colour_yellow, buffer_size=5):
         self.key_pressed = {}
         self.display_robot_id = False
 
-        self.accepted_keys = [Qt.Key.Key_Control, Qt.Key.Key_I]
+        self.is_playing = True
+
+        self.accepted_keys = [Qt.Key.Key_Control, Qt.Key.Key_I, QtCore.Qt.Key.Key_Space]
         for key in self.accepted_keys:
             self.key_pressed[key] = False
 
@@ -69,6 +71,17 @@ def keyPressEvent(self, event):
         if event.key() == QtCore.Qt.Key.Key_I:
             self.display_robot_id = not self.display_robot_id
 
+        # if user is holding ctrl + space, send a command to simulator to pause the gameplay
+        if (
+            self.key_pressed[QtCore.Qt.Key.Key_Control]
+            and self.key_pressed[QtCore.Qt.Key.Key_Space]
+        ):
+
+            simulator_state = SimulationState(is_playing=not self.is_playing)
+            self.is_playing = not self.is_playing
+
+            self.simulator_io.send_proto(SimulationState, simulator_state)
+
     def keyReleaseEvent(self, event):
         """Detect when a key has been released (override)
 

src/software/thunderscope/thunderscope_main.py

@@ -4,6 +4,7 @@
 import argparse
 import numpy
 
+from software.thunderscope.thread_safe_buffer import ThreadSafeBuffer
 from software.thunderscope.thunderscope import Thunderscope
 from software.thunderscope.binary_context_managers import *
 from proto.message_translation import tbots_protobuf
@@ -337,10 +338,20 @@ def __async_sim_ticker(tick_rate_ms):
             )
             tscope.simulator_proto_unix_io.send_proto(WorldState, world_state)
 
+            simulation_state_buffer = ThreadSafeBuffer(1, SimulationState)
+            tscope.simulator_proto_unix_io.register_observer(
+                SimulationState, simulation_state_buffer
+            )
+
             # Tick Simulation
             while True:
-                tick = SimulatorTick(milliseconds=tick_rate_ms)
-                tscope.simulator_proto_unix_io.send_proto(SimulatorTick, tick)
+
+                simulation_state_message = simulation_state_buffer.get()
+
+                if simulation_state_message.is_playing:
+                    tick = SimulatorTick(milliseconds=tick_rate_ms)
+                    tscope.simulator_proto_unix_io.send_proto(SimulatorTick, tick)
+
                 time.sleep(tick_rate_ms / 1000)
 
         # Launch all binaries