Add bookmark system & Integrate toast message into thunderscope (UBC-Thunderbots#3418)

* add stubs and new proto

* investigate missing logs

* add listener to bookmark

* work?

* refactor proto_player.py

* finish refactoring for proto_player.py

* refactor bookmark visual

* display bookmark visual

* fix time stamp calculation

* fix bookmark visual

* update documentations

* use kwargs as argument list

* optimize bookmark button

* [pre-commit.ci lite] apply automatic fixes

* add documentation

* add shortcut doc

* add toast msg dependency

* [pre-commit.ci lite] apply automatic fixes

* build toast helper and apply

* [pre-commit.ci lite] apply automatic fixes

* upgrade pyqt6-qt

* fix index test

* add _ms suffix

* adjust offset

* add None as return type

* remove magic number

* [pre-commit.ci lite] apply automatic fixes

---------

Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

Author: Lmh-java

environment_setup/ubuntu20_requirements.txt

@@ -8,3 +8,4 @@ python-Levenshtein==0.25.1
 psutil==5.9.0
 PyOpenGL==3.1.6
 ruff==0.5.5
+pyqt-toast-notification==1.3.2

environment_setup/ubuntu22_requirements.txt

@@ -9,3 +9,4 @@ psutil==5.9.0
 PyOpenGL==3.1.6
 numpy==1.26.4
 ruff==0.5.5
+pyqt-toast-notification==1.3.2

environment_setup/ubuntu24_requirements.txt

@@ -6,3 +6,4 @@ python-Levenshtein==0.25.1
 psutil==5.9.0
 PyOpenGL==3.1.6
 ruff==0.5.5
+pyqt-toast-notification==1.3.2

src/proto/BUILD

@@ -16,6 +16,7 @@ proto_library(
         "play.proto",
         "power_frame_msg.proto",
         "primitive.proto",
+        "replay_bookmark.proto",
         "robot_crash_msg.proto",
         "robot_log_msg.proto",
         "robot_statistic.proto",
@@ -55,6 +56,7 @@ py_proto_library(
         "parameters.proto",
         "play.proto",
         "primitive.proto",
+        "replay_bookmark.proto",
         "robot_statistic.proto",
         "robot_status_msg.proto",
         "tactic.proto",

src/proto/replay_bookmark.proto

@@ -0,0 +1,10 @@
+syntax = "proto3";
+
+package TbotsProto;
+
+import "proto/tbots_timestamp_msg.proto";
+
+message ReplayBookmark
+{
+    Timestamp timestamp = 1;
+}

src/software/backend/unix_simulator_backend.cpp

@@ -51,6 +51,11 @@ UnixSimulatorBackend::UnixSimulatorBackend(
     robot_crash_listener.reset(new ThreadedProtoUnixListener<TbotsProto::RobotCrash>(
         runtime_dir + ROBOT_CRASH_PATH, [](TbotsProto::RobotCrash& v) {}, proto_logger));
 
+    replay_bookmark_listener.reset(
+        new ThreadedProtoUnixListener<TbotsProto::ReplayBookmark>(
+            runtime_dir + REPLAY_BOOKMARK_PATH, [](TbotsProto::ReplayBookmark& v) {},
+            proto_logger));
+
     // Protobuf Outputs
     world_output.reset(new ThreadedProtoUnixSender<TbotsProto::World>(
         runtime_dir + WORLD_PATH, proto_logger));

src/software/backend/unix_simulator_backend.h

@@ -3,12 +3,14 @@
 #include <mutex>
 
 #include "proto/parameters.pb.h"
+#include "proto/replay_bookmark.pb.h"
 #include "proto/robot_crash_msg.pb.h"
 #include "proto/robot_log_msg.pb.h"
 #include "proto/robot_status_msg.pb.h"
 #include "proto/sensor_msg.pb.h"
 #include "proto/tbots_software_msgs.pb.h"
 #include "proto/validation.pb.h"
+#include "proto/world.pb.h"
 #include "software/backend/backend.h"
 #include "software/logger/proto_logger.h"
 #include "software/networking/unix/threaded_proto_unix_listener.hpp"
@@ -50,6 +52,8 @@ class UnixSimulatorBackend : public Backend, public Subject<TbotsProto::Thunderb
     std::unique_ptr<ThreadedProtoUnixListener<TbotsProto::RobotLog>> robot_log_listener;
     std::unique_ptr<ThreadedProtoUnixListener<TbotsProto::RobotCrash>>
         robot_crash_listener;
+    std::unique_ptr<ThreadedProtoUnixListener<TbotsProto::ReplayBookmark>>
+        replay_bookmark_listener;
 
     // Outputs
     std::unique_ptr<ThreadedProtoUnixSender<TbotsProto::World>> world_output;

src/software/constants.h

@@ -32,6 +32,7 @@ const std::string SIMULATOR_STATE_PATH                   = "/simulator_state";
 const std::string VALIDATION_PROTO_SET_PATH              = "/validation_proto_set";
 const std::string ROBOT_LOG_PATH                         = "/robot_log";
 const std::string ROBOT_CRASH_PATH                       = "/robot_crash";
+const std::string REPLAY_BOOKMARK_PATH                   = "/replay_bookmark";
 const std::string DYNAMIC_PARAMETER_UPDATE_REQUEST_PATH  = "/dynamic_parameter_request";
 const std::string DYNAMIC_PARAMETER_UPDATE_RESPONSE_PATH = "/dynamic_parameter_response";
 const std::string WORLD_STATE_RECEIVED_TRIGGER_PATH = "/world_state_received_trigger";

src/software/py_constants.cpp

@@ -63,6 +63,7 @@ PYBIND11_MODULE(py_constants, m)
     m.attr("VALIDATION_PROTO_SET_PATH") = VALIDATION_PROTO_SET_PATH;
     m.attr("ROBOT_LOG_PATH")            = ROBOT_LOG_PATH;
     m.attr("ROBOT_CRASH_PATH")          = ROBOT_CRASH_PATH;
+    m.attr("REPLAY_BOOKMARK_PATH")      = REPLAY_BOOKMARK_PATH;
     m.attr("UNIX_BUFFER_SIZE")          = UNIX_BUFFER_SIZE;
     m.attr("DYNAMIC_PARAMETER_UPDATE_REQUEST_PATH") =
         DYNAMIC_PARAMETER_UPDATE_REQUEST_PATH;

src/software/thunderscope/binary_context_managers/full_system.py

@@ -216,5 +216,6 @@ def setup_proto_unix_io(self, proto_unix_io: ProtoUnixIO) -> None:
             (VALIDATION_PROTO_SET_PATH, ValidationProtoSet),
             (ROBOT_LOG_PATH, RobotLog),
             (ROBOT_CRASH_PATH, RobotCrash),
+            (REPLAY_BOOKMARK_PATH, ReplayBookmark),
         ]:
             proto_unix_io.attach_unix_sender(self.full_system_runtime_dir, *arg)

src/software/thunderscope/common/BUILD

@@ -44,3 +44,11 @@ py_library(
         ":frametime_counter",
     ],
 )
+
+py_library(
+    name = "toast_msg_helper",
+    srcs = ["toast_msg_helper.py"],
+    deps = [
+        requirement("pyqt-toast-notification"),
+    ],
+)

src/software/thunderscope/common/toast_msg_helper.py

@@ -0,0 +1,59 @@
+from PyQt6.QtWidgets import QWidget
+from pyqttoast import Toast, ToastPreset
+
+
+def show_toast(
+    parent: QWidget, title: str, text: str, timeout_ms: int, preset: ToastPreset
+) -> None:
+    """Display a toast message with the given properties
+    :param parent: parent widget to inject toast message component
+    :param title: title of toast message
+    :param text: text of toast message
+    :param timeout_ms: duration of the message (in ms)
+    :param preset: preset of the message box
+    """
+    toast = Toast(parent)
+    toast.setDuration(timeout_ms)
+    toast.setTitle(title)
+    toast.setText(text)
+    toast.applyPreset(preset)
+    toast.setShowCloseButton(False)
+    toast.setBorderRadius(10)
+    toast.setShowDurationBar(False)
+    toast.show()
+
+
+def success_toast(parent: QWidget, text: str, timeout_ms: int = 1000) -> None:
+    """Display a success toast message
+    :param parent: parent widget to inject toast message component
+    :param text: text of toast message
+    :param timeout_ms: duration of the message (in ms)
+    """
+    show_toast(parent, "", text, timeout_ms, ToastPreset.SUCCESS_DARK)
+
+
+def failure_toast(parent: QWidget, text: str, timeout_ms: int = 1000) -> None:
+    """Display a failure toast message
+    :param parent: parent widget to inject toast message component
+    :param text: text of toast message
+    :param timeout_ms: duration of the message (in ms)
+    """
+    show_toast(parent, "", text, timeout_ms, ToastPreset.ERROR_DARK)
+
+
+def info_toast(parent: QWidget, text: str, timeout_ms: int = 1000) -> None:
+    """Display an information toast message
+    :param parent: parent widget to inject toast message component
+    :param text: text of toast message
+    :param timeout_ms: duration of the message (in ms)
+    """
+    show_toast(parent, "", text, timeout_ms, ToastPreset.INFORMATION_DARK)
+
+
+def warning_toast(parent: QWidget, text: str, timeout_ms: int = 1000) -> None:
+    """Display a warning toast message
+    :param parent: parent widget to inject toast message component
+    :param text: text of toast message
+    :param timeout_ms: duration of the message (in ms)
+    """
+    show_toast(parent, "", text, timeout_ms, ToastPreset.WARNING_DARK)

src/software/thunderscope/constants.py

@@ -146,6 +146,7 @@ class EstopMode(IntEnum):
     <b><code>O:</code></b> Identify robots, toggle robot name visibility<br>
     <b><code>M:</code></b> Toggle measure mode<br>
     <b><code>S:</code></b> Toggle visibility of robot/ball speed visualization<br>
+    <b><code>B:</code></b> Add a bookmark<br>
     <b><code>Ctrl + Space:</code></b> Stop AI vs AI simulation<br>
     <b><code>Ctrl + Up:</code></b> Increment simulation speed<br>
     <b><code>Ctrl + Down:</code></b> Decrement simulation speed<br>

src/software/thunderscope/gl/BUILD

@@ -7,6 +7,7 @@ py_library(
     srcs = ["gl_widget.py"],
     deps = [
         "//software/thunderscope:proto_unix_io",
+        "//software/thunderscope/common:toast_msg_helper",
         "//software/thunderscope/gl/helpers:extended_gl_view_widget",
         "//software/thunderscope/gl/layers:gl_layer",
         "//software/thunderscope/gl/layers:gl_measure_layer",

src/software/thunderscope/gl/gl_widget.py

@@ -1,3 +1,5 @@
+import time
+
 import pyqtgraph as pg
 from pyqtgraph.Qt import QtCore, QtGui
 from pyqtgraph.Qt.QtCore import Qt
@@ -22,6 +24,10 @@
 )
 from software.thunderscope.thread_safe_buffer import ThreadSafeBuffer
 from proto.world_pb2 import SimulationState
+from proto.replay_bookmark_pb2 import ReplayBookmark
+from proto.tbots_timestamp_msg_pb2 import Timestamp
+
+from software.thunderscope.common.toast_msg_helper import success_toast
 
 
 class GLWidget(QWidget):
@@ -95,6 +101,8 @@ def __init__(
             layers_menu=self.layers_menu,
             toolbars_menu=self.toolbars_menu,
             sandbox_mode=sandbox_mode,
+            replay_mode=player is not None,
+            on_add_bookmark=self.add_bookmark,
         )
 
         # Setup gamecontroller toolbar
@@ -121,6 +129,7 @@ def __init__(
         self.layers = []
 
         self.set_camera_view(CameraView.LANDSCAPE_HIGH_ANGLE)
+        self.proto_unix_io = proto_unix_io
 
     def get_sim_control_toolbar(self):
         """Returns the simulation control toolbar"""
@@ -367,3 +376,12 @@ def __calc_orthographic_distance(self) -> float:
             distance *= half_x_length_with_buffer
 
         return distance
+
+    def add_bookmark(self):
+        """Handler for clicking 'add bookmark' button"""
+        timestamp = time.time()
+        bookmark = ReplayBookmark(
+            timestamp=Timestamp(epoch_timestamp_seconds=timestamp)
+        )
+        self.proto_unix_io.send_proto(ReplayBookmark, bookmark)
+        success_toast(self.parentWidget(), "Added bookmark!")

src/software/thunderscope/gl/widgets/gl_field_toolbar.py

@@ -28,6 +28,8 @@ def __init__(
         layers_menu: QMenu,
         toolbars_menu: QMenu,
         sandbox_mode: bool = False,
+        replay_mode: bool = False,
+        on_add_bookmark=Callable[[], None],
     ):
         """Set up the toolbar with these buttons:
 
@@ -38,13 +40,16 @@ def __init__(
         - Help
         - Measure Mode Toggle
         - Camera View Select menu
+        - Add bookmark
 
         :param parent: the parent to overlay this toolbar over
         :param on_camera_view_change: the callback function for when the camera view is changed
         :param on_measure_mode: the callback function for when measure mode is toggled
         :param layers_menu: the QMenu for the layers menu selection
         :param toolbars_menu: the QMenu for the toolbars menu selection
         :param sandbox_mode: if sandbox mode should be enabled
+        :param replay_mode: if replay mode is enabled
+        :param on_add_bookmark: the callback function when adding a bookmark
         """
         super(GLFieldToolbar, self).__init__(parent=parent)
 
@@ -114,6 +119,15 @@ def __init__(
         self.toolbars_button.setMenu(toolbars_menu)
         self.toolbars_button.setStyleSheet(self.get_button_style())
 
+        if not replay_mode:
+            self.bookmark_button = QPushButton()
+            self.bookmark_button.setIcon(
+                icons.get_bookmark_icon(self.BUTTON_ICON_COLOR)
+            )
+            self.bookmark_button.setShortcut("b")
+            self.bookmark_button.setStyleSheet(self.get_button_style())
+            self.bookmark_button.clicked.connect(on_add_bookmark)
+
         # Setup simulation speed button and menu
         self.sim_speed_menu = QMenu()
         self.sim_speed_button = QPushButton()
@@ -161,10 +175,14 @@ def __init__(
             self.layout().addWidget(self.undo_button)
             self.layout().addWidget(self.pause_button)
             self.layout().addWidget(self.redo_button)
+
         self.layout().addWidget(self.help_button)
         self.layout().addWidget(self.measure_button)
         self.layout().addWidget(self.camera_view_button)
 
+        if not replay_mode:
+            self.layout().addWidget(self.bookmark_button)
+
     def refresh(self) -> None:
         """Refreshes the UI for all the toolbar icons and updates toolbar position"""
         # update the pause button state

src/software/thunderscope/gl/widgets/toolbar_icons/sandbox_mode/BUILD

@@ -6,6 +6,7 @@ py_library(
     name = "icon_loader",
     srcs = ["icon_loader.py"],
     data = [
+        ":bookmark.svg",
         ":help.svg",
         ":measure.svg",
         ":pause.svg",

src/software/thunderscope/gl/widgets/toolbar_icons/sandbox_mode/bookmark.svg

@@ -18,6 +18,7 @@ class GLFieldToolbarIconLoader:
     RESET_ICON = None
     VIEW_ICON = None
     MEASURE_ICON = None
+    BOOKMARK_ICON = None
 
 
 def get_undo_icon(color: str) -> QtGui.QPixmap:
@@ -138,3 +139,18 @@ def get_measure_icon(color: str) -> QtGui.QPixmap:
         )
 
     return GLFieldToolbarIconLoader.MEASURE_ICON
+
+
+def get_bookmark_icon(color: str) -> QtGui.QPixmap:
+    """Loads the Bookmark icon pixmap as a GLFieldToolbarIconLoader attribute
+
+    :param color: the color the icon should be initialized with if not already created
+    :return: the icon pixmap
+    """
+    if not GLFieldToolbarIconLoader.BOOKMARK_ICON:
+        GLFieldToolbarIconLoader.BOOKMARK_ICON = get_icon(
+            "software/thunderscope/gl/widgets/toolbar_icons/sandbox_mode/bookmark.svg",
+            color,
+        )
+
+    return GLFieldToolbarIconLoader.BOOKMARK_ICON

src/software/thunderscope/gl/widgets/toolbar_icons/sandbox_mode/icon_loader.py

@@ -26,10 +26,18 @@ py_library(
     ],
     deps = [
         requirement("pyqtgraph"),
+        "bookmark_marker",
         ":proto_player",
     ],
 )
 
+py_library(
+    name = "bookmark_marker",
+    srcs = [
+        "bookmark_marker.py",
+    ],
+)
+
 py_binary(
     name = "replay_file_debugging_script",
     srcs = [