Redis to TOML refactor (UBC-Thunderbots#3537)

* refactor all fo redis to toml

* file path change

* correct network interface

* remove bazel dep for toml

* update comment

* remove redis from software tests and workflow

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

* remove generated file

* remove 3 keys and their usages

* remove keys

* remove / from keys

* remove normalize_key

* tests for toml_config_client

* [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: annieisawesome2

.github/workflows/main.yml

@@ -69,21 +69,11 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
-      - uses: ./.github/actions/environment-setup
 
-      - name: Install and start redis server
-        run: |
-          wget http://download.redis.io/redis-stable.tar.gz 
-          tar xvzf redis-stable.tar.gz >/dev/null 
-          cd redis-stable
-          make >/dev/null 
-          make install >/dev/null 
-          redis-server --daemonize yes          
-
-      - name: Stop redis server
+      - name: Environment Setup
         run: |
-          redis-cli shutdown
-
+          "${GITHUB_WORKSPACE}"/environment_setup/setup_software.sh
+        
       - name: Jetson Nano Build
         run: |
          cd src

docs/getting-started.md

@@ -376,16 +376,26 @@ Where `<platform>` is the robot platform you are deploying to (`PI` or `NANO`),
 It is possible to run Thunderloop without having a fully-working robot. Using this mode is useful when testing features that don't require the power board or motors.
 
 1. To run Thunderloop locally on your computer
-    1. First, you must ensure that `redis` is installed. Installation instructions can be found [here](https://redis.io/docs/latest/operate/oss_and_stack/install/install-redis/install-redis-on-linux/). The result of these installation directions will likely enable `redis-server` as a service that starts on boot. You may want to run `sudo systemctl disable redis-server` to prevent this.
-    2. Next, run the command `redis-server` in a terminal.
-    3. Set up the following required REDIS constants by running the following commands in the terminal:
-        - `redis-cli set /robot_id "{robot_id}"` where `{robot_id}` is the robot's ID (e.g. `1`, `2`, etc.)
-        - `redis-cli set /network_interface "{network_interface}"` where `{network_interface}` is one of the interfaces listed by `ip a`.
-        - `redis-cli set /channel_id "{channel_id}"` where `{channel_id}` is the channel id of the robot (e.g. `1`, `2`, etc.)
-        - `redis-cli set /kick_coeff "{kick_coeff}"` where `{kick_coeff}` is a calibrated kicking parameter. When running locally, this parameter doesn't matter so `0` is fine.
-        - `redis-cli set /kick_constant "{kick_constant}"` where `{kick_constant}` is a calibrated kicking parameter. When running locally, this parameter doesn't matter so `0` is fine.
-        - `redis-cli set /chip_pulse_width "{chip_pulse_width}"` where `{chip_pulse_width}` is a calibrated kicking parameter. When running locally, this parameter doesn't matter so `0` is fine.
-    4. Now, run Thunderloop with the following command:
+    1. Create a TOML configuration file in the opt/tbotspython directory with the following content (replace values as needed):
+        ```toml
+        robot_id = "1"
+        channel_id = "0"
+        network_interface = "tbotswifi5"
+        kick_constant = "0"
+        kick_coeff = "0.0"
+        chip_pulse_width = "0"
+        battery_voltage = "0.0"
+        current_draw = "0.0"
+        cap_voltage = "0.0"
+        ```
+        Where:
+        - `robot_id` is the robot's ID (e.g. `1`, `2`, etc.)
+        - `network_interface` is one of the interfaces listed by `ip a`.
+        - `channel_id` is the channel id of the robot (e.g. `1`, `2`, etc.)
+        - `kick_coeff` is a calibrated kicking parameter. When running locally, this parameter doesn't matter so `0` is fine.
+        - `kick_constant` is a calibrated kicking parameter. When running locally, this parameter doesn't matter so `0` is fine.
+        - `chip_pulse_width` is a calibrated kicking parameter. When running locally, this parameter doesn't matter so `0` is fine.
+    2. Now, run Thunderloop with the following command:
         - `bazel run //software/embedded:thunderloop_main --//software/embedded:host_platform=LIMITED`
 
 2. If you have a robot PC that doesn't have proper communication with the power or motor board, you can still run Thunderloop in a limited capacity to test software features (eg. networking).

docs/robot-software-architecture.md

@@ -9,7 +9,7 @@
 - [Tools](#tools)
   - [Ansible](#ansible)
   - [Systemd](#systemd)
-  - [Redis](#redis)
+  - [TOML Configuration](#toml-configuration)
 - [Thunderloop](#thunderloop)
 
 <!--TOC-->
@@ -37,9 +37,9 @@ More commands available [here](useful-robot-commands.md#off-robot-commands)
 
 [Systemd](https://www.freedesktop.org/wiki/Software/systemd/) allows us to have services which start as soon as we boot the robot, will automatically restart and are individually controllable. All services have the file {service}.service, which controls the configuration of that service. Our core service brought up by systemd is thunderloop. The thunderloop.service file can be seen [here](https://github.com/UBC-Thunderbots/Software/blob/master/src/software/embedded/linux_configs/systemd/thunderloop.service).
 
-## Redis
+## TOML Configuration
 
-[Redis](https://redis.io/docs/about/) is an in-memory key-value store. This allows us to share state between processes as well as modify values dynamically through the provided [cli](useful-robot-commands#redis). Values also persists between boots.
+Robot configuration is stored in a TOML file in home directory. This file contains both static configuration values and dynamic runtime values. 
 
 # Thunderloop
 

docs/useful-robot-commands.md

@@ -21,7 +21,6 @@
 - [On Robot Commands](#on-robot-commands)
   - [Systemd Services](#systemd-services)
   - [Debugging Uart](#debugging-uart)
-  - [Redis](#redis)
 
 <!--TOC-->
 
@@ -63,14 +62,6 @@ flowchart TD
                                               `service thunderloop restart`)
     tloop_status --> |Running| tloop_logs(Check Thunderloop logs for errors
                                           `journalctl -fu thunderloop -n 300`)
-    tloop_logs --> |No Errors| check_redis(Does `redis-cli get /network_interface` return 'wlan0' or 'tbots', 
-    and does `redis-cli get /channel_id` return '0'?)
-    tloop_logs --> |Contains Errors| rip2("Fix errors or check errors with a lead")
-    check_redis --> |No| update_redis("Update Redis constants by running:
-                                      `redis-cli set /network_interface 'wlan0'` (for Nanos) OR `redis-cli set /network_interface 'tbots'` (for Pis)
-                                      `redis-cli set /channel_id '0'`")
-    check_redis --> |Yes| rip3(Check with a lead)
-    update_redis --> tloop_restart
     tloop_restart --> tloop_status
     end
 ```
@@ -256,36 +247,3 @@ If the serial_port is busy, screen will not launch and instead says `screen is t
 Powerloop uart communication is encoded so you can't read it from screen and will appear as a mix of foreign characters
 
 Pressing the reset button once will send a status msg over its connected port. This is useful for sanity checking.
-
-## Redis
-
-Current redis keys that are used are available in `software/constants.h`.  Official Documentation [here](https://redis.io/docs/manual/cli/).
-
-<b>Values should be strings. For example `set \ROBOT_ID "0"`</b>
-
-Redis repl can be accessed through the following command.
-
-```bash
-redis-cli
-```
-
-Other common commands (once inside redis repl):
-
-```bash
-get <redis_key>
-set <redis_key> <value>
-```
-
-To Exit:
-
-```bash
-quit
-```
-
-Alternative (without entering redis repl):
-
-```bash
-redis-cli get <redis_key>  
-redis-cli set <redis_key> <value>
-```
-

src/MODULE.bazel

@@ -90,22 +90,12 @@ use_repo(pybind11_configure, "pybind11")
 ###########################################################################
 http_archive = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
-# Dep for cpp_redis
 http_archive(
-    name = "tacopie",
-    sha256 = "bbdebecdb68d5f9eb64170217000daf844e0aee18b8c4d3dd373d07efd9f7316",
-    strip_prefix = "tacopie-master",
-    url = "https://github.com/cylix/tacopie/archive/master.zip",
-)
-
-# TODO(#3315): Used for on-robot value storage - deprecation soon
-http_archive(
-    name = "cpp_redis",
-    sha256 = "12a6fc86ba4ca3d4537a3eee82c094f385b8e03e283c664c976f16d421f17f7d",
-    strip_prefix = "cpp_redis-fc2c43fa07e45e1ef0f77cbda6a240e7890ae5aa",
-    urls = [
-        "https://github.com/cpp-redis/cpp_redis/archive/fc2c43fa07e45e1ef0f77cbda6a240e7890ae5aa.zip",
-    ],
+    name = "tomlplusplus",
+    build_file = "@//extlibs:tomlplusplus.BUILD",
+    sha256 = "8517f65938a4faae9ccf8ebb36631a38c1cadfb5efa85d9a72e15b9e97d25155",
+    strip_prefix = "tomlplusplus-3.4.0",
+    urls = ["https://github.com/marzer/tomlplusplus/archive/refs/tags/v3.4.0.tar.gz"],
 )
 
 http_archive(