Remove all remaining usages of MessageToDict (UBC-Thunderbots#3472)

Author: williamckha

src/software/thunderscope/gl/layers/gl_referee_info_layer.py

@@ -1,7 +1,4 @@
-from typing import Optional
-
 from PyQt6 import QtGui
-from google.protobuf.json_format import MessageToDict
 from pyqtgraph.opengl.items.GLTextItem import GLTextItem
 
 from proto.import_all_protos import *
@@ -14,7 +11,6 @@
 )
 from software.thunderscope.gl.graphics.gl_circle import GLCircle
 from software.thunderscope.gl.graphics.gl_label import GLLabel
-from software.thunderscope.gl.helpers.observable_list import ObservableList
 from software.thunderscope.gl.layers.gl_layer import GLLayer
 from software.thunderscope.thread_safe_buffer import ThreadSafeBuffer
 
@@ -54,8 +50,6 @@ def __init__(self, name: str, buffer_size: int = 1) -> None:
         self.cached_world = None
         self.cached_referee_info = None
 
-        self.referee_text_graphics = ObservableList(self._graphics_changed)
-
         self.placement_tolerance_graphic = GLCircle(
             parent_item=self,
             radius=BALL_PLACEMENT_TOLERANCE_RADIUS_METERS,
@@ -74,11 +68,14 @@ def __init__(self, name: str, buffer_size: int = 1) -> None:
             outline_color=self.BALL_PLACEMENT_ROBOT_AVOID_AREA_VISUALIZATION_COLOR,
         )
 
-        # initialize the two text items to display
-        self.gamestate_type_text: Optional[GLLabel] = None
-        self.command_type_text: Optional[GLLabel] = None
+        self.gamestate_type_text = GLLabel(parent_item=self, offset=(-10, 50))
+        self.command_type_text = GLLabel(parent_item=self, offset=(-10, 70))
 
-        self.ball_placement_countdown_graphic: Optional[GLTextItem] = None
+        self.ball_placement_countdown_graphic = GLTextItem(
+            parentItem=self,
+            font=QtGui.QFont(THUNDERSCOPE_UI_FONT_NAME, 7, weight=700),
+            color=self.COUNT_DOWN_TEXT_COLOR,
+        )
 
         self.ball_placement_point = None
         self.ball_placement_in_progress = False
@@ -91,13 +88,6 @@ def __update_ball_placement(self) -> None:
             block=False, return_cached=False
         )
 
-        if not self.ball_placement_countdown_graphic:
-            self.ball_placement_countdown_graphic = GLTextItem(
-                parentItem=self,
-                font=QtGui.QFont(THUNDERSCOPE_UI_FONT_NAME, 7, weight=700),
-                color=self.COUNT_DOWN_TEXT_COLOR,
-            )
-
         # if ball placement is in progress, update all the visuals
         if self.ball_placement_in_progress:
             self.__update_ball_placement_status(self.cached_world.ball.current_state)
@@ -124,34 +114,17 @@ def __update_referee_info(self):
         if not referee_proto:
             return
 
-        referee_msg_dict = MessageToDict(referee_proto)
-        if not referee_msg_dict:
-            return
-        self.cached_referee_info = referee_msg_dict
+        self.cached_referee_info = referee_proto
 
-        if not self.gamestate_type_text:
-            self.gamestate_type_text = GLLabel(
-                parent_item=self,
-                offset=(-10, 50),
-                text=GLRefereeInfoLayer.GAMESTATE_PREFIX + referee_msg_dict["stage"],
-            )
-            self.referee_text_graphics.append(self.gamestate_type_text)
-        else:
-            self.gamestate_type_text.set_text(
-                GLRefereeInfoLayer.GAMESTATE_PREFIX + referee_msg_dict["stage"]
-            )
+        self.gamestate_type_text.set_text(
+            GLRefereeInfoLayer.GAMESTATE_PREFIX
+            + Referee.Stage.Name(referee_proto.stage)
+        )
 
-        if not self.command_type_text:
-            self.command_type_text = GLLabel(
-                parent_item=self,
-                offset=(-10, 70),
-                text=GLRefereeInfoLayer.GAMESTATE_PREFIX + referee_msg_dict["command"],
-            )
-            self.referee_text_graphics.append(self.command_type_text)
-        else:
-            self.command_type_text.set_text(
-                GLRefereeInfoLayer.REFEREE_COMMAND_PREFIX + referee_msg_dict["command"]
-            )
+        self.command_type_text.set_text(
+            GLRefereeInfoLayer.REFEREE_COMMAND_PREFIX
+            + Referee.Command.Name(referee_proto.command)
+        )
 
     def refresh_graphics(self) -> None:
         """Refresh all visuals for both ball placement and referee info"""
@@ -196,8 +169,7 @@ def __update_target_visual(self) -> None:
         # update the count-down graphics
         if self.cached_referee_info:
             time_left = max(
-                int(self.cached_referee_info["currentActionTimeRemaining"]) // 1000000,
-                0,
+                self.cached_referee_info.current_action_time_remaining // 1000000, 0
             )
             self.ball_placement_countdown_graphic.setData(text=f"{time_left}s")
 

src/software/thunderscope/play/refereeinfo_widget.py

@@ -1,9 +1,9 @@
+from collections import defaultdict
 from pyqtgraph.Qt.QtWidgets import *
 from proto.import_all_protos import *
 from software.py_constants import SECONDS_PER_MICROSECOND, SECONDS_PER_MINUTE
 from software.thunderscope.common.common_widgets import set_table_data
 from software.thunderscope.thread_safe_buffer import ThreadSafeBuffer
-from google.protobuf.json_format import MessageToDict
 
 
 class RefereeInfoWidget(QWidget):
@@ -34,6 +34,9 @@ def __init__(self, buffer_size: int = 1) -> None:
         self.vertical_layout.addWidget(self.referee_info)
         self.setLayout(self.vertical_layout)
 
+        # Team info table data, indexed by [field_name]["blue" | "yellow"]
+        self.team_info = defaultdict(dict)
+
     def refresh(self) -> None:
         """Update the referee info widget with new referee information"""
         referee = self.referee_buffer.get(block=False, return_cached=False)
@@ -42,68 +45,27 @@ def refresh(self) -> None:
         if referee is None:
             return
 
-        referee_msg_dict = MessageToDict(referee)
-
-        if not referee_msg_dict:
-            return
-
-        stage_time_left_s = (
-            int(referee_msg_dict["stageTimeLeft"]) * SECONDS_PER_MICROSECOND
-        )
-        p = (
-            f"Packet Timestamp: {round(float(referee_msg_dict['packetTimestamp']) * SECONDS_PER_MICROSECOND, 3)}\n"
+        stage_time_left_s = referee.stage_time_left * SECONDS_PER_MICROSECOND
+        self.referee_info.setText(
+            f"Packet Timestamp: {round(referee.packet_timestamp * SECONDS_PER_MICROSECOND, 3)}\n"
             + f"Stage Time Left: {int(stage_time_left_s / SECONDS_PER_MINUTE):02d}"
             + f":{int(stage_time_left_s % SECONDS_PER_MINUTE):02d}\n"
-            + f"Stage: {referee_msg_dict['stage']}\n"
-            + "Command: "
-            + referee_msg_dict["command"]
-            + "\n"
-            + f"Blue Team on Positive Half: {referee_msg_dict['blueTeamOnPositiveHalf']}\n"
+            + f"Stage: {Referee.Stage.Name(referee.stage)}\n"
+            + f"Command: {Referee.Command.Name(referee.command)}\n"
+            + f"Blue Team on Positive Half: {referee.blue_team_on_positive_half}\n"
         )
-        self.referee_info.setText(p)
-
-        team_info = []
-        blue = []
-        yellow = []
-
-        for team_info_name in referee_msg_dict["blue"]:
-            if team_info_name == "timeouts":
-                team_info.append("remainingTimeouts")
-            elif team_info_name == "goalkeeper":
-                team_info.append("goalkeeperID")
-            else:
-                team_info.append(team_info_name)
-
-        for team_info_name in referee_msg_dict["yellow"]:
-            if team_info_name in team_info:
-                continue
-
-            if team_info_name == "timeouts":
-                team_info.append("remainingTimeouts")
-            elif team_info_name == "goalkeeper":
-                team_info.append("goalkeeperID")
-            else:
-                team_info.append(team_info_name)
-
-        for info in team_info:
-            if info == "yellowCardTimes":
-                blue.append(self.parse_yellow_card_times(referee_msg_dict["blue"]))
-                yellow.append(self.parse_yellow_card_times(referee_msg_dict["yellow"]))
-            elif info == "remainingTimeouts":
-                blue.append(referee_msg_dict["blue"]["timeouts"])
-                yellow.append(referee_msg_dict["yellow"]["timeouts"])
-            elif info == "goalkeeperID":
-                blue.append(referee_msg_dict["blue"]["goalkeeper"])
-                yellow.append(referee_msg_dict["yellow"]["goalkeeper"])
-            else:
-                blue.append(referee_msg_dict["blue"][info])
-                yellow.append(referee_msg_dict["yellow"][info])
+
+        for field_descriptor, field_val in referee.blue.ListFields():
+            self.team_info[field_descriptor.name]["blue"] = field_val
+
+        for field_descriptor, field_val in referee.yellow.ListFields():
+            self.team_info[field_descriptor.name]["yellow"] = field_val
 
         set_table_data(
             {
-                "Team Info": team_info,
-                "Blue": blue,
-                "Yellow": yellow,
+                "Team Info": self.team_info.keys(),
+                "Blue": [val["blue"] for val in self.team_info.values()],
+                "Yellow": [val["yellow"] for val in self.team_info.values()],
             },
             self.referee_table,
             RefereeInfoWidget.HEADER_SIZE_HINT_WIDTH_EXPANSION,
@@ -118,18 +80,6 @@ def parse_yellow_card_times(self, team_info: TeamInfo) -> str:
 
         :param team_info: TeamInfo protobuf dict to parse
         """
-        text = ""
-        if "yellowCardTimes" in team_info:
-            yellow_card_times = team_info["yellowCardTimes"]
-            for i in range(0, len(yellow_card_times) - 1):
-                formatted_time = int(yellow_card_times[i] * SECONDS_PER_MICROSECOND)
-                text = text + str(formatted_time) + ", "
-
-            formatted_time = int(
-                yellow_card_times[len(yellow_card_times) - 1] * SECONDS_PER_MICROSECOND
-            )
-            text = text + str(formatted_time)
-        else:
-            text = "0"
-
-        return text
+        return [
+            time * SECONDS_PER_MICROSECOND for time in team_info.yellow_card_times
+        ].join(", ")