communication is properly forwarded to subclasses

soccer/src/soccer/strategy/agent/agent_action_client.cpp

@@ -128,11 +128,6 @@ void AgentActionClient::get_task() {
 
     auto optional_task = current_position_->get_task(last_world_state_, field_dimensions_);
 
-    if (robot_id_ == 1) {
-        SPDLOG_INFO("ID: {} get_task: {}", robot_id_, optional_task->motion_command.name);
-    }
-
-
     if (optional_task.has_value()) {
         RobotIntent task = optional_task.value();
 
@@ -289,6 +284,7 @@ void AgentActionClient::receive_communication_callback(
     const std::shared_ptr<rj_msgs::srv::AgentCommunication::Request>& request,
     const std::shared_ptr<rj_msgs::srv::AgentCommunication::Response>& response) {
     if (current_position_ == nullptr) {
+        SPDLOG_INFO("I am getting stuck here!\n");
         communication::AgentResponse agent_response;
         communication::AgentRequest agent_request =
             rj_convert::convert_from_ros(request->agent_request);
@@ -298,6 +294,7 @@ void AgentActionClient::receive_communication_callback(
         agent_response.response = acknowledge;
         response->agent_response = rj_convert::convert_to_ros(agent_response);
     } else {
+        SPDLOG_INFO("I am NOT getting stuck here!\n");
         // Convert agent request into AgentToPosCommRequest
         communication::AgentPosRequestWrapper agent_request;
         communication::AgentRequest received_request =

soccer/src/soccer/strategy/agent/position/defense.cpp

@@ -128,6 +128,8 @@ void Defense::receive_communication_response(communication::AgentPosResponseWrap
     // Call to super
     Position::receive_communication_response(response);
 
+    SPDLOG_INFO("ID: {} is calling comm response!\n");
+
     // Handle join wall response
     if (const communication::JoinWallRequest* join_request =
             std::get_if<communication::JoinWallRequest>(&response.associated_request)) {
@@ -146,6 +148,8 @@ communication::PosAgentResponseWrapper Defense::receive_communication_request(
     communication::PosAgentResponseWrapper response =
         Position::receive_communication_request(request);
 
+    SPDLOG_INFO("ID: {} is calling comm request!\n");
+
     // Handle join and leave wall request
     if (const communication::JoinWallRequest* join_request =
             std::get_if<communication::JoinWallRequest>(&request.request)) {

soccer/src/soccer/strategy/agent/position/offense.cpp

@@ -8,9 +8,9 @@ Offense::Offense(int r_id) : Position(r_id) {
 }
 
 std::optional<RobotIntent> Offense::derived_get_task(RobotIntent intent) {
-    SPDLOG_INFO("MY ID: {} in offense derived task!\n", robot_id_);
+    //SPDLOG_INFO("MY ID: {} in offense derived task!\n", robot_id_);
     current_state_ = update_state();
-    SPDLOG_INFO("My current offense state is {}", current_state_);
+    //SPDLOG_INFO("My current offense state is {}", current_state_);
     return state_to_task(intent);
 }
 

soccer/src/soccer/strategy/agent/position/position.hpp

@@ -102,7 +102,7 @@ class Position {
      *
      * @return communication::PosAgentRequestWrapper the request to be sent
      */
-    std::optional<communication::PosAgentRequestWrapper> send_communication_request();
+    virtual std::optional<communication::PosAgentRequestWrapper> send_communication_request();
 
     /**
      * @brief Receive the response from a sent request.

soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp

@@ -14,27 +14,25 @@ if (robot_id_ == 0) {
 
 }
 
-std::optional<RobotIntent> RobotFactoryPosition::get_task(WorldState& ws, FieldDimensions& fd) {
-    return current_position_->get_task(ws, fd);
-}
-
-std::optional<RobotIntent> RobotFactoryPosition::derived_get_task(RobotIntent intent) {
+std::optional<RobotIntent> RobotFactoryPosition::get_task(WorldState& world_state, FieldDimensions& field_dimensions) {
     // This is where the current_position can be reassigned based on the
     // PlayState
+    return current_position_->get_task(world_state, field_dimensions);
+}
 
-
-    SPDLOG_ERROR("This should not be called");
+std::optional<RobotIntent> RobotFactoryPosition::derived_get_task(RobotIntent intent) {
+    SPDLOG_ERROR("RobotFactory derived_get_task() should not be called!");
     return std::nullopt;
+}
 
-    // no longer called
-
-    // return current_position_->get_task(*last_world_state_, field_dimensions_);
+std::optional<communication::PosAgentRequestWrapper> RobotFactoryPosition::send_communication_request() {
+    // Call to super
+    return current_position_->send_communication_request();
 }
 
 void RobotFactoryPosition::receive_communication_response(communication::AgentPosResponseWrapper response) {
     // Call to super
     current_position_->receive_communication_response(response);
-
 }
 
 communication::PosAgentResponseWrapper RobotFactoryPosition::receive_communication_request(

soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp

@@ -40,9 +40,12 @@ class RobotFactoryPosition : public Position {
     std::optional<RobotIntent> get_task(WorldState&, FieldDimensions&) override;
 
     void receive_communication_response(communication::AgentPosResponseWrapper response) override;
+
     communication::PosAgentResponseWrapper receive_communication_request(
         communication::AgentPosRequestWrapper request) override;
 
+    std::optional<communication::PosAgentRequestWrapper> send_communication_request() override;
+
     void derived_acknowledge_pass() override;
     void derived_pass_ball() override;
     void derived_acknowledge_ball_in_transit() override;
@@ -56,7 +59,6 @@ class RobotFactoryPosition : public Position {
     std::unique_ptr<Position> current_position_;
 
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
-
 };
 
 }  // namespace strategy