Merge pull request #23 from CLSFramework/develop_sadra

Update documentation structure and content, adjust sidebar positions,…

docs/2-sampleserver/2-sample-go-base-code-gRPC/index.md

@@ -0,0 +1,143 @@
+# Sample Go Base Code (gRPC)
+
+[![Documentation Status](https://readthedocs.org/projects/clsframework/badge/?version=latest)](https://clsframework.github.io/docs/introduction/)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
+This repository contains a sample decision-making server for the RoboCup 2D Soccer Simulation, which allows you to create a team by using Go. This server is compatible with the [Cross Language Soccer Framework](https://arxiv.org/pdf/2406.05621). This server is written in Golang and uses gRPC to communicate with the [proxy](https://github.com/CLSFramework/soccer-simulation-proxy).
+
+The Soccer Simulation Server sends the observations to the proxy, which processes the data, create state message and sends it to the decision-making server. The decision-making server then sends the actions to the proxy, and then the proxy convert actions to the server commands and sends them to the server.
+
+For more information, please refer to the [documentation](https://clsframework.github.io/).
+
+You can find more information about the services and messages in the [IDL section](../../3-idl/protobuf.md).
+
+## Quick start
+
+### Preparation
+
+Install the pre-requisites using the command below:
+
+``` Bash
+sudo apt-get install fuse #Used to run AppImages
+```
+
+Clone this repository & install the required Golang libraries (such as gRPC). Don't forget to activate your virtual environment!
+
+``` Bash
+git clone #add repo link
+cd sample-playmaker-server-go-grpc
+
+go mod tidy # Install the required Golang libraries
+
+
+./generate.sh # Generate the gRPC files
+```
+
+To download RoboCup Soccer 2D Server using the commands below:
+
+``` Bash
+pushd scripts
+sh download-rcssserver.sh # Download the soccer simulation server
+popd
+```
+
+Next, download the soccer proxy, which uses C++ to read and pre-processes state data and passes them to the Golang server (this project) for decision-making.
+
+``` Bash
+pushd scripts
+sh download-proxy.sh #install C++ proxy
+popd
+```
+
+Finally, to watch the game, download the monitor from [the original repository](https://github.com/rcsoccersim/rcssmonitor/releases) in order to view the games.
+
+### Running a game
+
+This section assumes you have installed the server & proxy using the scripts (as mentioned above)
+We must first run a RoboCup Server, in order to host the game:
+
+``` Bash
+cd scripts/rcssserver
+./rcssserver
+```
+
+Then we must run the proxy & the decisionmaking server:
+
+``` Bash
+./start-team.sh
+```
+
+### Options
+
+- `-t team_name`: Specify the team name.
+- `--rpc-port PORT`: Specify the RPC port (default: 50051).
+- `-d`: Enable debug mode.
+
+
+Launch the opponent team, start the monitor app image. press <kbd>Ctrl</kbd> + <kbd>C</kbd> to connect to the server, and <kbd>Ctrl</kbd> + <kbd>K</kbd> for kick-off!
+
+### Tutorial Video (English)
+
+[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/hH-5rkhiQHg/0.jpg)](https://www.youtube.com/watch?v=hH-5rkhiQHg)
+
+### Tutorial Video (Persian)
+
+[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/97YDEumcVWU/0.jpg)](https://www.youtube.com/watch?v=97YDEumcVWU&t=0s)
+
+## How to change the code
+
+The `server.go` file contains the logic in 3 main functions:
+`GetPlayerActions` receives a game state, and returns a list of actions for a player for for that cycle.
+The actions we can output are equivalent to the Helios Base (Proxy), which are abstracted into multiple levels.
+You can use actions such as `DoDash`, `DoTurn`, `DoKick` which directly apply force, or use actions such as `GoToPoint`, `SmartKick`, `Shoot` or [more](https://clsframework.github.io/docs/idl/).
+
+Similarly, you can change `GetCoachActions` which is responsible for coach communication & substitutions.
+
+You can also use `GetTrainerActions` to move the players & the ball to make repeatable scenarios (when the server is in trainer mode).
+
+## Why & How it works
+
+Originally the RoboCup 2D Soccer Simulation teams used C++, as the main code base (Agent2D aka Helios Base) was written in this language due to its performance.
+Due to the popularity of Golang we decided to create a Golang platform which would be equivalent to Agent 2D.
+However, using Golang alone was too slow as preprocessing sensor information & tasks such as localization took too long.
+
+For this reason we have split up the code into two segments:
+The data processing section in proxy, which creates a World Model (state), and passes it to Golang for planning to occur. This repository uses gRPC to pass along the World Model, but there is a sister-repo which is compatible with thrift.
+
+```mermaid
+sequenceDiagram
+    participant SS as SoccerSimulationServer
+    participant SP as SoccerSimulationProxy
+    participant PM as PlayMakerServer
+    Note over SS,PM: Run
+    SP->>SS: Connect
+    SS->>SP: OK, Unum
+    SP->>PM: Register
+    PM->>SP: OK, ClientID
+    SS->>SP: Observation
+    Note over SP: Convert observation to State
+    SP->>PM: State
+    PM->>SP: Actions
+    Note over SP: Convert Actions to Low-Level Commands
+    SP->>SS: Commands
+```
+
+![cls](https://github.com/user-attachments/assets/4daee216-1479-4acd-88f2-9e772b8c7837)
+As seen in the figure, the proxy handles connecting to the server, receiving sensor information and creating a world-model, and finds the action to take via a remote procedure call to a decision-making server, which is this repository.
+
+## Configuration
+
+### RoboCup Server configuration
+
+You can change the configuration of the RoboCup server and change parameters such as players' stamina, game length, field length, etc. by modifying `~/.rcssserver/server.conf`. Refer to the server's documents and repo for a more detailed guide.
+
+### Modifying Proxy & Running proxy and server seperately
+
+If you want to modify the algorithms of the base (such as ball interception, shooting, localization, etc.) you must modify the code of the [proxy repo](https://github.com/CLSFramework/soccer-simulation-proxy). After re-building from source, you can run the proxy by using `./start.sh --rpc-type grpc` in the bin folder of the proxy, and run the gRPC server with `go run server.go` in this repo's directory. It is highly recommended to launch the Golang server before the proxy.
+
+You can modify the rpc port by adding the argument `--rpc-port [VALUE]`, where the default is 50051.
+
+## Citation
+
+- [Cross Language Soccer Framework](https://arxiv.org/pdf/2406.05621)
+- Zare, N., Sayareh, A., Sadraii, A., Firouzkouhi, A. and Soares, A., 2024. Cross Language Soccer Framework

docs/2-sampleserver/index.md

@@ -12,6 +12,7 @@ Playmaker servers are the decision-making servers that control the agents in the
 - Sample Playmaker Servers in Python by using Thrift [GitHub](https://github.com/CLSFramework/sample-playmaker-server-python-thrift)
 - Sample Playmaker Servers in C# by using gRPC [GitHub](https://github.com/CLSFramework/playmaker-server-csharp)
 - Sample Playmaker Servers in NodeJs by using gRPC [GitHub](https://github.com/CLSFramework/playmaker-server-nodejs)
+- Sample Playmaker Servers in Go by using gRPC [GitHub](https://github.com/CLSFramework/sample-playmaker-server-go-gRPC)
 
 ## Base Code
 

docs/3-idl/index.md

@@ -1,4 +1,4 @@
 ---
-sidebar_position: 3
+sidebar_position: 4
 title: IDL
 ---

docs/4-proxy/index.md

@@ -1,5 +1,5 @@
 ---
-sidebar_position: 4
+sidebar_position: 5
 title: Soccer Simulation Proxy
 ---
 # Soccer Simulation Proxy

docs/5-soccersimulation/index.md

@@ -1,5 +1,12 @@
 ---
-sidebar_position: 5
+sidebar_position: 6
 title: Soccer Simulation
 ---
 
+To use the **CLSFramework**, you need two additional components:
+
+- **Soccer Simulation Server**  
+   - This is the core server [`rcssserver`](/docs/5-soccersimulation/0-server/index.md) that connects the agents and runs the simulation.
+
+- **Monitor**  
+   - A monitor is used to visualize the game. You can use either[`rcssmonitor`](/docs/5-soccersimulation/1-monitor/index.md) or [`soccerwindow2`](/docs/5-soccersimulation/2-soccerwindow/index.md) for this purpose.

docs/6-basecode/index.md

@@ -1,18 +1,11 @@
 ---
-sidebar_position: 2
+sidebar_position: 3
 title: Base Codes
 ---
 
-In this section, we will cover the Playmaker servers.
-Playmaker servers are the decision-making servers that control the agents in the RoboCup Soccer 2D simulation environment. You can choose one of the sample servers provided in this documentation or create your own server [from scratch](/docs/proxy/develop-playmaker).
-
-## Sample Playmaker Servers
-
-- Sample Playmaker Servers in Python by using gRPC [GitHub](https://github.com/CLSFramework/sample-playmaker-server-python-grpc) [Docs](/docs/sampleserver/sample-python-base-code-gRPC/)
-- Sample Playmaker Servers in Python by using Thrift [GitHub](https://github.com/CLSFramework/sample-playmaker-server-python-thrift)
-- Sample Playmaker Servers in C# by using gRPC [GitHub](https://github.com/CLSFramework/playmaker-server-csharp)
-- Sample Playmaker Servers in NodeJs by using gRPC [GitHub](https://github.com/CLSFramework/playmaker-server-nodejs)
+In this section, we will cover the Base Codes that developed by the CLSFramework.
 
 ## Base Code
 
+- PY2D Base Code in Python by using gRPC [GitHub](https://github.com/CLSFramework/py2d)
 - Starter Base Code in Python by using Thrift [GitHub](https://github.com/CLSFramework/starter-playmaker-server-python-thrift)

docs/ToturialVideos/index.md

@@ -1,5 +1,9 @@
 ---
-sidebar_position: 6
+sidebar_position: 7
 title: Tutorial Videos
 ---
 
+In this section, we will cover the tutorial videos that developed for the CLSFramework.
+
+## Tutorial Videos
+There are 2 languages available for the tutorial videos. You can watch the tutorial videos in [English](/docs/ToturialVideos/english.md) or [Persian](/docs/ToturialVideos/persian.md).

docusaurus.config.ts

@@ -73,10 +73,52 @@ const config: Config = {
       },
       items: [
         {
-          type: 'docSidebar',
-          sidebarId: 'tutorialSidebar',
+          type: 'dropdown',
+          to: 'docs/introduction/',
           position: 'left',
           label: 'Tutorial',
+          items: [
+            {
+              type: 'doc',
+              docId: 'introduction/index',
+              label: 'Introduction',
+            },
+            {
+              type: 'doc',
+              docId: 'definitions/index',
+              label: 'Defenitions',
+            },
+            {
+              type: 'doc',
+              docId: 'sampleserver/index',
+              label: 'Playmaker Server',
+            },
+            {
+              type: 'doc',
+              docId: "basecode/index",
+              label: 'Base Code',
+            },
+            {
+              type: 'doc',
+              docId: 'idl/index',
+              label: 'IDL',
+            },
+            {
+              type: 'doc',
+              docId: 'proxy/index',
+              label: 'Soccer Simulation Proxy',
+            },
+            {
+              type: 'doc',
+              docId: 'soccersimulation/index',
+              label: 'Soccer Simulation',
+            },
+            {
+              type: 'doc',
+              docId: 'ToturialVideos/index',
+              label: 'Tutorial Videos',
+            },
+          ]
         },
         {to: '/blog', label: 'Blog', position: 'left'},
         {to: '/release', label: 'Release', position: 'left'},