Add alias support to the constraints checker (#2072)

* Add alias support to the constraints checker

* Fix Vera++ issues

* Fix a stupid bug

* Fix Clang-Tidy warnings

Author: MinyazevR

plugins/robots/common/twoDModel/include/twoDModel/engine/model/aliasConfiguration.h

@@ -0,0 +1,72 @@
+/* Copyright 2025 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#pragma once
+#include "twoDModel/twoDModelDeclSpec.h"
+#include <kitBase/robotModel/portInfo.h>
+#include <QDomElement>
+
+namespace twoDModel {
+
+namespace robotModel {
+class TwoDRobotModel;
+}
+
+namespace model {
+
+/// For different KITs, such as the EV3 and TRIK twoDModel, many things are expressed through the same
+/// entities. For example, both models have two wheels with a motor and an encoder attached to them,
+/// as well as sensors with a common interface, and so on. Despite the fact that these sensors or other
+/// devices have common interfaces (which are ultimately inherited from the ScalarSensor or VectorSensor
+/// class or the Device class), it is necessary to write new code due to the difference in entity names
+/// for different KITs. In constraints, this happens, for example, when accessing objects through event chains,
+/// such as robot1.M4 or robot1.A. Ports already have alias semantics, but the ability to configure ports from the
+/// UI, check their availability, and more complicates the situation. The hash function for ports in containers
+/// also only considers the name and direction. It is proposed to solve the problem at the worldModel.xml level.
+class TWO_D_MODEL_EXPORT AliasConfiguration
+{
+	Q_DISABLE_COPY_MOVE(AliasConfiguration)
+public:
+	explicit AliasConfiguration(twoDModel::robotModel::TwoDRobotModel &robotModel);
+	~AliasConfiguration() = default;
+	void serialize(QDomElement &element) const;
+	void deserialize(const QDomElement &element);
+
+	/// Alias is a port property, so if the user changes the device on the port, it should not affect
+	/// the list of aliases specified in WorldModel.xml
+	/// User aliases cannot have a name that is already occupied by another port,
+	/// to avoid ambiguous situations that may arise when debugging programs
+	QStringList getAliases(const kitBase::robotModel::PortInfo &portInfo) const;
+
+	/// It is necessary for the correct serialization of devices in the 2D model. The fact is that the
+	/// classes that store information about devices and ports use hash functions for the port that take into account
+	/// only the name and direction of the port, and the information about the alises is lost. For example, a widget
+	/// for selecting a motor for the left and right wheels that has default values or a sensor configurator.
+	/// At the same time, they are responsible for serialization.
+	kitBase::robotModel::PortInfo createFromPort(const kitBase::robotModel::PortInfo &port) const;
+
+	/// needSerialize: At the moment, information about custom sensors and wheels remains in their
+	/// blocks in WorldModel.xml, but this class is still responsible for storing aliases.
+	void addAliases(const kitBase::robotModel::PortInfo &portInfo, bool needSerialize = false);
+private:
+	struct AliasInfo {
+		QStringList mNames{};
+		bool mNeedSerliaze {};
+	};
+
+	twoDModel::robotModel::TwoDRobotModel &mRobotModel;
+	QHash<kitBase::robotModel::PortInfo, AliasInfo> mAllowedAliases;
+};
+}
+}

plugins/robots/common/twoDModel/include/twoDModel/engine/model/robotModel.h

@@ -22,7 +22,6 @@
 
 #include "twoDModel/robotModel/twoDRobotModel.h"
 #include "sensorsConfiguration.h"
-
 #include "twoDModel/twoDModelDeclSpec.h"
 
 class QGraphicsItem;
@@ -37,6 +36,7 @@ namespace model {
 class TwoDRobotModelParameters;
 class MetricCoordinateSystem;
 class Settings;
+class AliasConfiguration;
 namespace physics {
 class PhysicsEngineBase;
 }
@@ -81,7 +81,7 @@ class TWO_D_MODEL_EXPORT RobotModel : public QObject
 		   , twoDModel::model::MetricCoordinateSystem *metricSystem
 	           , QObject *parent = nullptr);
 
-	~RobotModel();
+	~RobotModel() override;
 
 	void reinit();
 	void reinitMotors();
@@ -91,10 +91,12 @@ class TWO_D_MODEL_EXPORT RobotModel : public QObject
 	void stopRobot();
 	void playSound(int timeInMs);
 
-	Q_INVOKABLE void setNewMotor(int speed, uint degrees, const kitBase::robotModel::PortInfo &port, bool breakMode);
+	Q_INVOKABLE void setNewMotor(int speed, int degrees, const kitBase::robotModel::PortInfo &port, bool breakMode);
 
 	SensorsConfiguration &configuration();
 
+	QSharedPointer<AliasConfiguration> aliasConfiguration();
+
 	/// Returns information about the robot`s left wheel state (its size, speed, encoder value, etc).
 	const Wheel &leftWheel() const;
 
@@ -199,7 +201,7 @@ public Q_SLOTS:
 private:
 	QVector2D robotDirectionVector() const;
 
-	Wheel *initMotor(int radius, int speed, uint64_t degrees, const kitBase::robotModel::PortInfo &port, bool isUsed);
+	Wheel *initMotor(int radius, int speed, int degrees, const kitBase::robotModel::PortInfo &port, bool isUsed);
 
 	void countNewForces();
 	void countBeep();
@@ -231,6 +233,7 @@ public Q_SLOTS:
 	twoDModel::robotModel::TwoDRobotModel &mRobotModel;
 	// Takes ownership
 	QPointer<TwoDRobotModelParameters> mRobotModelParameters;
+	QSharedPointer<AliasConfiguration> mAliasConfiguration;
 	// Takes ownership.
 	QPointer<SensorsConfiguration> mSensorsConfiguration;
 

plugins/robots/common/twoDModel/include/twoDModel/engine/model/sensorsConfiguration.h

@@ -20,12 +20,14 @@
 #include <QtXml/QDomDocument>
 #include <QPointer>
 #include <kitBase/devicesConfigurationProvider.h>
+#include "twoDModel/robotModel/twoDRobotModel.h"
 
 #include "twoDModel/twoDModelDeclSpec.h"
 
 namespace twoDModel {
 namespace model {
 
+class AliasConfiguration;
 class MetricCoordinateSystem;
 
 /// Represents position and direction of simulated sensors relative to robot.
@@ -35,6 +37,7 @@ class TWO_D_MODEL_EXPORT SensorsConfiguration : public QObject, public kitBase::
 
 public:
 	SensorsConfiguration(twoDModel::model::MetricCoordinateSystem *metricSystem,
+			     QSharedPointer<twoDModel::model::AliasConfiguration> aliasConfiguration,
 			     const QString &robotModelName, QSizeF robotSize, QObject *parent = nullptr);
 
 	void setPosition(const kitBase::robotModel::PortInfo &port, QPointF position);
@@ -81,7 +84,7 @@ public Q_SLOTS:
 			, Reason reason) override;
 
 	QPointF defaultPosition(const kitBase::robotModel::DeviceInfo &device) const;
-
+	QSharedPointer<twoDModel::model::AliasConfiguration> mAliasConfiguration;
 	QSizeF mRobotSize;
 	QString mRobotId;
 	QHash<kitBase::robotModel::PortInfo, SensorInfo> mSensorsInfo;

plugins/robots/common/twoDModel/src/engine/constraints/constraintsChecker.cpp

@@ -22,6 +22,7 @@
 #include "details/constraintsParser.h"
 #include "details/event.h"
 #include "twoDModel/engine/model/model.h"
+#include "twoDModel/engine/model/aliasConfiguration.h"
 #include "src/engine/items/wallItem.h"
 #include "src/engine/items/skittleItem.h"
 #include "src/engine/items/ballItem.h"
@@ -244,14 +245,20 @@ void ConstraintsChecker::bindRobotObject(twoDModel::model::RobotModel * const ro
 			, this, [=](const kitBase::robotModel::PortInfo &port, bool isLoading)
 	{
 		Q_UNUSED(isLoading)
-		mObjects.remove(portName(robotId, robot, port));
+		for (auto &&name: portNames(robotId, robot, port)) {
+			mObjects.remove(name);
+		}
 	});
 }
 
 void ConstraintsChecker::bindDeviceObject(const QString &robotId
 		, model::RobotModel * const robot, const kitBase::robotModel::PortInfo &port)
 {
-	mObjects[portName(robotId, robot, port)] = robot->info().configuration().device(port);
+	const auto &device = robot->info().configuration().device(port);
+	const auto &names = portNames(robotId, robot, port);
+	for (auto &&name: names) {
+		mObjects[name] = device;
+	}
 }
 
 QString ConstraintsChecker::firstUnusedRobotId() const
@@ -264,6 +271,22 @@ QString ConstraintsChecker::firstUnusedRobotId() const
 	return "robot" + QString::number(id);
 }
 
+QStringList ConstraintsChecker::portNames(const QString &robotId
+		, model::RobotModel * const robot
+		, const kitBase::robotModel::PortInfo &port) const
+{
+	QStringList result;
+	const auto &mainPort = portName(robotId, robot, port);
+	result.append(mainPort);
+
+	auto aliasConfiguration = robot->aliasConfiguration();
+	const auto &userAliases = aliasConfiguration->getAliases(port);
+	for (auto &&userAlias: userAliases) {
+		result.append(QString("%1.%2").arg(robotId, userAlias));
+	}
+	return result;
+}
+
 QString ConstraintsChecker::portName(const QString &robotId
 		, model::RobotModel * const robot, const kitBase::robotModel::PortInfo &port) const
 {

plugins/robots/common/twoDModel/src/engine/constraints/constraintsChecker.h

@@ -28,6 +28,7 @@ class ErrorReporterInterface;
 namespace kitBase {
 namespace robotModel {
 class PortInfo;
+class DeviceInfo;
 }
 }
 
@@ -116,7 +117,9 @@ class ConstraintsChecker : public QObject
 	QString portName(const QString &robotId
 			, model::RobotModel * const robot
 			, const kitBase::robotModel::PortInfo &port) const;
-
+	QStringList portNames(const QString &robotId
+			, model::RobotModel * const robot
+			, const kitBase::robotModel::PortInfo &port) const;
 	void programStarted();
 	void programFinished(qReal::interpretation::StopReason reason);
 	void prepareVariables();

plugins/robots/common/twoDModel/src/engine/model/aliasConfiguration.cpp

@@ -0,0 +1,102 @@
+/* Copyright 2025 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#include "twoDModel/engine/model/aliasConfiguration.h"
+#include "twoDModel/robotModel/twoDRobotModel.h"
+
+using namespace twoDModel::model;
+using namespace kitBase::robotModel;
+
+AliasConfiguration::AliasConfiguration(twoDModel::robotModel::TwoDRobotModel &robotModel)
+	: mRobotModel(robotModel) {}
+
+void AliasConfiguration::deserialize(const QDomElement &element)
+{
+	mAllowedAliases.clear();
+	// The configurator block is used to set aliases for non-configurable ports,
+	// as the syntax for aliases for the configurator sensor and wheels already
+	// exists in worldModel.xml. However, they can also be used in this block,
+	// but the information from their own blocks will take precedence and
+	// overwrite this information.
+	auto &&configurators = element.firstChildElement("configurators");
+	for (auto &&configurator = configurators.firstChildElement("configurator");
+		!configurator.isNull();
+		configurator = configurator.nextSiblingElement("configurator"))
+	{
+		auto &&portInfo = PortInfo::fromString(configurator.attribute("port"));
+		addAliases(portInfo, true);
+	}
+}
+
+QStringList AliasConfiguration::getAliases(const kitBase::robotModel::PortInfo &portInfo) const
+{
+	const auto &aliasesIt = mAllowedAliases.find(portInfo);
+	if (aliasesIt == mAllowedAliases.end()) {
+		return {};
+	}
+	return aliasesIt.value().mNames;
+}
+
+PortInfo AliasConfiguration::createFromPort(const PortInfo &port) const
+{
+	return PortInfo {
+		port.name(),
+		port.userFriendlyName(),
+		port.direction(),
+		getAliases(port),
+		port.reservedVariable(),
+		port.reservedVariableType()};
+}
+
+void AliasConfiguration::addAliases(const kitBase::robotModel::PortInfo &portInfo, bool needSerialize)
+{
+	QStringList result;
+	const auto &portName = portInfo.name();
+	const auto &aliases = portInfo.nameAliases();
+	for (auto &&alias: aliases) {
+		bool found = {};
+		for (auto &&otherPort : mRobotModel.availablePorts()) {
+			if ((portName != otherPort.name())
+				&& (otherPort.name() == alias)) {
+				found = true;
+				break;
+			}
+		}
+		if (!found) {
+			result.append(alias);
+		}
+	}
+	mAllowedAliases[portInfo] = AliasInfo{result, needSerialize};
+}
+
+void AliasConfiguration::serialize(QDomElement &element) const
+{
+	auto &&configurators = element.ownerDocument().createElement("configurators");
+
+	bool exist = false;
+	for (auto it = mAllowedAliases.begin(), end = mAllowedAliases.end(); it != end; ++it) {
+		if (!it.value().mNeedSerliaze) {
+			continue;
+		}
+		exist = true;
+		auto &&configurator = element.ownerDocument().createElement("configurator");
+		auto &&port = it.key();
+		auto &&portInfo = createFromPort(port);
+		configurator.setAttribute("port", portInfo.toString());
+		configurators.appendChild(configurator);
+	}
+	if (exist) {
+		element.appendChild(configurators);
+	}
+}