Onboarding Sum to 55

module/onboarding/Accumulator/CMakeLists.txt

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+# Build our NUClear module
+nuclear_module()

module/onboarding/Accumulator/README.md

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+# Accumulator
+
+## Description
+
+Performs iterative summation of integers from k=1 to n=10 without using loops. Receives iteration messages, adds the current value k to the running sum, and either continues the iteration or emits the final result
+
+## Usage
+
+Configuration from `Accumulator.yaml` (for log level settings)
+
+## Consumes
+
+- `message::onboarding::ComputeIteration`
+
+## Emits
+
+- `message::onboarding::ComputeIteration`
+- `message::onboarding::FinalAnswer`
+
+## Dependencies
+
+- `message::onboarding::ComputeIteration` - Message type for iteration state
+- `message::onboarding::FinalAnswer` - Message type for final result
+- `onboarding::Starter` - Module that initiates the first ComputeIteration message
+- `onboarding::Judge` - Module that validates the final answer

module/onboarding/Accumulator/data/config/Accumulator.yaml

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+# Controls the minimum log level that NUClear log will display
+log_level: INFO

module/onboarding/Accumulator/src/Accumulator.cpp

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+#include "Accumulator.hpp"
+
+#include "extension/Configuration.hpp"
+#include "message/onboarding/ComputeIteration.hpp"
+#include "message/onboarding/FinalAnswer.hpp"
+
+
+namespace module::onboarding {
+
+using extension::Configuration;
+
+Accumulator::Accumulator(std::unique_ptr<NUClear::Environment> environment) : Reactor(std::move(environment)) {
+
+    using message::onboarding::ComputeIteration;
+    using message::onboarding::FinalAnswer;
+
+    on<Configuration>("Accumulator.yaml").then([this](const Configuration& config) {
+        // Use configuration here from file Accumulator.yaml
+        this->log_level = config["log_level"].as<NUClear::LogLevel>();
+    });
+    on<Trigger<ComputeIteration>>().then([this](const ComputeIteration& compute_msg) {
+        // Get current values
+        uint32_t k = compute_msg.k;
+        uint32_t current_sum = compute_msg.sum;
+
+        // Add k to the sum
+        uint32_t new_sum = current_sum + k;
+
+        log<INFO>("Iteration k=", k, ": sum was", current_sum, ", adding", k, ", new sum is", new_sum);
+
+        // Maximum number of iterations (n=10)
+        const uint32_t MAX_N = 10;
+
+        // Check if we need to continue or finish
+        if (k < MAX_N) {
+            // Continue iterating - emit next iteration
+            auto next_iteration = std::make_unique<ComputeIteration>();
+            next_iteration->k = k + 1;      // Increment k
+            next_iteration->sum = new_sum;   // Pass along the new sum
+
+            log<INFO>("Continuing: emitting ComputeIteration with k=", (k + 1), ", sum=", new_sum);
+            emit(next_iteration);
+        }
+        else {
+            // We've reached k=10, time to finish
+            auto final_answer = std::make_unique<FinalAnswer>();
+            final_answer->result = new_sum;
+
+            log<INFO>("Computation complete! Final answer:", new_sum);
+            emit(final_answer);
+        }
+    });
+}
+
+}  // namespace module::onboarding

module/onboarding/Accumulator/src/Accumulator.hpp

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+#ifndef MODULE_ONBOARDING_ACCUMULATOR_HPP
+#define MODULE_ONBOARDING_ACCUMULATOR_HPP
+
+#include <nuclear>
+
+namespace module::onboarding {
+
+class Accumulator : public NUClear::Reactor {
+private:
+    /// @brief Stores configuration values
+    struct Config {
+    } cfg;
+
+public:
+    /// @brief Called by the powerplant to build and setup the Accumulator reactor.
+    explicit Accumulator(std::unique_ptr<NUClear::Environment> environment);
+};
+
+}  // namespace module::onboarding
+
+#endif  // MODULE_ONBOARDING_ACCUMULATOR_HPP

module/onboarding/Judge/CMakeLists.txt

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+# Build our NUClear module
+nuclear_module()

module/onboarding/Judge/README.md

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+# Judge
+
+## Description
+
+Compares Accumulator output to expected result
+
+## Usage
+
+Configuration from `Judge.yaml` (for log level settings)
+
+## Consumes
+
+- `message::onboarding::FinalAnswer` - The computed sum result from the Accumulator module
+
+## Emits
+
+- `message::skill::Say` (as Task) - Text-to-speech command with head nodding when answer is
+
+## Dependencies
+
+- `extension::behaviour::BehaviourReactor` - Provides Task emission capabilities
+- `message::onboarding::FinalAnswer` - Message type for receiving computation results
+- `message::skill::Say` - Message type for robot speech and nodding
+- `skill::Say` module - Must be included in role file to process Say messages

module/onboarding/Judge/data/config/Judge.yaml

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+# Controls the minimum log level that NUClear log will display
+log_level: INFO

module/onboarding/Judge/data/scripts/NodYes.yaml

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+# Head nodding sequence - nod down and back up
+frames:
+  - duration: 0.5
+    servos:
+      HEAD_PITCH:
+        position: -0.4 # Look down (negative pitch)
+        gain: 30
+        torque: 100
+  - duration: 0.5
+    servos:
+      HEAD_PITCH:
+        position: 0.0 # Return to neutral
+        gain: 30
+        torque: 100

module/onboarding/Judge/src/Judge.cpp

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+#include "Judge.hpp"
+
+#include "extension/Configuration.hpp"
+
+#include "message/actuation/Limbs.hpp"
+#include "message/onboarding/FinalAnswer.hpp"
+
+#include "utility/skill/Script.hpp"
+
+namespace module::onboarding {
+
+using extension::Configuration;
+using message::actuation::HeadSequence;
+using message::onboarding::FinalAnswer;
+using utility::skill::load_script;
+
+Judge::Judge(std::unique_ptr<NUClear::Environment> environment) : BehaviourReactor(std::move(environment)) {
+
+
+    on<Configuration>("Judge.yaml").then([this](const Configuration& config) {
+        // Use configuration here from file Judge.yaml
+        this->log_level = config["log_level"].as<NUClear::LogLevel>();
+    });
+    on<Trigger<FinalAnswer>>().then([this](const FinalAnswer& answer) {
+        // The correct answer for sum from k=1 to n=10 is 55
+        const uint32_t EXPECTED_ANSWER = 55;
+
+        log<INFO>("Received final answer:", answer.result);
+
+        if (answer.result == EXPECTED_ANSWER) {
+            log<INFO>("Answer is correct! Making robot nod yes.");
+
+            // Load and emit head nod sequence
+            emit<Task>(load_script<HeadSequence>("NodYes.yaml"));
+        }
+        else {
+            log<WARN>("Answer is incorrect. Expected:", EXPECTED_ANSWER, "Got:", answer.result);
+        }
+    });
+}
+
+}  // namespace module::onboarding

module/onboarding/Judge/src/Judge.hpp

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+#ifndef MODULE_ONBOARDING_JUDGE_HPP
+#define MODULE_ONBOARDING_JUDGE_HPP
+
+#include <nuclear>
+#include "extension/Behaviour.hpp"
+
+
+
+namespace module::onboarding {
+
+class Judge : public ::extension::behaviour::BehaviourReactor {
+
+private:
+    /// @brief Stores configuration values
+    struct Config {
+    } cfg;
+
+public:
+    /// @brief Called by the powerplant to build and setup the Judge reactor.
+    explicit Judge(std::unique_ptr<NUClear::Environment> environment);
+};
+
+}  // namespace module::onboarding
+
+#endif  // MODULE_ONBOARDING_JUDGE_HPP

module/onboarding/Ping/CMakeLists.txt

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+# Build our NUClear module
+nuclear_module()

module/onboarding/Ping/README.md

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+# Ping
+
+## Description
+
+Demonstration module that responds to Pong messages. Increments and logs a counter value with each ping.
+
+## Usage
+
+Configuration from `Ping.yaml`
+
+## Consumes
+
+- `message::onboarding::Pong`
+
+## Emits
+
+- `message::onboarding::Ping` with incremented counter
+
+## Dependencies
+
+- `message::onboarding::Ping`
+- `message::onboarding::Pong`

module/onboarding/Ping/data/config/Ping.yaml

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+# Controls the minimum log level that NUClear log will display
+log_level: INFO

module/onboarding/Ping/src/Ping.cpp

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+#include "Ping.hpp"
+
+#include "extension/Configuration.hpp"
+
+#include "message/onboarding/Ping.hpp"
+#include "message/onboarding/Pong.hpp"
+
+namespace module::onboarding {
+
+    using extension::Configuration;
+
+    Ping::Ping(std::unique_ptr<NUClear::Environment> environment) : Reactor(std::move(environment)) {
+
+        using message::onboarding::Ping;
+        using message::onboarding::Pong;
+
+        on<Configuration>("Ping.yaml").then([this](const Configuration& config) {
+            // Use configuration here from file Ping.yaml
+            this->log_level = config["log_level"].as<NUClear::LogLevel>();
+        });
+
+        on<Startup>().then([this] {
+            // Vibe
+        });
+
+        on<Trigger<Pong>>().then([this](const Pong& pong_msg) {
+            auto ping_msg = std::make_unique<Ping>();
+            ping_msg->count = ++counter;// TODO: Assign counter value.
+            log<INFO>("Ping");
+            emit(ping_msg);
+        });
+    }
+
+}  // namespace module::onboarding

module/onboarding/Ping/src/Ping.hpp

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+#ifndef MODULE_ONBOARDING_PING_HPP
+#define MODULE_ONBOARDING_PING_HPP
+
+#include <nuclear>
+
+namespace module::onboarding {
+
+class Ping : public NUClear::Reactor {
+private:
+    /// @brief Stores configuration values
+    struct Config {
+    } cfg;
+
+public:
+    /// @brief Called by the powerplant to build and setup the Ping reactor.
+    explicit Ping(std::unique_ptr<NUClear::Environment> environment);
+    uint32_t counter = 0;
+
+};
+
+}  // namespace module::onboarding
+
+#endif  // MODULE_ONBOARDING_PING_HPP

module/onboarding/Pong/CMakeLists.txt

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+# Build our NUClear module
+nuclear_module()

module/onboarding/Pong/README.md

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+# Pong
+
+## Description
+
+
+## Usage
+
+
+## Consumes
+
+
+## Emits
+
+
+## Dependencies
+

module/onboarding/Pong/data/config/Pong.yaml

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+# Controls the minimum log level that NUClear log will display
+log_level: INFO

module/onboarding/Pong/src/Pong.cpp

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+#include "Pong.hpp"
+
+#include "extension/Configuration.hpp"
+
+#include "message/onboarding/Ping.hpp"
+#include "message/onboarding/Pong.hpp"
+
+namespace module::onboarding {
+
+    using extension::Configuration;
+
+    Pong::Pong(std::unique_ptr<NUClear::Environment> environment) : Reactor(std::move(environment)) {
+
+        using message::onboarding::Ping;
+        using message::onboarding::Pong;
+
+        on<Configuration>("Pong.yaml").then([this](const Configuration& config) {
+            // Use configuration here from file Pong.yaml
+            this->log_level = config["log_level"].as<NUClear::LogLevel>();
+        });
+
+        on<Startup>().then([this] {
+            // Start the ping pong chain
+            auto pong_msg = std::make_unique<Pong>();
+            emit(pong_msg);
+        });
+
+        on<Trigger<Ping>>().then([this](const Ping& ping_msg) {
+            //Log a INFO level message with the text "Pong"
+            auto pong_msg = std::make_unique<Pong>();
+            log<INFO>("Pong", ping_msg.count);
+
+            //Emit a Pong message
+            emit(pong_msg);
+            //change after pull test
+            //another change
+        });
+    }
+
+}  // namespace module::onboarding

module/onboarding/Pong/src/Pong.hpp

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+#ifndef MODULE_ONBOARDING_PONG_HPP
+#define MODULE_ONBOARDING_PONG_HPP
+
+#include <nuclear>
+
+namespace module::onboarding {
+
+class Pong : public NUClear::Reactor {
+private:
+    /// @brief Stores configuration values
+    struct Config {
+    } cfg;
+
+public:
+    /// @brief Called by the powerplant to build and setup the Pong reactor.
+    explicit Pong(std::unique_ptr<NUClear::Environment> environment);
+};
+
+}  // namespace module::onboarding
+
+#endif  // MODULE_ONBOARDING_PONG_HPP