Merge pull request #54 from Rione/multicast

Multicast

main.go

@@ -13,7 +13,6 @@ import (
 )
 
 func FPSCounter(chfps chan bool, ourteam int) {
-	imu_reset_time = time.Now()
 	for {
 		//Calculate Online Robot IDs
 		var online_robot_id_str string
@@ -30,8 +29,7 @@ func FPSCounter(chfps chan bool, ourteam int) {
 
 			framecounter = 0
 
-			//Time to second
-			log.Printf("Estimated FPS:  %d FPS // Last IMU Reset Time %s ago", fps, time.Duration(time.Since(imu_reset_time).Seconds())*time.Second)
+			log.Printf("Estimated FPS:  %d FPS", fps)
 			log.Printf("Vision: %t, Connected Robots: %s", isvisionrecv, online_robot_id_str)
 			var our_yellows int
 			var our_reds int
@@ -119,17 +117,28 @@ func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, d
 	addr_controller := ipv4 + ":" + port_controller
 	addr_gui := ipv4 + ":" + port_gui
 
+	ip_other := NW_OUT_MCAST_IPADDR
+	port_other := NW_OUT_MCAST_PORT
+	addr_other := ip_other + ":" + port_other
+
 	log.Println("Send to:", addr)
 
 	conn, err := net.Dial("udp", addr)
 	CheckError(err)
 	conn_controller, err := net.Dial("udp", addr_controller)
 	CheckError(err)
 	conn_gui, err := net.Dial("udp", addr_gui)
+	CheckError(err)
+
+	conn_other, err := net.Dial("udp", addr_other)
+	CheckError((err))
+
 	defer conn.Close()
 	defer conn_controller.Close()
 	defer conn_gui.Close()
 
+	defer conn_other.Close()
+
 	var counter int
 
 	for {
@@ -204,6 +213,7 @@ func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, d
 			conn.Write([]byte(Data))
 			conn_controller.Write([]byte(Data))
 			conn_gui.Write([]byte(Data))
+			conn_other.Write([]byte(Data))
 		}
 
 		time.Sleep(time.Duration(reportrate) * time.Millisecond)

variables.go

@@ -1,22 +1,23 @@
 package main
 
 import (
-	"time"
-
 	"github.com/Rione-SSL/RACOON-MW/proto/pb_gen"
 )
 
 var BALL_MOVING_THRESHOULD_SPEED float32 = 1000
 
 var NW_ROBOT_UPDATE_INTERFACE_NAME string = "nil"
 var NW_VISION_REFEREE_INTERFACE_NAME string = "nil"
-var NW_AI_IPADDR string = "127.0.0.1"
-var NW_AI_PORT string = "30011"
-var NW_AI_PORT_CONTROLLER string = "30012"
-var NW_AI_PORT_GUI string = "30013"
+
+var NW_AI_IPADDR string = "127.0.0.1"      //DEPRECATED
+var NW_AI_PORT string = "30011"            //DEPRECATED
+var NW_AI_PORT_CONTROLLER string = "30012" //DEPRECATED
+var NW_AI_PORT_GUI string = "30013"        //DEPRECATED
+
 var NW_REF_MAX_DATAGRAM_SIZE int = 8192 * 2
 
-var IMU_RESET_INTERVAL time.Duration = 5000 * time.Millisecond
+var NW_OUT_MCAST_IPADDR string = "224.12.3.21"
+var NW_OUT_MCAST_PORT string = "30006"
 
 var MAX_AVAILABLE_TIMEOUTS int = 5
 
@@ -100,11 +101,6 @@ var filtered_enemy_x [16]float32
 var filtered_enemy_y [16]float32
 var filtered_enemy_theta [16]float32
 
-var ball_x_history []float32
-var ball_y_history []float32
-
-var imu_reset_time time.Time
-
 var robot_online [16]bool
 
 var teamcolor_from_ref int = -1