Merge pull request #27 from Rione:feature/gui-enhancement

🎉 change protos and add auto judge color

README.md

@@ -13,6 +13,11 @@ This is our communication software for [RoboCup Soccer SSL](https://ssl.robocup.
 
 # Usage
 
+## Generate Go Proto files
+```bash
+protoc --proto_path=proto/pb_src --go_out=proto/pb_gen --go_opt=paths=source_relative proto/pb_src/*.proto
+```
+
 ## Run
 
 ```bash

createprotos.go

@@ -189,10 +189,15 @@ func createGeometryInfo() *pb_gen.Geometry_Info {
 	return pe
 }
 
-func createOtherInfo(goalpos_n int32) *pb_gen.Other_Infos {
+func createOtherInfo(goalpos_n int32, ourteam int, match_mode bool, grsim_send_port int, simmode bool, halfswitch int) *pb_gen.Other_Infos {
 	var numofcameras int32 = int32(maxcameras)
 	var numofourrobots int32
 	var numofenemyrobots int32
+	var teamcolor int
+	var isYellow bool
+	var isHalfcourt bool
+	var grSimSendPort uint32 = uint32(grsim_send_port)
+	var attackdir int32
 	for i := 0; i < 16; i++ {
 		if ourrobot_is_visible[i] {
 			numofourrobots++
@@ -202,19 +207,49 @@ func createOtherInfo(goalpos_n int32) *pb_gen.Other_Infos {
 		}
 	}
 
+	isReal := !simmode
+
+	if match_mode {
+		//マッチモードの場合は、起動フラグのourteamを無視して、Refereeから取得したチームカラーを使う
+		//また、本番モードはisRealをtrueにする
+		isReal = true
+		teamcolor = teamcolor_from_ref
+		attackdir = int32(attack_direction_from_ref)
+	} else {
+		//マッチモードでない場合は、起動フラグのourteamをそのまま使う
+		teamcolor = ourteam
+		attackdir = goalpos_n
+	}
+
+	if teamcolor == 1 { //YELLOW
+		isYellow = true
+	} else { //BLUE
+		isYellow = false
+	}
+
+	if halfswitch == 1 || halfswitch == -1 {
+		isHalfcourt = true
+	} else {
+		isHalfcourt = false
+	}
+
 	pe := &pb_gen.Other_Infos{
-		NumOfCameras:     &numofcameras,
-		NumOfOurRobots:   &numofourrobots,
-		NumOfEnemyRobots: &numofenemyrobots,
-		Secperframe:      &secperframe,
-		IsVisionRecv:     &isvisionrecv,
-		AttackDirection:  &goalpos_n,
-		IsBallMoving:     &is_ball_moving,
+		NumOfCameras:           &numofcameras,
+		NumOfOurRobots:         &numofourrobots,
+		NumOfEnemyRobots:       &numofenemyrobots,
+		Secperframe:            &secperframe,
+		IsVisionRecv:           &isvisionrecv,
+		AttackDirection:        &attackdir,
+		IsBallMoving:           &is_ball_moving,
+		IsReal:                 &isReal,
+		IsTeamYellow:           &isYellow,
+		IsHalfCourt:            &isHalfcourt,
+		GrsimCommandListenPort: &grSimSendPort,
 	}
 	return pe
 }
 
-func createRefInfo(ourteam int, attackdirection int, ignore_ref_mismatch bool) *pb_gen.Referee_Info {
+func createRefInfo(ourteam int, attackdirection int, ignore_ref_mismatch bool, goal_keeper uint, match_mode bool) *pb_gen.Referee_Info {
 	var yellowcards uint32
 	var redcards uint32
 	var command *pb_gen.Referee_Info_Command
@@ -226,6 +261,8 @@ func createRefInfo(ourteam int, attackdirection int, ignore_ref_mismatch bool) *
 	var bpY float32
 	var gameevent []*pb_gen.GameEvent
 
+	goal_keeper_id := uint32(goal_keeper)
+
 	if ref_command != nil {
 		command = (*pb_gen.Referee_Info_Command)(ref_command.Command)
 		stage = (*pb_gen.Referee_Info_Stage)(ref_command.Stage)
@@ -245,7 +282,7 @@ func createRefInfo(ourteam int, attackdirection int, ignore_ref_mismatch bool) *
 			teaminfo_their = (*pb_gen.Referee_Info_TeamInfo)(ref_command.Blue)
 		}
 
-		if !ignore_ref_mismatch {
+		if !ignore_ref_mismatch && !match_mode {
 			// Check if the team color is correct
 			if ourteam == 0 && ref_command.GetYellow().GetName() == "Ri-one" {
 				log.Println("[MW WARNING!!] INCORRECT TEAM COLOR! Referee says (Ri-one == YELLOW)")
@@ -267,23 +304,48 @@ func createRefInfo(ourteam int, attackdirection int, ignore_ref_mismatch bool) *
 			}
 		}
 
+		if match_mode {
+			// Team Color を チーム名 「Ri-one」から取り出す
+			if ref_command.GetYellow().GetName() == "Ri-one" && ref_command.GetBlue().GetName() == "Ri-one" {
+				log.Println("[MW WARNING!!] Team Name is Both Ri-one! Referee says (Ri-one == YELLOW) and (Ri-one == BLUE). Forced to set team color to BLUE.")
+			}
+			if ref_command.GetBlue().GetName() == "Ri-one" {
+				teamcolor_from_ref = 0
+				goal_keeper_id = ref_command.GetBlue().GetGoalkeeper()
+				if ref_command.GetBlueTeamOnPositiveHalf() == true {
+					attack_direction_from_ref = -1
+				} else {
+					attack_direction_from_ref = 1
+				}
+			} else if ref_command.GetYellow().GetName() == "Ri-one" {
+				teamcolor_from_ref = 1
+				goal_keeper_id = ref_command.GetYellow().GetGoalkeeper()
+				if ref_command.GetBlueTeamOnPositiveHalf() == true {
+					attack_direction_from_ref = 1
+				} else {
+					attack_direction_from_ref = -1
+				}
+			}
+		}
+
 	} else {
 		yellowcards = 0
 		redcards = 0
 	}
 
 	pe := &pb_gen.Referee_Info{
-		Command:        command,
-		Stage:          stage,
-		TeaminfoOur:    teaminfo_our,
-		TeaminfoTheir:  teaminfo_their,
-		YellowCards:    &yellowcards,
-		RedCards:       &redcards,
-		Event:          gameevent,
-		PreCommand:     last_command,
-		NextCommand:    next_command,
-		BallPlacementX: &bpX,
-		BallPlacementY: &bpY,
+		Command:         command,
+		Stage:           stage,
+		TeaminfoOur:     teaminfo_our,
+		TeaminfoTheir:   teaminfo_their,
+		YellowCards:     &yellowcards,
+		RedCards:        &redcards,
+		Event:           gameevent,
+		PreCommand:      last_command,
+		NextCommand:     next_command,
+		BallPlacementX:  &bpX,
+		BallPlacementY:  &bpY,
+		OurGoalkeeperId: &goal_keeper_id,
 	}
 	return pe
 }

go.mod

@@ -3,6 +3,7 @@ module github.com/Rione-SSL/RACOON-MW
 go 1.17
 
 require (
+	github.com/golang/protobuf v1.5.0
 	github.com/rosshemsley/kalman v0.0.0-20190615074247-f4b900823fd1
 	gonum.org/v1/gonum v0.11.0
 	google.golang.org/protobuf v1.33.0

go.sum

@@ -23,6 +23,7 @@ github.com/go-latex/latex v0.0.0-20210823091927-c0d11ff05a81/go.mod h1:SX0U8uGpx
 github.com/go-pdf/fpdf v0.5.0/go.mod h1:HzcnA+A23uwogo0tp9yU+l3V+KXhiESpt1PMayhOh5M=
 github.com/go-pdf/fpdf v0.6.0/go.mod h1:HzcnA+A23uwogo0tp9yU+l3V+KXhiESpt1PMayhOh5M=
 github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0/go.mod h1:E/TSTwGwJL78qG/PmXZO1EjYhfJinVAhrmmHX6Z8B9k=
+github.com/golang/protobuf v1.5.0 h1:LUVKkCeviFUMKqHa4tXIIij/lbhnMbP7Fn5wKdKkRh4=
 github.com/golang/protobuf v1.5.0/go.mod h1:FsONVRAS9T7sI+LIUmWTfcYkHO4aIWwzhcaSAoJOfIk=
 github.com/google/go-cmp v0.5.5/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
 github.com/google/go-cmp v0.5.7 h1:81/ik6ipDQS2aGcBfIN5dHDB36BwrStyeAQquSYCV4o=

main.go

@@ -110,7 +110,7 @@ func CheckVisionRobot(chvisrobot chan bool) {
 	}
 }
 
-func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, debug bool, simmode bool, ignore_ref_mismatch bool) {
+func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, debug bool, simmode bool, ignore_ref_mismatch bool, match_mode bool, grsim_send_port int, goal_keeper uint, halfswitch int) {
 	ipv4 := NW_AI_IPADDR
 	port := NW_AI_PORT
 	port_controller := NW_AI_PORT_CONTROLLER
@@ -130,6 +130,11 @@ func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, d
 
 	for {
 
+		//チームカラー検査
+		if teamcolor_from_ref != -1 && match_mode {
+			ourteam = teamcolor_from_ref
+		}
+
 		var robot_infos [16]*pb_gen.Robot_Infos
 		var enemy_infos [16]*pb_gen.Robot_Infos
 		var robotip_infos [16]*pb_gen.RobotIP_Infos
@@ -171,8 +176,8 @@ func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, d
 		RobotIpInfo := addRobotIPInfoToRobotIPInfos(robotip_infos)
 
 		GeometryInfo := createGeometryInfo()
-		RefereeInfo := createRefInfo(ourteam, goalpose, ignore_ref_mismatch)
-		OtherInfo := createOtherInfo(int32(goalpose))
+		RefereeInfo := createRefInfo(ourteam, goalpose, ignore_ref_mismatch, goal_keeper, match_mode)
+		OtherInfo := createOtherInfo(int32(goalpose), ourteam, match_mode, grsim_send_port, simmode, halfswitch)
 
 		//log.Println(OtherInfo.GetAttackDirection())
 
@@ -206,19 +211,22 @@ func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, d
 func main() {
 
 	var (
-		visionport          = flag.Int("p", 10006, "Vision Multicast Port Number")
-		ourteam             = flag.String("t", "blue", "Our Team (blue or yellow)")
+		visionport          = flag.Int("p", 10006, "Vision Multicast Port Number. Force 10006 when match mode is true")
+		ourteam             = flag.String("t", "blue", "Our Team (blue or yellow). Disable when match mode is true")
 		goalpos             = flag.String("g", "N", "Attack Direction(Enemy goal) Negative or Positive (N or P)")
 		reportrate          = flag.Uint("r", 16, "How often report to RACOON-AI? (milliseconds)")
 		debug               = flag.Bool("d", false, "Show All Send Packet")
-		simmode             = flag.Bool("s", false, "Simulation Mode (Emulate Ball Sensor)")
+		simmode             = flag.Bool("s", false, "Simulation Mode (Emulate Ball Sensor). Disable when match mode is true")
 		replay              = flag.Bool("replay", false, "Replay All Packet")
-		halfswitch          = flag.String("c", "F", "Where to use (N, P, F) F to Full")
+		halfswitch          = flag.String("c", "F", "Where to use (N, P, F) F to Full. Disable when match mode is true")
 		ballmovethreshold   = flag.Float64("b", 1000, "Ball Detect Threshold (Default 1000")
 		nw_robot            = flag.String("rif", "none", "NW Robot Update Interface Name (ex. en0)")
 		nw_vision           = flag.String("vif", "none", "NW Vision and Referee receive Interface Name (ex. en1)")
 		debug_for_sono      = flag.Bool("df", false, "Print ID0 Robot Cordination for Sono")
-		ignore_ref_mismatch = flag.Bool("igref", false, "Ignore Referee Team Color & Attack Direction Mismatch Errors")
+		ignore_ref_mismatch = flag.Bool("igref", false, "Ignore Referee Team Color & Attack Direction Mismatch Errors. Disable when match mode is true")
+		match_mode          = flag.Bool("m", false, "Match Mode (Disable Some Options! Most option get from GC)")
+		grsim_send_port     = flag.Int("grsimport", 20011, "grSim Command Listen Port Number")
+		goal_keeper         = flag.Uint("gk", 0, "Goal Keeper ID (0-15) Disable when match mode is true")
 	)
 	//OUR TEAM 0 = blue
 	//OUR TEAM 1 = yellow
@@ -242,6 +250,13 @@ func main() {
 		goalpos_n = 1
 	}
 
+	if *match_mode {
+		*visionport = 10006
+		*ignore_ref_mismatch = false
+		*simmode = false
+		*halfswitch = "F"
+	}
+
 	var halfswitch_n int
 	if *halfswitch == "N" {
 		halfswitch_n = -1
@@ -263,6 +278,11 @@ func main() {
 		BALL_MOVING_THRESHOULD_SPEED = float32(*ballmovethreshold)
 	}
 
+	if *match_mode {
+		log.Println("=============================================")
+		log.Println("[RACOON-MW] Match Mode Enabled! Some Options are Disabled! GOOD LUCK!")
+		log.Println("=============================================")
+	}
 	chupdate := make(chan bool)
 	chserver := make(chan bool)
 	chvision := make(chan bool)
@@ -274,8 +294,8 @@ func main() {
 	chbattery := make(chan bool)
 
 	go Update(chupdate)
-	go RunServer(chserver, *reportrate, ourteam_n, goalpos_n, *debug, *simmode, *ignore_ref_mismatch)
-	go VisionReceive(chvision, *visionport, ourteam_n, goalpos_n, *simmode, *replay, halfswitch_n, *debug_for_sono)
+	go RunServer(chserver, *reportrate, ourteam_n, goalpos_n, *debug, *simmode, *ignore_ref_mismatch, *match_mode, *grsim_send_port, *goal_keeper, halfswitch_n)
+	go VisionReceive(chvision, *visionport, ourteam_n, goalpos_n, *simmode, *replay, halfswitch_n, *debug_for_sono, *match_mode)
 	go CheckVisionRobot(chvisrobot)
 	go FPSCounter(chfps, ourteam_n)
 	go RefereeClient(chref)