The ssl-refbox replacement that was introduced at RoboCup 2019.
See FAQ for some general information.
If you just want to use this app, simply download the latest release binary. The binary is self-contained. No dependencies are required.
You can also use pre-build docker images:
docker pull robocupssl/ssl-game-controller # Run GC with default configuration docker run -p 8081:8081 robocupssl/ssl-game-controller # Mount local directories docker run -p 8081:8081 \ # Local config dir -v "$(pwd)"/config:/config \ # Local data dir (current state) -v "$(pwd)"/data:/data \ robocupssl/ssl-game-controller
The controller will generate a default config file to config/ssl-game-controller.yaml on the first start. Afterwards, you can change all settings there.
- No software dependencies (except for development, see below)
- 64bit Linux, Windows, OSX (build your 32bit binaries yourself...)
- Display Resolution of 1920x1080 is recommended
- A reasonable Web-Browser (mostly tested on Chrome)
- (optional) To view the field, you need the ssl-vision-client
External Runtime Dependencies
tracker-source implementation that produces
Get ball and robot positions.
- Check ball placement progress
- Check for correct number of robots per team
- Check if game can continue (ball and robots prepared)
- Check for "no progress"
- Check if keeper may be changed via team protocol
The TIGERs AutoRef is a tracker-source implementation. If no tracker-source is available, the above features will not work.
There are some reference clients:
- ssl-ref-client: A client that receives referee messages
- ssl-auto-ref-client: A client that connects to the controller as an autoRef
- ssl-team-client: A client that connects to the controller as a team
- ssl-remote-control-client: A client that connects to the controller as a remote-control
- ssl-ci-test-client: A client that connects to the CI interface of the controller
Integration into your own framework
The game-controller is designed to be integrated into your own AI framework, if you do not want to implement your own controller for testing purposes.
Download the release binary from the Github release and run it from inside your framework.
You can adapt the
ssl-game-controller.yaml config file that is generated on first startup,
like changing the default ports. Some parameters can also be passed via command line.
Find the available parameters with the
Make sure to use non-standard ports whenever possible to avoid any interference with a real field setup.
There are three modes that you can run the ssl-game-controller with:
system(default): Use system time
vision: Receive messages from ssl-vision and use the timestamps from these messages as the time source. This is mostly useful, when you produce your own ssl-vision frames from simulation.
ci: Connect your software directly to the GC via TCP. You send the current timestamp and tracker packets and will receive the resulting referee message.
It is highly recommended using the
ci mode when you integrate the GC with your own simulator.
It has following advantages:
- No multicast network traffic is required that might be published to your local network (make sure to unset
- You have full control of the data flow. The GC will not do anything asynchronously in the background
- You define the time and thus the speed.
- You provide the ssl-vision tracking data directly.
If you use external simulators like grSim, you can consider using the
vision mode instead.
That way, the game-controller uses the time and speed of the simulator, even if it is not
running in real time. You then still need to run a tracking-source implementation like an AutoRef
if you require the additional features described in [External Runtime Dependencies](#External Runtime Dependencies).
When you enable
ci mode, referee messages will still be published via multicast,
unless the address is unset (set to an empty string). That way, you can still integrate
an autoRef. It is not yet possible to use the autoRefs without multicast.
ci mode is enabled (via
a TCP port is opened (default: 10009). The protocol is defined in proto/ssl_gc_ci.proto.
CiInput messages and receive
CiOutput messages. The protocol is the same as for the team-client.
Each input will produce one or more outputs.
This is, because some changes will generate multiple messages.
CiOutput messages will also be pushed to the CI client for manual changes from the UI or UI API.
The GC requires some input data, see [External Runtime Dependencies](#External Runtime Dependencies).
ci mode, you have to provide the geometry statically in config/ssl-game-controller.yaml.
The ball and robot positions must be sent with the
It is sufficient to fill in the required fields and keep the optional empty.
A small sample test client for the
ci mode can be found here: ssl-ci-test-client
If you can not use the
ci mode, you can alternatively connect to the GC using the UI WebSocket API.
The API is defined in proto/ssl_gc_api.proto and available at the path
under the same port as the UI.
- Integration of the binary: https://github.com/TIGERs-Mannheim/AutoReferee/blob/master/modules/moduli-referee/src/main/java/edu/tigers/sumatra/referee/SslGameControllerProcess.java
- WebSocket API in Java: https://github.com/TIGERs-Mannheim/AutoReferee/blob/master/modules/moduli-referee/src/main/java/edu/tigers/sumatra/referee/control
You need to install following dependencies first:
- Go >= 1.17
Download and install to GOPATH:
go get -u github.com/RoboCup-SSL/ssl-game-controller/...
Switch to project root directory
Download dependencies for frontend
Run the backend:
go run cmd/ssl-game-controller/main.go
Run the UI:
# compile and hot-reload yarn serve
Or use the provided IntelliJ run configurations.
Build self-contained release binary
First, build the UI resources
# compile and minify UI yarn build
Then build the backend with
# get packr go get github.com/gobuffalo/packr/packr # install the binary cd cmd/ssl-game-controller packr install
Update generated protobuf code
Generate the code for the
.proto files with ./generateProto.sh,
after you've changed anything in a