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main.go
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main.go
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package main
import (
"crypto/rsa"
"flag"
"github.com/RoboCup-SSL/ssl-game-controller/internal/app/client"
"github.com/RoboCup-SSL/ssl-game-controller/pkg/refproto"
"github.com/RoboCup-SSL/ssl-go-tools/pkg/sslconn"
"log"
"net"
"time"
)
var udpAddress = flag.String("udpAddress", "224.5.23.1:10003", "The multicast address of ssl-game-controller")
var autoDetectAddress = flag.Bool("autoDetectHost", true, "Automatically detect the game-controller host and replace it with the host given in address")
var refBoxAddr = flag.String("address", "localhost:10007", "Address to connect to")
var privateKeyLocation = flag.String("privateKey", "", "A private key to be used to sign messages")
var clientIdentifier = flag.String("identifier", "test", "The identifier of the client")
var privateKey *rsa.PrivateKey
type Client struct {
conn net.Conn
token string
}
func main() {
flag.Parse()
privateKey = client.LoadPrivateKey(*privateKeyLocation)
if *autoDetectAddress {
host := client.DetectHost(*udpAddress)
if host != "" {
log.Print("Detected game-controller host: ", host)
*refBoxAddr = client.GetConnectionString(*refBoxAddr, host)
}
}
conn, err := net.Dial("tcp", *refBoxAddr)
if err != nil {
log.Fatal("could not connect to game-controller at ", *refBoxAddr)
}
defer conn.Close()
log.Printf("Connected to game-controller at %v", *refBoxAddr)
c := Client{}
c.conn = conn
c.register()
c.sendGameEvent()
c.sendAutoRefMessage("Hello World")
for {
time.Sleep(1 * time.Second)
}
}
func (c *Client) register() {
reply := refproto.ControllerToAutoRef{}
if err := sslconn.ReceiveMessage(c.conn, &reply); err != nil {
log.Fatal("Failed receiving controller reply: ", err)
}
if reply.GetControllerReply() == nil || reply.GetControllerReply().NextToken == nil {
log.Fatal("Missing next token")
}
registration := refproto.AutoRefRegistration{}
registration.Identifier = clientIdentifier
if privateKey != nil {
registration.Signature = &refproto.Signature{Token: reply.GetControllerReply().NextToken, Pkcs1V15: []byte{}}
registration.Signature.Pkcs1V15 = client.Sign(privateKey, ®istration)
}
log.Print("Sending registration")
if err := sslconn.SendMessage(c.conn, ®istration); err != nil {
log.Fatal("Failed sending registration: ", err)
}
log.Print("Sent registration, waiting for reply")
reply = refproto.ControllerToAutoRef{}
if err := sslconn.ReceiveMessage(c.conn, &reply); err != nil {
log.Fatal("Failed receiving controller reply: ", err)
}
if reply.GetControllerReply().StatusCode == nil || *reply.GetControllerReply().StatusCode != refproto.ControllerReply_OK {
reason := ""
if reply.GetControllerReply().Reason != nil {
reason = *reply.GetControllerReply().Reason
}
log.Fatal("Registration rejected: ", reason)
}
log.Printf("Successfully registered as %v", *clientIdentifier)
if reply.GetControllerReply().NextToken != nil {
c.token = *reply.GetControllerReply().NextToken
} else {
c.token = ""
}
}
func (c *Client) sendGameEvent() {
event := refproto.GameEvent_BallLeftFieldTouchLine{}
event.BallLeftFieldTouchLine = new(refproto.GameEvent_BallLeftField)
event.BallLeftFieldTouchLine.ByBot = new(uint32)
*event.BallLeftFieldTouchLine.ByBot = 2
event.BallLeftFieldTouchLine.ByTeam = new(refproto.Team)
*event.BallLeftFieldTouchLine.ByTeam = refproto.Team_BLUE
event.BallLeftFieldTouchLine.Location = &refproto.Location{X: new(float32), Y: new(float32)}
*event.BallLeftFieldTouchLine.Location.X = 1
*event.BallLeftFieldTouchLine.Location.Y = 4.5
gameEvent := refproto.GameEvent{Event: &event, Type: new(refproto.GameEventType)}
*gameEvent.Type = refproto.GameEventType_BALL_LEFT_FIELD_TOUCH_LINE
request := refproto.AutoRefToController{GameEvent: &gameEvent}
c.sendRequest(&request)
}
func (c *Client) sendAutoRefMessage(msg string) {
message := refproto.AutoRefMessage{Message: &refproto.AutoRefMessage_Custom{Custom: msg}}
request := refproto.AutoRefToController{AutoRefMessage: &message}
c.sendRequest(&request)
}
func (c *Client) sendRequest(request *refproto.AutoRefToController) {
if privateKey != nil {
request.Signature = &refproto.Signature{Token: &c.token, Pkcs1V15: []byte{}}
request.Signature.Pkcs1V15 = client.Sign(privateKey, request)
}
log.Print("Sending ", request)
if err := sslconn.SendMessage(c.conn, request); err != nil {
log.Fatalf("Failed sending request: %v (%v)", request, err)
}
log.Print("Waiting for reply...")
reply := refproto.ControllerToAutoRef{}
if err := sslconn.ReceiveMessage(c.conn, &reply); err != nil {
log.Fatal("Failed receiving controller reply: ", err)
}
log.Print("Received reply: ", reply)
if reply.GetControllerReply() == nil || reply.GetControllerReply().StatusCode == nil || *reply.GetControllerReply().StatusCode != refproto.ControllerReply_OK {
log.Fatal("Message rejected: ", *reply.GetControllerReply().Reason)
}
if reply.GetControllerReply().NextToken != nil {
c.token = *reply.GetControllerReply().NextToken
} else {
c.token = ""
}
}