/
simctl.go
171 lines (151 loc) · 5.13 KB
/
simctl.go
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package simctl
import (
"github.com/RoboCup-SSL/ssl-simulation-controller/internal/referee"
"github.com/RoboCup-SSL/ssl-simulation-controller/internal/sslnet"
"github.com/RoboCup-SSL/ssl-simulation-controller/internal/tracker"
"github.com/RoboCup-SSL/ssl-simulation-controller/internal/vision"
"google.golang.org/protobuf/proto"
"log"
"math"
"net"
"sync"
)
type SimulationController struct {
visionServer *sslnet.MulticastServer
refereeServer *sslnet.MulticastServer
trackerServer *sslnet.MulticastServer
simControlClient *sslnet.UdpClient
mutex sync.Mutex
simControlPort string
simulatorRestarted bool
lastTrackedFrame *tracker.TrackerWrapperPacket
lastRefereeMsg *referee.Referee
fieldSize *vision.SSL_GeometryFieldSize
lastVisionFrameIds map[uint32]uint32
ballReplaceHandler *BallReplaceHandler
robotCountHandler *RobotCountHandler
robotSpecsHandler *RobotSpecHandler
geometryHandler *GeometryHandler
}
func NewSimulationController(visionAddress, refereeAddress, trackerAddress, simControlPort, robotSpecConfig string, verbose bool) (c *SimulationController) {
c = new(SimulationController)
c.visionServer = sslnet.NewMulticastServer(visionAddress, c.onNewVisionData)
c.refereeServer = sslnet.NewMulticastServer(refereeAddress, c.onNewRefereeData)
c.trackerServer = sslnet.NewMulticastServer(trackerAddress, c.onNewTrackerData)
c.visionServer.Verbose = verbose
c.refereeServer.Verbose = verbose
c.trackerServer.Verbose = verbose
c.simControlPort = simControlPort
c.simulatorRestarted = true
c.lastVisionFrameIds = map[uint32]uint32{}
c.ballReplaceHandler = NewBallReplaceHandler(c)
c.robotCountHandler = NewRobotCountHandler(c)
c.robotSpecsHandler = NewRobotSpecHandler(c, robotSpecConfig)
c.geometryHandler = NewGeometryHandler(c)
c.ballReplaceHandler.c = c
c.robotCountHandler.c = c
c.robotSpecsHandler.c = c
c.geometryHandler.c = c
return
}
func (c *SimulationController) onNewVisionData(data []byte, remoteAddr *net.UDPAddr) {
wrapper := vision.SSL_WrapperPacket{}
if err := proto.Unmarshal(data, &wrapper); err != nil {
log.Println("Could not unmarshal vision wrapper packet", err)
return
}
if wrapper.Geometry != nil && wrapper.Geometry.Field != nil {
c.mutex.Lock()
c.fieldSize = wrapper.Geometry.Field
c.mutex.Unlock()
}
if wrapper.Detection != nil {
c.mutex.Lock()
frameId := *wrapper.Detection.FrameNumber
lastFrameId, lastFrameIdPresent := c.lastVisionFrameIds[*wrapper.Detection.CameraId]
if lastFrameIdPresent && math.Abs(float64(frameId-lastFrameId)) > 100 {
// large frame id change: Simulator probably restarted
c.simulatorRestarted = true
c.lastVisionFrameIds = map[uint32]uint32{}
log.Printf("Simulator restart detected due to high frame id change (%d -> %d)",
lastFrameId, frameId)
}
c.lastVisionFrameIds[*wrapper.Detection.CameraId] = frameId
c.mutex.Unlock()
}
if c.simControlClient == nil {
address := remoteAddr.IP.String() + ":" + c.simControlPort
c.simControlClient = sslnet.NewUdpClient(address)
c.simControlClient.Consumer = c.onNewSimControlResponseData
c.simControlClient.Start()
}
}
func (c *SimulationController) onNewRefereeData(data []byte, _ *net.UDPAddr) {
refereeMsg := new(referee.Referee)
if err := proto.Unmarshal(data, refereeMsg); err != nil {
log.Println("Could not unmarshal referee packet", err)
return
}
c.mutex.Lock()
c.lastRefereeMsg = refereeMsg
c.mutex.Unlock()
}
func (c *SimulationController) onNewTrackerData(data []byte, _ *net.UDPAddr) {
frame := new(tracker.TrackerWrapperPacket)
if err := proto.Unmarshal(data, frame); err != nil {
log.Println("Could not unmarshal tracker packet", err)
return
}
if c.lastTrackedFrame == nil || // very first frame
*c.lastTrackedFrame.Uuid == *frame.Uuid || // frame from same origin
// new frame is significantly newer than last frame
(*frame.TrackedFrame.Timestamp-*c.lastTrackedFrame.TrackedFrame.Timestamp) > 5 {
c.mutex.Lock()
c.lastTrackedFrame = frame
c.handle()
c.mutex.Unlock()
}
}
func (c *SimulationController) onNewSimControlResponseData(data []byte) {
response := new(SimulatorResponse)
if err := proto.Unmarshal(data, response); err != nil {
log.Println("Could not unmarshal tracker packet", err)
return
}
for _, responseError := range response.Errors {
log.Printf("SimControl Error: %v", responseError)
}
}
func (c *SimulationController) handle() {
if c.lastTrackedFrame == nil ||
c.fieldSize == nil ||
c.lastRefereeMsg == nil ||
c.simControlClient == nil {
return
}
if c.simulatorRestarted {
c.ballReplaceHandler.Reset()
c.robotCountHandler.Reset()
c.robotSpecsHandler.Reset()
c.geometryHandler.Reset()
c.simulatorRestarted = false
}
c.ballReplaceHandler.handleReplaceBall()
c.robotCountHandler.handleRobotCount()
c.robotSpecsHandler.handleRobotSpecs()
c.geometryHandler.handleGeometry()
}
func (c *SimulationController) Start() {
c.visionServer.Start()
c.refereeServer.Start()
c.trackerServer.Start()
}
func (c *SimulationController) Stop() {
c.visionServer.Stop()
c.refereeServer.Stop()
c.trackerServer.Stop()
if c.simControlClient != nil {
c.simControlClient.Stop()
c.simControlClient = nil
}
}