The VSS-Referee is an module created to the IEEE Very Small Size Soccer League, possibiliting the automatic judge of the field, creating the possibility to the teams catch the data coming from it and replace strategically their robots, avoiding a little bit the human presence/necessity at the field.
- g++
- Qt
- Google protocol buffers (protoc)
First of all, check the ports and the addresses in the main.cpp file and change if needed.
Run the protobuf.sh file at the main folder, using the command sudo sh protobuf.sh in the terminal.
Create an folder named build, open it and run the command qmake ..
So, after this, run the command make and if everything goes ok, the binary will be at the folder bin (at the main folder).
After compilation, simply run the binary at the bin folder using the ./VSS-Referee command at the terminal.
Currently, the VSS-Referee have 3 modules inside it:
The VSS-Vision Client is responsable to catch vision data (robots and ball positons, field geometry, etc.) from the network, possibilyting to use these data later to process some fouls occurred in the field.
The VSS-Referee module is responsable to use the VSS-Vision Client data and check the fouls occured in the field. Currently, this module is (by default) sending an FREE_KICK command for the BLUE team for tests. For the future, this module will be able to send consistent data about the fouls occured in the field.
It uses the vssref_command.proto protobuf file to send the commands. This protobuf supports the 4 types of fouls of VSS category, that are: FREE_KICK, PENALTY_KICK, FREE_BALL and GOAL_KICK, also sending the team color (BLUE or YELLOW), showing the team that need to do that foul.
The example/main.cpp file contains an example of how the teams can catch data from VSS-Referee.
The VSS-Replacer module is responsable to catch the data sent by the teams containing their desired position of each robot in the field, posteriorly positioning the robots in the FIRASim simulator.
The teams need to use the vssref_placement.proto protobuf file to send these commands to the VSS-Replacer. This protobuf have an var type named Frame on it, that contains the team Color and an vector of Robot type. The definition of these vars can be seen in the vssref_common.proto protobuf file.
The example/main.cpp file contains an example of how the teams can send placement data to VSS-Replacer.
An example of usage of the software is shown at the example file. It shows how an team can receive the data coming from the VSS-Referee and how to send placement data to it.
To use this example to check the funcionality of the VSS-Referee, you can literally use the same step-by-step compiling instructions showed above (but remember to be at the example folder).