Add ball placement pos to visualizer

cmd/ssl-vision-client/main.go

@@ -4,6 +4,7 @@ import (
 	"flag"
 	"github.com/RoboCup-SSL/ssl-vision-client/frontend"
 	"github.com/RoboCup-SSL/ssl-vision-client/pkg/client"
+	"github.com/RoboCup-SSL/ssl-vision-client/pkg/referee"
 	"github.com/RoboCup-SSL/ssl-vision-client/pkg/tracked"
 	"github.com/RoboCup-SSL/ssl-vision-client/pkg/vision"
 	"github.com/RoboCup-SSL/ssl-vision-client/pkg/visualization"
@@ -16,6 +17,7 @@ var address = flag.String("address", ":8082", "The address on which the UI and A
 var visionAddress = flag.String("visionAddress", "224.5.23.2:10006", "The multicast address of ssl-vision, default: 224.5.23.2:10006")
 var trackedAddress = flag.String("trackedAddress", "224.5.23.2:10010", "The multicast address of trackers, default: 224.5.23.2:10010")
 var visualizationAddress = flag.String("visualizationAddress", "224.5.23.2:10012", "The multicast address of visualization frames, default: 224.5.23.2:10012")
+var refereeAddress = flag.String("refereeAddress", "224.5.23.1:10003", "The multicast address of the game controller, default: 224.5.23.1:10003")
 var skipInterfaces = flag.String("skipInterfaces", "", "Comma separated list of interface names to ignore when receiving multicast packets")
 var verbose = flag.Bool("verbose", false, "Verbose output")
 
@@ -34,28 +36,34 @@ func main() {
 }
 
 func setupVisionClient() {
-	receiver := vision.NewReceiver()
+	visionReceiver := vision.NewReceiver()
 	visualizationReceiver := visualization.NewReceiver()
 	trackedReceiver := tracked.NewReceiver()
+	refereeReceiver := referee.NewReceiver()
+
 	publisher := client.NewPublisher()
-	publisher.DetectionProvider = receiver.CombinedDetectionFrames
+	publisher.DetectionProvider = visionReceiver.CombinedDetectionFrames
 	publisher.TrackerProvider = trackedReceiver.TrackedFrames
-	publisher.GeometryProvider = geometryProvider(receiver)
+	publisher.GeometryProvider = geometryProvider(visionReceiver)
+	publisher.RefereeProvider = refereeReceiver.RefereeMsg
 	publisher.LineSegmentProvider = visualizationReceiver.GetLineSegments
 	publisher.CircleProvider = visualizationReceiver.GetCircles
 	http.HandleFunc("/api/vision", publisher.Handler)
 
 	skipIfis := parseSkipInterfaces()
-	receiver.MulticastServer.SkipInterfaces = skipIfis
-	receiver.MulticastServer.Verbose = *verbose
+	visionReceiver.MulticastServer.SkipInterfaces = skipIfis
+	visionReceiver.MulticastServer.Verbose = *verbose
 	visualizationReceiver.MulticastServer.SkipInterfaces = skipIfis
 	visualizationReceiver.MulticastServer.Verbose = *verbose
 	trackedReceiver.MulticastServer.SkipInterfaces = skipIfis
 	trackedReceiver.MulticastServer.Verbose = *verbose
+	refereeReceiver.MulticastServer.SkipInterfaces = skipIfis
+	refereeReceiver.MulticastServer.Verbose = *verbose
 
-	receiver.Start(*visionAddress)
+	visionReceiver.Start(*visionAddress)
 	visualizationReceiver.Start(*visualizationAddress)
 	trackedReceiver.Start(*trackedAddress)
+	refereeReceiver.Start(*refereeAddress)
 }
 
 func geometryProvider(receiver *vision.Receiver) func() *vision.SSL_GeometryData {

pkg/client/converter.go

@@ -243,6 +243,33 @@ func (p *Package) AddCircle(sourceId string, circle *visualization.Circle) {
 	})
 }
 
+func (p *Package) AddBallPlacementPos(pos *Point) {
+	p.Shapes = append(p.Shapes, Shape{OrderNumber: 3, Circle: &Circle{
+		Center: Point{
+			X: pos.X,
+			Y: -pos.Y,
+		},
+		Radius: 150,
+		Style: Style{
+			Stroke:      &black,
+			StrokeWidth: &lineWidth,
+			FillOpacity: &noFill,
+		},
+	}})
+	p.Shapes = append(p.Shapes, Shape{OrderNumber: 3, Circle: &Circle{
+		Center: Point{
+			X: pos.X,
+			Y: -pos.Y,
+		},
+		Radius: ballRadius,
+		Style: Style{
+			Stroke:      &black,
+			StrokeWidth: &lineWidth,
+			Fill:        &black,
+		},
+	}})
+}
+
 func rgb(rgb *visualization.RgbColor) *string {
 	if rgb == nil {
 		return nil

pkg/client/publisher.go

@@ -2,6 +2,7 @@ package client
 
 import (
 	"encoding/json"
+	"github.com/RoboCup-SSL/ssl-vision-client/pkg/referee"
 	"github.com/RoboCup-SSL/ssl-vision-client/pkg/tracked"
 	"github.com/RoboCup-SSL/ssl-vision-client/pkg/vision"
 	"github.com/RoboCup-SSL/ssl-vision-client/pkg/visualization"
@@ -22,6 +23,7 @@ type Publisher struct {
 	DetectionProvider   func() *vision.SSL_DetectionFrame
 	TrackerProvider     func() map[string]*tracked.TrackerWrapperPacket
 	GeometryProvider    func() *vision.SSL_GeometryData
+	RefereeProvider     func() *referee.Referee
 	LineSegmentProvider func() map[string][]*visualization.LineSegment
 	CircleProvider      func() map[string][]*visualization.Circle
 }
@@ -155,5 +157,15 @@ func (p *Publisher) addVisualization(pack *Package) {
 		}
 	}
 
+	refereeMsg := p.RefereeProvider()
+	if refereeMsg != nil && refereeMsg.DesignatedPosition != nil {
+		pack.AddBallPlacementPos(
+			&Point{
+				X: refereeMsg.DesignatedPosition.GetX(),
+				Y: refereeMsg.DesignatedPosition.GetY(),
+			},
+		)
+	}
+
 	pack.SortShapes()
 }

pkg/referee/receiver.go

@@ -0,0 +1,43 @@
+package referee
+
+import (
+	"github.com/RoboCup-SSL/ssl-vision-client/pkg/sslnet"
+	"google.golang.org/protobuf/proto"
+	"log"
+	"sync"
+)
+
+type Receiver struct {
+	lastRefereeMsg    *Referee
+	mutex             sync.Mutex
+	MulticastServer   *sslnet.MulticastServer
+	ConsumeRefereeMsg func(msg *Referee)
+}
+
+func NewReceiver() (r *Receiver) {
+	r = new(Receiver)
+	r.MulticastServer = sslnet.NewMulticastServer(r.consumeMessage)
+	r.ConsumeRefereeMsg = func(referee *Referee) {}
+	return
+}
+
+func (r *Receiver) Start(multicastAddress string) {
+	r.MulticastServer.Start(multicastAddress)
+}
+
+func (r *Receiver) RefereeMsg() (msg *Referee) {
+	r.mutex.Lock()
+	defer r.mutex.Unlock()
+	return r.lastRefereeMsg
+}
+
+func (r *Receiver) consumeMessage(data []byte) {
+	msg := new(Referee)
+	if err := proto.Unmarshal(data, msg); err != nil {
+		log.Print("Could not parse message: ", err)
+		return
+	}
+	r.mutex.Lock()
+	r.lastRefereeMsg = msg
+	r.mutex.Unlock()
+}