Automatic referee

mslrb2015/AutoReferee.pde

@@ -0,0 +1,201 @@
+/** Provides interface with automatic referee
+ *  Uses the same JSON communication protocol as communication with base stations */
+static class AutoReferee
+{
+  Client refereeClient;
+  MyServer refereeServer = new MyServer(mainApplet, Config.autoRefereeServerPort);
+
+  /* Last message */
+  String commandString = "";
+  String teamString = "";
+  int robotID = 0;
+
+  MessageTarget targetTeam = MessageTarget.UNKNOWN;
+
+  public void checkIncomingMessages() {
+    refereeClient = refereeServer.available();
+    if (refereeClient == null) return;
+
+    String input = new String(refereeClient.readBytes());
+    String msg = "";
+
+    // There may be multiple messages, split and parse those
+    if (input == null) return;
+    while (input.length() !=0) {
+      int idx = input.indexOf('\0');
+      if(idx < 0) return;
+
+      if (idx != 0) {
+        msg += input.substring(0, idx);
+        if (idx < msg.length()) {
+          input = input.substring(idx+1);
+        } else {
+          input = "";
+        }
+      } else {
+        if (input.length() == 1) {
+          input = "";
+        } else {
+          input = input.substring(1);
+        }
+      }
+
+      org.json.JSONObject command;
+
+      try // Check for malformed JSON
+      {
+        command = new org.json.JSONObject(msg);
+      } catch(JSONException e) {
+        String errorMsg = "ERROR malformed JSON from Automatic Referee\n";
+        println(errorMsg);
+        return;
+      }
+
+      // JSON is valid
+      try {
+        commandString = command.getString("command");
+        // Invalid commands are ignored by validateCommand()
+      } catch(JSONException e) {
+        println("Missing command in message from Automatic Referee");
+        return;
+      }
+      try {
+        teamString = command.getString("targetTeam");
+      } catch(JSONException e) {
+        println("Missing target team in message from Automatic Referee");
+        return;
+      }
+      try {
+        robotID = command.getInt("robotID");
+      } catch(JSONException e) { 
+        /* It is to be expected that not all messages have a robotID */
+        robotID = -1;
+      }
+
+      println("Received " + commandString + " for " + (teamString.isEmpty() ? "both teams" : teamString) + " from automatic referee (" + robotID + ")");
+
+      updateTeams();
+      CommandHandling ch = validateCommand();
+      if (ch == CommandHandling.IGNORE) {
+        println("Will not handle command " + commandString);
+        return;
+      }
+
+      updateRefboxState();
+      if (ch == CommandHandling.UPDATE_STATE) return;
+
+      // Implies ch == UPDATE_SEND
+      forwardToTeams();
+    }
+  }
+
+  public void closeServer() {
+    refereeServer.stop();
+  }
+
+  private void updateTeams() {
+    if (teamString.equals("teamA")) {
+      targetTeam = MessageTarget.TEAM_A;
+    } else if (teamString.equals("teamB")) {
+      targetTeam = MessageTarget.TEAM_B;
+    } else if (teamString.isEmpty()) {
+      targetTeam = MessageTarget.BOTH_TEAMS;
+    } else {
+      targetTeam = MessageTarget.UNKNOWN;
+      println("Error unknown team identifier from AutoReferee: " + teamString);
+    }
+  }
+
+  private CommandHandling validateCommand() {
+    switch(commandString) {
+      case COMM_FIRST_HALF:
+      case COMM_SECOND_HALF:
+      case COMM_FIRST_HALF_OVERTIME:
+      case COMM_SECOND_HALF_OVERTIME:
+      case COMM_HALF_TIME:
+      case COMM_END_GAME:
+      case COMM_END_PART:
+      case COMM_GAMEOVER:
+      case COMM_RESET:
+      case COMM_YELLOW_CARD:
+      case COMM_RED_CARD:
+        return CommandHandling.UPDATE_STATE;
+      case COMM_STOP:
+      case COMM_START:
+      case COMM_GOAL:
+      case COMM_KICKOFF:
+      case COMM_FREEKICK:
+      case COMM_GOALKICK:
+      case COMM_THROWIN:
+      case COMM_CORNER:
+      case COMM_PENALTY:
+      case COMM_DROP_BALL:
+      case COMM_PARK:
+      case COMM_SUBGOAL:
+        return CommandHandling.UPDATE_SEND;
+      default: // Ignore any other (or illegal ones) command
+        return CommandHandling.IGNORE;
+    }
+  }
+
+  private void updateRefboxState() {
+    if (targetTeam == MessageTarget.BOTH_TEAMS) {
+      if (commandString.equals(COMM_START))           StateMachine.Update(ButtonsEnum.BTN_START, true);
+      else if (commandString.equals(COMM_STOP))       StateMachine.Update(ButtonsEnum.BTN_STOP, true);
+      else if (commandString.equals(COMM_DROP_BALL))  StateMachine.Update(ButtonsEnum.BTN_DROPBALL, true);
+      else if (commandString.equals(COMM_PARK))       StateMachine.Update(ButtonsEnum.BTN_PARK, true);
+      else if (commandString.equals(COMM_END_PART))   StateMachine.Update(ButtonsEnum.BTN_ENDPART, true);
+      else if (commandString.equals(COMM_RESET))      StateMachine.Update(ButtonsEnum.BTN_RESET, true);
+      else println("No handling specified for the " + commandString + " command");
+    } else if (targetTeam == MessageTarget.TEAM_A) {
+      if (commandString.equals(COMM_STOP))            StateMachine.Update(ButtonsEnum.BTN_L_KICKOFF, true);
+      else if (commandString.equals(COMM_FREEKICK))   StateMachine.Update(ButtonsEnum.BTN_L_FREEKICK, true);
+      else if (commandString.equals(COMM_GOALKICK))   StateMachine.Update(ButtonsEnum.BTN_L_GOALKICK, true);
+      else if (commandString.equals(COMM_THROWIN))    StateMachine.Update(ButtonsEnum.BTN_L_THROWIN, true);
+      else if (commandString.equals(COMM_CORNER))     StateMachine.Update(ButtonsEnum.BTN_L_CORNER, true);
+      else if (commandString.equals(COMM_GOAL))       StateMachine.Update(ButtonsEnum.BTN_L_GOAL, true);
+      else if (commandString.equals(COMM_SUBGOAL))    StateMachine.Update(ButtonsEnum.BTN_L_GOAL, false);      
+      else if (commandString.equals(COMM_RED_CARD))   StateMachine.Update(ButtonsEnum.BTN_L_RED, true);
+      else if (commandString.equals(COMM_YELLOW_CARD)) StateMachine.Update(ButtonsEnum.BTN_L_YELLOW, true);
+      else println("No handling specified for the " + commandString + " command");
+    } else if (targetTeam == MessageTarget.TEAM_B) {
+      if (commandString.equals(COMM_STOP))            StateMachine.Update(ButtonsEnum.BTN_R_KICKOFF, true);
+      else if (commandString.equals(COMM_FREEKICK))   StateMachine.Update(ButtonsEnum.BTN_R_FREEKICK, true);
+      else if (commandString.equals(COMM_GOALKICK))   StateMachine.Update(ButtonsEnum.BTN_R_GOALKICK, true);
+      else if (commandString.equals(COMM_THROWIN))    StateMachine.Update(ButtonsEnum.BTN_R_THROWIN, true);
+      else if (commandString.equals(COMM_CORNER))     StateMachine.Update(ButtonsEnum.BTN_R_CORNER, true);
+      else if (commandString.equals(COMM_GOAL))       StateMachine.Update(ButtonsEnum.BTN_R_GOAL, true);
+      else if (commandString.equals(COMM_SUBGOAL))    StateMachine.Update(ButtonsEnum.BTN_R_GOAL, false);      
+      else if (commandString.equals(COMM_RED_CARD))   StateMachine.Update(ButtonsEnum.BTN_R_RED, true);
+      else if (commandString.equals(COMM_YELLOW_CARD)) StateMachine.Update(ButtonsEnum.BTN_R_YELLOW, true);
+      else println("No handling specified for the " + commandString + " command");
+    }
+  }
+
+  private void forwardToTeams() {
+    if (targetTeam == MessageTarget.UNKNOWN) return;
+
+    String descr = Description.get(commandString) == null ? "" : Description.get(commandString);
+
+    if (targetTeam == MessageTarget.TEAM_A) {
+      send_event_v2(commandString, descr, teamA, robotID);
+    } else if (targetTeam == MessageTarget.TEAM_B) {
+      send_event_v2(commandString, descr, teamB, robotID);
+    } else {
+      // StateMachine handles sending these events
+    }
+  } //<>// //<>//
+}
+
+private enum MessageTarget {
+  BOTH_TEAMS,
+  TEAM_A,
+  TEAM_B,
+  UNKNOWN
+}
+
+private enum CommandHandling {
+  IGNORE, /* No state change + automatic referee cannot request this */
+  UPDATE_STATE, /* Update state, communication will be done in StateMachine */
+  UPDATE_SEND, /* Update state and send command to teams */
+}

mslrb2015/Comms.pde

@@ -374,31 +374,27 @@ public static final String COMM_REPAIR = "REPAIR";
 public static final String COMM_SUBSTITUTION = "SUBSTITUTION";
 public static final String COMM_ISALIVE = "IS_ALIVE";
 
-//free: 056789 iIfFHlmMnqQwxX
-//------------------------------------------------------
-
 public static StringDict Description;
 void comms_initDescriptionDictionary() {
 	Description = new StringDict();
-	Description.set(COMM_STOP, "STOP");
-	Description.set(COMM_START, "START");
-	Description.set(COMM_DROP_BALL, "Drop Ball");
-	Description.set(COMM_HALF_TIME, "Halftime");
-	Description.set(COMM_END_GAME, "End Game");
-	Description.set(COMM_END_PART, "End Part");
-	Description.set(COMM_GAMEOVER, "Game Over");
-	Description.set(COMM_RESET, "Reset Game");
-	Description.set(COMM_WELCOME, "Welcome");
-	Description.set(COMM_TESTMODE_ON, "Test Mode on");
-	Description.set(COMM_TESTMODE_OFF, "Test Mode off");
-	Description.set(COMM_FIRST_HALF, "1st half");
-	Description.set(COMM_SECOND_HALF, "2nd half");
+	Description.set(COMM_STOP,          "STOP");
+	Description.set(COMM_START,         "START");
+	Description.set(COMM_DROP_BALL,     "Drop Ball");
+	Description.set(COMM_HALF_TIME,     "Halftime");
+	Description.set(COMM_END_GAME,      "End Game");
+	Description.set(COMM_END_PART,      "End Part");
+	Description.set(COMM_GAMEOVER,      "Game Over");
+	Description.set(COMM_RESET,         "Reset Game");
+	Description.set(COMM_WELCOME,       "Welcome");
+	Description.set(COMM_TESTMODE_ON,   "Test Mode on");
+	Description.set(COMM_TESTMODE_OFF,  "Test Mode off");
+	Description.set(COMM_FIRST_HALF,    "1st half");
+	Description.set(COMM_SECOND_HALF,   "2nd half");
 	Description.set(COMM_FIRST_HALF_OVERTIME, "Overtime 1st half");
 	Description.set(COMM_SECOND_HALF_OVERTIME, "Overtime 2nd half");
-	Description.set(COMM_PARK, "Park");
-	Description.set(COMM_SUBSTITUTION, "Substitution");
-	Description.set(COMM_ISALIVE, "Is Alive");
-
+	Description.set(COMM_PARK,          "Park");
+	Description.set(COMM_SUBSTITUTION,  "Substitution");
+	Description.set(COMM_ISALIVE,       "Is Alive");
 	Description.set(COMM_KICKOFF,       "Kickoff");
 	Description.set(COMM_FREEKICK,      "Freekick");
 	Description.set(COMM_GOALKICK,      "Goalkick");
@@ -407,8 +403,9 @@ void comms_initDescriptionDictionary() {
 	Description.set(COMM_PENALTY,       "Penalty");
 	Description.set(COMM_GOAL,          "Goal+");
 	Description.set(COMM_SUBGOAL,       "Goal-");
-	Description.set(COMM_REPAIR,    "Repair");
+	Description.set(COMM_REPAIR,        "Repair");
 	Description.set(COMM_RED_CARD,      "Red Card");
 	Description.set(COMM_YELLOW_CARD,   "Yellow Card");
 	Description.set(COMM_DOUBLE_YELLOW, "Double Yellow");
+
 }

mslrb2015/Config.pde

@@ -8,6 +8,7 @@ static class Config
 	public static IntList scoreClientPorts = new IntList();
 	public static int remoteServerPort = 12345;
 	public static int basestationServerPort = 28097;
+  public static int autoRefereeServerPort = 28098;
 	public static boolean remoteControlEnable = false;
 
 	// Rules
@@ -119,6 +120,10 @@ static class Config
 
 					if(networking.has("basestationServerPort"))
 					basestationServerPort = networking.getInt("basestationServerPort");
+
+          if (networking.has("autoRefereeServerPort")) {
+            autoRefereeServerPort = networking.getInt("autoRefereeServerPort");
+          }
 
 					if(networking.has("remoteControlEnable"))
 					remoteControlEnable = networking.getBoolean("remoteControlEnable");