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Added resetReferee functionality + slight reorganisation
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,177 @@ | ||
| import sys | ||
| import os | ||
| import websockets | ||
| import asyncio | ||
| import json | ||
| import time | ||
|
|
||
| async def set_team_state(team, on_positive_half): | ||
| """ | ||
| Set team state including which half they play on. | ||
| Args: | ||
| team (str): Either "BLUE" or "YELLOW" | ||
| on_positive_half (bool): True if team should play on positive half | ||
| """ | ||
| uri = "ws://localhost:8081/api/control" | ||
|
|
||
| try: | ||
| async with websockets.connect(uri) as websocket: | ||
| # Similar structure to first_kickoff_team | ||
| state_msg = { | ||
| "change": { | ||
| "update_team_state_change": { | ||
| "for_team": team, | ||
| "on_positive_half": on_positive_half | ||
| } | ||
| } | ||
| } | ||
|
|
||
| print(f"Setting {team} team to play on {'positive' if on_positive_half else 'negative'} half...") | ||
| await websocket.send(json.dumps(state_msg)) | ||
|
|
||
| try: | ||
| response = await asyncio.wait_for(websocket.recv(), timeout=2.0) | ||
| print("Received response:", json.loads(response)) | ||
| except asyncio.TimeoutError: | ||
| print("No response received in 2 seconds") | ||
|
|
||
| except websockets.exceptions.ConnectionClosed as e: | ||
| print(f"WebSocket connection closed: {e}") | ||
| except Exception as e: | ||
| print(f"Error: {e}") | ||
|
|
||
| async def send_referee_command(command_type, team=None): | ||
| """ | ||
| Send a referee command using websockets. | ||
| Args: | ||
| command_type (str): One of: | ||
| HALT, STOP, NORMAL_START, FORCE_START, DIRECT, | ||
| KICKOFF, PENALTY, TIMEOUT, BALL_PLACEMENT | ||
| team (str, optional): For team-specific commands, either "YELLOW" or "BLUE" | ||
| """ | ||
| uri = "ws://localhost:8081/api/control" | ||
|
|
||
| try: | ||
| async with websockets.connect(uri) as websocket: | ||
| command_msg = { | ||
| "change": { | ||
| "new_command_change": { | ||
| "command": { | ||
| "type": command_type, | ||
| "for_team": team if team else "UNKNOWN" | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
||
| print(f"Sending referee command: {command_type} {'for ' + team if team else ''}...") | ||
| await websocket.send(json.dumps(command_msg)) | ||
|
|
||
| try: | ||
| response = await asyncio.wait_for(websocket.recv(), timeout=2.0) | ||
| print("Received response:", json.loads(response)) | ||
| except asyncio.TimeoutError: | ||
| print("No response received in 2 seconds") | ||
|
|
||
| except websockets.exceptions.ConnectionClosed as e: | ||
| print(f"WebSocket connection closed: {e}") | ||
| except Exception as e: | ||
| print(f"Error: {e}") | ||
|
|
||
| async def set_first_kickoff_team(team): | ||
| """ | ||
| Set which team takes the first kickoff. | ||
| Args: | ||
| team (str): Either "BLUE" or "YELLOW" | ||
| """ | ||
| uri = "ws://localhost:8081/api/control" | ||
|
|
||
| try: | ||
| async with websockets.connect(uri) as websocket: | ||
| config_msg = { | ||
| "change": { | ||
| "update_config_change": { | ||
| "first_kickoff_team": team | ||
| } | ||
| } | ||
| } | ||
|
|
||
| print(f"Setting first kickoff team to {team}...") | ||
| await websocket.send(json.dumps(config_msg)) | ||
|
|
||
| try: | ||
| response = await asyncio.wait_for(websocket.recv(), timeout=2.0) | ||
| print("Received response:", json.loads(response)) | ||
| except asyncio.TimeoutError: | ||
| print("No response received in 2 seconds") | ||
|
|
||
| except websockets.exceptions.ConnectionClosed as e: | ||
| print(f"WebSocket connection closed: {e}") | ||
| except Exception as e: | ||
| print(f"Error: {e}") | ||
|
|
||
| async def halt(): | ||
| """Send HALT referee command - stops all robots immediately""" | ||
| await send_referee_command("HALT") | ||
|
|
||
| async def stop(): | ||
| """Send STOP referee command - stops game but robots can move""" | ||
| await send_referee_command("STOP") | ||
|
|
||
| async def force_start(): | ||
| """Send FORCE_START referee command - starts game immediately""" | ||
| await send_referee_command("FORCE_START") | ||
|
|
||
| async def normal_start(): | ||
| """Send NORMAL_START referee command - starts game normally""" | ||
| await send_referee_command("NORMAL_START") | ||
|
|
||
| async def direct_free_kick(team): | ||
| """Send DIRECT referee command - awards direct free kick to team""" | ||
| await send_referee_command("DIRECT", team) | ||
|
|
||
| async def kickoff(team): | ||
| """Send KICKOFF referee command - starts kickoff for team""" | ||
| await send_referee_command("KICKOFF", team) | ||
|
|
||
| async def penalty(team): | ||
| """Send PENALTY referee command - starts penalty for team""" | ||
| await send_referee_command("PENALTY", team) | ||
|
|
||
| async def ball_placement(team): | ||
| """Send BALL_PLACEMENT referee command - starts ball placement for team""" | ||
| await send_referee_command("BALL_PLACEMENT", team) | ||
|
|
||
| async def timeout(team): | ||
| """Send TIMEOUT referee command - starts timeout for team""" | ||
| await send_referee_command("TIMEOUT", team) | ||
|
|
||
| async def start_game(): | ||
| """Set Blue team as first kickoff, on positive half, and start the game properly""" | ||
| # Set sides for teams | ||
| await set_team_state("BLUE", True) # Blue on positive half | ||
| await set_team_state("YELLOW", False) # Yellow on negative half | ||
|
|
||
| # Set Blue for first kickoff | ||
| await set_first_kickoff_team("BLUE") | ||
|
|
||
| # Start sequence | ||
| await halt() # First halt to ensure safe state | ||
| await stop() # Then stop to prepare for start | ||
| await asyncio.sleep(10) | ||
| await kickoff("BLUE") # Set up kickoff for Blue team | ||
| # await normal_start() # Start the game normally | ||
|
|
||
| if __name__ == "__main__": | ||
| print("Connecting to game controller...") | ||
|
|
||
| # To set up and start a game with Blue kickoff and on positive half: | ||
| asyncio.get_event_loop().run_until_complete(start_game()) | ||
|
|
||
| # Or use individual commands as needed: | ||
| # asyncio.get_event_loop().run_until_complete(set_team_state("BLUE", True)) | ||
| # asyncio.get_event_loop().run_until_complete(halt()) | ||
| # asyncio.get_event_loop().run_until_complete(normal_start()) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,75 +1,33 @@ | ||
| import sys | ||
| import os | ||
| import socket | ||
| import struct | ||
| import time | ||
| from google.protobuf.timestamp_pb2 import Timestamp | ||
| from roboteam_ai.src.RL.src.getState import get_referee_state | ||
| import websockets | ||
| import asyncio | ||
| import json | ||
|
|
||
| current_dir = os.path.dirname(os.path.abspath(__file__)) | ||
| roboteam_path = os.path.abspath(os.path.join(current_dir, "..", "..", "..")) | ||
|
|
||
| # Add to sys.path | ||
| sys.path.append(roboteam_path) | ||
|
|
||
| from roboteam_networking.proto.ssl_gc_api_pb2 import Input | ||
|
|
||
| def send_reset_match_command(host="0.0.0.0", port=10003): | ||
| """ | ||
| Send a reset_match command to the SSL Game Controller | ||
| Args: | ||
| host (str): The hostname where the game controller is running | ||
| port (int): The port number the game controller is listening on | ||
| """ | ||
| # Create the input message | ||
| input_msg = Input() | ||
|
|
||
| # Set the reset_match flag to True | ||
| input_msg.reset_match = True | ||
| async def reset_referee_state(): | ||
| uri = "ws://localhost:8081/api/control" | ||
|
|
||
| try: | ||
| # Create a TCP socket | ||
| with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock: | ||
| # Set a timeout of 5 seconds | ||
| sock.settimeout(5) | ||
| async with websockets.connect(uri) as websocket: | ||
| # Create JSON message | ||
| reset_msg = { | ||
| "reset_match": True | ||
| } | ||
|
|
||
| # Connect to the game controller | ||
| sock.connect((host, port)) | ||
| print("Sending JSON reset command...") | ||
| await websocket.send(json.dumps(reset_msg)) | ||
|
|
||
| # Serialize the message | ||
| serialized_msg = input_msg.SerializeToString() | ||
| msg_length = len(serialized_msg) | ||
|
|
||
| print(f"\nMessage length: {msg_length} bytes") | ||
| print(f"Length bytes: {msg_length.to_bytes(4, byteorder='big').hex()}") | ||
| print(f"Message bytes: {serialized_msg.hex()}") | ||
|
|
||
| # Send the message length | ||
| length_bytes = msg_length.to_bytes(4, byteorder='big') | ||
| bytes_sent = sock.send(length_bytes) | ||
| print(f"\nSent {bytes_sent} length bytes") | ||
|
|
||
| # Send the actual message | ||
| bytes_sent = sock.send(serialized_msg) | ||
| print(f"Sent {bytes_sent} message bytes") | ||
|
|
||
| # Wait for response | ||
| try: | ||
| response = sock.recv(3000) | ||
| if response: | ||
| print("Reset match command sent and response received") | ||
| else: | ||
| print("Reset match command sent but no response") | ||
| except socket.timeout: | ||
| print("Reset match command sent but timed out waiting for response") | ||
|
|
||
| except ConnectionRefusedError: | ||
| print("Could not connect to the game controller. Is it running?") | ||
| response = await asyncio.wait_for(websocket.recv(), timeout=2.0) | ||
| print("Received response:", json.loads(response)) | ||
| except asyncio.TimeoutError: | ||
| print("No response received in 2 seconds") | ||
|
|
||
| except websockets.exceptions.ConnectionClosed as e: | ||
| print(f"WebSocket connection closed: {e}") | ||
| except Exception as e: | ||
| print(f"An error occurred: {e}") | ||
| print(f"Error: {e}") | ||
|
|
||
| # Example usage | ||
| if __name__ == "__main__": | ||
| # You can customize the host and port if needed | ||
| send_reset_match_command() | ||
| print("Connecting to game controller...") | ||
| asyncio.get_event_loop().run_until_complete(reset_referee_state()) |
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