Abstract functionality to allow open sourcing under ros-sports

game_controller_hsl/config/game_controller_settings.yaml

@@ -6,3 +6,4 @@ game_controller_hsl:
     listen_host: '0.0.0.0'
     listen_port: 3838
     answer_port: 3939
+    lost_timeout: 5

game_controller_hsl/game_controller_hsl/data/__init__.py

@@ -0,0 +1,2 @@
+from game_controller_hsl.data.game_control_data import GameControlDataStruct
+from game_controller_hsl.data.game_control_return_data import GameControlReturnDataStruct

game_controller_hsl/game_controller_hsl/data/game_control_data.py

@@ -0,0 +1,128 @@
+#!/usr/bin/env python
+# -*- coding:utf-8 -*-
+
+from construct import (
+    Array,
+    Byte,
+    Const,
+    Enum,
+    Flag,
+    Int16sl,
+    Int16ul,
+    Struct,
+)
+
+GAME_CONTROLLER_STRUCT_VERSION = 20
+GAME_CONTROLLER_STRUCT_HEADER = b"RGme"
+
+MAX_NUM_PLAYERS = 20
+
+Short = Int16ul
+
+RobotInfoStruct = Struct(
+    "penalty" / Enum(
+        Byte,
+        PENALTY_NONE=0,
+        PENALTY_ILLEGAL_POSITIONING=1,
+        PENALTY_MOTION_IN_SET=2,
+        PENALTY_MOTION_IN_STOP=3,
+        PENALTY_LOCAL_GAME_STUCK=4,
+        PENALTY_INCAPABLE_ROBOT=5,
+        PENALTY_PICK_UP=6,
+        PENALTY_BALL_HOLDING=7,
+        PENALTY_LEAVING_THE_FIELD=8,
+        PENALTY_PLAYING_WITH_ARMS_HANDS=9,
+        PENALTY_PUSHING=10,
+        PENALTY_CAUTIONED=11,
+        PENALTY_SENT_OFF=12,
+        PENALTY_SUBSTITUTE=13,
+    ),
+    "secs_till_unpenalized" / Byte,
+    "cautions" / Byte,
+)
+
+TeamInfoStruct = Struct(
+    "team_number" / Byte,
+    "field_player_color"
+    / Enum(
+        Byte,
+        BLUE=0,
+        RED=1,
+        YELLOW=2,
+        BLACK=3,
+        WHITE=4,
+        GREEN=5,
+        ORANGE=6,
+        PURPLE=7,
+        BROWN=8,
+        GRAY=9,
+    ),
+    "goalkeeper_color"
+    / Enum(
+        Byte,
+        BLUE=0,
+        RED=1,
+        YELLOW=2,
+        BLACK=3,
+        WHITE=4,
+        GREEN=5,
+        ORANGE=6,
+        PURPLE=7,
+        BROWN=8,
+        GRAY=9,
+    ),
+    "goalkeeper" / Byte,
+    "score" / Byte,
+    "penalty_shot" / Byte,  # penalty shot counter
+    "single_shots" / Short,  # bits represent penalty shot success
+    "message_budget" / Short,  # number of team messages the team is allowed to send for the remainder of the game
+    "players" / Array(MAX_NUM_PLAYERS, RobotInfoStruct),
+)
+
+GameControlDataStruct = Struct(
+    "header" / Const(GAME_CONTROLLER_STRUCT_HEADER),
+    "version" / Const(GAME_CONTROLLER_STRUCT_VERSION, Byte),
+    "packet_number" / Byte,
+    "players_per_team" / Byte,
+    "competition_type"
+    / Enum(
+        Byte,
+        COMPETITION_TYPE_SMALL=0,
+        COMPETITION_TYPE_MIDDLE=1,
+        COMPETITION_TYPE_LARGE=2,
+    ),
+    "stopped" / Flag,
+    "game_phase"
+    / Enum(
+        Byte,
+        GAME_PHASE_NORMAL=0,
+        GAME_PHASE_PENALTY_SHOOT_OUT=1,
+        GAME_PHASE_EXTRA_TIME=2,
+        GAME_PHASE_TIMEOUT=3,
+    ),
+    "state"
+    / Enum(
+        Byte,
+        STATE_INITIAL=0,
+        STATE_READY=1,  # Go to (starting) position
+        STATE_SET=2,  # Hold position (no motion allowed)
+        STATE_PLAYING=3,  # Normal play
+        STATE_FINISHED=4,  # Game over
+    ),
+    "set_play"
+    / Enum(
+        Byte,
+        SET_PLAY_NONE=0,
+        SET_PLAY_DIRECT_FREE_KICK=1,
+        SET_PLAY_INDIRECT_FREE_KICK=2,
+        SET_PLAY_PENALTY_KICK=3,
+        SET_PLAY_THROW_IN=4,
+        SET_PLAY_GOAL_KICK=5,
+        SET_PLAY_CORNER_KICK=6,
+    ),
+    "first_half" / Flag,
+    "kicking_team" / Byte,
+    "secs_remaining" / Int16sl,
+    "secondary_time" / Int16sl,
+    "teams" / Array(2, TeamInfoStruct),
+)

game_controller_hsl/game_controller_hsl/data/game_control_return_data.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python
+from construct import (
+    Byte,
+    Const,
+    Flag,
+    Float32l,
+    Struct,
+)
+
+GAME_CONTROLLER_RETURN_STRUCT_VERSION = 4
+GAME_CONTROLLER_RETURN_STRUCT_HEADER = b"RGrt"
+
+GameControlReturnDataStruct = Struct(
+    "header" / Const(GAME_CONTROLLER_RETURN_STRUCT_HEADER),
+    "version" / Const(GAME_CONTROLLER_RETURN_STRUCT_VERSION, Byte),
+    "player_number" / Byte,
+    "team_number" / Byte,
+    "fallen" / Flag,
+    "pose" / Float32l[3],
+    "ball_age" / Float32l,
+    "ball" / Float32l[2],
+)