⚠️ optimise and add flag to ignore error

controllerfeedback.go

@@ -56,4 +56,6 @@ func controllerFeedback(chctrlfb chan bool) {
 
 		mutex.Unlock()
 	}
+
+	chctrlfb <- true
 }

createprotos.go

@@ -54,18 +54,6 @@ func createRobotInfo(i int, ourteam int, simmode bool) *pb_gen.Robot_Infos {
 	return pe
 }
 
-func addRobotIpToRobotIps(robotip [16]*pb_gen.RobotIP_Infos) []*pb_gen.RobotIP_Infos {
-	RobotIps := []*pb_gen.RobotIP_Infos{}
-
-	for _, robot := range robotip {
-		if robot != nil {
-			RobotIps = append(RobotIps, robot)
-		}
-	}
-
-	return RobotIps
-}
-
 func addRobotInfoToRobotInfos(robotinfo [16]*pb_gen.Robot_Infos) []*pb_gen.Robot_Infos {
 	RobotInfos := []*pb_gen.Robot_Infos{}
 
@@ -226,7 +214,7 @@ func createOtherInfo(goalpos_n int32) *pb_gen.Other_Infos {
 	return pe
 }
 
-func createRefInfo(ourteam int, attackdirection int) *pb_gen.Referee_Info {
+func createRefInfo(ourteam int, attackdirection int, ignore_ref_mismatch bool) *pb_gen.Referee_Info {
 	var yellowcards uint32
 	var redcards uint32
 	var command *pb_gen.Referee_Info_Command
@@ -257,24 +245,26 @@ func createRefInfo(ourteam int, attackdirection int) *pb_gen.Referee_Info {
 			teaminfo_their = (*pb_gen.Referee_Info_TeamInfo)(ref_command.Blue)
 		}
 
-		// Check if the team color is correct
-		if ourteam == 0 && ref_command.GetYellow().GetName() == "Ri-one" {
-			log.Println("[MW WARNING!!] INCORRECT TEAM COLOR! Referee says (Ri-one == YELLOW)")
-		} else if ourteam == 1 && ref_command.GetBlue().GetName() == "Ri-one" {
-			log.Println("[MW WARNING!!] INCORRECT TEAM COLOR! Referee says (Ri-one == Blue)")
-		}
-
-		// Check if the attack direction is correct
-		if ourteam == 0 && *ref_command.BlueTeamOnPositiveHalf && attackdirection == 1 {
-			log.Println("[MW WARNING!!] INCORRECT ATTACK DIRECTION! Referee says (BlueTeamOnPositiveHalf == true)")
-		} else if ourteam == 1 && !*ref_command.BlueTeamOnPositiveHalf && attackdirection == 1 {
-			log.Println("[MW WARNING!!] INCORRECT ATTACK DIRECTION! Referee says (BlueTeamOnPositiveHalf == false)")
-		}
-
-		if ourteam == 0 && !*ref_command.BlueTeamOnPositiveHalf && attackdirection == -1 {
-			log.Println("[MW WARNING!!] INCORRECT ATTACK DIRECTION! Referee says (BlueTeamOnPositiveHalf == true)")
-		} else if ourteam == 1 && *ref_command.BlueTeamOnPositiveHalf && attackdirection == -1 {
-			log.Println("[MW WARNING!!] INCORRECT ATTACK DIRECTION! Referee says (BlueTeamOnPositiveHalf == false)")
+		if !ignore_ref_mismatch {
+			// Check if the team color is correct
+			if ourteam == 0 && ref_command.GetYellow().GetName() == "Ri-one" {
+				log.Println("[MW WARNING!!] INCORRECT TEAM COLOR! Referee says (Ri-one == YELLOW)")
+			} else if ourteam == 1 && ref_command.GetBlue().GetName() == "Ri-one" {
+				log.Println("[MW WARNING!!] INCORRECT TEAM COLOR! Referee says (Ri-one == Blue)")
+			}
+
+			// Check if the attack direction is correct
+			if ourteam == 0 && *ref_command.BlueTeamOnPositiveHalf && attackdirection == 1 {
+				log.Println("[MW WARNING!!] INCORRECT ATTACK DIRECTION! Referee says (BlueTeamOnPositiveHalf == true)")
+			} else if ourteam == 1 && !*ref_command.BlueTeamOnPositiveHalf && attackdirection == 1 {
+				log.Println("[MW WARNING!!] INCORRECT ATTACK DIRECTION! Referee says (BlueTeamOnPositiveHalf == false)")
+			}
+
+			if ourteam == 0 && !*ref_command.BlueTeamOnPositiveHalf && attackdirection == -1 {
+				log.Println("[MW WARNING!!] INCORRECT ATTACK DIRECTION! Referee says (BlueTeamOnPositiveHalf == true)")
+			} else if ourteam == 1 && *ref_command.BlueTeamOnPositiveHalf && attackdirection == -1 {
+				log.Println("[MW WARNING!!] INCORRECT ATTACK DIRECTION! Referee says (BlueTeamOnPositiveHalf == false)")
+			}
 		}
 
 	} else {

main.go

@@ -110,7 +110,7 @@ func CheckVisionRobot(chvisrobot chan bool) {
 	}
 }
 
-func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, debug bool, simmode bool) {
+func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, debug bool, simmode bool, ignore_ref_mismatch bool) {
 	ipv4 := NW_AI_IPADDR
 	port := NW_AI_PORT
 	port_controller := NW_AI_PORT_CONTROLLER
@@ -171,7 +171,7 @@ func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, d
 		RobotIpInfo := addRobotIPInfoToRobotIPInfos(robotip_infos)
 
 		GeometryInfo := createGeometryInfo()
-		RefereeInfo := createRefInfo(ourteam, goalpose)
+		RefereeInfo := createRefInfo(ourteam, goalpose, ignore_ref_mismatch)
 		OtherInfo := createOtherInfo(int32(goalpose))
 
 		//log.Println(OtherInfo.GetAttackDirection())
@@ -206,18 +206,19 @@ func RunServer(chserver chan bool, reportrate uint, ourteam int, goalpose int, d
 func main() {
 
 	var (
-		visionport        = flag.Int("p", 10006, "Vision Multicast Port Number")
-		ourteam           = flag.String("t", "blue", "Our Team (blue or yellow)")
-		goalpos           = flag.String("g", "N", "Attack Direction(Enemy goal) Negative or Positive (N or P)")
-		reportrate        = flag.Uint("r", 16, "How often report to RACOON-AI? (milliseconds)")
-		debug             = flag.Bool("d", false, "Show All Send Packet")
-		simmode           = flag.Bool("s", false, "Simulation Mode (Emulate Ball Sensor)")
-		replay            = flag.Bool("replay", false, "Replay All Packet")
-		halfswitch        = flag.String("c", "F", "Where to use (N, P, F) F to Full")
-		ballmovethreshold = flag.Float64("b", 1000, "Ball Detect Threshold (Default 1000")
-		nw_robot          = flag.String("rif", "none", "NW Robot Update Interface Name (ex. en0)")
-		nw_vision         = flag.String("vif", "none", "NW Vision and Referee receive Interface Name (ex. en1)")
-		debug_for_sono    = flag.Bool("df", false, "Print ID0 Robot Cordination for Sono")
+		visionport          = flag.Int("p", 10006, "Vision Multicast Port Number")
+		ourteam             = flag.String("t", "blue", "Our Team (blue or yellow)")
+		goalpos             = flag.String("g", "N", "Attack Direction(Enemy goal) Negative or Positive (N or P)")
+		reportrate          = flag.Uint("r", 16, "How often report to RACOON-AI? (milliseconds)")
+		debug               = flag.Bool("d", false, "Show All Send Packet")
+		simmode             = flag.Bool("s", false, "Simulation Mode (Emulate Ball Sensor)")
+		replay              = flag.Bool("replay", false, "Replay All Packet")
+		halfswitch          = flag.String("c", "F", "Where to use (N, P, F) F to Full")
+		ballmovethreshold   = flag.Float64("b", 1000, "Ball Detect Threshold (Default 1000")
+		nw_robot            = flag.String("rif", "none", "NW Robot Update Interface Name (ex. en0)")
+		nw_vision           = flag.String("vif", "none", "NW Vision and Referee receive Interface Name (ex. en1)")
+		debug_for_sono      = flag.Bool("df", false, "Print ID0 Robot Cordination for Sono")
+		ignore_ref_mismatch = flag.Bool("igref", false, "Ignore Referee Team Color & Attack Direction Mismatch Errors")
 	)
 	//OUR TEAM 0 = blue
 	//OUR TEAM 1 = yellow
@@ -273,7 +274,7 @@ func main() {
 	chbattery := make(chan bool)
 
 	go Update(chupdate)
-	go RunServer(chserver, *reportrate, ourteam_n, goalpos_n, *debug, *simmode)
+	go RunServer(chserver, *reportrate, ourteam_n, goalpos_n, *debug, *simmode, *ignore_ref_mismatch)
 	go VisionReceive(chvision, *visionport, ourteam_n, goalpos_n, *simmode, *replay, halfswitch_n, *debug_for_sono)
 	go CheckVisionRobot(chvisrobot)
 	go FPSCounter(chfps, ourteam_n)

variables.go

@@ -25,29 +25,16 @@ var balldetect [16]bool
 var visionwrapper [16]*pb_gen.SSL_WrapperPacket
 var visiondetection [16]*pb_gen.SSL_DetectionFrame
 
-var trackerwrapper [16]*pb_gen.TrackerWrapperPacket
-var trackerdetection [16]*pb_gen.TrackedFrame
-
 var geometrydata *pb_gen.SSL_GeometryData
 var left_geo_goal_x float32
 var left_geo_goal_y float32
 
-var num_bluerobots int
-var num_yellowrobots int
-
 var bluerobots [16]*pb_gen.SSL_DetectionRobot
 var yellowrobots [16]*pb_gen.SSL_DetectionRobot
 
-var trackedblue [16]*pb_gen.TrackedRobot
-var trackedyellow [16]*pb_gen.TrackedRobot
-
 var ref_command *pb_gen.Referee
 var ball *pb_gen.SSL_DetectionBall
 
-var trackedball *pb_gen.TrackedBall
-
-var only_use_tracker bool = false
-
 var maxcameras int
 
 var filtered_ball_x float32

visionreceive.go

@@ -238,27 +238,21 @@ func VisionReceive(chvision chan bool, port int, ourteam int, goalpos int, simmo
 				}
 			}
 
-			num_yellowrobots = 0
-			num_bluerobots = 0
-
 			// Get Blue Robots
 			for _, robot := range packet.Detection.GetRobotsBlue() {
 				switch halfswitch_n {
 				case 0:
-					num_bluerobots++
 					bluerobots[robot.GetRobotId()] = robot
 					visible_in_vision_b[robot.GetRobotId()] = true
 
 				case 1:
 					if robot.GetX() > 0 {
-						num_bluerobots++
 						bluerobots[robot.GetRobotId()] = robot
 						visible_in_vision_b[robot.GetRobotId()] = true
 					}
 
 				case -1:
 					if robot.GetX() <= 0 {
-						num_bluerobots++
 						bluerobots[robot.GetRobotId()] = robot
 						visible_in_vision_b[robot.GetRobotId()] = true
 					}
@@ -269,20 +263,17 @@ func VisionReceive(chvision chan bool, port int, ourteam int, goalpos int, simmo
 			for _, robot := range packet.Detection.GetRobotsYellow() {
 				switch halfswitch_n {
 				case 0:
-					num_yellowrobots++
 					yellowrobots[robot.GetRobotId()] = robot
 					visible_in_vision_y[robot.GetRobotId()] = true
 
 				case 1:
 					if robot.GetX() > 0 {
-						num_yellowrobots++
 						yellowrobots[robot.GetRobotId()] = robot
 						visible_in_vision_y[robot.GetRobotId()] = true
 					}
 
 				case -1:
 					if robot.GetX() <= 0 {
-						num_yellowrobots++
 						yellowrobots[robot.GetRobotId()] = robot
 						visible_in_vision_y[robot.GetRobotId()] = true
 					}