Fix geometry for CI connection

The geometry was overwritten when division changed.
When sending the desired geometry only with first message, it got overwritten and never updated anymore.
Now, it is not updated on division change, when a geometry was set manually within last 5 min.

Author: g3force

internal/app/ci/ci.go

@@ -2,15 +2,16 @@ package ci
 
 import (
 	"bufio"
+	"log"
+	"net"
+	"sync"
+	"time"
+
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/engine"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/sslconn"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker"
 	"google.golang.org/protobuf/proto"
-	"log"
-	"net"
-	"sync"
-	"time"
 )
 
 type Handler func(time.Time, *tracker.TrackerWrapperPacket) *state.Referee
@@ -107,23 +108,26 @@ func (s *Server) serve(conn net.Conn) {
 			}
 		}
 
-		if input.Geometry != nil {
-			s.gcEngine.ProcessGeometry(input.Geometry)
-		}
-
 		if input.Timestamp != nil {
 			sec := *input.Timestamp / 1e9
 			nSec := *input.Timestamp - sec*1e9
 			s.mutex.Lock()
 			s.latestTime = time.Unix(sec, nSec)
 			s.mutex.Unlock()
+		} else {
+			log.Println("CiInput without timestamp!")
+		}
+
+		if input.Geometry != nil {
+			s.gcEngine.ProcessGeometry(input.Geometry)
+		}
+
+		if input.Timestamp != nil {
 			select {
 			case s.tickChan <- s.latestTime:
 			case <-time.After(1 * time.Second):
 				log.Printf("tickChan unresponsive! Failed to sent %v", s.latestTime)
 			}
-		} else {
-			log.Println("CiInput without timestamp!")
 		}
 	}
 }

internal/app/engine/consume_geometry.go

@@ -1,9 +1,9 @@
 package engine
 
 import (
-	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision"
-	"log"
 	"math"
+
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision"
 )
 
 func (e *Engine) ProcessGeometry(data *vision.SSL_GeometryData) {
@@ -59,9 +59,5 @@ func (e *Engine) ProcessGeometry(data *vision.SSL_GeometryData) {
 		newGeometry.PlacementOffsetGoalLine = defaultPlacementOffsetGoalLine + newGeometry.DefenseAreaDepth
 	}
 
-	e.stateMachine.Geometry = newGeometry
-
-	if currentGeometry != newGeometry {
-		log.Printf("Geometry changed from \n%+v to \n%+v", currentGeometry, newGeometry)
-	}
+	e.stateMachine.UpdateGeometry(newGeometry, e.timeProvider())
 }

internal/app/engine/engine.go

@@ -1,6 +1,12 @@
 package engine
 
 import (
+	"log"
+	"math/rand"
+	"slices"
+	"sync"
+	"time"
+
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/config"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
@@ -12,11 +18,6 @@ import (
 	"google.golang.org/protobuf/proto"
 	"google.golang.org/protobuf/types/known/durationpb"
 	"google.golang.org/protobuf/types/known/timestamppb"
-	"log"
-	"math/rand"
-	"slices"
-	"sync"
-	"time"
 )
 
 var changeOriginEngine = "Engine"
@@ -244,8 +245,7 @@ func (e *Engine) Start() error {
 		e.currentState.MaxBotsPerTeam = new(int32)
 	}
 
-	e.stateMachine.Geometry = e.gameConfig.DefaultGeometry[e.currentState.Division.Div()]
-	log.Printf("Loaded default geometry for DivA: %+v", e.stateMachine.Geometry)
+	e.stateMachine.UpdateGeometry(e.gameConfig.DefaultGeometry[e.currentState.Division.Div()], time.Time{})
 	go e.processChanges()
 	return nil
 }

internal/app/statemachine/change_config.go

@@ -1,8 +1,10 @@
 package statemachine
 
 import (
-	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
 	"log"
+	"time"
+
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
 )
 
 func (s *StateMachine) processChangeUpdateConfig(newState *state.State, change *Change_UpdateConfig) (changes []*Change) {
@@ -11,8 +13,11 @@ func (s *StateMachine) processChangeUpdateConfig(newState *state.State, change *
 		newState.Division = change.Division
 		*newState.MaxBotsPerTeam = s.gameConfig.MaxBots[change.Division.Div()]
 		s.updateMaxBots(newState)
-		s.Geometry = s.gameConfig.DefaultGeometry[change.Division.Div()]
-		log.Printf("Updated geometry to %+v", s.Geometry)
+
+		if s.timeProvider().Sub(s.GeometryUpdated) > time.Minute*5 {
+			log.Printf("Set geometry to default for division %v", change.Division.Div())
+			s.UpdateGeometry(s.gameConfig.DefaultGeometry[change.Division.Div()], time.Time{})
+		}
 		if *change.Division == state.Division_DIV_A {
 			// in division A, both teams must be able to place ball
 			for _, team := range state.BothTeams() {

internal/app/statemachine/statemachine.go

@@ -1,34 +1,37 @@
 package statemachine
 
 import (
+	"log"
+	"math/rand"
+	"time"
+
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/config"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
 	"github.com/RoboCup-SSL/ssl-game-controller/pkg/timer"
 	"google.golang.org/protobuf/proto"
-	"log"
-	"math/rand"
-	"time"
 )
 
 var changeOriginStateMachine = "StateMachine"
 
 // StateMachine describes the state machine that translates changes into new states
 type StateMachine struct {
-	gameConfig   config.Game
-	Geometry     config.Geometry
-	stageTimes   map[state.Referee_Stage]time.Duration
-	rand         *rand.Rand
-	timeProvider timer.TimeProvider
+	gameConfig config.Game
+	Geometry   config.Geometry
+	// GeometryUpdated is the time when the geometry was last updated externally
+	GeometryUpdated time.Time
+	stageTimes      map[state.Referee_Stage]time.Duration
+	rand            *rand.Rand
+	timeProvider    timer.TimeProvider
 }
 
 // NewStateMachine creates a new state machine
 func NewStateMachine(gameConfig config.Game) (s *StateMachine) {
 	s = new(StateMachine)
 	s.gameConfig = gameConfig
 	s.Geometry = gameConfig.DefaultGeometry[config.DivA]
+	s.GeometryUpdated = time.Time{}
 	s.stageTimes = loadStageTimes(gameConfig)
 	s.rand = rand.New(rand.NewSource(time.Now().Unix()))
-	log.Printf("Loaded default geometry for DivA: %+v", s.Geometry)
 	return
 }
 
@@ -109,3 +112,13 @@ func (s *StateMachine) Process(currentState *state.State, change *Change) (newSt
 
 	return
 }
+
+func (s *StateMachine) UpdateGeometry(geometry config.Geometry, updated time.Time) {
+	currentGeometry := s.Geometry
+	s.Geometry = geometry
+	s.GeometryUpdated = updated
+
+	if currentGeometry != geometry {
+		log.Printf("Geometry changed from \n%+v to \n%+v\nUpdated: %v", currentGeometry, geometry, updated)
+	}
+}