Feature: Select active tracker source and visualize it in UI

Author: g3force

config/engine.yaml

@@ -30,7 +30,6 @@
     "PLACEMENT_SUCCEEDED": "BEHAVIOR_ACCEPT",
     "POSSIBLE_GOAL": "BEHAVIOR_ACCEPT",
     "TOO_MANY_ROBOTS": "BEHAVIOR_ACCEPT",
-    "UNKNOWN_GAME_EVENT_TYPE": "BEHAVIOR_ACCEPT",
     "UNSPORTING_BEHAVIOR_MAJOR": "BEHAVIOR_ACCEPT",
     "UNSPORTING_BEHAVIOR_MINOR": "BEHAVIOR_ACCEPT"
   },

internal/app/engine/consume_tracker.go

@@ -22,40 +22,33 @@ func (e *Engine) ProcessTrackerFrame(wrapperFrame *tracker.TrackerWrapperPacket)
 		Robots:     convertRobots(wrapperFrame.TrackedFrame.Robots),
 	}
 	e.trackerLastUpdate[*wrapperFrame.Uuid] = now
-
 	e.gcState.TrackerState[*wrapperFrame.Uuid] = &state
 
-	for sourceId, state := range e.gcState.TrackerState {
-		if now.Sub(e.trackerLastUpdate[*state.Uuid]) > time.Second {
-			delete(e.gcState.TrackerState, sourceId)
-		}
+	if e.config.ActiveTrackerSource == nil {
+		e.config.ActiveTrackerSource = state.Uuid
+		log.Printf("Switched tracker source to %v (%v)", *state.Uuid, *state.SourceName)
 	}
 
-	e.updateTrackerSourcePriority(*wrapperFrame.SourceName)
-
-	if e.gcState.TrackerStateGc == nil {
-		e.gcState.TrackerStateGc = &state
-		log.Printf("Initial tracker source is %v (%v)", *e.gcState.TrackerStateGc.Uuid, *e.gcState.TrackerStateGc.SourceName)
-	} else if *e.gcState.TrackerStateGc.Uuid == *wrapperFrame.Uuid {
+	if *e.config.ActiveTrackerSource == *wrapperFrame.Uuid {
 		e.gcState.TrackerStateGc = &state
-	} else if now.Sub(e.trackerLastUpdate[*e.gcState.TrackerStateGc.Uuid]) > time.Second {
-		e.gcState.TrackerStateGc = e.findNewTrackerSourceState()
-		if e.gcState.TrackerStateGc == nil {
-			e.gcState.TrackerStateGc = &state
-		}
-		log.Printf("Switched tracker source to %v (%v)", *e.gcState.TrackerStateGc.Uuid, *e.gcState.TrackerStateGc.SourceName)
 	}
 }
 
-func (e *Engine) findNewTrackerSourceState() *GcStateTracker {
-	for _, sourceName := range e.config.TrackerSourcePriority {
-		for _, state := range e.gcState.TrackerState {
-			if *state.SourceName == sourceName {
-				return state
-			}
+func (e *Engine) processTrackerSources() {
+	now := e.timeProvider()
+
+	if e.config.ActiveTrackerSource != nil && now.Sub(e.trackerLastUpdate[*e.config.ActiveTrackerSource]) > time.Second {
+		log.Printf("Tracker source %v timed out", *e.config.ActiveTrackerSource)
+		e.config.ActiveTrackerSource = nil
+		e.gcState.TrackerStateGc = &GcStateTracker{}
+	}
+
+	// remove old states
+	for sourceId, state := range e.gcState.TrackerState {
+		if now.Sub(e.trackerLastUpdate[*state.Uuid]) > time.Second {
+			delete(e.gcState.TrackerState, sourceId)
 		}
 	}
-	return nil
 }
 
 func convertRobots(robots []*tracker.TrackedRobot) (rs []*Robot) {
@@ -78,12 +71,3 @@ func convertBalls(balls []*tracker.TrackedBall) *Ball {
 	}
 	return &ball
 }
-
-func (e *Engine) updateTrackerSourcePriority(s string) {
-	for _, sourceName := range e.config.TrackerSourcePriority {
-		if sourceName == s {
-			return
-		}
-	}
-	e.config.TrackerSourcePriority = append(e.config.TrackerSourcePriority, s)
-}

internal/app/engine/engine.go

@@ -54,6 +54,7 @@ func NewEngine(gameConfig config.Game, engineConfig config.Engine) (e *Engine) {
 	}
 	e.gcState.AutoRefState = map[string]*GcStateAutoRef{}
 	e.gcState.TrackerState = map[string]*GcStateTracker{}
+	e.gcState.TrackerStateGc = &GcStateTracker{}
 	e.trackerLastUpdate = map[string]time.Time{}
 	e.noProgressDetector = NoProgressDetector{gcEngine: e}
 	e.ballPlacementCoordinator = BallPlacementCoordinator{gcEngine: e}
@@ -356,6 +357,9 @@ func (e *Engine) UpdateConfig(delta *Config) {
 			e.config.AutoRefConfigs[autoRef].GameEventBehavior[k] = v
 		}
 	}
+	if delta.ActiveTrackerSource != nil {
+		e.config.ActiveTrackerSource = delta.ActiveTrackerSource
+	}
 	log.Printf("Engine config updated to %v", e.config.StringJson())
 	if err := e.config.WriteTo(e.engineConfig.ConfigFilename); err != nil {
 		log.Printf("Could not write engine config: %v", err)

internal/app/engine/process_tick.go

@@ -63,6 +63,7 @@ func (e *Engine) processTick() {
 	e.processBotNumber()
 	e.processPenalty()
 	e.processProposals()
+	e.processTrackerSources()
 
 	stateCopy := e.currentState.Clone()
 	hookOut := HookOut{State: stateCopy}

internal/app/engine/ssl_gc_engine_config.pb.go

@@ -49,7 +49,8 @@ func AllGameEvents() (a []GameEvent_Type) {
 	for t := range GameEvent_Type_name {
 		eventType := GameEvent_Type(t)
 		switch eventType {
-		case GameEvent_PREPARED,
+		case GameEvent_UNKNOWN_GAME_EVENT_TYPE,
+			GameEvent_PREPARED,
 			GameEvent_INDIRECT_GOAL,
 			GameEvent_CHIPPED_GOAL,
 			GameEvent_KICK_TIMEOUT,

internal/app/state/gameevent.go

@@ -5,7 +5,7 @@ option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/eng
 message Config {
     map<string, Behavior> game_event_behavior = 1;
     map<string, AutoRefConfig> auto_ref_configs = 2;
-    repeated string tracker_source_priority = 3;
+    optional string active_tracker_source = 3;
 
     enum Behavior {
         BEHAVIOR_UNKNOWN = 0;

proto/ssl_gc_engine_config.proto

@@ -10,6 +10,7 @@
 
             <ControlFlowBar id="match-controls"/>
             <SwitchWindowBar/>
+            <ActiveTrackerSource/>
         </div>
         <div v-else>
             <p>No state received yet. Is the backend running?</p>
@@ -22,10 +23,12 @@
     import GameStateBar from './GameStateBar.vue'
     import ControlFlowBar from "./control/ControlFlowBar";
     import SwitchWindowBar from "./control/SwitchWindowBar";
+    import ActiveTrackerSource from "./control/ActiveTrackerSource";
 
     export default {
         name: 'GameController',
         components: {
+            ActiveTrackerSource,
             SwitchWindowBar,
             MatchSettingsBar,
             GameStateBar,

src/components/GameController.vue

@@ -0,0 +1,44 @@
+<template>
+    <div class="bottom-right">
+        <span v-if="trackerState">
+            Tracker source: {{trackerState.sourceName}}
+        </span>
+        <span v-else class="no-tracker-source">
+            No tracker source connected
+        </span>
+    </div>
+</template>
+
+<script>
+    export default {
+        name: "ActiveTrackerSource",
+        computed: {
+            trackerState() {
+                if(this.activeTrackerSource) {
+                    return this.$store.state.gcState.trackerState[this.activeTrackerSource];
+                }
+                return null;
+            },
+            activeTrackerSource() {
+                return this.$store.state.config.activeTrackerSource;
+            }
+        },
+    }
+</script>
+
+<style scoped>
+
+    .bottom-right {
+        position: fixed;
+        bottom: 0.2em;
+        right: 0.5em;
+        text-align: right;
+        display: flex;
+        justify-content: right;
+    }
+
+    .no-tracker-source {
+        color: red;
+    }
+
+</style>

src/components/control/ActiveTrackerSource.vue

@@ -7,15 +7,11 @@
             <li v-for="(state, sourceId) in trackerState"
                 :key="sourceId">
                 {{sourceId}} ({{state.sourceName}})
-            </li>
-        </ul>
-        <p>
-            Tracker source priority:
-        </p>
-        <ul>
-            <li v-for="sourceName in trackerSourcePriority"
-                :key="sourceName">
-                {{sourceName}}
+                <b-button variant="primary"
+                          @click="setActiveTrackerSource(sourceId)"
+                          :disabled="sourceId === activeTrackerSource">
+                    Set active
+                </b-button>
             </li>
         </ul>
     </div>
@@ -30,16 +26,14 @@
             trackerState() {
                 return this.$store.state.gcState.trackerState;
             },
-            trackerSourcePriority() {
-                return this.$store.state.config.trackerSourcePriority
-            },
+            activeTrackerSource() {
+                return this.$store.state.config.activeTrackerSource;
+            }
         },
         methods: {
-            changeBehavior(eventType, value) {
+            setActiveTrackerSource(sourceId) {
                 submitConfigUpdate({
-                    gameEventBehavior: {
-                        [eventType]: value
-                    }
+                    activeTrackerSource: sourceId
                 });
             },
         }