Code cleanup and documentation

Author: g3force

cmd/ssl-auto-ref-client/main.go

@@ -5,10 +5,10 @@ import (
 	"crypto/rsa"
 	"flag"
 	"fmt"
-	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/client"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/rcon"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
+	"github.com/RoboCup-SSL/ssl-game-controller/pkg/client"
 	"github.com/RoboCup-SSL/ssl-go-tools/pkg/sslconn"
 	"log"
 	"net"

cmd/ssl-team-client/main.go

@@ -3,8 +3,8 @@ package main
 import (
 	"crypto/rsa"
 	"flag"
-	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/client"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/rcon"
+	"github.com/RoboCup-SSL/ssl-game-controller/pkg/client"
 	"github.com/RoboCup-SSL/ssl-go-tools/pkg/sslconn"
 	"github.com/golang/protobuf/proto"
 	"log"

internal/app/engine/common.go

@@ -4,6 +4,10 @@ import (
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/statemachine"
+	"github.com/golang/protobuf/ptypes"
+	"github.com/golang/protobuf/ptypes/duration"
+	"github.com/golang/protobuf/ptypes/timestamp"
+	"log"
 	"time"
 )
 
@@ -43,3 +47,34 @@ func (e *Engine) timeSinceLastChange() time.Duration {
 	}
 	return 0
 }
+
+func goDur(duration *duration.Duration) time.Duration {
+	goDur, err := ptypes.Duration(duration)
+	if err != nil {
+		log.Printf("Could not parse duration: %v", duration)
+	}
+	return goDur
+}
+
+func goTime(timestamp *timestamp.Timestamp) time.Time {
+	goTime, err := ptypes.Timestamp(timestamp)
+	if err != nil {
+		log.Printf("Could not parse timestamp: %v", timestamp)
+	}
+	return goTime
+}
+
+func addDur(duration *duration.Duration, delta time.Duration) {
+	goDur, err := ptypes.Duration(duration)
+	if err != nil {
+		log.Printf("Could not parse duration: %v", duration)
+	}
+	*duration = *ptypes.DurationProto(goDur + delta)
+}
+
+func (e *Engine) ballSteady() bool {
+	if e.gcState.TrackerStateGc.Ball.Vel == nil {
+		return true
+	}
+	return e.gcState.TrackerStateGc.Ball.Vel.ToVector2().Length() < ballSteadyThreshold
+}

internal/app/gc/geometry.go renamed to internal/app/engine/consume_geometry.go

@@ -1,14 +1,14 @@
-package gc
+package engine
 
 import (
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision"
 	"log"
 	"math"
 )
 
-func (c *GameController) ProcessGeometry(data *vision.SSL_GeometryData) {
+func (e *Engine) ProcessGeometry(data *vision.SSL_GeometryData) {
 
-	currentGeometry := c.gcEngine.GetGeometry()
+	currentGeometry := e.GetGeometry()
 	newGeometry := currentGeometry
 
 	newGeometry.FieldWidth = float64(*data.Field.FieldWidth) / 1000.0
@@ -21,7 +21,7 @@ func (c *GameController) ProcessGeometry(data *vision.SSL_GeometryData) {
 		}
 	}
 
-	c.gcEngine.SetGeometry(newGeometry)
+	e.SetGeometry(newGeometry)
 
 	if currentGeometry != newGeometry {
 		log.Printf("Geometry changed from %v to %v", currentGeometry, newGeometry)

internal/app/engine/tracker.go renamed to internal/app/engine/consume_tracker.go

@@ -166,7 +166,7 @@ func (e *Engine) processChanges() {
 			}
 			e.processChange(change)
 		case <-time.After(10 * time.Millisecond):
-			e.tick()
+			e.processTick()
 
 			e.noProgressDetector.process()
 			e.ballPlacementCoordinator.process()

internal/app/engine/engine.go

@@ -65,10 +65,3 @@ func (e *Engine) ballPlacementRequired() bool {
 
 	return false
 }
-
-func (e *Engine) ballSteady() bool {
-	if e.gcState.TrackerStateGc.Ball.Vel == nil {
-		return true
-	}
-	return e.gcState.TrackerStateGc.Ball.Vel.ToVector2().Length() < ballSteadyThreshold
-}

internal/app/engine/process_runningtostop.go

@@ -4,14 +4,11 @@ import (
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/statemachine"
 	"github.com/golang/protobuf/ptypes"
-	"github.com/golang/protobuf/ptypes/duration"
-	"github.com/golang/protobuf/ptypes/timestamp"
-	"log"
 	"time"
 )
 
-// tick updates the timers of the state and triggers changes if required
-func (e *Engine) tick() {
+// processTick updates the timers of the state and triggers changes if required
+func (e *Engine) processTick() {
 	currentTime := e.timeProvider()
 	delta := currentTime.Sub(e.lastTimeUpdate)
 	e.lastTimeUpdate = currentTime
@@ -64,27 +61,3 @@ func (e *Engine) updateYellowCardTimes(teamState *state.TeamInfo, delta time.Dur
 		}
 	}
 }
-
-func goDur(duration *duration.Duration) time.Duration {
-	goDur, err := ptypes.Duration(duration)
-	if err != nil {
-		log.Printf("Could not parse duration: %v", duration)
-	}
-	return goDur
-}
-
-func goTime(timestamp *timestamp.Timestamp) time.Time {
-	goTime, err := ptypes.Timestamp(timestamp)
-	if err != nil {
-		log.Printf("Could not parse timestamp: %v", timestamp)
-	}
-	return goTime
-}
-
-func addDur(duration *duration.Duration, delta time.Duration) {
-	goDur, err := ptypes.Duration(duration)
-	if err != nil {
-		log.Printf("Could not parse duration: %v", duration)
-	}
-	*duration = *ptypes.DurationProto(goDur + delta)
-}

internal/app/engine/timed.go renamed to internal/app/engine/process_tick.go

@@ -38,7 +38,7 @@ func NewGameController(cfg config.Controller) (c *GameController) {
 	c.teamServerTls = rcon.NewTeamServer(cfg.Server.Team.AddressTls, c.gcEngine)
 	c.teamServerTls.Tls = true
 	c.visionReceiver = vision.NewReceiver(cfg.Network.VisionAddress)
-	c.visionReceiver.GeometryCallback = c.ProcessGeometry
+	c.visionReceiver.GeometryCallback = c.gcEngine.ProcessGeometry
 	c.trackerReceiver = tracker.NewReceiver(cfg.Network.TrackerAddress)
 	c.trackerReceiver.Callback = c.gcEngine.ProcessTrackerFrame
 	return
@@ -55,10 +55,12 @@ func (c *GameController) Start() {
 	c.teamServer.Server.Start()
 	c.teamServerTls.Server.Start()
 	c.visionReceiver.Start()
+	c.trackerReceiver.Start()
 }
 
 // Stop stops all go routines
 func (c *GameController) Stop() {
+	c.trackerReceiver.Stop()
 	c.visionReceiver.Stop()
 	c.autoRefServer.Server.Stop()
 	c.autoRefServerTls.Server.Stop()

internal/app/gc/gc.go

@@ -4,13 +4,15 @@ import (
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/config"
 )
 
+// NewDefenseArea creates a rectangle representing a defense area, using the flag for the side
 func NewDefenseArea(geometry config.Geometry, onPositiveHalf bool) *Rectangle {
 	if onPositiveHalf {
 		return NewDefenseAreaBySign(geometry, 1)
 	}
 	return NewDefenseAreaBySign(geometry, -1)
 }
 
+// NewDefenseAreaBySign creates a rectangle representing a defense area, using the sign for the side
 func NewDefenseAreaBySign(geometry config.Geometry, sign float64) *Rectangle {
 	center := NewVector2(sign*(geometry.FieldLength/2.0-geometry.DefenseAreaDepth/2.0), 0)
 	return NewRectangleFromCenter(center, geometry.DefenseAreaDepth, geometry.DefenseAreaWidth)