Add a test client for the CI interface

Author: g3force

README.md

@@ -27,6 +27,7 @@ There are some reference clients:
  * [ssl-ref-client](./cmd/ssl-ref-client): A client that receives referee messages
  * [ssl-auto-ref-client](./cmd/ssl-auto-ref-client/README.md): A client that connects to the controller as an autoRef
  * [ssl-team-client](./cmd/ssl-team-client/README.md): A client that connects to the controller as a team
+ * [ssl-ci-test-client](./cmd/ssl-ci-test-client/README.md): A client that connects to the CI interface of the controller
 
 ### Comparison to ssl-refbox
 The ssl-game-controller replaces the ssl-refbox. With the introduction of automatic referees, there was demand for several new features. To accommodate these, the ssl-refbox has been rewritten to take advantage of modern technologies.
@@ -164,3 +165,8 @@ go get github.com/gobuffalo/packr/packr
 cd cmd/ssl-game-controller
 packr install
 ```
+
+### Update generated protobuf code
+Generate the code for the `.proto` files with [./generateProto.sh](./generateProto.sh), 
+after you've changed anything in a `.proto` file.
+  

cmd/ssl-ci-test-client/README.md

@@ -0,0 +1,18 @@
+# ssl-ci-test-client
+
+This folder contains a sample client that connects to the CI interface of the game-controller.
+
+## Protocol
+The communication is established with a bidirectional TCP connection. Messages are encoded with [Protocol Buffers](https://developers.google.com/protocol-buffers/). Each message is preceded by an uvarint containing the message size in bytes, see https://cwiki.apache.org/confluence/display/GEODE/Delimiting+Protobuf+Messages for details.
+
+The protobuf files can be found in [../../proto](../../proto/).
+The main protobuf file is `ssl_gc_ci.proto`.
+
+The default port is `10009`.
+
+## Sample client
+The sample client, that is included in this folder, can be used to test the connection. It can be run with 
+```bash
+go run cmd/ssl-ci-test-client/main.go
+``` 
+Pass it the `-h` parameter to get the available options.

cmd/ssl-ci-test-client/main.go

@@ -0,0 +1,133 @@
+package main
+
+import (
+	"bufio"
+	"flag"
+	"fmt"
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/ci"
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom"
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker"
+	"github.com/RoboCup-SSL/ssl-go-tools/pkg/sslconn"
+	"github.com/odeke-em/go-uuid"
+	"log"
+	"net"
+	"os"
+	"strconv"
+	"strings"
+	"time"
+)
+
+var address = flag.String("address", "localhost:10009", "The address of the ssl-game-controller CI interface")
+
+var id = uuid.New()
+var name = "Test client"
+var trackerPacket = createTrackerPacket()
+
+func main() {
+	flag.Parse()
+
+	conn, err := net.Dial("tcp", *address)
+	if err != nil {
+		log.Fatal("could not connect to game-controller at ", *address)
+	}
+	defer func() {
+		if err := conn.Close(); err != nil {
+			log.Printf("Could not close connection: %v", err)
+		}
+	}()
+	log.Printf("Connected to game-controller at %v", *address)
+
+	go receive(conn)
+	send(conn)
+
+	commands := map[string]func([]string){}
+	commands["ball"] = func(args []string) {
+		trackerPacket.TrackedFrame.Balls = []*tracker.TrackedBall{createBall(args)}
+	}
+
+	reader := bufio.NewReader(os.Stdin)
+	for {
+		fmt.Print("-> ")
+		text, err := reader.ReadString('\n')
+		if err != nil {
+			log.Print("Can not read from stdin: ", err)
+			for {
+				time.Sleep(1 * time.Second)
+			}
+		}
+		// convert CRLF to LF
+		text = strings.Replace(text, "\n", "", -1)
+		cmd := strings.Split(text, " ")
+		if fn, ok := commands[cmd[0]]; ok {
+			fn(cmd[1:])
+		} else {
+			fmt.Println("Available commands:")
+			for cmd := range commands {
+				fmt.Printf("  %-20s\n", cmd)
+			}
+		}
+	}
+}
+
+func createBall(args []string) (ball *tracker.TrackedBall) {
+	ball = new(tracker.TrackedBall)
+	var pos, vel *geom.Vector3
+	if len(args) >= 2 {
+		pos = new(geom.Vector3)
+		pos.X = new(float32)
+		pos.Y = new(float32)
+		pos.Z = new(float32)
+		x, _ := strconv.ParseFloat(args[0], 64)
+		*pos.X = float32(x)
+		y, _ := strconv.ParseFloat(args[1], 64)
+		*pos.Y = float32(y)
+		if len(args) >= 3 {
+			z, _ := strconv.ParseFloat(args[2], 64)
+			*pos.Z = float32(z)
+		}
+	}
+	if len(args) >= 5 {
+		vel = new(geom.Vector3)
+		vel.X = new(float32)
+		vel.Y = new(float32)
+		x, _ := strconv.ParseFloat(args[3], 64)
+		y, _ := strconv.ParseFloat(args[4], 64)
+		*vel.X = float32(x)
+		*vel.Y = float32(y)
+	}
+	ball.Pos = pos
+	ball.Vel = vel
+	return
+}
+
+func createTrackerPacket() (p tracker.TrackerWrapperPacket) {
+	p.Uuid = &id
+	p.SourceName = &name
+	p.TrackedFrame = new(tracker.TrackedFrame)
+	p.TrackedFrame.Timestamp = new(float64)
+	p.TrackedFrame.FrameNumber = new(uint32)
+	return
+}
+
+func send(conn net.Conn) {
+	for {
+		timestamp := time.Now().UnixNano()
+		*trackerPacket.TrackedFrame.Timestamp = float64(timestamp / 1e9)
+		*trackerPacket.TrackedFrame.FrameNumber++
+		input := ci.CiInput{Timestamp: &timestamp, TrackerPacket: &trackerPacket}
+		if err := sslconn.SendMessage(conn, &input); err != nil {
+			log.Println("Could not send message: ", err)
+		}
+		time.Sleep(time.Millisecond * 25)
+	}
+}
+
+func receive(conn net.Conn) {
+	for {
+		output := ci.CiOutput{}
+		if err := sslconn.ReceiveMessage(conn, &output); err != nil {
+			log.Println("Could not receive message: ", err)
+		}
+		log.Println("RefereeMsg: ", output.RefereeMsg)
+	}
+}