Feature: Add test clients for tracking protocol

Author: g3force

cmd/ssl-tracker-consumer-test-client/main.go

@@ -0,0 +1,73 @@
+package main
+
+import (
+	"flag"
+	"fmt"
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker"
+	"github.com/golang/protobuf/proto"
+	"log"
+	"net"
+	"sort"
+	"time"
+)
+
+const maxDatagramSize = 8192
+
+var trackerAddress = flag.String("address", "224.5.23.2:10010", "The multicast address of the tracker")
+var fullScreen = flag.Bool("fullScreen", false, "Print the formatted message to the console, clearing the screen during print")
+
+func main() {
+	flag.Parse()
+
+	addr, err := net.ResolveUDPAddr("udp", *trackerAddress)
+	if err != nil {
+		log.Fatal(err)
+	}
+	conn, err := net.ListenMulticastUDP("udp", nil, addr)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	if err := conn.SetReadBuffer(maxDatagramSize); err != nil {
+		log.Printf("Could not set read buffer to %v.", maxDatagramSize)
+	}
+	log.Println("Receiving from", *trackerAddress)
+
+	sourcePackets := map[string]*tracker.TrackerWrapperPacket{}
+	b := make([]byte, maxDatagramSize)
+	for {
+		n, err := conn.Read(b)
+		if err != nil {
+			log.Print("Could not read", err)
+			time.Sleep(1 * time.Second)
+			continue
+		}
+		if n >= maxDatagramSize {
+			log.Fatal("Buffer size too small")
+		}
+		packet := tracker.TrackerWrapperPacket{}
+		if err := proto.Unmarshal(b[0:n], &packet); err != nil {
+			log.Println("Could not unmarshal referee message")
+			continue
+		}
+		sourcePackets[*packet.Uuid] = &packet
+
+		if *fullScreen {
+			// clear screen, move cursor to upper left corner
+			fmt.Print("\033[H\033[2J")
+
+			var sources []string
+			for source := range sourcePackets {
+				sources = append(sources, source)
+			}
+			sort.Strings(sources)
+
+			// print message formatted with line breaks
+			for _, source := range sources {
+				fmt.Print(proto.MarshalTextString(sourcePackets[source]))
+			}
+		} else {
+			log.Print(proto.CompactTextString(&packet))
+		}
+	}
+}

cmd/ssl-tracker-producer-test-client/main.go

@@ -0,0 +1,123 @@
+package main
+
+import (
+	"bufio"
+	"flag"
+	"fmt"
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom"
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker"
+	"github.com/golang/protobuf/proto"
+	"github.com/odeke-em/go-uuid"
+	"log"
+	"net"
+	"os"
+	"strconv"
+	"strings"
+	"time"
+)
+
+const maxDatagramSize = 8192
+
+var sourceName = flag.String("sourceName", "tracker-test-client", "The name of the client")
+var trackerAddress = flag.String("address", "224.5.23.2:10010", "The multicast address of the tracker")
+
+func main() {
+	flag.Parse()
+
+	addr, err := net.ResolveUDPAddr("udp", *trackerAddress)
+	if err != nil {
+		log.Fatal(err)
+	}
+	conn, err := net.DialUDP("udp", nil, addr)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	if err := conn.SetReadBuffer(maxDatagramSize); err != nil {
+		log.Printf("Could not set read buffer to %v.", maxDatagramSize)
+	}
+
+	frame := tracker.TrackedFrame{
+		FrameNumber: new(uint32),
+		Timestamp:   new(float64),
+		Balls: []*tracker.TrackedBall{
+			{
+				Pos: &geom.Vector3{
+					X: new(float32),
+					Y: new(float32),
+					Z: new(float32),
+				},
+				Vel: &geom.Vector3{
+					X: new(float32),
+					Y: new(float32),
+					Z: new(float32),
+				},
+			},
+		},
+	}
+
+	commands := map[string]func([]string){}
+	commands["ballpos"] = func(args []string) {
+		if len(args) != 3 {
+			log.Printf("x, y, z required")
+		} else {
+			x, _ := strconv.ParseFloat(args[0], 32)
+			y, _ := strconv.ParseFloat(args[1], 32)
+			z, _ := strconv.ParseFloat(args[2], 32)
+			*frame.Balls[0].Pos.X = float32(x)
+			*frame.Balls[0].Pos.Y = float32(y)
+			*frame.Balls[0].Pos.Z = float32(z)
+			log.Printf("Ball changed: %v", *frame.Balls[0])
+		}
+	}
+
+	go publish(frame, conn)
+
+	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 publish(frame tracker.TrackedFrame, conn *net.UDPConn) {
+	id := uuid.New()
+	wrapperPacket := tracker.TrackerWrapperPacket{
+		Uuid:         &id,
+		SourceName:   sourceName,
+		TrackedFrame: &frame,
+	}
+
+	log.Println("Sending to ", *trackerAddress)
+	for {
+		*frame.Timestamp = float64(time.Now().UnixNano()) / 1e9
+		if bytes, err := proto.Marshal(&wrapperPacket); err != nil {
+			log.Printf("Could not marshal packet: %v\nError: %v", wrapperPacket, err)
+			return
+		} else {
+			if _, err = conn.Write(bytes); err != nil {
+				log.Printf("Could not write message: %v", err)
+				return
+			}
+		}
+		time.Sleep(time.Millisecond * 10)
+		*frame.FrameNumber++
+	}
+}