Read new geometry format and respect type attribute of shapes

Author: g3force

config/ssl-game-controller.yaml

@@ -71,6 +71,7 @@ game:
       defense-area-width: 3.6
       penalty-kick-dist-to-goal: 8.0
       goal-width: 1.8
+      center-circle-radius: 0.5
       placement-offset-touch-line: 0.2
       placement-offset-goal-line: 0.2
       placement-offset-goal-line-goal-kick: 1.0
@@ -82,6 +83,7 @@ game:
       defense-area-width: 2.0
       penalty-kick-dist-to-goal: 6.0
       goal-width: 1.0
+      center-circle-radius: 0.5
       placement-offset-touch-line: 0.2
       placement-offset-goal-line: 0.2
       placement-offset-goal-line-goal-kick: 1.0

internal/app/config/config.go

@@ -27,6 +27,7 @@ type Geometry struct {
 	DefenseAreaWidth                float64 `yaml:"defense-area-width"`
 	PenaltyKickDistToGoal           float64 `yaml:"penalty-kick-dist-to-goal"`
 	GoalWidth                       float64 `yaml:"goal-width"`
+	CenterCircleRadius              float64 `yaml:"center-circle-radius"`
 	PlacementOffsetTouchLine        float64 `yaml:"placement-offset-touch-line"`
 	PlacementOffsetGoalLine         float64 `yaml:"placement-offset-goal-line"`
 	PlacementOffsetGoalLineGoalKick float64 `yaml:"placement-offset-goal-line-goal-kick"`
@@ -227,6 +228,7 @@ func DefaultControllerConfig() (c Controller) {
 		DefenseAreaWidth:                3.6,
 		PenaltyKickDistToGoal:           8.0,
 		GoalWidth:                       1.8,
+		CenterCircleRadius:              0.5,
 		PlacementOffsetTouchLine:        0.2,
 		PlacementOffsetGoalLine:         0.2,
 		PlacementOffsetGoalLineGoalKick: 1.0,
@@ -239,6 +241,7 @@ func DefaultControllerConfig() (c Controller) {
 		DefenseAreaWidth:                2,
 		PenaltyKickDistToGoal:           6.0,
 		GoalWidth:                       1.0,
+		CenterCircleRadius:              0.5,
 		PlacementOffsetTouchLine:        0.2,
 		PlacementOffsetGoalLine:         0.2,
 		PlacementOffsetGoalLineGoalKick: 1.0,

internal/app/config/testdata/config.yaml

@@ -70,6 +70,7 @@ game:
       defense-area-width: 3.6
       penalty-kick-dist-to-goal: 8.0
       goal-width: 1.8
+      center-circle-radius: 0.5
       placement-offset-touch-line: 0.2
       placement-offset-goal-line: 0.2
       placement-offset-goal-line-goal-kick: 1.0
@@ -81,6 +82,7 @@ game:
       defense-area-width: 2.0
       penalty-kick-dist-to-goal: 6.0
       goal-width: 1.0
+      center-circle-radius: 0.5
       placement-offset-touch-line: 0.2
       placement-offset-goal-line: 0.2
       placement-offset-goal-line-goal-kick: 1.0

internal/app/engine/consume_geometry.go

@@ -16,14 +16,39 @@ func (e *Engine) ProcessGeometry(data *vision.SSL_GeometryData) {
 	newGeometry.FieldWidth = float64(*data.Field.FieldWidth) / 1000.0
 	newGeometry.FieldLength = float64(*data.Field.FieldLength) / 1000.0
 	newGeometry.GoalWidth = float64(*data.Field.GoalWidth) / 1000.0
-	for _, line := range data.Field.FieldLines {
-		if *line.Name == "LeftFieldLeftPenaltyStretch" {
-			newGeometry.DefenseAreaDepth = math.Abs(float64(*line.P1.X-*line.P2.X)) / 1000.0
-		} else if *line.Name == "LeftPenaltyStretch" {
-			newGeometry.DefenseAreaWidth = math.Abs(float64(*line.P1.Y-*line.P2.Y)) / 1000.0
+
+	if data.Field.PenaltyAreaWidth != nil {
+		newGeometry.DefenseAreaWidth = float64(*data.Field.PenaltyAreaWidth) / 1000.0
+	} else {
+		for _, line := range data.Field.FieldLines {
+			if (line.Type != nil && *line.Type == vision.SSL_FieldShapeType_LeftPenaltyStretch) ||
+				*line.Name == "LeftPenaltyStretch" {
+				newGeometry.DefenseAreaWidth = math.Abs(float64(*line.P1.Y-*line.P2.Y)) / 1000.0
+				break
+			}
+		}
+	}
+
+	if data.Field.PenaltyAreaDepth != nil {
+		newGeometry.DefenseAreaDepth = float64(*data.Field.PenaltyAreaDepth) / 1000.0
+	} else {
+		for _, line := range data.Field.FieldLines {
+			if (line.Type != nil && *line.Type == vision.SSL_FieldShapeType_LeftFieldLeftPenaltyStretch) ||
+				*line.Name == "LeftFieldLeftPenaltyStretch" {
+				newGeometry.DefenseAreaDepth = math.Abs(float64(*line.P1.X-*line.P2.X)) / 1000.0
+				break
+			}
 		}
 	}
 
+	if data.Field.GoalCenterToPenaltyMark != nil {
+		newGeometry.PenaltyKickDistToGoal = float64(*data.Field.GoalCenterToPenaltyMark) / 1000.0
+	}
+
+	if data.Field.CenterCircleRadius != nil {
+		newGeometry.CenterCircleRadius = float64(*data.Field.CenterCircleRadius) / 1000.0
+	}
+
 	e.stateMachine.Geometry = newGeometry
 
 	if currentGeometry != newGeometry {

internal/app/engine/process_continue.go

@@ -33,7 +33,7 @@ func (e *Engine) processContinue() {
 
 	if *e.currentState.Command.Type == state.Command_KICKOFF {
 		// ball in center circle
-		if e.gcState.TrackerStateGc.Ball.Pos.ToVector2().Length() > e.gameConfig.DistanceToBallInStop {
+		if e.gcState.TrackerStateGc.Ball.Pos.ToVector2().Length() > e.getGeometry().CenterCircleRadius {
 			return
 		}