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‎.circleci/config.yml‎

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version: 2
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jobs:
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app:
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docker:
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- image: circleci/golang:1.14
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working_directory: /go/src/github.com/RoboCup-SSL/ssl-simulation-controller
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steps:
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- checkout
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- run: go get -v -t -d ./...
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- run: go test -v ./...
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- run:
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working_directory: cmd/ssl-simulation-controller
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command: |
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GOOS=linux GOARCH=amd64 go build -o ../../release/ssl-simulation-controller_linux_amd64
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GOOS=darwin GOARCH=amd64 go build -o ../../release/ssl-simulation-controller_darwin_amd64
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GOOS=windows GOARCH=amd64 go build -o ../../release/ssl-simulation-controller_windows_amd64.exe
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- persist_to_workspace:
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root: .
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paths:
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- release/*
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publish-github-release:
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docker:
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- image: circleci/golang:1.14
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steps:
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- attach_workspace:
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at: .
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- run:
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name: "Prepare artifacts"
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working_directory: release
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command: |
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mv ssl-simulation-controller_linux_amd64 ssl-simulation-controller_${CIRCLE_TAG}_linux_amd64
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mv ssl-simulation-controller_darwin_amd64 ssl-simulation-controller_${CIRCLE_TAG}_darwin_amd64
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mv ssl-simulation-controller_windows_amd64.exe ssl-simulation-controller_${CIRCLE_TAG}_windows_amd64.exe
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- run:
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name: "Publish Release on GitHub"
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command: |
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go get github.com/tcnksm/ghr
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ghr -t ${GITHUB_TOKEN} -u ${CIRCLE_PROJECT_USERNAME} -r ${CIRCLE_PROJECT_REPONAME} -c ${CIRCLE_SHA1} -delete ${CIRCLE_TAG} ./release/
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workflows:
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version: 2
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main:
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jobs:
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- app:
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filters:
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tags:
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only: /.*/
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- publish-github-release:
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requires:
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- app
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filters:
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branches:
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ignore: /.*/
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tags:
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only: /^v.*/

‎.dockerignore‎

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/.git
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/Dockerfile
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/.idea
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/.vscode

‎.gitignore‎

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# Editor directories and files
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.idea
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.vscode
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*.suo
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*.ntvs*
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*.njsproj
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*.sln
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*.sw*

‎Dockerfile‎

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FROM golang:1.14-alpine AS build
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WORKDIR /go/src/github.com/RoboCup-SSL/ssl-simulation-controller
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COPY go.mod go.mod
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RUN go mod download
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COPY cmd cmd
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COPY internal internal
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RUN go install ./...
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# Start fresh from a smaller image
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FROM alpine:3.9
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COPY --from=build /go/bin/ssl-simulation-controller /app/ssl-simulation-controller
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ENTRYPOINT ["/app/ssl-simulation-controller"]
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CMD []

‎LICENSE‎

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‎README.md‎

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[![CircleCI](https://circleci.com/gh/RoboCup-SSL/ssl-simulation-controller/tree/master.svg?style=svg)](https://circleci.com/gh/RoboCup-SSL/ssl-simulation-controller/tree/master)
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[![Go Report Card](https://goreportcard.com/badge/github.com/RoboCup-SSL/ssl-simulation-controller?style=flat-square)](https://goreportcard.com/report/github.com/RoboCup-SSL/ssl-simulation-controller)
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[![Go Doc](https://img.shields.io/badge/godoc-reference-blue.svg?style=flat-square)](https://godoc.org/github.com/RoboCup-SSL/ssl-simulation-controller/pkg/vision)
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[![Release](https://img.shields.io/github/release/RoboCup-SSL/ssl-simulation-controller.svg?style=flat-square)](https://github.com/RoboCup-SSL/ssl-simulation-controller/releases/latest)
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# ssl-simulation-controller
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A controller for SSL simulation tournaments, that:
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* places the ball automatically, if it can not be placed by the teams
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* TODO: Adds and removes robots, if the robot count does not fit
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* During gameplay, if the [conditions](https://robocup-ssl.github.io/ssl-rules/sslrules.html#_robot_substitution) are met
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* During stop by selecting robots nearest to either crossing of half-way line and touch line)
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* TODO: Set robot limits based on some configuration
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## Usage
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If you just want to use this app, simply download the latest [release binary](https://github.com/RoboCup-SSL/ssl-simulation-controller/releases/latest).
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The binary is self-contained. No dependencies are required.
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You can also use pre-build docker images:
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```shell script
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docker pull robocupssl/ssl-simulation-controller
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docker run --network host robocupssl/ssl-simulation-controller
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```
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## Development
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### Requirements
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You need to install following dependencies first:
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* Go >= 1.14
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### Prepare
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Download and install to [GOPATH](https://github.com/golang/go/wiki/GOPATH):
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```bash
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go get -u github.com/RoboCup-SSL/ssl-simulation-controller/...
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```
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Switch to project root directory
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```bash
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cd $GOPATH/src/github.com/RoboCup-SSL/ssl-simulation-controller/
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```
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### Run
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Run the backend:
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```bash
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go run cmd/ssl-simulation-controller/main.go
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```

‎cmd/ssl-simulation-controller/main.go‎

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package main
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import (
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"flag"
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"github.com/RoboCup-SSL/ssl-simulation-controller/internal/simctl"
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"os"
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"os/signal"
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"syscall"
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)
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var visionAddress = flag.String("visionAddress", "224.5.23.2:10006", "The address (ip+port) from which vision packages are received")
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var trackerAddress = flag.String("trackerAddress", "224.5.23.2:10010", "The address (ip+port) from which tracker packages are received")
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var refereeAddress = flag.String("refereeAddress", "224.5.23.1:10003", "The address (ip+port) from which referee packages are received")
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var simControlPort = flag.String("simControlPort", "10300", "The port to which simulation control packets are send")
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func main() {
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flag.Parse()
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ctl := simctl.NewSimulationController(*visionAddress, *refereeAddress, *trackerAddress, *simControlPort)
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ctl.Start()
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signals := make(chan os.Signal, 1)
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signal.Notify(signals, syscall.SIGINT, syscall.SIGTERM)
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<-signals
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ctl.Stop()
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}

‎generateProto.sh‎

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#!/bin/bash
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# Fail on errors
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set -e
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# Print commands
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set -x
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# common GC
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_common.proto
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_geometry.proto
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# vision
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_detection.proto
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_geometry.proto
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_wrapper.proto
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# tracked vision
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_detection_tracked.proto
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_wrapper_tracked.proto
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# game events
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_game_event.proto
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# referee message
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_referee_message.proto
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# simulation control
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_simulation_error.proto
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_simulation_config.proto
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protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_simulation_control.proto

‎go.mod‎

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module github.com/RoboCup-SSL/ssl-simulation-controller
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go 1.15
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require (
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github.com/golang/protobuf v1.4.3
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google.golang.org/protobuf v1.25.0
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)

‎go.sum‎

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cloud.google.com/go v0.26.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw=
2+
github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU=
3+
github.com/census-instrumentation/opencensus-proto v0.2.1/go.mod h1:f6KPmirojxKA12rnyqOA5BBL4O983OfeGPqjHWSTneU=
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github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDkc90ppPyw=
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github.com/envoyproxy/go-control-plane v0.9.1-0.20191026205805-5f8ba28d4473/go.mod h1:YTl/9mNaCwkRvm6d1a2C3ymFceY/DCBVvsKhRF0iEA4=
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github.com/envoyproxy/protoc-gen-validate v0.1.0/go.mod h1:iSmxcyjqTsJpI2R4NaDN7+kN2VEUnK/pcBlmesArF7c=
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github.com/golang/glog v0.0.0-20160126235308-23def4e6c14b/go.mod h1:SBH7ygxi8pfUlaOkMMuAQtPIUF8ecWP5IEl/CR7VP2Q=
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github.com/golang/mock v1.1.1/go.mod h1:oTYuIxOrZwtPieC+H1uAHpcLFnEyAGVDL/k47Jfbm0A=
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github.com/golang/protobuf v1.2.0/go.mod h1:6lQm79b+lXiMfvg/cZm0SGofjICqVBUtrP5yJMmIC1U=
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github.com/golang/protobuf v1.3.2/go.mod h1:6lQm79b+lXiMfvg/cZm0SGofjICqVBUtrP5yJMmIC1U=
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github.com/golang/protobuf v1.4.0-rc.1/go.mod h1:ceaxUfeHdC40wWswd/P6IGgMaK3YpKi5j83Wpe3EHw8=
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github.com/golang/protobuf v1.4.0-rc.1.0.20200221234624-67d41d38c208/go.mod h1:xKAWHe0F5eneWXFV3EuXVDTCmh+JuBKY0li0aMyXATA=
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github.com/golang/protobuf v1.4.0-rc.2/go.mod h1:LlEzMj4AhA7rCAGe4KMBDvJI+AwstrUpVNzEA03Pprs=
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github.com/golang/protobuf v1.4.0/go.mod h1:jodUvKwWbYaEsadDk5Fwe5c77LiNKVO9IDvqG2KuDX0=
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github.com/golang/protobuf v1.4.3 h1:JjCZWpVbqXDqFVmTfYWEVTMIYrL/NPdPSCHPJ0T/raM=
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github.com/google/go-cmp v0.3.0/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU=
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github.com/google/go-cmp v0.3.1/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU=
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github.com/google/go-cmp v0.4.0/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
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github.com/google/go-cmp v0.5.0 h1:/QaMHBdZ26BB3SSst0Iwl10Epc+xhTquomWX0oZEB6w=
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golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w=
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golang.org/x/lint v0.0.0-20181026193005-c67002cb31c3/go.mod h1:UVdnD1Gm6xHRNCYTkRU2/jEulfH38KcIWyp/GAMgvoE=
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36+
golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
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golang.org/x/sys v0.0.0-20180830151530-49385e6e1522/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
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golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
41+
golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
42+
golang.org/x/tools v0.0.0-20190114222345-bf090417da8b/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
43+
golang.org/x/tools v0.0.0-20190226205152-f727befe758c/go.mod h1:9Yl7xja0Znq3iFh3HoIrodX9oNMXvdceNzlUR8zjMvY=
44+
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golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543 h1:E7g+9GITq07hpfrRu66IVDexMakfv52eLZ2CXBWiKr4=
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golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
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58+
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59+
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60+
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61+
google.golang.org/protobuf v1.22.0/go.mod h1:EGpADcykh3NcUnDUJcl1+ZksZNG86OlYog2l/sGQquU=
62+
google.golang.org/protobuf v1.23.0/go.mod h1:EGpADcykh3NcUnDUJcl1+ZksZNG86OlYog2l/sGQquU=
63+
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64+
google.golang.org/protobuf v1.25.0 h1:Ejskq+SyPohKW+1uil0JJMtmHCgJPJ/qWTxr8qp+R4c=
65+
google.golang.org/protobuf v1.25.0/go.mod h1:9JNX74DMeImyA3h4bdi1ymwjUzf21/xIlbajtzgsN7c=
66+
honnef.co/go/tools v0.0.0-20190102054323-c2f93a96b099/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=
67+
honnef.co/go/tools v0.0.0-20190523083050-ea95bdfd59fc/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=

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