GT RoboCup SSL
Soccer software, robot firmware
Public Member Functions | Public Attributes | Protected Types | Protected Member Functions | Protected Attributes | List of all members
NewRefereeModule Class Reference

The ref module listens to a port for referee packets over the network. More...

Public Member Functions

 NewRefereeModule (Context *const ctx)
 
void stop ()
 
void getPackets (std::vector< NewRefereePacket *> &packets)
 
bool kicked ()
 
void useExternalReferee (bool value)
 
bool useExternalReferee ()
 
void blueTeam (bool value)
 
bool blueTeam ()
 
void updateGameState (bool blueTeam)
 
void spinKickWatcher ()
 

Public Attributes

NewRefereeModuleEnums::Stage stage
 
NewRefereeModuleEnums::Command command
 
RJ::Time sent_time
 
RJ::Time received_time
 
RJ::Seconds stage_time_left
 
int64_t command_counter
 
RJ::Time command_timestamp
 
TeamInfo yellow_info
 
TeamInfo blue_info
 

Protected Types

enum  KickDetectState {
  WaitForReady, CapturePosition, WaitForKick, VerifyKick,
  Kicked
}
 

Protected Member Functions

virtual void run () override
 
void ready ()
 

Protected Attributes

volatile bool _running
 
KickDetectState _kickDetectState
 
Geometry2d::Point _readyBallPos
 
QTime _kickTime
 
QMutex _mutex
 
std::vector< NewRefereePacket * > _packets
 
Context *const _context
 
NewRefereeModuleEnums::Command prev_command
 
NewRefereeModuleEnums::Stage prev_stage
 
bool _useExternalRef = false
 
bool _blueTeam = false
 
float ballPlacementx
 
float ballPlacementy
 

Detailed Description

The ref module listens to a port for referee packets over the network.

Referee packets are sent out from the ssl-refbox program. You can see the protobuf packet for full details, but the packets contains info about which stage of the game it is, team scores, yellow/red cards, etc.

Each time a new packet arrives, the ref module updates the GameState object with the new information.

+ Inheritance diagram for NewRefereeModule:
+ Collaboration diagram for NewRefereeModule:

Member Function Documentation

◆ spinKickWatcher()

void NewRefereeModule::spinKickWatcher ( )

Only run the kick detector when the ball is visible

Never kicked and not ready for a restart

The documentation for this class was generated from the following files: