imprement referee_wrapper

consai2r2_msgs/CMakeLists.txt

@@ -31,6 +31,8 @@ set(msg_files
   "msg/VisionDetections.msg"
   "msg/RobotInfo.msg"
   "msg/BallInfo.msg"
+  "msg/DecodedReferee.msg"
+  "msg/ReplaceBall.msg"
   "msg/RobotCommand.msg"
   "msg/RobotCommands.msg"
 )

consai2r2_msgs/msg/DecodedReferee.msg

@@ -0,0 +1,40 @@
+# game status for consai2_game
+
+# ID : text
+# 0  : HALT
+# 1  : STOP
+# 2  : ---
+# 3  : FORCE_START
+# 11 : OUR_KICKOFF_PREPARATION
+# 12 : OUR_KICKOFF_START
+# 13 : OUR_PENALTY_PREPARATION
+# 14 : OUR_PENALTY_START
+# 15 : OUR_DIRECT_FREE
+# 16 : OUR_INDIRECT_FREE
+# 17 : OUR_TIMEOUT
+# 18 : OUR_GOAL
+# 19 : OUR_BALL_PLACEMENT
+# 20 : ---
+# 21 : THEIR_KICKOFF_PREPARATION
+# 22 : THEIR_KICKOFF_START
+# 23 : THEIR_PENALTY_PREPARATION
+# 24 : THEIR_PENALTY_START
+# 25 : THEIR_DIRECT_FREE
+# 26 : THEIR_INDIRECT_FREE
+# 27 : THEIR_TIMEOUT
+# 28 : THEIR_GOAL
+# 29 : THEIR_BALL_PLACEMENT
+
+uint8   referee_id
+string  referee_text
+
+bool    can_move_robot
+float64 speed_limit_of_robot # meter/sec
+bool    can_kick_ball
+bool    can_enter_their_side
+bool    can_enter_center_circle
+bool    is_inplay
+float64 keep_out_radius_from_ball # meter
+float64 keep_out_distance_from_their_defense_area # meter
+
+geometry_msgs/Point placement_position

consai2r2_msgs/msg/ReplaceBall.msg

@@ -0,0 +1,8 @@
+# This msg file is copied from 'grSim_Replacement.proto'
+#
+float64 x
+float64 y
+float64 vx
+float64 vy
+
+bool    is_enabled

consai2r2_referee_wrapper/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>consai2r2_referee_wrapper</name>
+  <version>0.0.0</version>
+  <description>Referee Wrapper</description>
+  <maintainer email="macakasit@gmail.com">akshota</maintainer>
+  <license>MIT</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>consai2r2_msgs</exec_depend>
+  <exec_depend>consai2r2_receiver</exec_depend>
+  <exec_depend>consai2r2_description</exec_depend>
+
+  <!-- These test dependencies are optional
+  Their purpose is to make sure that the code passes the linters -->
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

consai2r2_referee_wrapper/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/consai2r2_referee_wrapper
+[install]
+install-scripts=$base/lib/consai2r2_referee_wrapper

consai2r2_referee_wrapper/setup.py

@@ -0,0 +1,35 @@
+from setuptools import setup
+
+package_name = 'consai2r2_referee_wrapper'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    author='akshota',
+    author_email='macakasit@gmail.com',
+    maintainer='akshota',
+    maintainer_email='macakasit@gmail.com',
+    keywords=['ROS'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: MIT License',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='Translate raw referee message to AI-friendly message',
+    license='MIT License',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'referee_wrapper = consai2r2_referee_wrapper.referee_wrapper:main',
+        ],
+    },
+)

consai2r2_referee_wrapper/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.'])
+    assert rc == 0, 'Found errors'

consai2r2_referee_wrapper/test/test_flake8.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

consai2r2_referee_wrapper/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.'])
+    assert rc == 0, 'Found code style errors / warnings'