SSL Hardware Challenge Tool

This tool will check if the robots/ball are correctly placed for the given challenge.

It will wait until all robots/ball are placed, wait 2 seconds and ask the user to confirm the beginning of the challenge. After that, everything will happen automatically.

Dependencies

• Python 3.8.5
  • WebSocket
  • Pygame
  • Numpy
  • Protobuf

PS: Only tested in Ubuntu 20.04.

To install the Python packages run

pip3 install websocket-client pygame tabulate numpy protobuf

The project already contains de compiled .proto files for Python, but, in case you need to re-compile/update them you need to place the new .proto files in the proto folder and then use the included script:

./update_protos.sh

Usage

Before starting any challenge make sure that all the following conditions are met:

• Both GameController and AutoRef (Preferably TIGERs) must be used
• The tool must run in the same computer as the GC
• The GC must be set to accept GOAL and POSSIBLE_GOAL proposals, the others can be turned off
• The AutoRef must be set to active
• The game state must be either First Half or Second Half
• Make sure the goal positions for each team are configured correctly in the GC

At last, run the ChallengeManager.py with:

python3 src/ChallengeManager.py -f <challenge_positions.json> -c <challenge_number>

• challenge_positions.json: is the .json file that contains the positions of the challenge.
• challenge_number: is the id of the challenge, must be between 1 and 5.

NOTE: Challenge N⁰ 5 is the Technical Challenge - Ball Placement.

NOTE: In case there is too much noise in your camera setup, you can enable TIGERs AutoRef detection by passing the argument -A 1.

Example:

python3 src/ChallengeManager.py -f src/json_examples/challenge_1.json -c 1

For more information about the input arguments use:

python3 src/ChallengeManager.py -h

User Interface

The graphical user interface shows:

• The position of each yellow robot: dark yellow circle
• The position of each blue robot: light blue circle
• The position of the ball: orange circle

The colored circles indicate a threshold distance where the object must be placed, currently this threshold is 20mm and 5⁰. Therefore, the object must be within a distance of 20mm from the challenge position, with less than 5⁰ of orientation error. (subject to change)

If the object (robot/ball) is correctly placed, it's corresponding circle will turn light green, as shown in the image below.

NOTE: If the robot drawing is too big, it is probably because the tool hasn't received a geometry packet yet.

Warnings

The tool will warn the user if there is any infliction of the rules of the challenge regarding the initial position, the warnings indicate:

• If there are more defending robots (yellow) than the number defined in the json

• If there are more attacking robots (blue) than the number allowed for the current challenge

  • The 'Found' and 'Max' values in this warning mean, how many extra robots are in the field, and how many extra robots are allowed, respectively. A robot with its position defined in the json doesn't count

• If the robots that do not have their position defined in the json are in a valid position (usually the middle line)