Add geometry updates to the CI protocol

JaroKuiken · Apr 27, 2021 · 1ec8284 · 1ec8284
1 parent 1088298
commit 1ec8284
Show file tree

Hide file tree

Showing 3 changed files with 218 additions and 99 deletions.
diff --git a/internal/app/ci/ci.go b/internal/app/ci/ci.go
@@ -100,6 +100,10 @@ func (s *Server) serve(conn net.Conn) {
 			}
 		}
 
+		if input.Geometry != nil {
+			s.gcEngine.ProcessGeometry(input.Geometry)
+		}
+
 		if input.Timestamp != nil {
 			sec := *input.Timestamp / 1e9
 			nSec := *input.Timestamp - sec*1e9

diff --git a/internal/app/ci/ssl_gc_ci.pb.go b/internal/app/ci/ssl_gc_ci.pb.go
diff --git a/proto/ssl_gc_ci.proto b/proto/ssl_gc_ci.proto
@@ -5,6 +5,7 @@ option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/ci"
 import "ssl_vision_wrapper_tracked.proto";
 import "ssl_gc_api.proto";
 import "ssl_gc_referee_message.proto";
+import "ssl_vision_geometry.proto";
 
 // The input format to the GC
 message CiInput {
@@ -14,6 +15,8 @@ message CiInput {
     optional TrackerWrapperPacket tracker_packet = 2;
     // (UI) API input
     repeated Input api_inputs = 3;
+    // Update geometry
+    optional SSL_GeometryData geometry = 4;
 }
 
 // The output format of the GC response