send_ssl_placement_cmd.py

#!/usr/bin/env python2
#
# This script builds a ball-placement SSL Referee message for the yellow team
# and repeatedly broadcasts it.  Usage:
#   ./send_ssl_placement_cmd.py <x coord> <y coord>
#
# Install protobuf:
#   pip2 install protobuf
#
# Compile protobuf files (this creates referee_pb2.py):
#   protoc -I=./common/protobuf --python_out=./ ./common/protobuf/referee.proto
#

from __future__ import print_function
from referee_pb2 import *
import time
import sys

import argparse
parser = argparse.ArgumentParser()
parser.add_argument('x', type=float)
parser.add_argument('y', type=float)
args = parser.parse_args()

# create packet
pkt = SSL_Referee()
pkt.stage = SSL_Referee.NORMAL_FIRST_HALF # needed?
pkt.command = SSL_Referee.BALL_PLACEMENT_YELLOW
pkt.command_counter = 1
pkt.command_timestamp = int(time.time())

# set position, converting from team coordinates to ssl ref global coordinates
pkt.designated_position.x = args.x * 1000
pkt.designated_position.y = args.y * 1000 - 4500

for team, name in [(pkt.yellow, 'RoboJackets'), (pkt.blue, 'Opponent')]:
    team.name = name
    team.score = 0
    team.red_cards = 0
    team.yellow_cards = 0
    team.timeouts = 5
    team.timeout_time = 5000
    team.goalie = 0


print("Sending referee message: \n")
print("-" * 50)
print(pkt, end='')
print("-" * 50)
print()

# setup UDP broadcast
import socket
UDP_PORT = 10003
UDP_ADDRESS = '224.5.23.1'
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

# Exit when ctrl+c is pressed
import signal
def handle_signal(signal, frame):
    sock.close()
    print('done')
    sys.exit(0)
signal.signal(signal.SIGINT, handle_signal)
signal.signal(signal.SIGTERM, handle_signal)

# repeatedly send the packet
while True:
    print('*', end='')
    sys.stdout.flush()

    pkt.packet_timestamp = int(time.time())
    pkt.command_counter += 1

    addr = (UDP_ADDRESS, UDP_PORT)
    data = pkt.SerializeToString()
    sock.sendto(data, addr)

    time.sleep(0.5)