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

PS: Only tested in Ubuntu 20.04.

To install the Python packages run

pip3 install websocket-client pygame tabulate

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

Open the GameController and 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 4.

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 with the robot id
• The position of each blue robot: light blue circle with the robot id
• The position of the ball: orange circle with id=-1

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.

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)