feat(Protobuf): creates protobuf packets, protobuf files generator and paths include in cmake, receiver code for tests,

.devcontainer/Dockerfile

@@ -15,4 +15,4 @@ RUN if [ "${REINSTALL_CMAKE_VERSION_FROM_SOURCE}" != "none" ]; then \
 
 # [Optional] Uncomment this section to install additional packages.
 RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
-    && apt-get -y install --no-install-recommends qt5-default libsfml-dev libopencv-dev freeglut3-dev
+    && apt-get -y install --no-install-recommends qt5-default libsfml-dev libopencv-dev freeglut3-dev protobuf-compiler libprotobuf-dev

.devcontainer/devcontainer.json

@@ -7,6 +7,7 @@
 	},
 
 	"runArgs": [
+		"--device=/dev/video1:/dev/video0",
 		"-e", "DISPLAY=${env:DISPLAY}",
 		"-v", "/tmp/.X11-unix:/tmp/.X11-unix",
 		"--network=host"

CMakeLists.txt

@@ -10,7 +10,6 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 set(EXECUTABLE_OUTPUT_PATH "${PROJECT_SOURCE_DIR}/src")
 
-
 set(SOURCES
     src/main.cpp
     src/Utils/Utils.cpp
@@ -48,6 +47,7 @@ set(SOURCES
     src/Windows/RobotWidget.cpp
     src/trackconfigdialog.cpp
     src/Network/Network.cpp
+    src/Network/visionServer/server.cpp
 )
 
 set(HEADERS
@@ -90,26 +90,39 @@ set(HEADERS
     src/trackconfigdialog.h
     src/Windows/FileConstants.h
     src/Network/Network.h
+    src/Network/visionServer/server.h
 )
 
 set(RESOURCES
     src/image.qrc
     src/iconTools/icontools.qrc
 )
 
-add_executable(VSS-VISION ${SOURCES} ${HEADERS} ${RESOURCES})
+set(PROTOS
+    src/Network/protobuf/proto/messages_robocup_ssl_detection.proto
+    src/Network/protobuf/proto/messages_robocup_ssl_geometry.proto
+    src/Network/protobuf/proto/wrapper.proto
+)
+
+find_package(Protobuf REQUIRED)
+protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${PROTOS})
 
-target_include_directories(VSS-VISION PUBLIC "${PROJECT_SOURCE_DIR}/src")
-target_include_directories(VSS-VISION PUBLIC "${PROJECT_SOURCE_DIR}/include")
+add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS} ${RESOURCES} ${PROTO_SRCS} ${PROTO_HDRS})
 
-find_package(Qt5 REQUIRED COMPONENTS Core Widgets Gui)
-target_link_libraries(VSS-VISION Qt5::Core Qt5::Widgets Qt5::Gui)
+target_include_directories(${PROJECT_NAME} PUBLIC "${PROJECT_SOURCE_DIR}/src")
+target_include_directories(${PROJECT_NAME} PUBLIC "${PROJECT_SOURCE_DIR}/include")
+target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_BINARY_DIR})
+
+find_package(Qt5 REQUIRED COMPONENTS Core Widgets Gui Network)
+target_link_libraries(${PROJECT_NAME} Qt5::Core Qt5::Widgets Qt5::Gui Qt5::Network)
 
 find_package(OpenCV REQUIRED)
-target_link_libraries(VSS-VISION ${OpenCV_LIBS})
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
 
 find_package(TBB REQUIRED)
-target_link_libraries(VSS-VISION TBB::tbb)
+target_link_libraries(${PROJECT_NAME} TBB::tbb)
 
 find_package(SFML REQUIRED COMPONENTS network system)
-target_link_libraries(VSS-VISION sfml-network sfml-system)
+target_link_libraries(${PROJECT_NAME} sfml-network sfml-system)
+
+target_link_libraries(${PROJECT_NAME} ${Protobuf_LIBRARIES})

Dockerfile

@@ -11,13 +11,15 @@ RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
     libsfml-dev \
     libopencv-dev \
     freeglut3-dev \
+    protobuf-compiler \
+    libprotobuf-dev \ 
     cmake
 
 COPY . /opt/vss-vision
 
 WORKDIR /opt/vss-vision/build
 
-RUN cmake clean .. && make -j4
+RUN cmake clean .. -Wno-dev && make -j4
 
 WORKDIR /opt/vss-vision/src
 

client/python/receiver.py

@@ -0,0 +1,57 @@
+import socket
+import struct
+from time import time
+import wrapper_pb2 as wr
+
+class FiraClient:
+
+    def __init__(self, 
+            vision_ip="127.0.0.1",
+            vision_port=10015):
+        """
+        Init SSLClient object.
+        Extended description of function.
+        Parameters
+        ----------
+        vision_ip : str
+            Multicast Vision IP in format '255.255.255.255'. 
+        vision_port : int
+            Vision Port up to 1024. 
+        """
+
+        self.vision_ip = vision_ip
+        self.vision_port = vision_port
+
+        self.vision_sock = socket.socket(
+            socket.AF_INET, socket.SOCK_DGRAM)
+        self.vision_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        self.vision_sock.setsockopt(socket.IPPROTO_IP, 
+                        socket.IP_MULTICAST_TTL, 128)
+        self.vision_sock.setsockopt(socket.IPPROTO_IP, 
+                        socket.IP_MULTICAST_LOOP, 1)
+        self.vision_sock.bind((self.vision_ip, self.vision_port))
+
+        # self.vision_sock.setblocking(True)
+        self.frame = None
+        self.det_frame = None
+
+    def receive_frame(self):
+        """Receive package and decode."""
+        data = None
+        while True:
+            try:
+                data, _ = self.vision_sock.recvfrom(1024)
+            except Exception as e:
+                print(e)
+            if data != None:
+                break
+
+        if data != None:
+            decoded_data = wr.SSL_WrapperPacket().FromString(data)
+        print(decoded_data)
+        # return self.frame, self.det_frame
+
+a = FiraClient()
+while(1):
+    a.receive_frame()
+

src/Entity/Entity.h

@@ -74,6 +74,7 @@ typedef Entity Player;
 typedef Player Ally;
 typedef Player Enemy;
 
+
 using Entities      = Vector<Entity>;
 using Players       = Vector<Player>;
 

src/Network/protobuf/proto/messages_robocup_ssl_detection.proto

@@ -0,0 +1,32 @@
+syntax = "proto2";
+
+message SSL_DetectionBall {
+  required float  confidence = 1;
+  optional uint32 area       = 2;
+  required float  x          = 3;
+  required float  y          = 4;
+  optional float  z          = 5;
+  required float  pixel_x    = 6;
+  required float  pixel_y    = 7;
+}
+
+message SSL_DetectionRobot {
+  required float  confidence  =  1;
+  optional uint32 robot_id    =  2;
+  required float  x           =  3;
+  required float  y           =  4;
+  optional float  orientation =  5;
+  required float  pixel_x     =  6;
+  required float  pixel_y     =  7;
+  optional float  height      =  8;
+}
+
+message SSL_DetectionFrame {
+  required uint32             frame_number  = 1;
+  required double             t_capture     = 2;
+  required double             t_sent        = 3;
+  required uint32             camera_id     = 4;
+  repeated SSL_DetectionBall  balls         = 5;
+  repeated SSL_DetectionRobot robots_yellow = 6;
+  repeated SSL_DetectionRobot robots_blue   = 7;
+}

src/Network/protobuf/proto/messages_robocup_ssl_geometry.proto

@@ -0,0 +1,151 @@
+syntax = "proto2";
+// A 2D float vector.
+message Vector2f {
+  // X-coordinate in mm
+  required float x = 1;
+  // Y-coordinate in mm
+  required float y = 2;
+}
+
+// Represents a field marking as a line segment represented by a start point p1,
+// and end point p2, and a line thickness. The start and end points are along
+// the center of the line, so the thickness of the line extends by thickness / 2
+// on either side of the line.
+message SSL_FieldLineSegment {
+  // Name of this field marking.
+  required string name = 1;
+  // Start point of the line segment.
+  required Vector2f p1 = 2;
+  // End point of the line segment.
+  required Vector2f p2 = 3;
+  // Thickness of the line segment.
+  required float thickness = 4;
+  // The type of this shape
+  optional SSL_FieldShapeType type = 5;
+}
+
+// Represents a field marking as a circular arc segment represented by center point, a
+// start angle, an end angle, and an arc thickness.
+message SSL_FieldCircularArc {
+  // Name of this field marking.
+  required string name = 1;
+  // Center point of the circular arc.
+  required Vector2f center = 2;
+  // Radius of the arc.
+  required float radius = 3;
+  // Start angle in counter-clockwise order.
+  required float a1 = 4;
+  // End angle in counter-clockwise order.
+  required float a2 = 5;
+  // Thickness of the arc.
+  required float thickness = 6;
+  // The type of this shape
+  optional SSL_FieldShapeType type = 7;
+}
+
+message SSL_GeometryFieldSize {
+  // Field length (distance between goal lines) in mm
+  required int32 field_length = 1;
+  // Field width (distance between touch lines) in mm
+  required int32 field_width = 2;
+  // Goal width (distance between inner edges of goal posts) in mm
+  required int32 goal_width = 3;
+  // Goal depth (distance from outer goal line edge to inner goal back) in mm
+  required int32 goal_depth = 4;
+  // Boundary width (distance from touch/goal line centers to boundary walls) in mm
+  required int32 boundary_width = 5;
+  // Generated line segments based on the other parameters 
+  repeated SSL_FieldLineSegment field_lines = 6;
+  // Generated circular arcs based on the other parameters
+  repeated SSL_FieldCircularArc field_arcs = 7;
+  // Depth of the penalty/defense area (measured between line centers) in mm
+  optional int32 penalty_area_depth = 8;
+  // Width of the penalty/defense area (measured between line centers) in mm
+  optional int32 penalty_area_width = 9;
+  // Radius of the center circle (measured between line centers) in mm
+  optional int32 center_circle_radius = 10;
+  // Thickness/width of the lines on the field in mm
+  optional int32 line_thickness = 11;
+  // Distance between the goal center and the center of the penalty mark in mm 
+  optional int32 goal_center_to_penalty_mark = 12;
+  // Goal height in mm
+  optional int32 goal_height = 13;
+  // Ball radius in mm (note that this is a float type to represent sub-mm precision)
+  optional float ball_radius = 14;
+  // Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)
+  optional float max_robot_radius = 15;
+}
+
+message SSL_GeometryCameraCalibration {
+  required uint32 camera_id     = 1;
+  required float focal_length = 2;
+  required float principal_point_x = 3;
+  required float principal_point_y = 4;
+  required float distortion = 5;
+  required float q0 = 6;
+  required float q1 = 7;
+  required float q2 = 8;
+  required float q3 = 9;
+  required float tx = 10;
+  required float ty = 11;
+  required float tz = 12;
+  optional float derived_camera_world_tx = 13;
+  optional float derived_camera_world_ty = 14;
+  optional float derived_camera_world_tz = 15;
+  optional uint32 pixel_image_width = 16;
+  optional uint32 pixel_image_height = 17;
+}
+
+// Two-Phase model for straight-kicked balls.
+// There are two phases with different accelerations during the ball kicks:
+// 1. Sliding
+// 2. Rolling
+// The full model is described in the TDP of ER-Force from 2016, which can be found here:
+// https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf
+message SSL_BallModelStraightTwoPhase {
+  // Ball sliding acceleration [m/s^2] (should be negative)
+  required double acc_slide = 1;
+  // Ball rolling acceleration [m/s^2] (should be negative)
+  required double acc_roll = 2;
+  // Fraction of the initial velocity where the ball starts to roll
+  required double k_switch = 3;
+}
+
+// Fixed-Loss model for chipped balls.
+// Uses fixed damping factors for xy and z direction per hop.
+message SSL_BallModelChipFixedLoss {
+  // Chip kick velocity damping factor in XY direction for the first hop
+  required double damping_xy_first_hop = 1;
+  // Chip kick velocity damping factor in XY direction for all following hops
+  required double damping_xy_other_hops = 2;
+  // Chip kick velocity damping factor in Z direction for all hops
+  required double damping_z = 3;
+}
+
+message SSL_GeometryModels {
+  optional SSL_BallModelStraightTwoPhase straight_two_phase = 1;
+  optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2;
+}
+
+message SSL_GeometryData {
+  required SSL_GeometryFieldSize field = 1;
+  repeated SSL_GeometryCameraCalibration calib = 2;
+  optional SSL_GeometryModels models = 3;
+}
+
+enum SSL_FieldShapeType {
+  Undefined = 0;
+  CenterCircle = 1;
+  TopTouchLine = 2;
+  BottomTouchLine = 3;
+  LeftGoalLine = 4;
+  RightGoalLine = 5;
+  HalfwayLine = 6;
+  CenterLine = 7;
+  LeftPenaltyStretch = 8;
+  RightPenaltyStretch = 9;
+  LeftFieldLeftPenaltyStretch = 10;
+  LeftFieldRightPenaltyStretch = 11;
+  RightFieldLeftPenaltyStretch = 12;
+  RightFieldRightPenaltyStretch = 13;
+}

src/Network/protobuf/proto/wrapper.proto

@@ -0,0 +1,8 @@
+syntax = "proto2";
+import "messages_robocup_ssl_detection.proto";
+import "messages_robocup_ssl_geometry.proto";
+
+message SSL_WrapperPacket {
+  optional SSL_DetectionFrame detection = 1;
+  optional SSL_GeometryData geometry = 2;
+}