[feature] Add an option to use vision detection frames as time provider

Author: g3force

config/ssl-game-controller.yaml

@@ -1,3 +1,4 @@
+timeFromVision: false
 network:
   publish-address: 224.5.23.1:10003
   vision-address: 224.5.23.2:10006

internal/app/config/config.go

@@ -69,9 +69,10 @@ type ServerTeam struct {
 
 // Controller structure for the game controller
 type Controller struct {
-	Network Network `yaml:"network"`
-	Game    Game    `yaml:"game"`
-	Server  Server  `yaml:"server"`
+	Network        Network `yaml:"network"`
+	Game           Game    `yaml:"game"`
+	Server         Server  `yaml:"server"`
+	TimeFromVision bool    `yaml:"timeFromVision"`
 }
 
 // LoadControllerConfig loads a config from given file
@@ -152,6 +153,8 @@ func DefaultControllerConfig() (c Controller) {
 	c.Game.MaxBots[DivA] = 8
 	c.Game.MaxBots[DivB] = 6
 
+	c.TimeFromVision = false
+
 	return
 }
 

internal/app/controller/controller.go

@@ -5,6 +5,7 @@ import (
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/rcon"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision"
 	"github.com/RoboCup-SSL/ssl-game-controller/pkg/timer"
+	"github.com/RoboCup-SSL/ssl-go-tools/pkg/sslproto"
 	"log"
 	"sync"
 	"time"
@@ -51,6 +52,8 @@ func NewGameController() (c *GameController) {
 	c.Engine = NewEngine(c.Config.Game)
 	c.timer = timer.NewTimer()
 
+	c.setupTimeProvider()
+
 	return
 }
 
@@ -82,6 +85,24 @@ func (c *GameController) Run() {
 	go c.TeamServer.Listen(c.Config.Server.Team.Address)
 }
 
+// setupTimeProvider changes the time provider to the vision receiver, if configured
+func (c *GameController) setupTimeProvider() {
+	if c.Config.TimeFromVision {
+		c.timer.TimeProvider = func() time.Time {
+			return time.Unix(0, 0)
+		}
+		c.Engine.TimeProvider = c.timer.TimeProvider
+		c.VisionReceiver.DetectionCallback = func(frame *sslproto.SSL_DetectionFrame) {
+			sec := int64(*frame.TCapture)
+			nsec := int64((*frame.TCapture - float64(sec)) * 1e9)
+			c.timer.TimeProvider = func() time.Time {
+				return time.Unix(sec, nsec)
+			}
+			c.Engine.TimeProvider = c.timer.TimeProvider
+		}
+	}
+}
+
 // mainLoop updates several states every full second and publishes the new state
 func (c *GameController) mainLoop() {
 	defer c.historyPreserver.Close()