private static void Main(string[] args)
{
// Get gRPC client
Console.WriteLine("This project is still in early stage");
var blueChannel = new Channel("127.0.0.1:50052", ChannelCredentials.Insecure);
var yellowChannel = new Channel("127.0.0.1:50053", ChannelCredentials.Insecure);
var blueClient = new FiraMessage.RefToCli.Referee.RefereeClient(blueChannel);
var yellowClient = new FiraMessage.RefToCli.Referee.RefereeClient(yellowChannel);
//var simulationChannel = new Channel("127.0.0.1:50051", ChannelCredentials.Insecure);
//var simulationClient = new GrpcSimulateClient(new Simulate.SimulateClient(simulationChannel));
using var simulationClient = new SimulateClient("127.0.0.1", 50051, 50054);
try
{
// Register strategy
var blueTeamInfo = new FiraMessage.RefToCli.TeamInfo {
Color = Color.B
};
var blueName = blueClient.Register(blueTeamInfo);
var yellowTeamInfo = new FiraMessage.RefToCli.TeamInfo {
Color = Color.Y
};
var yellowName = yellowClient.Register(yellowTeamInfo);
var matchInfo = MainLoop(blueClient, yellowClient, simulationClient);
if (matchInfo.Score.BlueScore > matchInfo.Score.YellowScore)
{
blueName.Name += " Win";
Console.WriteLine(blueName.Name);
}
else if (matchInfo.Score.BlueScore < matchInfo.Score.YellowScore)
{
yellowName.Name += " Win";
Console.WriteLine(yellowName.Name);
}
else
{
throw new ArgumentOutOfRangeException();
}
}
catch (RpcException ex)
{
if (ex.Status.StatusCode == StatusCode.Unavailable)
{
Console.WriteLine("An agent client has closed.");
}
}
finally
{
blueChannel.ShutdownAsync().Wait();
yellowChannel.ShutdownAsync().Wait();
//simulationChannel.ShutdownAsync().Wait();
}
}
private static MatchInfo MainLoop(FiraMessage.RefToCli.Referee.RefereeClient blueClient,
FiraMessage.RefToCli.Referee.RefereeClient yellowClient, ISimulateClient simulationClient)
{
var matchInfo = new MatchInfo();
var environment = InitSimEnvironment();
bool isSecondHalf = false;
while (true)
{
try
{
//TODO: just for test
Console.Out.WriteLine("MatchPhase = {0}", matchInfo.MatchPhase);
Console.Out.WriteLine("matchInfo.TickPhase = {0}", matchInfo.TickPhase);
Console.Out.WriteLine("matchInfo.TickMatch = {0}", matchInfo.TickMatch);
if (matchInfo.MatchPhase == MatchPhase.Penalty)
{
Console.Out.WriteLine("BlueScore = {0}", matchInfo.Score.BlueScore);
Console.Out.WriteLine("YellowScore = {0}", matchInfo.Score.YellowScore);
}
// Get JudgeResult from the judge
var judgeResult = matchInfo.Referee.Judge(matchInfo);
FoulInfo info = ExtractFoulInfo(judgeResult, matchInfo);
switch (judgeResult.ResultType)
{
case ResultType.NormalMatch:
{
// The game continues, move to next frame
var blueCliEnvironment = EnvironmentSimToCli(environment, info);
var blueClientCommandReply = blueClient.RunStrategy(blueCliEnvironment);
var yellowCliEnvironment = ConvertToRight(EnvironmentSimToCli(environment, info));
var yellowClientCommandReply = yellowClient.RunStrategy(yellowCliEnvironment);
environment = simulationClient.Simulate(CommandCliToSim(blueClientCommandReply,
yellowClientCommandReply, isSecondHalf));
break;
}
case ResultType.NextPhase:
{
// This Phase is over, start next phase
switch (matchInfo.MatchPhase)
{
case MatchPhase.FirstHalf:
matchInfo.MatchPhase = MatchPhase.SecondHalf;
isSecondHalf = true;
break;
case MatchPhase.SecondHalf:
matchInfo.MatchPhase = MatchPhase.OverTime;
isSecondHalf = false;
break;
case MatchPhase.OverTime:
matchInfo.MatchPhase = MatchPhase.Penalty;
break;
default:
throw new ArgumentOutOfRangeException();
}
matchInfo.TickPhase = 0;
continue;
}
case ResultType.GameOver:
{
return(matchInfo);
}
case ResultType.PlaceKick:
case ResultType.GoalKick:
case ResultType.PenaltyKick:
case ResultType.FreeKickRightTop:
case ResultType.FreeKickRightBot:
case ResultType.FreeKickLeftTop:
case ResultType.FreeKickLeftBot:
{
// A foul happened
// Get ball position
var cliEnvironment = EnvironmentSimToCli(environment, info);
var ballPosition = judgeResult.WhosBall switch
{
Simuro5v5.Side.Nobody => FoulBallPosition(info, judgeResult),
Simuro5v5.Side.Blue => blueClient.SetBall(cliEnvironment),
Simuro5v5.Side.Yellow => ConvertFromRight(
yellowClient.SetBall(ConvertToRight(cliEnvironment))),
_ => throw new ArgumentOutOfRangeException()
};
Robots blueClientRobotsReply;
Robots yellowClientRobotsReply;
cliEnvironment.Frame.Ball = ballPosition;
switch (judgeResult.WhoisFirst)
{
case Simuro5v5.Side.Blue:
blueClientRobotsReply = blueClient.SetFormerRobots(cliEnvironment);
cliEnvironment.FoulInfo.Actor = Side.Opponent;
cliEnvironment.Frame.RobotsBlue.SetRobots(blueClientRobotsReply);
matchInfo.UpdateByCliEnvironment(cliEnvironment);
matchInfo.Referee.JudgeAutoPlacement(matchInfo, judgeResult, Simuro5v5.Side.Blue);
MatchInfo2CliEnvironment(matchInfo, ref cliEnvironment, false);
yellowClientRobotsReply =
yellowClient.SetLaterRobots(ConvertToRight(cliEnvironment));
ConvertFromRight(ref yellowClientRobotsReply);
cliEnvironment.Frame.RobotsYellow.SetRobots(yellowClientRobotsReply);
matchInfo.UpdateByCliEnvironment(cliEnvironment);
matchInfo.Referee.JudgeAutoPlacement(matchInfo, judgeResult, Simuro5v5.Side.Yellow);
MatchInfo2CliEnvironment(matchInfo, ref cliEnvironment, true);
break;
case Simuro5v5.Side.Yellow:
yellowClientRobotsReply =
yellowClient.SetFormerRobots(ConvertToRight(cliEnvironment));
ConvertFromRight(ref yellowClientRobotsReply);
cliEnvironment.FoulInfo.Actor = Side.Opponent;
cliEnvironment.Frame.RobotsYellow.SetRobots(yellowClientRobotsReply);
matchInfo.UpdateByCliEnvironment(cliEnvironment);
matchInfo.Referee.JudgeAutoPlacement(matchInfo, judgeResult, Simuro5v5.Side.Yellow);
MatchInfo2CliEnvironment(matchInfo, ref cliEnvironment, true);
blueClientRobotsReply = blueClient.SetLaterRobots(cliEnvironment);
cliEnvironment.Frame.RobotsBlue.SetRobots(blueClientRobotsReply);
matchInfo.UpdateByCliEnvironment(cliEnvironment);
matchInfo.Referee.JudgeAutoPlacement(matchInfo, judgeResult, Simuro5v5.Side.Blue);
MatchInfo2CliEnvironment(matchInfo, ref cliEnvironment, false);
break;
default:
throw new ArgumentOutOfRangeException();
}
environment = simulationClient.Simulate(MatchInfo2Packet(matchInfo, isSecondHalf));
break;
}
default:
throw new ArgumentOutOfRangeException();
}
if (isSecondHalf)
{
SecondHalfTransform(ref environment);
}
SimEnvironment2MatchInfo(environment, ref matchInfo);
matchInfo.TickMatch++;
matchInfo.TickPhase++;
}
catch (RpcException ex)
{
Console.WriteLine($"RPC exception occured: {ex.Message}");
Console.WriteLine("Press ENTER to retry...");
Console.ReadLine();
}
}
}
