feature: Allow sending API Input via CI interface instead of WebSocket

Author: g3force

internal/app/ci/ci.go

@@ -1,6 +1,7 @@
 package ci
 
 import (
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/engine"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/sslconn"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker"
@@ -13,19 +14,23 @@ import (
 type Handler func(time.Time, *tracker.TrackerWrapperPacket) *state.Referee
 
 type Server struct {
-	address         string
-	listener        net.Listener
-	conn            net.Conn
-	latestTime      time.Time
-	tickChan        chan time.Time
-	mutex           sync.Mutex
-	TrackerConsumer func(*tracker.TrackerWrapperPacket)
+	address    string
+	listener   net.Listener
+	conn       net.Conn
+	latestTime time.Time
+	tickChan   chan time.Time
+	mutex      sync.Mutex
+	gcEngine   *engine.Engine
 }
 
 func NewServer(address string) *Server {
 	return &Server{address: address, tickChan: make(chan time.Time, 1)}
 }
 
+func (s *Server) SetEngine(engine *engine.Engine) {
+	s.gcEngine = engine
+}
+
 func (s *Server) Start() {
 	go s.listen(s.address)
 }
@@ -76,7 +81,19 @@ func (s *Server) serve(conn net.Conn) {
 		}
 
 		if input.TrackerPacket != nil {
-			s.TrackerConsumer(input.TrackerPacket)
+			s.gcEngine.ProcessTrackerFrame(input.TrackerPacket)
+		}
+
+		for _, in := range input.ApiInputs {
+			if in.Change != nil {
+				s.gcEngine.Enqueue(in.Change)
+			}
+			if in.ResetMatch != nil && *in.ResetMatch {
+				s.gcEngine.ResetMatch()
+			}
+			if in.ConfigDelta != nil {
+				s.gcEngine.UpdateConfig(in.ConfigDelta)
+			}
 		}
 
 		if input.Timestamp != nil {

internal/app/ci/ssl_gc_ci.pb.go

@@ -72,7 +72,7 @@ func (c *GameController) Start() {
 		c.messageGenerator.MessageConsumer = c.ciServer.SendMessage
 		c.gcEngine.SetTimeProvider(c.ciServer.Time)
 		c.gcEngine.SetTickChanProvider(c.ciServer.TickChanProvider)
-		c.ciServer.TrackerConsumer = c.gcEngine.ProcessTrackerFrame
+		c.ciServer.SetEngine(c.gcEngine)
 		c.ciServer.Start()
 	}
 

internal/app/gc/gc.go

@@ -3,6 +3,7 @@ syntax = "proto2";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/ci";
 
 import "ssl_vision_wrapper_tracked.proto";
+import "ssl_gc_api.proto";
 import "ssl_gc_referee_message.proto";
 
 // The input format to the GC
@@ -11,6 +12,8 @@ message CiInput {
     optional int64 timestamp = 1;
     // New tracker packet with ball and robot data
     optional TrackerWrapperPacket tracker_packet = 2;
+    // (UI) API input
+    repeated Input api_inputs = 3;
 }
 
 // The output format of the GC response