Homepage: https://tigers-mannheim.de
Mail: [email protected]
This is the AutoReferee implementation of TIGERs Mannheim. It is based on Sumatra, our AI framework. We use Gradle for building the application and IntelliJ as the primary IDE. All dependencies will be downloaded automatically, so you need an internet connection for the build.
- Java JDK 11
- Internet connection
- no limitations on OS known
Run ./build.sh or ./build.bat, depending on your system platform.
Run ./run.sh or run.bat, depending on your system platform.
You can pass -h to get the available arguments.
IntelliJ reads the Gradle configuration and can use Gradle to perform the build. Make sure to configure Gradle for build and tests under Build, Execution, Deployment -> Build Tools -> Gradle.
The GUI is divided into different views that can be arranged dynamically. If a view is not shown, it can be added from the menu (Views).
In the AutoReferee view, you can set the mode of the autoRef to one of:
- Off: The autoRef is completely off
- Passive: The autoRef will detect events and show it in the Game Log, but it will not send anything to the game-controller
- Active: The autoRef will detect events and will also send them to the game-controller
This view also allows to deactivate certain detectors.
The Game Log view displays all events that occurred and have an impact on the behavior of the autoRef. The checkboxes below the table can be used to toggle different event types on or off.
The Ball Speed view displays the velocity of the ball on the field. The slider component on the right can be used to alter the time window of the chart. If the Pause when not RUNNING checkbox is ticked the chart will automatically pause if the game is not in the RUNNING gamestate. This pause can be overridden by using the Pause/Resume buttons. Please note that the chart will not automatically resume after it has been manually paused by the user if the gamestate transitions back to RUNNING.
The chart will show three lines:
- Maximum ball speed: The ball speed limit, defined by the rules.
- initial ball speed: The estimated initial ball speed (kick speed) based on the ball trajectory. It gets more accurate over time.
- ball speed: The current estimated ball speed
All configuration options are available via the Cfg tab. The Cfg tab itself contains multiple tabs to modify parameters of different parts of the application. You can then make the necessary modifications and Apply them. To make the changes persistent, press Save to write them to disk. Press Reload to reread all currently applied values.
The application will try to receive vision frames from 224.5.23.2:10006 by default. If you want to change this behavior navigate to the user section and select edu.tigers.sumatra->cam->SSLVisionCam.
The application will try to receive referee messages from 224.5.23.1:10003 by default. The port can be changed in config/moduli/moduli.xml.
The behavior of the autoRef can be altered through the autoreferee config section. It contains parameters for the detectors.
Parameters defined by the rules can be found under ruleConst.
Default geometry parameters can be found under geom. Most of them are overwritten on the first received geometry package from ssl-vision.
The autoRef ships with the official ssl-game-controller. To activate it, change gameController to true in config/moduli/moduli.xml. The autoRef will internally launch the game-controller and connect to its websocket API
to be able to send some basic commands through the Ref view. This view also contains a button to launch the full
game-controller UI.