TIGERs Mannheim AutoReferee

Homepage: https://www.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.

System Requirements

• Java JDK (recent LTS version, exact required version can be found here)
• Internet connection
• no limitations on OS known

Build

First, make sure you have cloned the GIT repository. The ZIP-file from GitHub does not work, as the build relies on Git tags.

Run ./build.sh or ./build.bat, depending on your system platform.

Run

Run ./run.sh or run.bat, depending on your system platform.

You can pass -h to get the available arguments.

You may be able to run it through docker as well:

docker run --net host  -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY tigersmannheim/auto-referee-vnc

IntelliJ

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.

Usage

GUI

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).

AutoReferee view

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.

Game Log View

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.

Ball Speed View

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

Configuration

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.

Vision port

The application will try to receive vision frames from 224.5.23.2:10006 by default. You can change the default address and port in config/moduli/moduli.xml.

Referee port

The application will try to receive referee messages from 224.5.23.1:10003 by default. You can change the default address and port in config/moduli/moduli.xml.

AutoRef detectors

The behavior of the autoRef can be altered through the autoreferee config section. It contains parameters for the detectors.

Rule constraints and geometry

Parameters defined by the rules can be found under ruleConst.

Default geometry parameters are read from config/geometry/DIV_A.txt. The file that is read can be changed in config/moduli/moduli.xml.

Activating the build-in ssl-game-controller

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.

Note: The embedded GC is not included by default. You should prefer to use the latest available version. If you want to use the embedded GC, start the autoRef with:

./gradlew :run -PcompactBuild=false