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config.go
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config.go
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package engine
import (
"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
"github.com/pkg/errors"
"google.golang.org/protobuf/encoding/protojson"
"io"
"log"
"os"
"path/filepath"
)
var defaultTeams = []string{
"AIS",
"AMC",
"A-Team",
"Carrossel Caipira",
"Cerberus",
"CMμs",
"Delft Mercurians",
"Eagles",
"ER-Force",
"GreenTea",
"Immortals",
"ITAndroids",
"KgpKubs",
"KIKS",
"luhbots",
"MCT Susano Logics",
"MIT Roboteam",
"MRL",
"NAELIC",
"NAMeC",
"NEUIslanders",
"OMID",
"OP-AmP",
"OrcaBOT",
"Parsian",
"RFC Cambridge",
"Ri-one",
"RobôCin",
"RoboDragons",
"RoboFEI",
"RoboIME",
"RoboJackets",
"RoboTeam Twente",
"SPbUnited",
"SRC",
"SSH",
"STOx’s",
"Sysmic Robotics",
"TauraBOTS",
"Test Team",
"TIGERs Mannheim",
"Tritons RCSC",
"TurtleRabbit",
"UBC Thunderbots",
"ULtron",
"UMass Minutebots",
"UnBall",
"Unknown",
"URoboRus",
"Warthog Robotics",
"ZJUNlict",
}
func DefaultConfig() (x Config) {
x.AutoRefConfigs = map[string]*AutoRefConfig{}
x.GameEventBehavior = map[string]Config_Behavior{}
for _, event := range state.GameEventsForBehaviorConfig() {
x.GameEventBehavior[event.String()] = Config_BEHAVIOR_ACCEPT_MAJORITY
}
// Set common defaults that are usually set at a competition
x.GameEventBehavior[state.GameEvent_POSSIBLE_GOAL.String()] = Config_BEHAVIOR_ACCEPT
x.GameEventBehavior[state.GameEvent_BALL_LEFT_FIELD_GOAL_LINE.String()] = Config_BEHAVIOR_ACCEPT
x.GameEventBehavior[state.GameEvent_BALL_LEFT_FIELD_TOUCH_LINE.String()] = Config_BEHAVIOR_ACCEPT
x.Teams = defaultTeams
x.AutoContinue = new(bool)
*x.AutoContinue = true
return
}
// ReadFrom loads a config from given file
func (x *Config) ReadFrom(fileName string) (err error) {
f, err := os.OpenFile(fileName, os.O_RDONLY, 0600)
if err != nil {
return
}
b, err := io.ReadAll(f)
if err != nil {
return
}
err = protojson.Unmarshal(b, x)
if err != nil {
err = errors.Wrapf(err, "Could not unmarshal config file %v", fileName)
}
defConfig := DefaultConfig()
if x.AutoRefConfigs == nil {
x.AutoRefConfigs = defConfig.AutoRefConfigs
}
for key, value := range defConfig.AutoRefConfigs {
if _, ok := x.AutoRefConfigs[key]; !ok {
x.AutoRefConfigs[key] = value
}
}
if x.GameEventBehavior == nil {
x.GameEventBehavior = map[string]Config_Behavior{}
}
for key, value := range defConfig.GameEventBehavior {
if _, ok := x.GameEventBehavior[key]; !ok {
x.GameEventBehavior[key] = value
}
}
uniqueTeams := map[string]bool{}
for _, t := range defaultTeams {
uniqueTeams[t] = true
}
for _, t := range x.Teams {
uniqueTeams[t] = true
}
x.Teams = make([]string, 0, len(uniqueTeams))
for t := range uniqueTeams {
x.Teams = append(x.Teams, t)
}
if x.AutoContinue == nil {
x.AutoContinue = defConfig.AutoContinue
}
return
}
// LoadControllerConfig loads the controller config, creating a default one if it is not present yet
func (x *Config) LoadControllerConfig(configFileName string) {
err := x.ReadFrom(configFileName)
if err != nil {
log.Printf("Could not load config: %v", err)
*x = DefaultConfig()
err = x.WriteTo(configFileName)
if err != nil {
log.Printf("Failed to write a default config file to %v: %v", configFileName, err)
} else {
log.Println("New default config has been written to ", configFileName)
}
}
return
}
// WriteTo writes the config to the given file
func (x *Config) WriteTo(fileName string) (err error) {
marshaler := protojson.MarshalOptions{Indent: " "}
b, err := marshaler.Marshal(x)
if err != nil {
err = errors.Wrapf(err, "Could not marshal config %v", x)
return
}
err = os.MkdirAll(filepath.Dir(fileName), 0755)
if err != nil {
err = errors.Wrapf(err, "Could not create directory for config file: %v", fileName)
return
}
err = os.WriteFile(fileName, b, 0600)
return
}
func (x *Config) StringJson() string {
if b, err := protojson.Marshal(x); err != nil {
return err.Error()
} else {
return string(b)
}
}