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changed submodule and slight changes to cluster for easier testing
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@flimdejong
flimdejong committed Jan 24, 2025
1 parent a224e9f commit 8bbd3a5
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Showing 6 changed files with 207 additions and 95 deletions.
2 changes: 1 addition & 1 deletion .gitmodules
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Original file line number Diff line number Diff line change
Expand Up @@ -13,4 +13,4 @@
url = https://github.com/RoboTeamTwente/roboteam_embedded_messages.git
[submodule "tigers_sumatra"]
path = tigers_sumatra
url = git@github.com:RoboTeamTwente/tigers_sumatra.git
url = https://github.com/RoboTeamTwente/tigers_sumatra.git
2 changes: 1 addition & 1 deletion docker/runner/docker-compose.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ services:
container_name: RTT_roboteam_observer_sim
restart: always
working_dir: "/home/roboteamtwente/"
command: sh -c "./bin/roboteam_observer --vision-ip 224.5.23.2 --referee-ip 224.5.23.1 --vision-port 10020 --referee-port 10003 --log"
command: sh -c "./bin/roboteam_observer --vision-ip 224.5.23.2 --referee-ip 224.5.23.1 --vision-port 10020 --referee-port 10003"
network_mode: "host" # Workaround to connect from interface on host to AI websocket, please fix
expose:
- 1-65535:1-65535 # For zeromq ports
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97 changes: 96 additions & 1 deletion docker/runner/ray-cluster-combined.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ spec:

workerGroupSpecs:
- groupName: worker-group
replicas: 20
replicas: 1
minReplicas: 0
maxReplicas: 40
rayStartParams:
Expand All @@ -79,6 +79,10 @@ spec:
- name: ray-worker
image: roboteamtwente/ray:development
imagePullPolicy: Always
ports:
- containerPort: 6379 # Redis
- containerPort: 10001 # GCS server
- containerPort: 52365 # Raylet
resources:
requests:
cpu: 500m
Expand Down Expand Up @@ -143,6 +147,11 @@ spec:
- name: LD_LIBRARY_PATH
value: /home/roboteam/build/release/lib
workingDir: /home/roboteam
ports:
- containerPort: 10020
protocol: UDP
- containerPort: 10003
protocol: UDP
resources:
requests:
cpu: 60m
Expand Down Expand Up @@ -176,6 +185,13 @@ spec:
env:
- name: LD_LIBRARY_PATH
value: /home/roboteam/build/release/lib
ports:
- containerPort: 10020
protocol: UDP
- containerPort: 10010
protocol: UDP
- containerPort: 10003
protocol: UDP
resources:
requests:
cpu: 120m
Expand Down Expand Up @@ -209,6 +225,85 @@ spec:
cpu: 500m
memory: 500Mi

# # Multicast Receiver 1
# - name: multicast-receiver1
# image: python:3.9-slim
# command:
# - python
# - -c
# - |
# import socket
# import struct
# import sys

# try:
# print("Starting receiver 1...", file=sys.stderr)
# sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# sock.bind(('', 10020))
# mreq = struct.pack('4sl', socket.inet_aton('224.5.23.2'), socket.INADDR_ANY)
# sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq)
# print('Receiver 1 waiting...', file=sys.stderr)
# while True:
# data = sock.recv(1024)
# print(f'Receiver 1 got: {data.hex()}', flush=True)
# except Exception as e:
# print(f"Error in receiver 1: {e}", file=sys.stderr)
# raise

# # Multicast Receiver 2
# - name: multicast-receiver2
# image: python:3.9-slim
# command:
# - python
# - -c
# - |
# import socket
# import struct
# import sys

# try:
# print("Starting receiver 2...", file=sys.stderr)
# sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# sock.bind(('', 10020))
# mreq = struct.pack('4sl', socket.inet_aton('224.5.23.2'), socket.INADDR_ANY)
# sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq)
# print('Receiver 2 waiting...', file=sys.stderr)
# while True:
# data = sock.recv(1024)
# print(f'Receiver 2 got: {data.hex()}', flush=True)
# except Exception as e:
# print(f"Error in receiver 2: {e}", file=sys.stderr)
# raise

# # Multicast Sender
# - name: multicast-sender
# image: python:3.9-slim
# command:
# - python
# - -c
# - |
# import socket
# import time
# import sys

# try:
# print("Starting sender...", file=sys.stderr)
# sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 2)
# counter = 0

# while True:
# message = f"test-message-{counter}".encode()
# print(f'Sending: {message}', file=sys.stderr)
# sock.sendto(message, ('224.5.23.2', 10020))
# counter += 1
# time.sleep(1)
# except Exception as e:
# print(f"Error in sender: {e}", file=sys.stderr)
# raise

---
# Services
apiVersion: v1
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192 changes: 102 additions & 90 deletions docker/runner/ssl-game-controller-config/engine.yaml
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Original file line number Diff line number Diff line change
@@ -1,121 +1,129 @@
{
"gameEventBehavior": {
"AIMLESS_KICK": "BEHAVIOR_ACCEPT_MAJORITY",
"ATTACKER_DOUBLE_TOUCHED_BALL": "BEHAVIOR_ACCEPT_MAJORITY",
"ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA": "BEHAVIOR_ACCEPT_MAJORITY",
"ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT_MAJORITY",
"BALL_LEFT_FIELD_GOAL_LINE": "BEHAVIOR_ACCEPT",
"BALL_LEFT_FIELD_TOUCH_LINE": "BEHAVIOR_ACCEPT",
"BOT_CRASH_DRAWN": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_CRASH_UNIQUE": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_DRIBBLED_BALL_TOO_FAR": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_DROPPED_PARTS": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_HELD_BALL_DELIBERATELY": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_INTERFERED_PLACEMENT": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_KICKED_BALL_TOO_FAST": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_PUSHED_BOT": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_TIPPED_OVER": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_TOO_FAST_IN_STOP": "BEHAVIOR_ACCEPT_MAJORITY",
"BOUNDARY_CROSSING": "BEHAVIOR_ACCEPT_MAJORITY",
"DEFENDER_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT_MAJORITY",
"DEFENDER_TOO_CLOSE_TO_KICK_POINT": "BEHAVIOR_ACCEPT_MAJORITY",
"GOAL": "BEHAVIOR_ACCEPT_MAJORITY",
"INVALID_GOAL": "BEHAVIOR_ACCEPT_MAJORITY",
"KEEPER_HELD_BALL": "BEHAVIOR_ACCEPT_MAJORITY",
"NO_PROGRESS_IN_GAME": "BEHAVIOR_ACCEPT_MAJORITY",
"PENALTY_KICK_FAILED": "BEHAVIOR_ACCEPT_MAJORITY",
"PLACEMENT_SUCCEEDED": "BEHAVIOR_ACCEPT_MAJORITY",
"POSSIBLE_GOAL": "BEHAVIOR_ACCEPT",
"TOO_MANY_ROBOTS": "BEHAVIOR_ACCEPT_MAJORITY"
"gameEventBehavior": {
"AIMLESS_KICK": "BEHAVIOR_ACCEPT_MAJORITY",
"ATTACKER_DOUBLE_TOUCHED_BALL": "BEHAVIOR_ACCEPT_MAJORITY",
"ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA": "BEHAVIOR_ACCEPT_MAJORITY",
"ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT_MAJORITY",
"BALL_LEFT_FIELD_GOAL_LINE": "BEHAVIOR_ACCEPT",
"BALL_LEFT_FIELD_TOUCH_LINE": "BEHAVIOR_ACCEPT",
"BOT_CRASH_DRAWN": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_CRASH_UNIQUE": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_DRIBBLED_BALL_TOO_FAR": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_DROPPED_PARTS": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_HELD_BALL_DELIBERATELY": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_INTERFERED_PLACEMENT": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_KICKED_BALL_TOO_FAST": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_PUSHED_BOT": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_TIPPED_OVER": "BEHAVIOR_ACCEPT_MAJORITY",
"BOT_TOO_FAST_IN_STOP": "BEHAVIOR_ACCEPT_MAJORITY",
"BOUNDARY_CROSSING": "BEHAVIOR_ACCEPT_MAJORITY",
"DEFENDER_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT_MAJORITY",
"DEFENDER_TOO_CLOSE_TO_KICK_POINT": "BEHAVIOR_ACCEPT_MAJORITY",
"GOAL": "BEHAVIOR_ACCEPT_MAJORITY",
"INVALID_GOAL": "BEHAVIOR_ACCEPT_MAJORITY",
"KEEPER_HELD_BALL": "BEHAVIOR_ACCEPT_MAJORITY",
"NO_PROGRESS_IN_GAME": "BEHAVIOR_ACCEPT_MAJORITY",
"PENALTY_KICK_FAILED": "BEHAVIOR_ACCEPT_MAJORITY",
"PLACEMENT_SUCCEEDED": "BEHAVIOR_ACCEPT_MAJORITY",
"POSSIBLE_GOAL": "BEHAVIOR_ACCEPT",
"TOO_MANY_ROBOTS": "BEHAVIOR_ACCEPT_MAJORITY"
},
"autoRefConfigs": {
"ER-Force": {
"gameEventBehavior": {
"AIMLESS_KICK": "BEHAVIOR_ACCEPT",
"ATTACKER_DOUBLE_TOUCHED_BALL": "BEHAVIOR_ACCEPT",
"ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"BALL_LEFT_FIELD_GOAL_LINE": "BEHAVIOR_ACCEPT",
"BALL_LEFT_FIELD_TOUCH_LINE": "BEHAVIOR_ACCEPT",
"BOT_CRASH_DRAWN": "BEHAVIOR_ACCEPT",
"BOT_CRASH_UNIQUE": "BEHAVIOR_ACCEPT",
"BOT_DRIBBLED_BALL_TOO_FAR": "BEHAVIOR_ACCEPT",
"BOT_DROPPED_PARTS": "BEHAVIOR_ACCEPT",
"BOT_HELD_BALL_DELIBERATELY": "BEHAVIOR_ACCEPT",
"BOT_INTERFERED_PLACEMENT": "BEHAVIOR_ACCEPT",
"BOT_KICKED_BALL_TOO_FAST": "BEHAVIOR_ACCEPT",
"BOT_PUSHED_BOT": "BEHAVIOR_ACCEPT",
"BOT_TIPPED_OVER": "BEHAVIOR_ACCEPT",
"BOT_TOO_FAST_IN_STOP": "BEHAVIOR_ACCEPT",
"BOUNDARY_CROSSING": "BEHAVIOR_ACCEPT",
"DEFENDER_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"DEFENDER_TOO_CLOSE_TO_KICK_POINT": "BEHAVIOR_ACCEPT",
"GOAL": "BEHAVIOR_ACCEPT",
"INVALID_GOAL": "BEHAVIOR_ACCEPT",
"KEEPER_HELD_BALL": "BEHAVIOR_ACCEPT",
"NO_PROGRESS_IN_GAME": "BEHAVIOR_ACCEPT",
"PENALTY_KICK_FAILED": "BEHAVIOR_ACCEPT",
"PLACEMENT_SUCCEEDED": "BEHAVIOR_ACCEPT",
"POSSIBLE_GOAL": "BEHAVIOR_ACCEPT",
"TOO_MANY_ROBOTS": "BEHAVIOR_ACCEPT"
"autoRefConfigs": {
"ER-Force": {
"gameEventBehavior": {
"AIMLESS_KICK": "BEHAVIOR_ACCEPT",
"ATTACKER_DOUBLE_TOUCHED_BALL": "BEHAVIOR_ACCEPT",
"ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"BALL_LEFT_FIELD_GOAL_LINE": "BEHAVIOR_ACCEPT",
"BALL_LEFT_FIELD_TOUCH_LINE": "BEHAVIOR_ACCEPT",
"BOT_CRASH_DRAWN": "BEHAVIOR_ACCEPT",
"BOT_CRASH_UNIQUE": "BEHAVIOR_ACCEPT",
"BOT_DRIBBLED_BALL_TOO_FAR": "BEHAVIOR_ACCEPT",
"BOT_DROPPED_PARTS": "BEHAVIOR_ACCEPT",
"BOT_HELD_BALL_DELIBERATELY": "BEHAVIOR_ACCEPT",
"BOT_INTERFERED_PLACEMENT": "BEHAVIOR_ACCEPT",
"BOT_KICKED_BALL_TOO_FAST": "BEHAVIOR_ACCEPT",
"BOT_PUSHED_BOT": "BEHAVIOR_ACCEPT",
"BOT_TIPPED_OVER": "BEHAVIOR_ACCEPT",
"BOT_TOO_FAST_IN_STOP": "BEHAVIOR_ACCEPT",
"BOUNDARY_CROSSING": "BEHAVIOR_ACCEPT",
"DEFENDER_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"DEFENDER_TOO_CLOSE_TO_KICK_POINT": "BEHAVIOR_ACCEPT",
"GOAL": "BEHAVIOR_ACCEPT",
"INVALID_GOAL": "BEHAVIOR_ACCEPT",
"KEEPER_HELD_BALL": "BEHAVIOR_ACCEPT",
"NO_PROGRESS_IN_GAME": "BEHAVIOR_ACCEPT",
"PENALTY_KICK_FAILED": "BEHAVIOR_ACCEPT",
"PLACEMENT_SUCCEEDED": "BEHAVIOR_ACCEPT",
"POSSIBLE_GOAL": "BEHAVIOR_ACCEPT",
"TOO_MANY_ROBOTS": "BEHAVIOR_ACCEPT"
}
},
"RoboTeam Twente": {
"gameEventBehavior": {
"AIMLESS_KICK": "BEHAVIOR_ACCEPT",
"ATTACKER_DOUBLE_TOUCHED_BALL": "BEHAVIOR_ACCEPT",
"ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"BALL_LEFT_FIELD_GOAL_LINE": "BEHAVIOR_ACCEPT",
"BALL_LEFT_FIELD_TOUCH_LINE": "BEHAVIOR_ACCEPT",
"BOT_CRASH_DRAWN": "BEHAVIOR_ACCEPT",
"BOT_CRASH_UNIQUE": "BEHAVIOR_ACCEPT",
"BOT_DRIBBLED_BALL_TOO_FAR": "BEHAVIOR_ACCEPT",
"BOT_DROPPED_PARTS": "BEHAVIOR_ACCEPT",
"BOT_HELD_BALL_DELIBERATELY": "BEHAVIOR_ACCEPT",
"BOT_INTERFERED_PLACEMENT": "BEHAVIOR_ACCEPT",
"BOT_KICKED_BALL_TOO_FAST": "BEHAVIOR_ACCEPT",
"BOT_PUSHED_BOT": "BEHAVIOR_ACCEPT",
"BOT_TIPPED_OVER": "BEHAVIOR_ACCEPT",
"BOT_TOO_FAST_IN_STOP": "BEHAVIOR_ACCEPT",
"BOUNDARY_CROSSING": "BEHAVIOR_ACCEPT",
"DEFENDER_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"DEFENDER_TOO_CLOSE_TO_KICK_POINT": "BEHAVIOR_ACCEPT",
"GOAL": "BEHAVIOR_ACCEPT",
"INVALID_GOAL": "BEHAVIOR_ACCEPT",
"KEEPER_HELD_BALL": "BEHAVIOR_ACCEPT",
"NO_PROGRESS_IN_GAME": "BEHAVIOR_ACCEPT",
"PENALTY_KICK_FAILED": "BEHAVIOR_ACCEPT",
"PLACEMENT_SUCCEEDED": "BEHAVIOR_ACCEPT",
"POSSIBLE_GOAL": "BEHAVIOR_ACCEPT",
"TOO_MANY_ROBOTS": "BEHAVIOR_ACCEPT"
"RoboTeam Twente": {
"gameEventBehavior": {
"AIMLESS_KICK": "BEHAVIOR_ACCEPT",
"ATTACKER_DOUBLE_TOUCHED_BALL": "BEHAVIOR_ACCEPT",
"ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"BALL_LEFT_FIELD_GOAL_LINE": "BEHAVIOR_ACCEPT",
"BALL_LEFT_FIELD_TOUCH_LINE": "BEHAVIOR_ACCEPT",
"BOT_CRASH_DRAWN": "BEHAVIOR_ACCEPT",
"BOT_CRASH_UNIQUE": "BEHAVIOR_ACCEPT",
"BOT_DRIBBLED_BALL_TOO_FAR": "BEHAVIOR_ACCEPT",
"BOT_DROPPED_PARTS": "BEHAVIOR_ACCEPT",
"BOT_HELD_BALL_DELIBERATELY": "BEHAVIOR_ACCEPT",
"BOT_INTERFERED_PLACEMENT": "BEHAVIOR_ACCEPT",
"BOT_KICKED_BALL_TOO_FAST": "BEHAVIOR_ACCEPT",
"BOT_PUSHED_BOT": "BEHAVIOR_ACCEPT",
"BOT_TIPPED_OVER": "BEHAVIOR_ACCEPT",
"BOT_TOO_FAST_IN_STOP": "BEHAVIOR_ACCEPT",
"BOUNDARY_CROSSING": "BEHAVIOR_ACCEPT",
"DEFENDER_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT",
"DEFENDER_TOO_CLOSE_TO_KICK_POINT": "BEHAVIOR_ACCEPT",
"GOAL": "BEHAVIOR_ACCEPT",
"INVALID_GOAL": "BEHAVIOR_ACCEPT",
"KEEPER_HELD_BALL": "BEHAVIOR_ACCEPT",
"NO_PROGRESS_IN_GAME": "BEHAVIOR_ACCEPT",
"PENALTY_KICK_FAILED": "BEHAVIOR_ACCEPT",
"PLACEMENT_SUCCEEDED": "BEHAVIOR_ACCEPT",
"POSSIBLE_GOAL": "BEHAVIOR_ACCEPT",
"TOO_MANY_ROBOTS": "BEHAVIOR_ACCEPT"
}
}
},
"activeTrackerSource": "udgqcbzdtvmkadtdrmtuizisinbdbnlm",
"teams": [
"activeTrackerSource": "twgnsutaenxvrzbdpbnojrwsjjhfsbmw",
"teams": [
"AIS",
"AMC",
"Ararabots",
"A-Team",
"Carrossel Caipira",
"Cerberus",
"CMμs",
"Delft Mercurians",
"Eagles",
"ER-Force",
"GreenTea",
"Immortals",
"ITAndroids",
"KgpKubs",
"KIKS",
"luhbots",
"Maracatronics",
"MCT Susano Logics",
"MIT Roboteam",
"MRL",
"NAELIC",
"NAMeC",
"Neon",
"NEUIslanders",
"OMID",
"OP-AmP",
"OrcaBOT",
"Parsian",
"Pequi Mecânico",
"Red Dragons",
"RFC Cambridge",
"Ri-one",
"RobôCin",
Expand All @@ -124,22 +132,26 @@
"RoboIME",
"RoboJackets",
"RoboTeam Twente",
"SPbUnited",
"SRC",
"SSH",
"STOx’s",
"Sysmic Robotics",
"TauraBOTS",
"Test Team",
"TIGERs Mannheim",
"Titans",
"Tritons RCSC",
"TurtleRabbit",
"UBC Thunderbots",
"ULtron",
"UMass Minutebots",
"UnBall",
"Unknown",
"URoboRus",
"UTBots",
"Warthog Robotics",
"ZJUNlict"
],
"autoContinue": true
"autoContinue": true
}
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