now sending teamColor and teamName on public Beacon signal. Upgraded …

…version to 0.6.
robocup-logistics · Oct 15, 2024 · 570fe86 · 570fe86
1 parent 0f51a06
commit 570fe86
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Showing 4 changed files with 29 additions and 6 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -10,4 +10,4 @@ ENV BROKER tcp://localhost:1883
 ENV REFBOX localhost
 ENV TEAM GRIPS
 ENV KEY randomkey
-ENTRYPOINT ["sh", "-c", "java -jar /home/gradle/src/app/build/libs/mqtt-bridge-0.5-all.jar -b $BROKER -r $REFBOX -t $TEAM -k $KEY"]
+ENTRYPOINT ["sh", "-c", "java -jar /home/gradle/src/app/build/libs/mqtt-bridge-0.6-all.jar -b $BROKER -r $REFBOX -t $TEAM -k $KEY"]
diff --git a/app/build.gradle b/app/build.gradle
@@ -17,7 +17,7 @@ plugins {
 
 group = 'io.github.robocup-logistics'
 archivesBaseName = "mqtt-bridge"
-version = '0.5'
+version = '0.6'
 
 repositories {
     // Use Maven Central for resolving dependencies.

diff --git a/app/src/main/java/com/rcll/java/App.java b/app/src/main/java/com/rcll/java/App.java
@@ -40,7 +40,7 @@ public static void main(String[] args) throws MqttException, InterruptedExceptio
         IMqttClient publisher = new MqttClient(brokerUrl, publisherId);
         try {
             publisher.connect();
-        } catch(MqttException me) {
+        } catch (MqttException me) {
             log.error("Error on connecting to mqtt broker[" + brokerUrl + "] - is it Running? Msg: " + me.getMessage(), me.getCause());
             System.exit(1);
         }
@@ -52,12 +52,21 @@ public static void main(String[] args) throws MqttException, InterruptedExceptio
         TeamConfig teamConfig = new TeamConfig(parsed.getOptionValue("k"), parsed.getOptionValue("t"));
         RefboxHandler privateHandler = new RefboxHandler();
         RefboxHandler publicHandler = new RefboxHandler();
-        RefboxMqttHandler privateMqttHandler = new RefboxMqttHandler(privateHandler, "private", publisher);
-        RefboxMqttHandler publicMqttHandler = new RefboxMqttHandler(publicHandler, "public", publisher);
         RefboxClient refboxClient = new RefboxClient(connectionConfig, teamConfig, privateHandler, publicHandler, 2000);
         refboxClient.startServer();
         RefboxTeamHandler refboxTeamHandler = new RefboxTeamHandler(publisher, refboxClient, teamConfig.getName());
         refboxTeamHandler.start();
+
+        while (refboxClient.getTeamColor().isEmpty()) {
+            log.info("Waiting for team color...");
+            Thread.sleep(1000);
+        }
+
+        RefboxMqttHandler privateMqttHandler = new RefboxMqttHandler(privateHandler, "private", publisher,
+                refboxClient.getTeamColor().get(), teamConfig.getName());
+        RefboxMqttHandler publicMqttHandler = new RefboxMqttHandler(publicHandler, "public", publisher,
+                refboxClient.getTeamColor().get(), teamConfig.getName());
+
         while (publisher.isConnected()) {
             Thread.sleep(1000);
         }

diff --git a/app/src/main/java/com/rcll/java/RefboxMqttHandler.java b/app/src/main/java/com/rcll/java/RefboxMqttHandler.java
@@ -2,24 +2,31 @@
 
 import com.google.protobuf.MessageOrBuilder;
 import com.google.protobuf.util.JsonFormat;
+import com.rcll.domain.TeamColor;
 import com.rcll.refbox.RefboxHandler;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.IMqttClient;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.robocup_logistics.llsf_msgs.*;
 
 import java.io.IOException;
+import java.util.Optional;
 
 
 public class RefboxMqttHandler {
     private final RefboxHandler handler;
     private final String prefix;
     private final IMqttClient mqttClient;
+    private final TeamColor teamColor;
+    private final String teamName;
 
-    public RefboxMqttHandler(RefboxHandler handler, String prefix, IMqttClient mqttClient) {
+    public RefboxMqttHandler(RefboxHandler handler, String prefix, IMqttClient mqttClient, TeamColor teamColor,
+                             String teamName) {
         this.handler = handler;
         this.prefix = prefix;
         this.mqttClient = mqttClient;
+        this.teamColor = teamColor;
+        this.teamName = teamName;
         this.handler.setGameStateCallback(this::handleGameState);
         this.handler.setMachineInfoCallback(this::handleMchineInfo);
         this.handler.setOrderInfoCallback(this::handleOrderInfo);
@@ -65,6 +72,13 @@ private void handleExplorationInfo(ExplorationInfoProtos.ExplorationInfo explora
     @SneakyThrows
 
     private void handleBeaconSignal(BeaconSignalProtos.BeaconSignal beaconSignal) {
+        if (!beaconSignal.hasTeamColor() && !beaconSignal.hasTeamName()) {
+            if (teamColor.equals(TeamColor.CYAN)) {
+                beaconSignal = beaconSignal.toBuilder().setTeamColor(TeamProtos.Team.CYAN).setTeamName(teamName).build();
+            } else {
+                beaconSignal = beaconSignal.toBuilder().setTeamColor(TeamProtos.Team.MAGENTA).setTeamName(teamName).build();
+            }
+        }
         this.mqttClient.publish(this.prefix + "/beacon_signal", new MqttMessage(toJson(beaconSignal).getBytes()));
     }