Arquitetura¶

SSL Vision Log Player

It can be divided in to it ten loops

SSL Vision UDP RX

Esse loop adquire informação da Câmera processadas pelo software SSL-Vision, ou do simulador grSim através de um soquete UDP, iterando VI SSL UDP Receiver.

SSL RefBox UDP RX

Esse loop adquire informação do juiz geradas pelo software SSL-RefBox, ou do simulator grSim através de um soquete UDP, iterando VI SSL UDP Receiver.

SSL Log Reader

Esse loop adquire informação dos logs de um jogo antigo apartir de um arquivo, iterando a VI SSL Log Reader

Filter observations

Utiliza as seguintes VI's para a apatir dos pacotes binários da visão obter informações do estado do jogo,

SSL Vision Package Selector

Decode SSL Wrapper Package

SSL Detection Frame Simple Estimator Cameras

Filter Referee

SSL Vision Package Selector

Referee

SSL Referee to GUI Referee
Draw Field

Receive information from Filter Observations loop and create a visual debug using the VI Field

Game State Estimator

Team and Side

Role Decision

Role Decisors Selector

Role Playing

This loop is based on VI Role Playing Simple, and also use this other VI IA to GUI Robot for visual debug information from intelligence

Communication

First in the communicatio loop the VI Conver AI Robot to Robot Command gets the robot command from Robot cluster, then the intelligence send the command to the grSim Packet Command UDP Test if using the grSim simulator or Serial Transmitter if testing the real robots.