Consistent struct naming for handlers

g3force · g3force · commit 990747dc3ac4 · 2021-05-02T13:43:58.000+02:00
diff --git a/internal/simctl/handler_geometry.go b/internal/simctl/handler_geometry.go
@@ -15,26 +15,26 @@ var geometryConfigDivA string
 //go:embed geometry-div-b.txt
 var geometryConfigDivB string
 
-type GeometrySetter struct {
+type GeometryHandler struct {
 	c *SimulationController
 
 	geometryDivA *vision.SSL_GeometryData
 	geometryDivB *vision.SSL_GeometryData
 	timeLastSent *time.Time
 }
 
-func NewGeometrySetter(c *SimulationController) (r *GeometrySetter) {
-	r = new(GeometrySetter)
+func NewGeometryHandler(c *SimulationController) (r *GeometryHandler) {
+	r = new(GeometryHandler)
 	r.c = c
 	r.loadGeometry()
 	return r
 }
 
-func (r *GeometrySetter) Reset() {
+func (r *GeometryHandler) Reset() {
 	r.timeLastSent = nil
 }
 
-func (r *GeometrySetter) loadGeometry() {
+func (r *GeometryHandler) loadGeometry() {
 	r.geometryDivA = new(vision.SSL_GeometryData)
 	if err := proto.UnmarshalText(geometryConfigDivA, r.geometryDivA); err != nil {
 		log.Println("Could not unmarshal geometry file: ", err)
@@ -45,7 +45,7 @@ func (r *GeometrySetter) loadGeometry() {
 	}
 }
 
-func (r *GeometrySetter) handleGeometry() {
+func (r *GeometryHandler) handleGeometry() {
 	if *r.c.lastRefereeMsg.Stage != referee.Referee_NORMAL_FIRST_HALF_PRE {
 		// Only before the game starts
 		return
@@ -71,7 +71,7 @@ func (r *GeometrySetter) handleGeometry() {
 	}
 }
 
-func (r *GeometrySetter) sendConfig(geometry *vision.SSL_GeometryData) {
+func (r *GeometryHandler) sendConfig(geometry *vision.SSL_GeometryData) {
 	log.Printf("Sending geometry %v", geometry)
 
 	command := SimulatorCommand{
diff --git a/internal/simctl/handler_replace_ball.go b/internal/simctl/handler_replace_ball.go
@@ -8,25 +8,25 @@ import (
 	"time"
 )
 
-type BallReplacer struct {
+type BallReplaceHandler struct {
 	c *SimulationController
 
 	lastTimePlacedBall time.Time
 	haltTime           *time.Time
 }
 
-func NewBallReplacer(c *SimulationController) (r *BallReplacer) {
-	r = new(BallReplacer)
+func NewBallReplaceHandler(c *SimulationController) (r *BallReplaceHandler) {
+	r = new(BallReplaceHandler)
 	r.c = c
 	return r
 }
 
-func (r *BallReplacer) Reset() {
+func (r *BallReplaceHandler) Reset() {
 	r.lastTimePlacedBall = time.Time{}
 	r.haltTime = nil
 }
 
-func (r *BallReplacer) handleReplaceBall() {
+func (r *BallReplaceHandler) handleReplaceBall() {
 	if *r.c.lastRefereeMsg.Command != referee.Referee_HALT {
 		// Only during HALT
 		r.haltTime = nil
@@ -72,7 +72,7 @@ func (r *BallReplacer) handleReplaceBall() {
 	}
 }
 
-func (r *BallReplacer) placeBall(ballPos *geom.Vector2) {
+func (r *BallReplaceHandler) placeBall(ballPos *geom.Vector2) {
 
 	zero := float32(0)
 	command := SimulatorCommand{
diff --git a/internal/simctl/handler_robot_count.go b/internal/simctl/handler_robot_count.go
@@ -11,27 +11,27 @@ import (
 	"time"
 )
 
-type RobotCountMaintainer struct {
+type RobotCountHandler struct {
 	c *SimulationController
 
 	lastTimeSendCommand     time.Time
 	robotCountMismatchSince map[referee.Team]time.Time
 }
 
-func NewRobotCountMaintainer(c *SimulationController) (r *RobotCountMaintainer) {
-	r = new(RobotCountMaintainer)
+func NewRobotCountHandler(c *SimulationController) (r *RobotCountHandler) {
+	r = new(RobotCountHandler)
 	r.c = c
 	return r
 }
 
-func (r *RobotCountMaintainer) Reset() {
+func (r *RobotCountHandler) Reset() {
 	r.lastTimeSendCommand = time.Now()
 	r.robotCountMismatchSince = map[referee.Team]time.Time{}
 	r.robotCountMismatchSince[referee.Team_BLUE] = time.Time{}
 	r.robotCountMismatchSince[referee.Team_YELLOW] = time.Time{}
 }
 
-func (r *RobotCountMaintainer) handleRobotCount() {
+func (r *RobotCountHandler) handleRobotCount() {
 
 	if time.Now().Sub(r.lastTimeSendCommand) < 500*time.Millisecond {
 		// Placed ball just recently
@@ -59,7 +59,7 @@ func (r *RobotCountMaintainer) handleRobotCount() {
 	r.updateRobotCount(yellowRobots, int(*r.c.lastRefereeMsg.Yellow.MaxAllowedBots), referee.Team_YELLOW)
 }
 
-func (r *RobotCountMaintainer) updateRobotCount(robots []*tracker.TrackedRobot, maxRobots int, team referee.Team) {
+func (r *RobotCountHandler) updateRobotCount(robots []*tracker.TrackedRobot, maxRobots int, team referee.Team) {
 	substCenterPos := geom.NewVector2(0, float64(*r.c.fieldSize.FieldWidth)/2000+float64(*r.c.fieldSize.BoundaryWidth)/2000.0-0.1)
 	substCenterNeg := geom.NewVector2Float32(0, -*substCenterPos.Y)
 	substRectPos := geom.NewRectangleFromCenter(substCenterPos, 2, float64(*r.c.fieldSize.BoundaryWidth)/1000+0.2)
@@ -106,7 +106,7 @@ func (r *RobotCountMaintainer) updateRobotCount(robots []*tracker.TrackedRobot,
 	}
 }
 
-func (r *RobotCountMaintainer) nextFreeRobotId(team referee.Team) *referee.RobotId {
+func (r *RobotCountHandler) nextFreeRobotId(team referee.Team) *referee.RobotId {
 	for i := 0; i < 16; i++ {
 		id := uint32(i)
 		robotId := &referee.RobotId{
@@ -120,7 +120,7 @@ func (r *RobotCountMaintainer) nextFreeRobotId(team referee.Team) *referee.Robot
 	return nil
 }
 
-func (r *RobotCountMaintainer) isRobotIdFree(id *referee.RobotId) bool {
+func (r *RobotCountHandler) isRobotIdFree(id *referee.RobotId) bool {
 
 	for _, robot := range r.c.lastTrackedFrame.TrackedFrame.Robots {
 		if *robot.RobotId.Id == *id.Id && *robot.RobotId.Team == *id.Team {
@@ -130,7 +130,7 @@ func (r *RobotCountMaintainer) isRobotIdFree(id *referee.RobotId) bool {
 	return true
 }
 
-func (r *RobotCountMaintainer) isFreeOfObstacles(pos *geom.Vector2) bool {
+func (r *RobotCountHandler) isFreeOfObstacles(pos *geom.Vector2) bool {
 	for _, robot := range r.c.lastTrackedFrame.TrackedFrame.Robots {
 		if robot.Pos.DistanceTo(pos) < 0.2 {
 			return false
@@ -145,7 +145,7 @@ func (r *RobotCountMaintainer) isFreeOfObstacles(pos *geom.Vector2) bool {
 	return true
 }
 
-func (r *RobotCountMaintainer) sortRobotsByDistanceToSubstitutionPos(robots []*tracker.TrackedRobot) {
+func (r *RobotCountHandler) sortRobotsByDistanceToSubstitutionPos(robots []*tracker.TrackedRobot) {
 	negSubstPos := geom.NewVector2(0, -float64(*r.c.fieldSize.FieldWidth)/2000)
 	posSubstPos := geom.NewVector2(0, +float64(*r.c.fieldSize.FieldWidth)/2000)
 	sort.Slice(robots, func(i, j int) bool {
@@ -155,7 +155,7 @@ func (r *RobotCountMaintainer) sortRobotsByDistanceToSubstitutionPos(robots []*t
 	})
 }
 
-func (r *RobotCountMaintainer) removeRobot(id *referee.RobotId) {
+func (r *RobotCountHandler) removeRobot(id *referee.RobotId) {
 	log.Printf("Remove robot %v", id)
 
 	present := false
@@ -173,7 +173,7 @@ func (r *RobotCountMaintainer) removeRobot(id *referee.RobotId) {
 	r.sendControlCommand(&command)
 }
 
-func (r *RobotCountMaintainer) addRobot(id *referee.RobotId, pos *geom.Vector2) {
+func (r *RobotCountHandler) addRobot(id *referee.RobotId, pos *geom.Vector2) {
 	log.Printf("Add robot %v @ %v", id, pos)
 
 	present := true
@@ -195,7 +195,7 @@ func (r *RobotCountMaintainer) addRobot(id *referee.RobotId, pos *geom.Vector2)
 	r.sendControlCommand(&command)
 }
 
-func (r *RobotCountMaintainer) sendControlCommand(command *SimulatorCommand) {
+func (r *RobotCountHandler) sendControlCommand(command *SimulatorCommand) {
 
 	if data, err := proto.Marshal(command); err != nil {
 		log.Println("Could not marshal command: ", err)
diff --git a/internal/simctl/handler_robot_specs.go b/internal/simctl/handler_robot_specs.go
@@ -39,25 +39,25 @@ type CustomRobotSpecErForce struct {
 	DribblerWidth  float32 `yaml:"dribbler_width"`
 }
 
-type RobotSpecSetter struct {
+type RobotSpecHandler struct {
 	c *SimulationController
 
 	teamRobotSpecs TeamRobotSpecs
 	appliedTeams   map[referee.Team]string
 }
 
-func NewRobotSpecSetter(c *SimulationController, configFile string) (r *RobotSpecSetter) {
-	r = new(RobotSpecSetter)
+func NewRobotSpecHandler(c *SimulationController, configFile string) (r *RobotSpecHandler) {
+	r = new(RobotSpecHandler)
 	r.c = c
 	r.loadRobotSpecs(configFile)
 	return r
 }
 
-func (r *RobotSpecSetter) Reset() {
+func (r *RobotSpecHandler) Reset() {
 	r.appliedTeams = map[referee.Team]string{}
 }
 
-func (r *RobotSpecSetter) loadRobotSpecs(configFile string) {
+func (r *RobotSpecHandler) loadRobotSpecs(configFile string) {
 	data, err := ioutil.ReadFile(configFile)
 	if err != nil {
 		log.Println("Could not read robot spec file: ", err)
@@ -66,7 +66,7 @@ func (r *RobotSpecSetter) loadRobotSpecs(configFile string) {
 	}
 }
 
-func (r *RobotSpecSetter) handleRobotSpecs() {
+func (r *RobotSpecHandler) handleRobotSpecs() {
 	switch *r.c.lastRefereeMsg.Stage {
 	case referee.Referee_NORMAL_FIRST_HALF_PRE,
 		referee.Referee_NORMAL_SECOND_HALF_PRE,
@@ -82,7 +82,7 @@ func (r *RobotSpecSetter) handleRobotSpecs() {
 	r.updateTeam(referee.Team_YELLOW, *r.c.lastRefereeMsg.Yellow.Name)
 }
 
-func (r *RobotSpecSetter) updateTeam(team referee.Team, teamName string) {
+func (r *RobotSpecHandler) updateTeam(team referee.Team, teamName string) {
 	if r.appliedTeams[team] != teamName {
 		if spec, ok := r.teamRobotSpecs.Teams[teamName]; ok {
 			var protoSpecs []*RobotSpecs
@@ -101,7 +101,7 @@ func (r *RobotSpecSetter) updateTeam(team referee.Team, teamName string) {
 	}
 }
 
-func (r *RobotSpecSetter) sendConfig(robotSpec []*RobotSpecs) {
+func (r *RobotSpecHandler) sendConfig(robotSpec []*RobotSpecs) {
 	log.Printf("Sending robot spec %v", robotSpec)
 
 	command := SimulatorCommand{
diff --git a/internal/simctl/simctl.go b/internal/simctl/simctl.go
@@ -27,10 +27,10 @@ type SimulationController struct {
 	fieldSize          *vision.SSL_GeometryFieldSize
 	lastVisionFrameIds map[uint32]uint32
 
-	ballReplacer         *BallReplacer
-	robotCountMaintainer *RobotCountMaintainer
-	robotSpecsSetter     *RobotSpecSetter
-	geometrySetter       *GeometrySetter
+	ballReplaceHandler *BallReplaceHandler
+	robotCountHandler  *RobotCountHandler
+	robotSpecsHandler  *RobotSpecHandler
+	geometryHandler    *GeometryHandler
 }
 
 func NewSimulationController(visionAddress, refereeAddress, trackerAddress, simControlPort, robotSpecConfig string) (c *SimulationController) {
@@ -42,15 +42,15 @@ func NewSimulationController(visionAddress, refereeAddress, trackerAddress, simC
 	c.simulatorRestarted = true
 	c.lastVisionFrameIds = map[uint32]uint32{}
 
-	c.ballReplacer = NewBallReplacer(c)
-	c.robotCountMaintainer = NewRobotCountMaintainer(c)
-	c.robotSpecsSetter = NewRobotSpecSetter(c, robotSpecConfig)
-	c.geometrySetter = NewGeometrySetter(c)
+	c.ballReplaceHandler = NewBallReplaceHandler(c)
+	c.robotCountHandler = NewRobotCountHandler(c)
+	c.robotSpecsHandler = NewRobotSpecHandler(c, robotSpecConfig)
+	c.geometryHandler = NewGeometryHandler(c)
 
-	c.ballReplacer.c = c
-	c.robotCountMaintainer.c = c
-	c.robotSpecsSetter.c = c
-	c.geometrySetter.c = c
+	c.ballReplaceHandler.c = c
+	c.robotCountHandler.c = c
+	c.robotSpecsHandler.c = c
+	c.geometryHandler.c = c
 	return
 }
 
@@ -138,17 +138,17 @@ func (c *SimulationController) handle() {
 	}
 
 	if c.simulatorRestarted {
-		c.ballReplacer.Reset()
-		c.robotCountMaintainer.Reset()
-		c.robotSpecsSetter.Reset()
-		c.geometrySetter.Reset()
+		c.ballReplaceHandler.Reset()
+		c.robotCountHandler.Reset()
+		c.robotSpecsHandler.Reset()
+		c.geometryHandler.Reset()
 		c.simulatorRestarted = false
 	}
 
-	c.ballReplacer.handleReplaceBall()
-	c.robotCountMaintainer.handleRobotCount()
-	c.robotSpecsSetter.handleRobotSpecs()
-	c.geometrySetter.handleGeometry()
+	c.ballReplaceHandler.handleReplaceBall()
+	c.robotCountHandler.handleRobotCount()
+	c.robotSpecsHandler.handleRobotSpecs()
+	c.geometryHandler.handleGeometry()
 }
 
 func (c *SimulationController) Start() {

Original file line number	Diff line number	Diff line change
`@@ -8,25 +8,25 @@ import (`
`8`	`8`	`"time"`
`9`	`9`	`)`
`10`	`10`
`11`		`-type BallReplacer struct {`
	`11`	`+type BallReplaceHandler struct {`
`12`	`12`	`c *SimulationController`
`13`	`13`
`14`	`14`	`lastTimePlacedBall time.Time`
`15`	`15`	`haltTime *time.Time`
`16`	`16`	`}`
`17`	`17`
`18`		`-func NewBallReplacer(c SimulationController) (r BallReplacer) {`
`19`		`- r = new(BallReplacer)`
	`18`	`+func NewBallReplaceHandler(c SimulationController) (r BallReplaceHandler) {`
	`19`	`+ r = new(BallReplaceHandler)`
`20`	`20`	`r.c = c`
`21`	`21`	`return r`
`22`	`22`	`}`
`23`	`23`
`24`		`-func (r *BallReplacer) Reset() {`
	`24`	`+func (r *BallReplaceHandler) Reset() {`
`25`	`25`	`r.lastTimePlacedBall = time.Time{}`
`26`	`26`	`r.haltTime = nil`
`27`	`27`	`}`
`28`	`28`
`29`		`-func (r *BallReplacer) handleReplaceBall() {`
	`29`	`+func (r *BallReplaceHandler) handleReplaceBall() {`
`30`	`30`	`if *r.c.lastRefereeMsg.Command != referee.Referee_HALT {`
`31`	`31`	`// Only during HALT`
`32`	`32`	`r.haltTime = nil`
`@@ -72,7 +72,7 @@ func (r *BallReplacer) handleReplaceBall() {`
`72`	`72`	`}`
`73`	`73`	`}`
`74`	`74`
`75`		`-func (r BallReplacer) placeBall(ballPos geom.Vector2) {`
	`75`	`+func (r BallReplaceHandler) placeBall(ballPos geom.Vector2) {`
`76`	`76`
`77`	`77`	`zero := float32(0)`
`78`	`78`	`command := SimulatorCommand{`
Original file line number	Diff line number	Diff line change
`@@ -39,25 +39,25 @@ type CustomRobotSpecErForce struct {`
`39`	`39`	DribblerWidth float32 `yaml:"dribbler_width"`
`40`	`40`	`}`
`41`	`41`
`42`		`-type RobotSpecSetter struct {`
	`42`	`+type RobotSpecHandler struct {`
`43`	`43`	`c *SimulationController`
`44`	`44`
`45`	`45`	`teamRobotSpecs TeamRobotSpecs`
`46`	`46`	`appliedTeams map[referee.Team]string`
`47`	`47`	`}`
`48`	`48`
`49`		`-func NewRobotSpecSetter(c SimulationController, configFile string) (r RobotSpecSetter) {`
`50`		`- r = new(RobotSpecSetter)`
	`49`	`+func NewRobotSpecHandler(c SimulationController, configFile string) (r RobotSpecHandler) {`
	`50`	`+ r = new(RobotSpecHandler)`
`51`	`51`	`r.c = c`
`52`	`52`	`r.loadRobotSpecs(configFile)`
`53`	`53`	`return r`
`54`	`54`	`}`
`55`	`55`
`56`		`-func (r *RobotSpecSetter) Reset() {`
	`56`	`+func (r *RobotSpecHandler) Reset() {`
`57`	`57`	`r.appliedTeams = map[referee.Team]string{}`
`58`	`58`	`}`
`59`	`59`
`60`		`-func (r *RobotSpecSetter) loadRobotSpecs(configFile string) {`
	`60`	`+func (r *RobotSpecHandler) loadRobotSpecs(configFile string) {`
`61`	`61`	`data, err := ioutil.ReadFile(configFile)`
`62`	`62`	`if err != nil {`
`63`	`63`	`log.Println("Could not read robot spec file: ", err)`
`@@ -66,7 +66,7 @@ func (r *RobotSpecSetter) loadRobotSpecs(configFile string) {`
`66`	`66`	`}`
`67`	`67`	`}`
`68`	`68`
`69`		`-func (r *RobotSpecSetter) handleRobotSpecs() {`
	`69`	`+func (r *RobotSpecHandler) handleRobotSpecs() {`
`70`	`70`	`switch *r.c.lastRefereeMsg.Stage {`
`71`	`71`	`case referee.Referee_NORMAL_FIRST_HALF_PRE,`
`72`	`72`	`referee.Referee_NORMAL_SECOND_HALF_PRE,`
`@@ -82,7 +82,7 @@ func (r *RobotSpecSetter) handleRobotSpecs() {`
`82`	`82`	`r.updateTeam(referee.Team_YELLOW, *r.c.lastRefereeMsg.Yellow.Name)`
`83`	`83`	`}`
`84`	`84`
`85`		`-func (r *RobotSpecSetter) updateTeam(team referee.Team, teamName string) {`
	`85`	`+func (r *RobotSpecHandler) updateTeam(team referee.Team, teamName string) {`
`86`	`86`	`if r.appliedTeams[team] != teamName {`
`87`	`87`	`if spec, ok := r.teamRobotSpecs.Teams[teamName]; ok {`
`88`	`88`	`var protoSpecs []*RobotSpecs`
`@@ -101,7 +101,7 @@ func (r *RobotSpecSetter) updateTeam(team referee.Team, teamName string) {`
`101`	`101`	`}`
`102`	`102`	`}`
`103`	`103`
`104`		`-func (r RobotSpecSetter) sendConfig(robotSpec []RobotSpecs) {`
	`104`	`+func (r RobotSpecHandler) sendConfig(robotSpec []RobotSpecs) {`
`105`	`105`	`log.Printf("Sending robot spec %v", robotSpec)`
`106`	`106`
`107`	`107`	`command := SimulatorCommand{`