Dies Architecture

Dies is Delft Mercurians' open source framework for building AIs, specifically the central team controller, for RoboCup Small Size League.

Dies runs on a central server, and communicates with the tournament software (ssl-vision/simulator, game controller), and with the robots on the field. It is responsible for running the AI, and for sending commands to the robots.

graph TD
    GameController[/Game Controller/] <--> Dies
    SSLVision[/SSL Vision/] --> Dies
    Robots[/Robots/] <--> Dies

Framework Component Relationships

classDiagram
    %%  Cli is the main entry point
    Cli o.. WebUi
    Cli o.. TestMainLoop

    %% WebUi owns the main loops
    WebUi o.. InteractiveMainLoop
    WebUi o.. PlaybackMainLoop

    %% Main components owned by TestMainLoop
    TestMainLoop <.. Simulator
    TestMainLoop <.. TeamMap

    %% Main components owned by InteractiveMainLoop
    InteractiveMainLoop <.. Simulator
    InteractiveMainLoop <.. SslClient
    InteractiveMainLoop <.. BsClient
    InteractiveMainLoop <.. TeamMap

    PlaybackMainLoop *-- Logplayer

    %% TeamMap owns Teams
    TeamMap *-- Team

    %% Team owns core components
    Team *-- Tracker
    Team *-- TeamController
    Team *-- StrategyServer

    %% Tracker hierarchy
    Tracker *-- PlayerTracker
    Tracker *-- BallTracker
    Tracker *-- GameStateTracker

    %% Controller hierarchy
    TeamController *-- PlayerController
    PlayerController *-- RobotController
    PlayerController *-- Skills

    %% Skills collection
    Skills o-- GoTo
    Skills o-- Face
    Skills o-- FetchBall
    Skills o-- OrbitBall
    Skills o-- Pass
    Skills o-- Receive

    %% Strategy client/server relationship
    StrategyServer ..> StrategyApi : IPC
    StrategyApi <-- StrategyClient

    class Cli {
        main()
    }

    class Skills {
        <<collection>>
    }
    class StrategyServer {
        <<IPC Server>>
    }
    class StrategyApi {

    }

Data Flow

Interactive Mode (simulation or live)

flowchart TB
    %% Define all components first
    UI[Web UI]
    WS[Web Server]
    ML[Main Loop]
    TR[Tracker]
    CT[Controller]
    SS[Strategy Server]
    SA[Strategy API]
    ST[Strategy Process]
    SIM[Simulator]
    SSL[SSL/BS Client]
    TM[Team]
    CLI[CLI]

    %% Group the UI layer
    subgraph UserInterface[User Interface]
        UI
        WS
        CLI
    end

    %% Group the core system components
    subgraph CoreSystem[Core]
        ML
        SIM
        SSL
    end

    %% Group the team components
    subgraph TeamSystem[Team]
        TM
        TR
        CT
        SS
    end

    %% Group the strategy components
    subgraph StrategySystem[Strategy]
        SA
        ST
    end

    %% Now define all the connections
    CLI -->|Config| WS
    ML -->|Debug data & Status| WS
    WS -->|Player Overrides| TM
    WS <-->|Start/Stop| ML
    UI <-->|UiMessages & UiData| WS
    ML -->|Simulator Cmds| SIM

    SSL -->|Vision/GC Updates| TR
    SIM -->|Vision/GC Updates| TR

    TR -->|Tracker Data| TM
    TM -->|Tracker Data| CT
    TM -->|Tracker Data| SS

    SS -->|Team Cmds| CT
    SS <--->|Team Cmds & Tracker Data| SA
    SA <-->|IPC| ST

    SSL <-->|Robot Cmds| CT

    TR -->|World Frame| WS

Test Mode (automated)

flowchart TB
    %% Main components - note the reduced set
    TML[Test Main Loop]
    TR[Tracker]
    CT[Controller]
    SS[Strategy Server]
    SA[Strategy API]
    ST[Strategy Process]
    SIM[Simulator]
    TM[Team]

    %% Test configuration and control
    TML -->|Test Scenario Commands| SIM

    %% Simulated vision flow
    SIM -->|Simulated Vision/GC Updates| TR

    %% Tracker data flow - through team
    TR -->|Tracker Data| TM
    TM -->|Tracker Data| CT
    TM -->|Tracker Data| SS

    %% Strategy flow remains the same
    SS -->|Team Cmds| CT
    SS <-->|Team Cmds & Tracker Data| SA
    SA <-->|IPC| ST

    %% Robot control now goes directly to simulator
    CT -->|Robot Commands| SIM

    %% Add subgraph for test components
    subgraph TestFramework[Test Framework]
        TML
    end

    %% Add subgraph for team components
    subgraph Team
        TM
        TR
        CT
        SS
    end