Send geometry based on division to simulator

Author: g3force

.circleci/config.yml

@@ -2,7 +2,7 @@ version: 2
 jobs:
   app:
     docker:
-    - image: circleci/golang:1.14
+    - image: circleci/golang:1.16
 
     working_directory: /go/src/github.com/RoboCup-SSL/ssl-simulation-controller
     steps:
@@ -22,7 +22,7 @@ jobs:
 
   publish-github-release:
     docker:
-    - image: circleci/golang:1.14
+    - image: circleci/golang:1.16
     steps:
     - attach_workspace:
         at: .

go.mod

@@ -1,6 +1,6 @@
 module github.com/RoboCup-SSL/ssl-simulation-controller
 
-go 1.15
+go 1.16
 
 require (
 	github.com/golang/protobuf v1.4.3

internal/simctl/geometry-div-a.txt

@@ -0,0 +1,268 @@
+field: <
+  field_length: 12000
+  field_width: 9000
+  goal_width: 1800
+  goal_depth: 180
+  boundary_width: 300
+  field_lines: <
+    name: "TopTouchLine"
+    p1: <
+      x: -5995
+      y: 4495
+    >
+    p2: <
+      x: 5995
+      y: 4495
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "BottomTouchLine"
+    p1: <
+      x: -5995
+      y: -4495
+    >
+    p2: <
+      x: 5995
+      y: -4495
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "LeftGoalLine"
+    p1: <
+      x: -5990
+      y: -4495
+    >
+    p2: <
+      x: -5990
+      y: 4495
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "RightGoalLine"
+    p1: <
+      x: 5990
+      y: -4495
+    >
+    p2: <
+      x: 5990
+      y: 4495
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "HalfwayLine"
+    p1: <
+      x: 0
+      y: -4495
+    >
+    p2: <
+      x: 0
+      y: 4495
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "CenterLine"
+    p1: <
+      x: -5990
+      y: 0
+    >
+    p2: <
+      x: 5990
+      y: 0
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "LeftPenaltyStretch"
+    p1: <
+      x: -4195
+      y: -1800
+    >
+    p2: <
+      x: -4195
+      y: 1800
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "RightPenaltyStretch"
+    p1: <
+      x: 4195
+      y: -1800
+    >
+    p2: <
+      x: 4195
+      y: 1800
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "RightGoalTopLine"
+    p1: <
+      x: 5990
+      y: 900
+    >
+    p2: <
+      x: 6170
+      y: 900
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "RightGoalBottomLine"
+    p1: <
+      x: 5990
+      y: -900
+    >
+    p2: <
+      x: 6170
+      y: -900
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "RightGoalDepthLine"
+    p1: <
+      x: 6165
+      y: -900
+    >
+    p2: <
+      x: 6165
+      y: 900
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "LeftGoalTopLine"
+    p1: <
+      x: -5990
+      y: 900
+    >
+    p2: <
+      x: -6170
+      y: 900
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "LeftGoalBottomLine"
+    p1: <
+      x: -5990
+      y: -900
+    >
+    p2: <
+      x: -6170
+      y: -900
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "LeftGoalDepthLine"
+    p1: <
+      x: -6165
+      y: -900
+    >
+    p2: <
+      x: -6165
+      y: 900
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "LeftFieldLeftPenaltyStretch"
+    p1: <
+      x: -5990
+      y: 1800
+    >
+    p2: <
+      x: -4190
+      y: 1800
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "LeftFieldRightPenaltyStretch"
+    p1: <
+      x: -5990
+      y: -1800
+    >
+    p2: <
+      x: -4190
+      y: -1800
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "RightFieldLeftPenaltyStretch"
+    p1: <
+      x: 5990
+      y: -1800
+    >
+    p2: <
+      x: 4190
+      y: -1800
+    >
+    thickness: 10
+  >
+  field_lines: <
+    name: "RightFieldRightPenaltyStretch"
+    p1: <
+      x: 5990
+      y: 1800
+    >
+    p2: <
+      x: 4190
+      y: 1800
+    >
+    thickness: 10
+  >
+  field_arcs: <
+    name: "CenterCircle"
+    center: <
+      x: 0
+      y: 0
+    >
+    radius: 495
+    a1: 0
+    a2: 6.2831855
+    thickness: 10
+  >
+>
+calib <
+  camera_id: 0
+  focal_length: 390
+  principal_point_x: 300
+  principal_point_y: 300
+  distortion: 0.2
+  q0: 0.7
+  q1: 0.7
+  q2: 0.7
+  q3: 0.7
+  tx: 0
+  ty: 0
+  tz: 3500
+  derived_camera_world_tx: -3010
+  derived_camera_world_ty: -0
+  derived_camera_world_tz: 6000
+>
+calib <
+  camera_id: 1
+  focal_length: 390
+  principal_point_x: 300
+  principal_point_y: 300
+  distortion: 0.2
+  q0: 0.7
+  q1: 0.7
+  q2: 0.7
+  q3: 0.7
+  tx: 0
+  ty: 0
+  tz: 3500
+  derived_camera_world_tx: 3010
+  derived_camera_world_ty: -0
+  derived_camera_world_tz: 6000
+>