Use queue for referee message receiver

.gitignore

@@ -194,5 +194,5 @@ cython_debug/
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
 
+AutoReferee/
 ssl-game-controller/
-AutoReferee/

README.md

@@ -2,12 +2,29 @@
 
 ## Setup Guidelines
 
+### Setup Utama
+
 1. cd to root folder `/Utama` and type `pip install -e .` to install all dependencies.
 2. Note that this also installs all modules with `__init__.py` (so you need to run it again when you add an `__init__.py`)
 
 If you are still struggling with local import errors (ie importing our local modules), you can add `export PYTHONPATH=/path/to/folder/Utama` to your `~/.bashrc`. To do this, run `sudo nano ~/.bashrc` and then add the export line at the bottom of the document. Finally, close and save.
 
-###### Warning: the above workaround is quite hackish and may result in source conflicts if you are working on other projects in the same Linux machine. Be advised.
+> Warning: the above workaround is quite hackish and may result in source conflicts if you are working on other projects in the same Linux machine. Be advised.
+
+### Setup Autoreferee
+
+1. Make sure `grSim` is setup properly and can be called through terminal.
+2. `git clone` from [AutoReferee repo](https://github.com/TIGERs-Mannheim/AutoReferee) in a folder named `/AutoReferee` in root directory.
+3. Change `DIV_A` in `/AutoReferee/config/moduli/moduli.xml` to `DIV_B`.
+
+```xml
+    <globalConfiguration>
+        <environment>ROBOCUP</environment>
+        <geometry>DIV_B</geometry>
+    </globalConfiguration>
+```
+
+4. Get the latest [compiled game controller](https://github.com/RoboCup-SSL/ssl-game-controller/releases/) and rename it to `ssl_game_controller`. Save it in `/ssl-game-controller` directory.
 
 ### Field Guide
 

entities/data/referee.py

@@ -0,0 +1,55 @@
+from collections import namedtuple
+from typing import NamedTuple, Optional, Tuple
+from enum import Enum
+
+from entities.game.team_info import TeamInfo
+from entities.referee.referee_command import RefereeCommand
+from entities.referee.stage import Stage
+
+
+class RefereeData(NamedTuple):
+    """Namedtuple for referee data."""
+
+    source_identifier: Optional[str]
+    time_sent: float
+    time_received: float
+    referee_command: RefereeCommand
+    referee_command_timestamp: float
+    stage: Stage
+    stage_time_left: float
+    blue_team: TeamInfo
+    yellow_team: TeamInfo
+    designated_position: Optional[Tuple[float]] = None
+
+    # Information about the direction of play.
+    # True, if the blue team will have it's goal on the positive x-axis of the ssl-vision coordinate system.
+    # Obviously, the yellow team will play on the opposite half.
+    blue_team_on_positive_half: Optional[bool] = None
+
+    # The command that will be issued after the current stoppage and ball placement to continue the game.
+    next_command: Optional[RefereeCommand] = None
+
+    # The time in microseconds that is remaining until the current action times out
+    # The time will not be reset. It can get negative.
+    # An autoRef would raise an appropriate event, if the time gets negative.
+    # Possible actions where this time is relevant:
+    #  * free kicks
+    #  * kickoff, penalty kick, force start
+    #  * ball placement
+    current_action_time_remaining: Optional[int] = None
+
+    def __eq__(self, other):
+        if not isinstance(other, RefereeData):
+            return NotImplemented
+        return (
+            self.stage == other.stage
+            and self.referee_command == other.referee_command
+            and self.referee_command_timestamp == other.referee_command_timestamp
+            and self.yellow_team == other.yellow_team
+            and self.blue_team == other.blue_team
+            and self.designated_position == other.designated_position
+            and self.blue_team_on_positive_half == other.blue_team_on_positive_half
+            and self.next_command == other.next_command
+            and self.current_action_time_remaining
+            == other.current_action_time_remaining
+        )