diff --git a/roboteam_networking/proto_CI/.gitignore b/roboteam_networking/proto_CI/.gitignore deleted file mode 100644 index 615f2f837..000000000 --- a/roboteam_networking/proto_CI/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -# Ignore Python cache files -__pycache__/ -*.pyc -*.pyo -*.pyd diff --git a/roboteam_networking/proto_CI/.gitignore.save b/roboteam_networking/proto_CI/.gitignore.save deleted file mode 100644 index 615f2f837..000000000 --- a/roboteam_networking/proto_CI/.gitignore.save +++ /dev/null @@ -1,5 +0,0 @@ -# Ignore Python cache files -__pycache__/ -*.pyc -*.pyo -*.pyd diff --git a/roboteam_networking/proto_CI/README.md b/roboteam_networking/proto_CI/README.md deleted file mode 100644 index 7dde1aae4..000000000 --- a/roboteam_networking/proto_CI/README.md +++ /dev/null @@ -1,7 +0,0 @@ -# CI (Continuous integration) - -This folder contains all the files necessary to carry out CI mode using TCP to connect to the game controller (GC). - -You need to get the ball information, robot information and geometry information. Then you need to send this as a packaged protobuf file to the GC. The "old" protobuf stuff to get information out of the system still uses the old protobuf files. - -However we use these new files to establish a TCP connection using CI. \ No newline at end of file diff --git a/roboteam_networking/proto_CI/ssl_gc_api.proto b/roboteam_networking/proto_CI/ssl_gc_api.proto deleted file mode 100644 index 1ef2c6d69..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_api.proto +++ /dev/null @@ -1,56 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/api"; - -import "ssl_gc_state.proto"; -import "ssl_gc_change.proto"; -import "ssl_gc_engine.proto"; -import "ssl_gc_engine_config.proto"; - -import "google/protobuf/duration.proto"; - -// Message format that is pushed from the GC to the client -message Output { - // The current match state - optional State match_state = 1; - // The current GC state - optional GcState gc_state = 2; - // The protocol - optional Protocol protocol = 3; - // The engine config - optional Config config = 4; -} - -// The game protocol -message Protocol { - // Is this a delta only? - // Entries that were already sent are not sent again, because the protocol is immutable anyway. - // But if the game is reset, the whole protocol must be replaced. That's what this flag is for. - optional bool delta = 1; - // The (delta) list of entries - repeated ProtocolEntry entry = 2; -} - -// A protocol entry of a change -message ProtocolEntry { - // Id of the entry - optional int32 id = 1; - // The change that was made - optional Change change = 2; - // The match time elapsed when this change was made - optional google.protobuf.Duration match_time_elapsed = 3; - // The stage time elapsed when this change was made - optional google.protobuf.Duration stage_time_elapsed = 4; -} - -// Message format that can be send from the client to the GC -message Input { - // A change to be enqueued into the GC engine - optional Change change = 1; - // Reset the match - optional bool reset_match = 2; - // An updated config delta - optional Config config_delta = 3; - // Continue with action - optional ContinueAction continue_action = 4; -} diff --git a/roboteam_networking/proto_CI/ssl_gc_api_pb2.py b/roboteam_networking/proto_CI/ssl_gc_api_pb2.py deleted file mode 100644 index 3e932b5fd..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_api_pb2.py +++ /dev/null @@ -1,37 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_gc_api.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -import ssl_gc_state_pb2 as ssl__gc__state__pb2 -import ssl_gc_change_pb2 as ssl__gc__change__pb2 -import ssl_gc_engine_pb2 as ssl__gc__engine__pb2 -import ssl_gc_engine_config_pb2 as ssl__gc__engine__config__pb2 -from google.protobuf import duration_pb2 as google_dot_protobuf_dot_duration__pb2 - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x10ssl_gc_api.proto\x1a\x12ssl_gc_state.proto\x1a\x13ssl_gc_change.proto\x1a\x13ssl_gc_engine.proto\x1a\x1assl_gc_engine_config.proto\x1a\x1egoogle/protobuf/duration.proto\"w\n\x06Output\x12\x1b\n\x0bmatch_state\x18\x01 \x01(\x0b\x32\x06.State\x12\x1a\n\x08gc_state\x18\x02 \x01(\x0b\x32\x08.GcState\x12\x1b\n\x08protocol\x18\x03 \x01(\x0b\x32\t.Protocol\x12\x17\n\x06\x63onfig\x18\x04 \x01(\x0b\x32\x07.Config\"8\n\x08Protocol\x12\r\n\x05\x64\x65lta\x18\x01 \x01(\x08\x12\x1d\n\x05\x65ntry\x18\x02 \x03(\x0b\x32\x0e.ProtocolEntry\"\xa2\x01\n\rProtocolEntry\x12\n\n\x02id\x18\x01 \x01(\x05\x12\x17\n\x06\x63hange\x18\x02 \x01(\x0b\x32\x07.Change\x12\x35\n\x12match_time_elapsed\x18\x03 \x01(\x0b\x32\x19.google.protobuf.Duration\x12\x35\n\x12stage_time_elapsed\x18\x04 \x01(\x0b\x32\x19.google.protobuf.Duration\"~\n\x05Input\x12\x17\n\x06\x63hange\x18\x01 \x01(\x0b\x32\x07.Change\x12\x13\n\x0breset_match\x18\x02 \x01(\x08\x12\x1d\n\x0c\x63onfig_delta\x18\x03 \x01(\x0b\x32\x07.Config\x12(\n\x0f\x63ontinue_action\x18\x04 \x01(\x0b\x32\x0f.ContinueActionB=Z;github.com/RoboCup-SSL/ssl-game-controller/internal/app/api') - -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals()) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'ssl_gc_api_pb2', globals()) -if _descriptor._USE_C_DESCRIPTORS == False: - - DESCRIPTOR._options = None - DESCRIPTOR._serialized_options = b'Z;github.com/RoboCup-SSL/ssl-game-controller/internal/app/api' - _OUTPUT._serialized_start=142 - _OUTPUT._serialized_end=261 - _PROTOCOL._serialized_start=263 - _PROTOCOL._serialized_end=319 - _PROTOCOLENTRY._serialized_start=322 - _PROTOCOLENTRY._serialized_end=484 - _INPUT._serialized_start=486 - _INPUT._serialized_end=612 -# @@protoc_insertion_point(module_scope) diff --git a/roboteam_networking/proto_CI/ssl_gc_change.proto b/roboteam_networking/proto_CI/ssl_gc_change.proto deleted file mode 100644 index 35c4c30aa..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_change.proto +++ /dev/null @@ -1,200 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/statemachine"; - -import "ssl_gc_state.proto"; -import "ssl_gc_common.proto"; -import "ssl_gc_geometry.proto"; -import "ssl_gc_game_event.proto"; -import "ssl_gc_referee_message.proto"; - -import "google/protobuf/timestamp.proto"; -import "google/protobuf/wrappers.proto"; - -// A state change -message StateChange { - // A unique increasing id - optional int32 id = 1; - // The previous state - optional State state_pre = 2; - // The state after the change was applied - optional State state = 3; - // The change itself - optional Change change = 4; - // The timestamp when the change was triggered - optional google.protobuf.Timestamp timestamp = 5; -} - -// A certain change -message Change { - // An identifier of the origin that triggered the change - optional string origin = 1; - // Is this change revertible? - optional bool revertible = 16; - - oneof change { - NewCommand new_command_change = 2; - ChangeStage change_stage_change = 3; - SetBallPlacementPos set_ball_placement_pos_change = 4; - AddYellowCard add_yellow_card_change = 5; - AddRedCard add_red_card_change = 6; - YellowCardOver yellow_card_over_change = 7; - AddGameEvent add_game_event_change = 8; - AddPassiveGameEvent add_passive_game_event_change = 19; - AddProposal add_proposal_change = 9; - UpdateConfig update_config_change = 12; - UpdateTeamState update_team_state_change = 13; - SwitchColors switch_colors_change = 14; - Revert revert_change = 15; - NewGameState new_game_state_change = 17; - AcceptProposalGroup accept_proposal_group_change = 18; - SetStatusMessage set_status_message_change = 20; - } - - // New referee command - message NewCommand { - // The command - optional Command command = 1; - } - - // Switch to a new stage - message ChangeStage { - // The new stage - optional Referee.Stage new_stage = 1; - } - - // Set the ball placement pos - message SetBallPlacementPos { - // The position in [m] - optional Vector2 pos = 1; - } - - // Add a new yellow card - message AddYellowCard { - // The team that the card is for - optional Team for_team = 1; - // The game event that caused the card - optional GameEvent caused_by_game_event = 2; - } - - // Add a new red card - message AddRedCard { - // The team that the card is for - optional Team for_team = 1; - // The game event that caused the card - optional GameEvent caused_by_game_event = 2; - } - - // Trigger when a yellow card timed out - message YellowCardOver { - // The team that the card was for - optional Team for_team = 1; - } - - // Add a new game event - message AddGameEvent { - // The game event - optional GameEvent game_event = 1; - } - - // Add a new passive game event (that is only logged, but does not automatically trigger anything) - message AddPassiveGameEvent { - // The game event - optional GameEvent game_event = 1; - } - - // Add a new proposal (i.e. from an auto referee for majority voting) - message AddProposal { - // The proposal - optional Proposal proposal = 1; - } - - // Accept a proposal group (that contain one or more proposals of the same type) - message AcceptProposalGroup { - // The id of the group - optional string group_id = 3; - // An identifier of the acceptor - optional string accepted_by = 2; - } - - // Update some configuration - message UpdateConfig { - // The division to play with - optional Division division = 1; - // the team that does/did the first kick off - optional Team first_kickoff_team = 2; - reserved 3; // auto_continue moved to gcState - // The match type - optional MatchType match_type = 4; - // The number of robots per team - optional google.protobuf.Int32Value max_robots_per_team = 5; - } - - // Update the current state of a team (all fields that should be updated are set) - message UpdateTeamState { - // The team - optional Team for_team = 1; - - // Change the name of the team - optional google.protobuf.StringValue team_name = 2; - // Change the number of goals that the teams has at the moment - optional google.protobuf.Int32Value goals = 3; - // The id of the goal keeper - optional google.protobuf.Int32Value goalkeeper = 4; - // The number of timeouts that the team has left - optional google.protobuf.Int32Value timeouts_left = 5; - // The timeout time that the team has left - optional google.protobuf.StringValue timeout_time_left = 6; - // Does the team play on the positive or the negative half (in ssl-vision coordinates)? - optional google.protobuf.BoolValue on_positive_half = 7; - // The number of ball placement failures - optional google.protobuf.Int32Value ball_placement_failures = 8; - // Can the team place the ball, or is ball placement for this team disabled and should be skipped? - optional google.protobuf.BoolValue can_place_ball = 9; - // The number of challenge flags that the team has left - optional google.protobuf.Int32Value challenge_flags_left = 21; - // The number of bot substitutions left by the team in this halftime - optional google.protobuf.Int32Value bot_substitutions_left = 22; - // Does the team want to substitute a robot in the next possible situation? - optional google.protobuf.BoolValue requests_bot_substitution = 10; - // Does the team want to take a timeout in the next possible situation? - optional google.protobuf.BoolValue requests_timeout = 17; - // Does the team want to challenge a recent decision of the referee? - optional google.protobuf.BoolValue requests_challenge = 18; - // Does the team want to request an emergency stop? - optional google.protobuf.BoolValue requests_emergency_stop = 19; - // Update a certain yellow card of the team - optional YellowCard yellow_card = 20; - // Update a certain red card of the team - optional RedCard red_card = 12; - // Update a certain foul of the team - optional Foul foul = 13; - // Remove the yellow card with this id - optional google.protobuf.UInt32Value remove_yellow_card = 14; - // Remove the red card with this id - optional google.protobuf.UInt32Value remove_red_card = 15; - // Remove the foul with this id - optional google.protobuf.UInt32Value remove_foul = 16; - } - - // Switch the team colors - message SwitchColors { - } - - // Revert a certain change - message Revert { - // The id of the change - optional int32 change_id = 1; - } - - // Change the current game state - message NewGameState { - // The new game state - optional GameState game_state = 1; - } - - message SetStatusMessage { - // The new status message - optional string status_message = 1; - } -} diff --git a/roboteam_networking/proto_CI/ssl_gc_change_pb2.py b/roboteam_networking/proto_CI/ssl_gc_change_pb2.py deleted file mode 100644 index 47c1d989a..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_change_pb2.py +++ /dev/null @@ -1,67 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_gc_change.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -import ssl_gc_state_pb2 as ssl__gc__state__pb2 -import ssl_gc_common_pb2 as ssl__gc__common__pb2 -import ssl_gc_geometry_pb2 as ssl__gc__geometry__pb2 -import ssl_gc_game_event_pb2 as ssl__gc__game__event__pb2 -import ssl_gc_referee_message_pb2 as ssl__gc__referee__message__pb2 -from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2 -from google.protobuf import wrappers_pb2 as google_dot_protobuf_dot_wrappers__pb2 - - -DESCRIPTOR = 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_STATECHANGE._serialized_start=208 - _STATECHANGE._serialized_end=355 - _CHANGE._serialized_start=358 - _CHANGE._serialized_end=3258 - _CHANGE_NEWCOMMAND._serialized_start=1317 - _CHANGE_NEWCOMMAND._serialized_end=1356 - _CHANGE_CHANGESTAGE._serialized_start=1358 - _CHANGE_CHANGESTAGE._serialized_end=1406 - _CHANGE_SETBALLPLACEMENTPOS._serialized_start=1408 - _CHANGE_SETBALLPLACEMENTPOS._serialized_end=1452 - _CHANGE_ADDYELLOWCARD._serialized_start=1454 - _CHANGE_ADDYELLOWCARD._serialized_end=1536 - _CHANGE_ADDREDCARD._serialized_start=1538 - _CHANGE_ADDREDCARD._serialized_end=1617 - _CHANGE_YELLOWCARDOVER._serialized_start=1619 - _CHANGE_YELLOWCARDOVER._serialized_end=1660 - _CHANGE_ADDGAMEEVENT._serialized_start=1662 - _CHANGE_ADDGAMEEVENT._serialized_end=1708 - _CHANGE_ADDPASSIVEGAMEEVENT._serialized_start=1710 - _CHANGE_ADDPASSIVEGAMEEVENT._serialized_end=1763 - _CHANGE_ADDPROPOSAL._serialized_start=1765 - _CHANGE_ADDPROPOSAL._serialized_end=1807 - _CHANGE_ACCEPTPROPOSALGROUP._serialized_start=1809 - _CHANGE_ACCEPTPROPOSALGROUP._serialized_end=1869 - _CHANGE_UPDATECONFIG._serialized_start=1872 - _CHANGE_UPDATECONFIG._serialized_end=2046 - _CHANGE_UPDATETEAMSTATE._serialized_start=2049 - _CHANGE_UPDATETEAMSTATE._serialized_end=3111 - _CHANGE_SWITCHCOLORS._serialized_start=3113 - _CHANGE_SWITCHCOLORS._serialized_end=3127 - _CHANGE_REVERT._serialized_start=3129 - _CHANGE_REVERT._serialized_end=3156 - _CHANGE_NEWGAMESTATE._serialized_start=3158 - _CHANGE_NEWGAMESTATE._serialized_end=3204 - _CHANGE_SETSTATUSMESSAGE._serialized_start=3206 - _CHANGE_SETSTATUSMESSAGE._serialized_end=3248 -# @@protoc_insertion_point(module_scope) diff --git a/roboteam_networking/proto_CI/ssl_gc_ci.proto b/roboteam_networking/proto_CI/ssl_gc_ci.proto deleted file mode 100644 index 0eddc7347..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_ci.proto +++ /dev/null @@ -1,26 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/ci"; - -import "ssl_vision_wrapper_tracked.proto"; -import "ssl_gc_api.proto"; -import "ssl_gc_referee_message.proto"; -import "ssl_vision_geometry.proto"; - -// The input format to the GC -message CiInput { - // New unix timestamp in [ns] for the GC - optional int64 timestamp = 1; - // New tracker packet with ball and robot data - optional TrackerWrapperPacket tracker_packet = 2; - // (UI) API input - repeated Input api_inputs = 3; - // Update geometry - optional SSL_GeometryData geometry = 4; -} - -// The output format of the GC response -message CiOutput { - // Latest referee message - optional Referee referee_msg = 1; -} diff --git a/roboteam_networking/proto_CI/ssl_gc_ci_pb2.py b/roboteam_networking/proto_CI/ssl_gc_ci_pb2.py deleted file mode 100644 index 322d1aaf9..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_ci_pb2.py +++ /dev/null @@ -1,32 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_gc_ci.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -import ssl_vision_wrapper_tracked_pb2 as ssl__vision__wrapper__tracked__pb2 -import ssl_gc_api_pb2 as ssl__gc__api__pb2 -import ssl_gc_referee_message_pb2 as ssl__gc__referee__message__pb2 -import ssl_vision_geometry_pb2 as ssl__vision__geometry__pb2 - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0fssl_gc_ci.proto\x1a ssl_vision_wrapper_tracked.proto\x1a\x10ssl_gc_api.proto\x1a\x1cssl_gc_referee_message.proto\x1a\x19ssl_vision_geometry.proto\"\x8c\x01\n\x07\x43iInput\x12\x11\n\ttimestamp\x18\x01 \x01(\x03\x12-\n\x0etracker_packet\x18\x02 \x01(\x0b\x32\x15.TrackerWrapperPacket\x12\x1a\n\napi_inputs\x18\x03 \x03(\x0b\x32\x06.Input\x12#\n\x08geometry\x18\x04 \x01(\x0b\x32\x11.SSL_GeometryData\")\n\x08\x43iOutput\x12\x1d\n\x0breferee_msg\x18\x01 \x01(\x0b\x32\x08.RefereeB team_state = 1; - - // the states of the auto referees - map auto_ref_state = 2; - - // the attached trackers (uuid -> source_name) - map trackers = 3; - - // the next actions that can be executed when continuing - repeated ContinueAction continue_actions = 4; - - // the next actions that can be executed when continuing - repeated ContinueHint continue_hints = 5; -} - -// The GC state for a single team -message GcStateTeam { - // true: The team is connected - optional bool connected = 1; - - // true: The team connected via TLS with a verified certificate - optional bool connection_verified = 2; - - // true: The remote control for the team is connected - optional bool remote_control_connected = 3; - - // true: The remote control for the team connected via TLS with a verified certificate - optional bool remote_control_connection_verified = 4; - - // the advantage choice of the team - optional TeamAdvantageChoice advantage_choice = 5; -} - -// The choice from a team regarding the advantage rule -message TeamAdvantageChoice { - // the choice of the team - optional AdvantageChoice choice = 1; - - // possible advantage choices - enum AdvantageChoice { - // stop the game - STOP = 0; - // keep the match running - CONTINUE = 1; - } -} - -// The GC state of an auto referee -message GcStateAutoRef { - // true: The autoRef connected via TLS with a verified certificate - optional bool connection_verified = 1; -} - -// GC state of a tracker -message GcStateTracker { - // Name of the source - optional string source_name = 1; - - // UUID of the source - optional string uuid = 4; - - // Current ball - optional Ball ball = 2; - - // Current robots - repeated Robot robots = 3; -} - -// The ball state -message Ball { - // ball position [m] - optional Vector3 pos = 1; - - // ball velocity [m/s] - optional Vector3 vel = 2; -} - -// The robot state -message Robot { - // robot id and team - optional RobotId id = 1; - - // robot position [m] - optional Vector2 pos = 2; -} - -message ContinueAction { - // type of action that will be performed next - required Type type = 1; - - // for which team (if team specific) - required Team for_team = 2; - - // list of issues that hinders the game from continuing - repeated string continuation_issues = 3; - - // timestamp at which the action will be ready (to give some preparation time) - optional google.protobuf.Timestamp ready_at = 4; - - // state of the action - optional State state = 5; - - enum Type { - TYPE_UNKNOWN = 0; - HALT = 1; - RESUME_FROM_HALT = 10; - STOP_GAME = 2; - FORCE_START = 11; - FREE_KICK = 17; - NEXT_COMMAND = 3; - BALL_PLACEMENT_START = 4; - BALL_PLACEMENT_CANCEL = 9; - BALL_PLACEMENT_COMPLETE = 14; - BALL_PLACEMENT_FAIL = 15; - TIMEOUT_START = 5; - TIMEOUT_STOP = 6; - BOT_SUBSTITUTION = 7; - NEXT_STAGE = 8; - END_GAME = 16; - ACCEPT_GOAL = 12; - REJECT_GOAL = 20; - NORMAL_START = 13; - CHALLENGE_ACCEPT = 18; - CHALLENGE_REJECT = 19; - } - - enum State { - STATE_UNKNOWN = 0; - BLOCKED = 1; - WAITING = 2; - READY_AUTO = 3; - READY_MANUAL = 4; - DISABLED = 5; - } -} - -message ContinueHint { - required string message = 1; -} diff --git a/roboteam_networking/proto_CI/ssl_gc_engine_config.proto b/roboteam_networking/proto_CI/ssl_gc_engine_config.proto deleted file mode 100644 index b523840f5..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_engine_config.proto +++ /dev/null @@ -1,55 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/engine"; - -// The engine config -message Config { - // The behavior for each game event - map game_event_behavior = 1; - - // The config for each auto referee - map auto_ref_configs = 2; - - // The selected tracker source - optional string active_tracker_source = 3; - - // The list of available teams - repeated string teams = 4; - - // Enable or disable auto continuation - optional bool auto_continue = 5; - - // Behaviors for each game event - enum Behavior { - // Not set or unknown - BEHAVIOR_UNKNOWN = 0; - // Always accept the game event - BEHAVIOR_ACCEPT = 1; - // Accept the game event if was reported by a majority - BEHAVIOR_ACCEPT_MAJORITY = 2; - // Only propose the game event (can be accepted in the UI by a human) - BEHAVIOR_PROPOSE_ONLY = 3; - // Only log the game event to the protocol - BEHAVIOR_LOG = 4; - // Silently ignore the game event - BEHAVIOR_IGNORE = 5; - } -} - -// The config for an auto referee -message AutoRefConfig { - // The game event behaviors for this auto referee - map game_event_behavior = 1; - - // Behaviors for the game events reported by this auto referee - enum Behavior { - // Not set or unknown - BEHAVIOR_UNKNOWN = 0; - // Accept the game event - BEHAVIOR_ACCEPT = 1; - // Log the game event - BEHAVIOR_LOG = 2; - // Silently ignore the game event - BEHAVIOR_IGNORE = 3; - } -} diff --git a/roboteam_networking/proto_CI/ssl_gc_engine_config_pb2.py b/roboteam_networking/proto_CI/ssl_gc_engine_config_pb2.py deleted file mode 100644 index a06db6381..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_engine_config_pb2.py +++ /dev/null @@ -1,44 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_gc_engine_config.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1assl_gc_engine_config.proto\"\xec\x03\n\x06\x43onfig\x12;\n\x13game_event_behavior\x18\x01 \x03(\x0b\x32\x1e.Config.GameEventBehaviorEntry\x12\x35\n\x10\x61uto_ref_configs\x18\x02 \x03(\x0b\x32\x1b.Config.AutoRefConfigsEntry\x12\x1d\n\x15\x61\x63tive_tracker_source\x18\x03 \x01(\t\x12\r\n\x05teams\x18\x04 \x03(\t\x12\x15\n\rauto_continue\x18\x05 \x01(\x08\x1aJ\n\x16GameEventBehaviorEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\x1f\n\x05value\x18\x02 \x01(\x0e\x32\x10.Config.Behavior:\x02\x38\x01\x1a\x45\n\x13\x41utoRefConfigsEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\x1d\n\x05value\x18\x02 \x01(\x0b\x32\x0e.AutoRefConfig:\x02\x38\x01\"\x95\x01\n\x08\x42\x65havior\x12\x14\n\x10\x42\x45HAVIOR_UNKNOWN\x10\x00\x12\x13\n\x0f\x42\x45HAVIOR_ACCEPT\x10\x01\x12\x1c\n\x18\x42\x45HAVIOR_ACCEPT_MAJORITY\x10\x02\x12\x19\n\x15\x42\x45HAVIOR_PROPOSE_ONLY\x10\x03\x12\x10\n\x0c\x42\x45HAVIOR_LOG\x10\x04\x12\x13\n\x0f\x42\x45HAVIOR_IGNORE\x10\x05\"\x84\x02\n\rAutoRefConfig\x12\x42\n\x13game_event_behavior\x18\x01 \x03(\x0b\x32%.AutoRefConfig.GameEventBehaviorEntry\x1aQ\n\x16GameEventBehaviorEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12&\n\x05value\x18\x02 \x01(\x0e\x32\x17.AutoRefConfig.Behavior:\x02\x38\x01\"\\\n\x08\x42\x65havior\x12\x14\n\x10\x42\x45HAVIOR_UNKNOWN\x10\x00\x12\x13\n\x0f\x42\x45HAVIOR_ACCEPT\x10\x01\x12\x10\n\x0c\x42\x45HAVIOR_LOG\x10\x02\x12\x13\n\x0f\x42\x45HAVIOR_IGNORE\x10\x03\x42@Z>github.com/RoboCup-SSL/ssl-game-controller/internal/app/engine') - -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals()) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'ssl_gc_engine_config_pb2', globals()) -if _descriptor._USE_C_DESCRIPTORS == False: - - DESCRIPTOR._options = None - DESCRIPTOR._serialized_options = b'Z>github.com/RoboCup-SSL/ssl-game-controller/internal/app/engine' - _CONFIG_GAMEEVENTBEHAVIORENTRY._options = None - _CONFIG_GAMEEVENTBEHAVIORENTRY._serialized_options = b'8\001' - _CONFIG_AUTOREFCONFIGSENTRY._options = None - _CONFIG_AUTOREFCONFIGSENTRY._serialized_options = b'8\001' - _AUTOREFCONFIG_GAMEEVENTBEHAVIORENTRY._options = None - _AUTOREFCONFIG_GAMEEVENTBEHAVIORENTRY._serialized_options = b'8\001' - _CONFIG._serialized_start=31 - _CONFIG._serialized_end=523 - _CONFIG_GAMEEVENTBEHAVIORENTRY._serialized_start=226 - _CONFIG_GAMEEVENTBEHAVIORENTRY._serialized_end=300 - _CONFIG_AUTOREFCONFIGSENTRY._serialized_start=302 - _CONFIG_AUTOREFCONFIGSENTRY._serialized_end=371 - _CONFIG_BEHAVIOR._serialized_start=374 - _CONFIG_BEHAVIOR._serialized_end=523 - _AUTOREFCONFIG._serialized_start=526 - _AUTOREFCONFIG._serialized_end=786 - _AUTOREFCONFIG_GAMEEVENTBEHAVIORENTRY._serialized_start=611 - _AUTOREFCONFIG_GAMEEVENTBEHAVIORENTRY._serialized_end=692 - _AUTOREFCONFIG_BEHAVIOR._serialized_start=694 - _AUTOREFCONFIG_BEHAVIOR._serialized_end=786 -# @@protoc_insertion_point(module_scope) diff --git a/roboteam_networking/proto_CI/ssl_gc_engine_pb2.py b/roboteam_networking/proto_CI/ssl_gc_engine_pb2.py deleted file mode 100644 index e1a6665cd..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_engine_pb2.py +++ /dev/null @@ -1,63 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_gc_engine.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -import ssl_gc_geometry_pb2 as ssl__gc__geometry__pb2 -import ssl_gc_common_pb2 as ssl__gc__common__pb2 -from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2 - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13ssl_gc_engine.proto\x1a\x15ssl_gc_geometry.proto\x1a\x13ssl_gc_common.proto\x1a\x1fgoogle/protobuf/timestamp.proto\"\x9d\x03\n\x07GcState\x12+\n\nteam_state\x18\x01 \x03(\x0b\x32\x17.GcState.TeamStateEntry\x12\x32\n\x0e\x61uto_ref_state\x18\x02 \x03(\x0b\x32\x1a.GcState.AutoRefStateEntry\x12(\n\x08trackers\x18\x03 \x03(\x0b\x32\x16.GcState.TrackersEntry\x12)\n\x10\x63ontinue_actions\x18\x04 \x03(\x0b\x32\x0f.ContinueAction\x12%\n\x0e\x63ontinue_hints\x18\x05 \x03(\x0b\x32\r.ContinueHint\x1a>\n\x0eTeamStateEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\x1b\n\x05value\x18\x02 \x01(\x0b\x32\x0c.GcStateTeam:\x02\x38\x01\x1a\x44\n\x11\x41utoRefStateEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\x1e\n\x05value\x18\x02 \x01(\x0b\x32\x0f.GcStateAutoRef:\x02\x38\x01\x1a/\n\rTrackersEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\t:\x02\x38\x01\"\xbb\x01\n\x0bGcStateTeam\x12\x11\n\tconnected\x18\x01 \x01(\x08\x12\x1b\n\x13\x63onnection_verified\x18\x02 \x01(\x08\x12 \n\x18remote_control_connected\x18\x03 \x01(\x08\x12*\n\"remote_control_connection_verified\x18\x04 \x01(\x08\x12.\n\x10\x61\x64vantage_choice\x18\x05 \x01(\x0b\x32\x14.TeamAdvantageChoice\"v\n\x13TeamAdvantageChoice\x12\x34\n\x06\x63hoice\x18\x01 \x01(\x0e\x32$.TeamAdvantageChoice.AdvantageChoice\")\n\x0f\x41\x64vantageChoice\x12\x08\n\x04STOP\x10\x00\x12\x0c\n\x08\x43ONTINUE\x10\x01\"-\n\x0eGcStateAutoRef\x12\x1b\n\x13\x63onnection_verified\x18\x01 \x01(\x08\"`\n\x0eGcStateTracker\x12\x13\n\x0bsource_name\x18\x01 \x01(\t\x12\x0c\n\x04uuid\x18\x04 \x01(\t\x12\x13\n\x04\x62\x61ll\x18\x02 \x01(\x0b\x32\x05.Ball\x12\x16\n\x06robots\x18\x03 \x03(\x0b\x32\x06.Robot\"4\n\x04\x42\x61ll\x12\x15\n\x03pos\x18\x01 \x01(\x0b\x32\x08.Vector3\x12\x15\n\x03vel\x18\x02 \x01(\x0b\x32\x08.Vector3\"4\n\x05Robot\x12\x14\n\x02id\x18\x01 \x01(\x0b\x32\x08.RobotId\x12\x15\n\x03pos\x18\x02 \x01(\x0b\x32\x08.Vector2\"\xc4\x05\n\x0e\x43ontinueAction\x12\"\n\x04type\x18\x01 \x02(\x0e\x32\x14.ContinueAction.Type\x12\x17\n\x08\x66or_team\x18\x02 \x02(\x0e\x32\x05.Team\x12\x1b\n\x13\x63ontinuation_issues\x18\x03 \x03(\t\x12,\n\x08ready_at\x18\x04 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12$\n\x05state\x18\x05 \x01(\x0e\x32\x15.ContinueAction.State\"\x9d\x03\n\x04Type\x12\x10\n\x0cTYPE_UNKNOWN\x10\x00\x12\x08\n\x04HALT\x10\x01\x12\x14\n\x10RESUME_FROM_HALT\x10\n\x12\r\n\tSTOP_GAME\x10\x02\x12\x0f\n\x0b\x46ORCE_START\x10\x0b\x12\r\n\tFREE_KICK\x10\x11\x12\x10\n\x0cNEXT_COMMAND\x10\x03\x12\x18\n\x14\x42\x41LL_PLACEMENT_START\x10\x04\x12\x19\n\x15\x42\x41LL_PLACEMENT_CANCEL\x10\t\x12\x1b\n\x17\x42\x41LL_PLACEMENT_COMPLETE\x10\x0e\x12\x17\n\x13\x42\x41LL_PLACEMENT_FAIL\x10\x0f\x12\x11\n\rTIMEOUT_START\x10\x05\x12\x10\n\x0cTIMEOUT_STOP\x10\x06\x12\x14\n\x10\x42OT_SUBSTITUTION\x10\x07\x12\x0e\n\nNEXT_STAGE\x10\x08\x12\x0c\n\x08\x45ND_GAME\x10\x10\x12\x0f\n\x0b\x41\x43\x43\x45PT_GOAL\x10\x0c\x12\x0f\n\x0bREJECT_GOAL\x10\x14\x12\x10\n\x0cNORMAL_START\x10\r\x12\x14\n\x10\x43HALLENGE_ACCEPT\x10\x12\x12\x14\n\x10\x43HALLENGE_REJECT\x10\x13\"d\n\x05State\x12\x11\n\rSTATE_UNKNOWN\x10\x00\x12\x0b\n\x07\x42LOCKED\x10\x01\x12\x0b\n\x07WAITING\x10\x02\x12\x0e\n\nREADY_AUTO\x10\x03\x12\x10\n\x0cREADY_MANUAL\x10\x04\x12\x0c\n\x08\x44ISABLED\x10\x05\"\x1f\n\x0c\x43ontinueHint\x12\x0f\n\x07message\x18\x01 \x02(\tB@Z>github.com/RoboCup-SSL/ssl-game-controller/internal/app/engine') - -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals()) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'ssl_gc_engine_pb2', globals()) -if _descriptor._USE_C_DESCRIPTORS == False: - - DESCRIPTOR._options = None - DESCRIPTOR._serialized_options = b'Z>github.com/RoboCup-SSL/ssl-game-controller/internal/app/engine' - _GCSTATE_TEAMSTATEENTRY._options = None - _GCSTATE_TEAMSTATEENTRY._serialized_options = b'8\001' - _GCSTATE_AUTOREFSTATEENTRY._options = None - _GCSTATE_AUTOREFSTATEENTRY._serialized_options = b'8\001' - _GCSTATE_TRACKERSENTRY._options = None - _GCSTATE_TRACKERSENTRY._serialized_options = b'8\001' - _GCSTATE._serialized_start=101 - _GCSTATE._serialized_end=514 - _GCSTATE_TEAMSTATEENTRY._serialized_start=333 - _GCSTATE_TEAMSTATEENTRY._serialized_end=395 - _GCSTATE_AUTOREFSTATEENTRY._serialized_start=397 - _GCSTATE_AUTOREFSTATEENTRY._serialized_end=465 - _GCSTATE_TRACKERSENTRY._serialized_start=467 - _GCSTATE_TRACKERSENTRY._serialized_end=514 - _GCSTATETEAM._serialized_start=517 - _GCSTATETEAM._serialized_end=704 - _TEAMADVANTAGECHOICE._serialized_start=706 - _TEAMADVANTAGECHOICE._serialized_end=824 - _TEAMADVANTAGECHOICE_ADVANTAGECHOICE._serialized_start=783 - _TEAMADVANTAGECHOICE_ADVANTAGECHOICE._serialized_end=824 - _GCSTATEAUTOREF._serialized_start=826 - _GCSTATEAUTOREF._serialized_end=871 - _GCSTATETRACKER._serialized_start=873 - _GCSTATETRACKER._serialized_end=969 - _BALL._serialized_start=971 - _BALL._serialized_end=1023 - _ROBOT._serialized_start=1025 - _ROBOT._serialized_end=1077 - _CONTINUEACTION._serialized_start=1080 - _CONTINUEACTION._serialized_end=1788 - _CONTINUEACTION_TYPE._serialized_start=1273 - _CONTINUEACTION_TYPE._serialized_end=1686 - _CONTINUEACTION_STATE._serialized_start=1688 - _CONTINUEACTION_STATE._serialized_end=1788 - _CONTINUEHINT._serialized_start=1790 - _CONTINUEHINT._serialized_end=1821 -# @@protoc_insertion_point(module_scope) diff --git a/roboteam_networking/proto_CI/ssl_gc_game_event.proto b/roboteam_networking/proto_CI/ssl_gc_game_event.proto deleted file mode 100644 index 78b68cc51..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_game_event.proto +++ /dev/null @@ -1,596 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"; - -import "ssl_gc_common.proto"; -import "ssl_gc_geometry.proto"; - -// GameEvent contains exactly one game event -// Each game event has optional and required fields. The required fields are mandatory to process the event. -// Some optional fields are only used for visualization, others are required to determine the ball placement position. -// If fields are missing that are required for the ball placement position, no ball placement command will be issued. -// Fields are marked optional to make testing and extending of the protocol easier. -// An autoRef should ideally set all fields, except if there are good reasons to not do so. -message GameEvent { - - // A globally unique id of the game event. - optional string id = 50; - - // The type of the game event. - optional Type type = 40; - - // The origins of this game event. - // Empty, if it originates from game controller. - // Contains autoRef name(s), if it originates from one or more autoRefs. - // Ignored if sent by autoRef to game controller. - repeated string origin = 41; - - // Unix timestamp in microseconds when the event was created. - optional uint64 created_timestamp = 49; - - // the event that occurred - oneof event { - - // Ball out of field events (stopping) - - BallLeftField ball_left_field_touch_line = 6; - BallLeftField ball_left_field_goal_line = 7; - AimlessKick aimless_kick = 11; - - // Stopping Fouls - - AttackerTooCloseToDefenseArea attacker_too_close_to_defense_area = 19; - DefenderInDefenseArea defender_in_defense_area = 31; - BoundaryCrossing boundary_crossing = 43; - KeeperHeldBall keeper_held_ball = 13; - BotDribbledBallTooFar bot_dribbled_ball_too_far = 17; - - BotPushedBot bot_pushed_bot = 24; - BotHeldBallDeliberately bot_held_ball_deliberately = 26; - BotTippedOver bot_tipped_over = 27; - BotDroppedParts bot_dropped_parts = 51; - - // Non-Stopping Fouls - - AttackerTouchedBallInDefenseArea attacker_touched_ball_in_defense_area = 15; - BotKickedBallTooFast bot_kicked_ball_too_fast = 18; - BotCrashUnique bot_crash_unique = 22; - BotCrashDrawn bot_crash_drawn = 21; - - // Fouls while ball out of play - - DefenderTooCloseToKickPoint defender_too_close_to_kick_point = 29; - BotTooFastInStop bot_too_fast_in_stop = 28; - BotInterferedPlacement bot_interfered_placement = 20; - - // Scoring goals - - Goal possible_goal = 39; - Goal goal = 8; - Goal invalid_goal = 44; - - // Other events - - AttackerDoubleTouchedBall attacker_double_touched_ball = 14; - PlacementSucceeded placement_succeeded = 5; - PenaltyKickFailed penalty_kick_failed = 45; - - NoProgressInGame no_progress_in_game = 2; - PlacementFailed placement_failed = 3; - MultipleCards multiple_cards = 32; - MultipleFouls multiple_fouls = 34; - BotSubstitution bot_substitution = 37; - ExcessiveBotSubstitution excessive_bot_substitution = 52; - TooManyRobots too_many_robots = 38; - ChallengeFlag challenge_flag = 46; - ChallengeFlagHandled challenge_flag_handled = 48; - EmergencyStop emergency_stop = 47; - - UnsportingBehaviorMinor unsporting_behavior_minor = 35; - UnsportingBehaviorMajor unsporting_behavior_major = 36; - - // Deprecated events - - // replaced by ready_to_continue flag - Prepared prepared = 1 [deprecated = true]; - // obsolete - IndirectGoal indirect_goal = 9 [deprecated = true]; - // replaced by the meta-information in the possible_goal event - ChippedGoal chipped_goal = 10 [deprecated = true]; - // obsolete - KickTimeout kick_timeout = 12 [deprecated = true]; - // rule removed - AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area = 16 [deprecated = true]; - // obsolete - AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area_skipped = 42 [deprecated = true]; - // obsolete - BotCrashUnique bot_crash_unique_skipped = 23 [deprecated = true]; - // can not be used as long as autoRefs do not judge pushing - BotPushedBot bot_pushed_bot_skipped = 25 [deprecated = true]; - // rule removed - DefenderInDefenseAreaPartially defender_in_defense_area_partially = 30 [deprecated = true]; - // the referee msg already indicates this - MultiplePlacementFailures multiple_placement_failures = 33 [deprecated = true]; - } - - // the ball left the field normally - message BallLeftField { - // the team that last touched the ball - required Team by_team = 1; - // the bot that last touched the ball - optional uint32 by_bot = 2; - // the location where the ball left the field [m] - optional Vector2 location = 3; - } - // the ball left the field via goal line and a team committed an aimless kick - message AimlessKick { - // the team that last touched the ball - required Team by_team = 1; - // the bot that last touched the ball - optional uint32 by_bot = 2; - // the location where the ball left the field [m] - optional Vector2 location = 3; - // the location where the ball was last touched [m] - optional Vector2 kick_location = 4; - } - // a team shot a goal - message Goal { - // the team that scored the goal - required Team by_team = 1; - // the team that shot the goal (different from by_team for own goals) - optional Team kicking_team = 6; - // the bot that shot the goal - optional uint32 kicking_bot = 2; - // the location where the ball entered the goal [m] - optional Vector2 location = 3; - // the location where the ball was kicked (for deciding if this was a valid goal) [m] - optional Vector2 kick_location = 4; - // the maximum height the ball reached during the goal kick (for deciding if this was a valid goal) [m] - optional float max_ball_height = 5; - // number of robots of scoring team when the ball entered the goal (for deciding if this was a valid goal) - optional uint32 num_robots_by_team = 7; - // The UNIX timestamp [μs] when the scoring team last touched the ball - optional uint64 last_touch_by_team = 8; - // An additional message with e.g. a reason for invalid goals - optional string message = 9; - } - // the ball entered the goal directly during an indirect free kick - message IndirectGoal { - // the team that tried to shoot the goal - required Team by_team = 1; - // the bot that kicked the ball - at least the team must be set - optional uint32 by_bot = 2; - // the location where the ball entered the goal [m] - optional Vector2 location = 3; - // the location where the ball was kicked [m] - optional Vector2 kick_location = 4; - } - // the ball entered the goal, but was initially chipped - message ChippedGoal { - // the team that tried to shoot the goal - required Team by_team = 1; - // the bot that kicked the ball - optional uint32 by_bot = 2; - // the location where the ball entered the goal [m] - optional Vector2 location = 3; - // the location where the ball was kicked [m] - optional Vector2 kick_location = 4; - // the maximum height [m] of the ball, before it entered the goal and since the last kick [m] - optional float max_ball_height = 5; - } - // a bot moved too fast while the game was stopped - message BotTooFastInStop { - // the team that found guilty - required Team by_team = 1; - // the bot that was too fast - optional uint32 by_bot = 2; - // the location of the bot [m] - optional Vector2 location = 3; - // the bot speed [m/s] - optional float speed = 4; - } - // a bot of the defending team got too close to the kick point during a free kick - message DefenderTooCloseToKickPoint { - // the team that was found guilty - required Team by_team = 1; - // the bot that violates the distance to the kick point - optional uint32 by_bot = 2; - // the location of the bot [m] - optional Vector2 location = 3; - // the distance [m] from bot to the kick point (including the minimum radius) - optional float distance = 4; - } - // two robots crashed into each other with similar speeds - message BotCrashDrawn { - // the bot of the yellow team - optional uint32 bot_yellow = 1; - // the bot of the blue team - optional uint32 bot_blue = 2; - // the location of the crash (center between both bots) [m] - optional Vector2 location = 3; - // the calculated crash speed [m/s] of the two bots - optional float crash_speed = 4; - // the difference [m/s] of the velocity of the two bots - optional float speed_diff = 5; - // the angle [rad] in the range [0, π] of the bot velocity vectors - // an angle of 0 rad ( 0°) means, the bots barely touched each other - // an angle of π rad (180°) means, the bots crashed frontal into each other - optional float crash_angle = 6; - } - // two robots crashed into each other and one team was found guilty to due significant speed difference - message BotCrashUnique { - // the team that caused the crash - required Team by_team = 1; - // the bot that caused the crash - optional uint32 violator = 2; - // the bot of the opposite team that was involved in the crash - optional uint32 victim = 3; - // the location of the crash (center between both bots) [m] - optional Vector2 location = 4; - // the calculated crash speed vector [m/s] of the two bots - optional float crash_speed = 5; - // the difference [m/s] of the velocity of the two bots - optional float speed_diff = 6; - // the angle [rad] in the range [0, π] of the bot velocity vectors - // an angle of 0 rad ( 0°) means, the bots barely touched each other - // an angle of π rad (180°) means, the bots crashed frontal into each other - optional float crash_angle = 7; - } - // a bot pushed another bot over a significant distance - message BotPushedBot { - // the team that pushed the other team - required Team by_team = 1; - // the bot that pushed the other bot - optional uint32 violator = 2; - // the bot of the opposite team that was pushed - optional uint32 victim = 3; - // the location of the push (center between both bots) [m] - optional Vector2 location = 4; - // the pushed distance [m] - optional float pushed_distance = 5; - } - // a bot tipped over - message BotTippedOver { - // the team that found guilty - required Team by_team = 1; - // the bot that tipped over - optional uint32 by_bot = 2; - // the location of the bot [m] - optional Vector2 location = 3; - // the location of the ball at the moment when this foul occurred [m] - optional Vector2 ball_location = 4; - } - // a bot dropped parts - message BotDroppedParts { - // the team that found guilty - required Team by_team = 1; - // the bot that dropped the parts - optional uint32 by_bot = 2; - // the location where the parts were dropped [m] - optional Vector2 location = 3; - // the location of the ball at the moment when this foul occurred [m] - optional Vector2 ball_location = 4; - } - // a defender other than the keeper was fully located inside its own defense and touched the ball - message DefenderInDefenseArea { - // the team that found guilty - required Team by_team = 1; - // the bot that is inside the penalty area - optional uint32 by_bot = 2; - // the location of the bot [m] - optional Vector2 location = 3; - // the distance [m] from bot case to the nearest point outside the defense area - optional float distance = 4; - } - // a defender other than the keeper was partially located inside its own defense area and touched the ball - message DefenderInDefenseAreaPartially { - // the team that found guilty - required Team by_team = 1; - // the bot that is partially inside the penalty area - optional uint32 by_bot = 2; - // the location of the bot - optional Vector2 location = 3; - // the distance [m] that the bot is inside the penalty area - optional float distance = 4; - // the location of the ball at the moment when this foul occurred [m] - optional Vector2 ball_location = 5; - } - // an attacker touched the ball inside the opponent defense area - message AttackerTouchedBallInDefenseArea { - // the team that found guilty - required Team by_team = 1; - // the bot that is inside the penalty area - optional uint32 by_bot = 2; - // the location of the bot [m] - optional Vector2 location = 3; - // the distance [m] that the bot is inside the penalty area - optional float distance = 4; - } - // a bot kicked the ball too fast - message BotKickedBallTooFast { - // the team that found guilty - required Team by_team = 1; - // the bot that kicked too fast - optional uint32 by_bot = 2; - // the location of the ball at the time of the highest speed [m] - optional Vector2 location = 3; - // the absolute initial ball speed (kick speed) [m/s] - optional float initial_ball_speed = 4; - // was the ball chipped? - optional bool chipped = 5; - } - // a bot dribbled to ball too far - message BotDribbledBallTooFar { - // the team that found guilty - required Team by_team = 1; - // the bot that dribbled too far - optional uint32 by_bot = 2; - // the location where the dribbling started [m] - optional Vector2 start = 3; - // the location where the maximum dribbling distance was reached [m] - optional Vector2 end = 4; - } - // an attacker touched the opponent robot inside defense area - message AttackerTouchedOpponentInDefenseArea { - // the team that found guilty - required Team by_team = 1; - // the bot that touched the opponent robot - optional uint32 by_bot = 2; - // the bot of the opposite team that was touched - optional uint32 victim = 4; - // the location of the contact point between both bots [m] - optional Vector2 location = 3; - } - // an attacker touched the ball multiple times when it was not allowed to - message AttackerDoubleTouchedBall { - // the team that found guilty - required Team by_team = 1; - // the bot that touched the ball twice - optional uint32 by_bot = 2; - // the location of the ball when it was first touched [m] - optional Vector2 location = 3; - } - // an attacker was located too near to the opponent defense area during stop or free kick - message AttackerTooCloseToDefenseArea { - // the team that found guilty - required Team by_team = 1; - // the bot that is too close to the defense area - optional uint32 by_bot = 2; - // the location of the bot [m] - optional Vector2 location = 3; - // the distance [m] of the bot to the penalty area - optional float distance = 4; - // the location of the ball at the moment when this foul occurred [m] - optional Vector2 ball_location = 5; - } - // a bot held the ball for too long - message BotHeldBallDeliberately { - // the team that found guilty - required Team by_team = 1; - // the bot that holds the ball - optional uint32 by_bot = 2; - // the location of the ball [m] - optional Vector2 location = 3; - // the duration [s] that the bot hold the ball - optional float duration = 4; - } - // a bot interfered the ball placement of the other team - message BotInterferedPlacement { - // the team that found guilty - required Team by_team = 1; - // the bot that interfered the placement - optional uint32 by_bot = 2; - // the location of the bot [m] - optional Vector2 location = 3; - } - // a team collected multiple yellow cards - message MultipleCards { - // the team that received multiple yellow cards - required Team by_team = 1; - } - // a team collected multiple fouls, which results in a yellow card - message MultipleFouls { - // the team that collected multiple fouls - required Team by_team = 1; - // the list of game events that caused the multiple fouls - repeated GameEvent caused_game_events = 2; - } - // a team failed to place the ball multiple times in a row - message MultiplePlacementFailures { - // the team that failed multiple times - required Team by_team = 1; - } - // timeout waiting for the attacking team to perform the free kick - message KickTimeout { - // the team that that should have kicked - required Team by_team = 1; - // the location of the ball [m] - optional Vector2 location = 2; - // the time [s] that was waited - optional float time = 3; - } - // game was stuck - message NoProgressInGame { - // the location of the ball - optional Vector2 location = 1; - // the time [s] that was waited - optional float time = 2; - } - // ball placement failed - message PlacementFailed { - // the team that failed - required Team by_team = 1; - // the remaining distance [m] from ball to placement position - optional float remaining_distance = 2; - // the distance [m] of the nearest own robot to the ball - optional float nearest_own_bot_distance = 3; - } - // a team was found guilty for minor unsporting behavior - message UnsportingBehaviorMinor { - // the team that found guilty - required Team by_team = 1; - // an explanation of the situation and decision - required string reason = 2; - } - // a team was found guilty for major unsporting behavior - message UnsportingBehaviorMajor { - // the team that found guilty - required Team by_team = 1; - // an explanation of the situation and decision - required string reason = 2; - } - // a keeper held the ball in its defense area for too long - message KeeperHeldBall { - // the team that found guilty - required Team by_team = 1; - // the location of the ball [m] - optional Vector2 location = 2; - // the duration [s] that the keeper hold the ball - optional float duration = 3; - } - // a team successfully placed the ball - message PlacementSucceeded { - // the team that did the placement - required Team by_team = 1; - // the time [s] taken for placing the ball - optional float time_taken = 2; - // the distance [m] between placement location and actual ball position - optional float precision = 3; - // the distance [m] between the initial ball location and the placement position - optional float distance = 4; - } - // both teams are prepared - all conditions are met to continue (with kickoff or penalty kick) - message Prepared { - // the time [s] taken for preparing - optional float time_taken = 1; - } - // bots are being substituted by a team - message BotSubstitution { - // the team that substitutes robots - required Team by_team = 1; - } - // A foul for excessive bot substitutions - message ExcessiveBotSubstitution { - // the team that substitutes robots - required Team by_team = 1; - } - // A challenge flag, requested by a team previously, is flagged - message ChallengeFlag { - // the team that requested the challenge flag - required Team by_team = 1; - } - // A challenge, flagged recently, has been handled by the referee - message ChallengeFlagHandled { - // the team that requested the challenge flag - required Team by_team = 1; - // the challenge was accepted by the referee - required bool accepted = 2; - } - // An emergency stop, requested by team previously, occurred - message EmergencyStop { - // the team that substitutes robots - required Team by_team = 1; - } - // a team has too many robots on the field - message TooManyRobots { - // the team that has too many robots - required Team by_team = 1; - // number of robots allowed at the moment - optional int32 num_robots_allowed = 2; - // number of robots currently on the field - optional int32 num_robots_on_field = 3; - // the location of the ball at the moment when this foul occurred [m] - optional Vector2 ball_location = 4; - } - // a robot chipped the ball over the field boundary out of the playing surface - message BoundaryCrossing { - // the team that has too many robots - required Team by_team = 1; - // the location of the ball [m] - optional Vector2 location = 2; - } - // the penalty kick failed (by time or by keeper) - message PenaltyKickFailed { - // the team that last touched the ball - required Team by_team = 1; - // the location of the ball at the moment of this event [m] - optional Vector2 location = 2; - // an explanation of the failure - optional string reason = 3; - } - - enum Type { - UNKNOWN_GAME_EVENT_TYPE = 0; - - // Ball out of field events (stopping) - - BALL_LEFT_FIELD_TOUCH_LINE = 6; // triggered by autoRef - BALL_LEFT_FIELD_GOAL_LINE = 7; // triggered by autoRef - AIMLESS_KICK = 11; // triggered by autoRef - - // Stopping Fouls - - ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA = 19; // triggered by autoRef - DEFENDER_IN_DEFENSE_AREA = 31; // triggered by autoRef - BOUNDARY_CROSSING = 41; // triggered by autoRef - KEEPER_HELD_BALL = 13; // triggered by GC - BOT_DRIBBLED_BALL_TOO_FAR = 17; // triggered by autoRef - - BOT_PUSHED_BOT = 24; // triggered by human ref - BOT_HELD_BALL_DELIBERATELY = 26; // triggered by human ref - BOT_TIPPED_OVER = 27; // triggered by human ref - BOT_DROPPED_PARTS = 47; // triggered by human ref - - // Non-Stopping Fouls - - ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA = 15; // triggered by autoRef - BOT_KICKED_BALL_TOO_FAST = 18; // triggered by autoRef - BOT_CRASH_UNIQUE = 22; // triggered by autoRef - BOT_CRASH_DRAWN = 21; // triggered by autoRef - - // Fouls while ball out of play - - DEFENDER_TOO_CLOSE_TO_KICK_POINT = 29; // triggered by autoRef - BOT_TOO_FAST_IN_STOP = 28; // triggered by autoRef - BOT_INTERFERED_PLACEMENT = 20; // triggered by autoRef - EXCESSIVE_BOT_SUBSTITUTION = 48; // triggered by GC - - // Scoring goals - - POSSIBLE_GOAL = 39; // triggered by autoRef - GOAL = 8; // triggered by GC - INVALID_GOAL = 42; // triggered by GC - - // Other events - - ATTACKER_DOUBLE_TOUCHED_BALL = 14; // triggered by autoRef - PLACEMENT_SUCCEEDED = 5; // triggered by autoRef - PENALTY_KICK_FAILED = 43; // triggered by GC and autoRef - - NO_PROGRESS_IN_GAME = 2; // triggered by GC - PLACEMENT_FAILED = 3; // triggered by GC - MULTIPLE_CARDS = 32; // triggered by GC - MULTIPLE_FOULS = 34; // triggered by GC - BOT_SUBSTITUTION = 37; // triggered by GC - TOO_MANY_ROBOTS = 38; // triggered by GC - CHALLENGE_FLAG = 44; // triggered by GC - CHALLENGE_FLAG_HANDLED = 46; // triggered by GC - EMERGENCY_STOP = 45; // triggered by GC - - UNSPORTING_BEHAVIOR_MINOR = 35; // triggered by human ref - UNSPORTING_BEHAVIOR_MAJOR = 36; // triggered by human ref - - // Deprecated events - - PREPARED = 1 [deprecated = true]; - INDIRECT_GOAL = 9 [deprecated = true]; - CHIPPED_GOAL = 10 [deprecated = true]; - KICK_TIMEOUT = 12 [deprecated = true]; - ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA = 16 [deprecated = true]; - ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED = 40 [deprecated = true]; - BOT_CRASH_UNIQUE_SKIPPED = 23 [deprecated = true]; - BOT_PUSHED_BOT_SKIPPED = 25 [deprecated = true]; - DEFENDER_IN_DEFENSE_AREA_PARTIALLY = 30 [deprecated = true]; - MULTIPLE_PLACEMENT_FAILURES = 33 [deprecated = true]; - } -} diff --git a/roboteam_networking/proto_CI/ssl_gc_game_event_pb2.py b/roboteam_networking/proto_CI/ssl_gc_game_event_pb2.py deleted file mode 100644 index 98f41c010..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_game_event_pb2.py +++ /dev/null @@ -1,152 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_gc_game_event.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -from . import ssl_gc_common_pb2 as ssl__gc__common__pb2 -from . import ssl_gc_geometry_pb2 as ssl__gc__geometry__pb2 - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x17ssl_gc_game_event.proto\x1a\x13ssl_gc_common.proto\x1a\x15ssl_gc_geometry.proto\"\x85\x43\n\tGameEvent\x12\n\n\x02id\x18\x32 \x01(\t\x12\x1d\n\x04type\x18( \x01(\x0e\x32\x0f.GameEvent.Type\x12\x0e\n\x06origin\x18) \x03(\t\x12\x19\n\x11\x63reated_timestamp\x18\x31 \x01(\x04\x12>\n\x1a\x62\x61ll_left_field_touch_line\x18\x06 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_GAMEEVENT_KICKTIMEOUT._serialized_end=6248 - _GAMEEVENT_NOPROGRESSINGAME._serialized_start=6250 - _GAMEEVENT_NOPROGRESSINGAME._serialized_end=6310 - _GAMEEVENT_PLACEMENTFAILED._serialized_start=6312 - _GAMEEVENT_PLACEMENTFAILED._serialized_end=6415 - _GAMEEVENT_UNSPORTINGBEHAVIORMINOR._serialized_start=6417 - _GAMEEVENT_UNSPORTINGBEHAVIORMINOR._serialized_end=6482 - _GAMEEVENT_UNSPORTINGBEHAVIORMAJOR._serialized_start=6484 - _GAMEEVENT_UNSPORTINGBEHAVIORMAJOR._serialized_end=6549 - _GAMEEVENT_KEEPERHELDBALL._serialized_start=6551 - _GAMEEVENT_KEEPERHELDBALL._serialized_end=6637 - _GAMEEVENT_PLACEMENTSUCCEEDED._serialized_start=6639 - _GAMEEVENT_PLACEMENTSUCCEEDED._serialized_end=6740 - _GAMEEVENT_PREPARED._serialized_start=6742 - _GAMEEVENT_PREPARED._serialized_end=6772 - _GAMEEVENT_BOTSUBSTITUTION._serialized_start=6774 - _GAMEEVENT_BOTSUBSTITUTION._serialized_end=6815 - _GAMEEVENT_EXCESSIVEBOTSUBSTITUTION._serialized_start=6817 - _GAMEEVENT_EXCESSIVEBOTSUBSTITUTION._serialized_end=6867 - _GAMEEVENT_CHALLENGEFLAG._serialized_start=6869 - _GAMEEVENT_CHALLENGEFLAG._serialized_end=6908 - _GAMEEVENT_CHALLENGEFLAGHANDLED._serialized_start=6910 - _GAMEEVENT_CHALLENGEFLAGHANDLED._serialized_end=6974 - _GAMEEVENT_EMERGENCYSTOP._serialized_start=6976 - _GAMEEVENT_EMERGENCYSTOP._serialized_end=7015 - _GAMEEVENT_TOOMANYROBOTS._serialized_start=7018 - _GAMEEVENT_TOOMANYROBOTS._serialized_end=7147 - _GAMEEVENT_BOUNDARYCROSSING._serialized_start=7149 - _GAMEEVENT_BOUNDARYCROSSING._serialized_end=7219 - _GAMEEVENT_PENALTYKICKFAILED._serialized_start=7221 - _GAMEEVENT_PENALTYKICKFAILED._serialized_end=7308 - _GAMEEVENT_TYPE._serialized_start=7311 - _GAMEEVENT_TYPE._serialized_end=8644 -# @@protoc_insertion_point(module_scope) diff --git a/roboteam_networking/proto_CI/ssl_gc_geometry.proto b/roboteam_networking/proto_CI/ssl_gc_geometry.proto deleted file mode 100644 index 47f04f6eb..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_geometry.proto +++ /dev/null @@ -1,16 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom"; - -// A vector with two dimensions -message Vector2 { - required float x = 1; - required float y = 2; -} - -// A vector with three dimensions -message Vector3 { - required float x = 1; - required float y = 2; - required float z = 3; -} diff --git a/roboteam_networking/proto_CI/ssl_gc_geometry_pb2.py b/roboteam_networking/proto_CI/ssl_gc_geometry_pb2.py deleted file mode 100644 index b0396fc0a..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_geometry_pb2.py +++ /dev/null @@ -1,28 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_gc_geometry.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15ssl_gc_geometry.proto\"\x1f\n\x07Vector2\x12\t\n\x01x\x18\x01 \x02(\x02\x12\t\n\x01y\x18\x02 \x02(\x02\"*\n\x07Vector3\x12\t\n\x01x\x18\x01 \x02(\x02\x12\t\n\x01y\x18\x02 \x02(\x02\x12\t\n\x01z\x18\x03 \x02(\x02\x42>Z team_state = 8; - optional Vector2 placement_pos = 9; - optional Command next_command = 10; - optional google.protobuf.Duration current_action_time_remaining = 12; - repeated GameEvent game_events = 13; - repeated ProposalGroup proposal_groups = 14; - optional Division division = 15; - reserved 16; - optional Team first_kickoff_team = 17; - optional MatchType match_type = 18; - optional google.protobuf.Timestamp ready_continue_time = 20; - optional ShootoutState shootout_state = 21; - optional string status_message = 22; - // The maximum number of bots per team (overwrites the division config) - optional int32 max_bots_per_team = 23; -} - -message ShootoutState { - optional Team next_team = 1; - map number_of_attempts = 2; -} diff --git a/roboteam_networking/proto_CI/ssl_gc_state_pb2.py b/roboteam_networking/proto_CI/ssl_gc_state_pb2.py deleted file mode 100644 index 3d14bceae..000000000 --- a/roboteam_networking/proto_CI/ssl_gc_state_pb2.py +++ /dev/null @@ -1,62 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_gc_state.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -import ssl_gc_common_pb2 as ssl__gc__common__pb2 -import ssl_gc_geometry_pb2 as ssl__gc__geometry__pb2 -import ssl_gc_game_event_pb2 as ssl__gc__game__event__pb2 -import ssl_gc_referee_message_pb2 as ssl__gc__referee__message__pb2 -from google.protobuf import duration_pb2 as google_dot_protobuf_dot_duration__pb2 -from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2 - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x12ssl_gc_state.proto\x1a\x13ssl_gc_common.proto\x1a\x15ssl_gc_geometry.proto\x1a\x17ssl_gc_game_event.proto\x1a\x1cssl_gc_referee_message.proto\x1a\x1egoogle/protobuf/duration.proto\x1a\x1fgoogle/protobuf/timestamp.proto\"u\n\nYellowCard\x12\n\n\x02id\x18\x01 \x01(\r\x12(\n\x14\x63\x61used_by_game_event\x18\x02 \x01(\x0b\x32\n.GameEvent\x12\x31\n\x0etime_remaining\x18\x03 \x01(\x0b\x32\x19.google.protobuf.Duration\"?\n\x07RedCard\x12\n\n\x02id\x18\x01 \x01(\r\x12(\n\x14\x63\x61used_by_game_event\x18\x02 \x01(\x0b\x32\n.GameEvent\"k\n\x04\x46oul\x12\n\n\x02id\x18\x01 \x01(\r\x12(\n\x14\x63\x61used_by_game_event\x18\x02 \x01(\x0b\x32\n.GameEvent\x12-\n\ttimestamp\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"\xd9\x01\n\x07\x43ommand\x12\x1b\n\x04type\x18\x01 \x02(\x0e\x32\r.Command.Type\x12\x17\n\x08\x66or_team\x18\x02 \x02(\x0e\x32\x05.Team\"\x97\x01\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x08\n\x04HALT\x10\x01\x12\x08\n\x04STOP\x10\x02\x12\x10\n\x0cNORMAL_START\x10\x03\x12\x0f\n\x0b\x46ORCE_START\x10\x04\x12\n\n\x06\x44IRECT\x10\x05\x12\x0b\n\x07KICKOFF\x10\x07\x12\x0b\n\x07PENALTY\x10\x08\x12\x0b\n\x07TIMEOUT\x10\t\x12\x12\n\x0e\x42\x41LL_PLACEMENT\x10\n\"\x04\x08\x06\x10\x06\"\xc3\x01\n\tGameState\x12\x1d\n\x04type\x18\x01 \x02(\x0e\x32\x0f.GameState.Type\x12\x17\n\x08\x66or_team\x18\x02 \x01(\x0e\x32\x05.Team\"~\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x08\n\x04HALT\x10\x01\x12\x08\n\x04STOP\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x12\r\n\tFREE_KICK\x10\x04\x12\x0b\n\x07KICKOFF\x10\x05\x12\x0b\n\x07PENALTY\x10\x06\x12\x0b\n\x07TIMEOUT\x10\x07\x12\x12\n\x0e\x42\x41LL_PLACEMENT\x10\x08\"Y\n\x08Proposal\x12-\n\ttimestamp\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x1e\n\ngame_event\x18\x02 \x01(\x0b\x32\n.GameEvent\"Q\n\rProposalGroup\x12\n\n\x02id\x18\x04 \x01(\t\x12\x1c\n\tproposals\x18\x01 \x03(\x0b\x32\t.Proposal\x12\x10\n\x08\x61\x63\x63\x65pted\x18\x02 \x01(\x08J\x04\x08\x03\x10\x04\"\xd2\x05\n\x08TeamInfo\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\r\n\x05goals\x18\x02 \x01(\x05\x12\x12\n\ngoalkeeper\x18\x03 \x01(\x05\x12!\n\x0cyellow_cards\x18\x04 \x03(\x0b\x32\x0b.YellowCard\x12\x1b\n\tred_cards\x18\x05 \x03(\x0b\x32\x08.RedCard\x12\x15\n\rtimeouts_left\x18\x06 \x01(\x05\x12\x34\n\x11timeout_time_left\x18\x07 \x01(\x0b\x32\x19.google.protobuf.Duration\x12\x18\n\x10on_positive_half\x18\x08 \x01(\x08\x12\x14\n\x05\x66ouls\x18\t \x03(\x0b\x32\x05.Foul\x12\x1f\n\x17\x62\x61ll_placement_failures\x18\n \x01(\x05\x12\'\n\x1f\x62\x61ll_placement_failures_reached\x18\x0b \x01(\x08\x12\x16\n\x0e\x63\x61n_place_ball\x18\x0c \x01(\x08\x12\x18\n\x10max_allowed_bots\x18\r \x01(\x05\x12\x43\n\x1frequests_bot_substitution_since\x18\x0e \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12:\n\x16requests_timeout_since\x18\x0f \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x41\n\x1drequests_emergency_stop_since\x18\x10 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x17\n\x0f\x63hallenge_flags\x18\x11 \x01(\x05\x12 \n\x18\x62ot_substitution_allowed\x18\x12 \x01(\x08\x12\x1e\n\x16\x62ot_substitutions_left\x18\x13 \x01(\x05\x12=\n\x1a\x62ot_substitution_time_left\x18\x14 \x01(\x0b\x32\x19.google.protobuf.Duration\"\xb1\x06\n\x05State\x12\x1d\n\x05stage\x18\x01 \x01(\x0e\x32\x0e.Referee.Stage\x12\x19\n\x07\x63ommand\x18\x02 \x01(\x0b\x32\x08.Command\x12\x1e\n\ngame_state\x18\x13 \x01(\x0b\x32\n.GameState\x12\x35\n\x12stage_time_elapsed\x18\x04 \x01(\x0b\x32\x19.google.protobuf.Duration\x12\x32\n\x0fstage_time_left\x18\x05 \x01(\x0b\x32\x19.google.protobuf.Duration\x12\x34\n\x10match_time_start\x18\x06 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12)\n\nteam_state\x18\x08 \x03(\x0b\x32\x15.State.TeamStateEntry\x12\x1f\n\rplacement_pos\x18\t \x01(\x0b\x32\x08.Vector2\x12\x1e\n\x0cnext_command\x18\n \x01(\x0b\x32\x08.Command\x12@\n\x1d\x63urrent_action_time_remaining\x18\x0c \x01(\x0b\x32\x19.google.protobuf.Duration\x12\x1f\n\x0bgame_events\x18\r \x03(\x0b\x32\n.GameEvent\x12\'\n\x0fproposal_groups\x18\x0e \x03(\x0b\x32\x0e.ProposalGroup\x12\x1b\n\x08\x64ivision\x18\x0f \x01(\x0e\x32\t.Division\x12!\n\x12\x66irst_kickoff_team\x18\x11 \x01(\x0e\x32\x05.Team\x12\x1e\n\nmatch_type\x18\x12 \x01(\x0e\x32\n.MatchType\x12\x37\n\x13ready_continue_time\x18\x14 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12&\n\x0eshootout_state\x18\x15 \x01(\x0b\x32\x0e.ShootoutState\x12\x16\n\x0estatus_message\x18\x16 \x01(\t\x12\x19\n\x11max_bots_per_team\x18\x17 \x01(\x05\x1a;\n\x0eTeamStateEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\x18\n\x05value\x18\x02 \x01(\x0b\x32\t.TeamInfo:\x02\x38\x01J\x04\x08\x10\x10\x11\"\xa4\x01\n\rShootoutState\x12\x18\n\tnext_team\x18\x01 \x01(\x0e\x32\x05.Team\x12@\n\x12number_of_attempts\x18\x02 \x03(\x0b\x32$.ShootoutState.NumberOfAttemptsEntry\x1a\x37\n\x15NumberOfAttemptsEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\x05:\x02\x38\x01\x42?Z=github.com/RoboCup-SSL/ssl-game-controller/internal/app/state') - -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals()) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'ssl_gc_state_pb2', globals()) -if _descriptor._USE_C_DESCRIPTORS == False: - - DESCRIPTOR._options = None - DESCRIPTOR._serialized_options = b'Z=github.com/RoboCup-SSL/ssl-game-controller/internal/app/state' - _STATE_TEAMSTATEENTRY._options = None - _STATE_TEAMSTATEENTRY._serialized_options = b'8\001' - _SHOOTOUTSTATE_NUMBEROFATTEMPTSENTRY._options = None - _SHOOTOUTSTATE_NUMBEROFATTEMPTSENTRY._serialized_options = b'8\001' - _YELLOWCARD._serialized_start=186 - _YELLOWCARD._serialized_end=303 - _REDCARD._serialized_start=305 - _REDCARD._serialized_end=368 - _FOUL._serialized_start=370 - _FOUL._serialized_end=477 - _COMMAND._serialized_start=480 - _COMMAND._serialized_end=697 - _COMMAND_TYPE._serialized_start=546 - _COMMAND_TYPE._serialized_end=697 - _GAMESTATE._serialized_start=700 - _GAMESTATE._serialized_end=895 - _GAMESTATE_TYPE._serialized_start=769 - _GAMESTATE_TYPE._serialized_end=895 - _PROPOSAL._serialized_start=897 - _PROPOSAL._serialized_end=986 - _PROPOSALGROUP._serialized_start=988 - _PROPOSALGROUP._serialized_end=1069 - _TEAMINFO._serialized_start=1072 - _TEAMINFO._serialized_end=1794 - _STATE._serialized_start=1797 - _STATE._serialized_end=2614 - _STATE_TEAMSTATEENTRY._serialized_start=2549 - _STATE_TEAMSTATEENTRY._serialized_end=2608 - _SHOOTOUTSTATE._serialized_start=2617 - _SHOOTOUTSTATE._serialized_end=2781 - _SHOOTOUTSTATE_NUMBEROFATTEMPTSENTRY._serialized_start=2726 - _SHOOTOUTSTATE_NUMBEROFATTEMPTSENTRY._serialized_end=2781 -# @@protoc_insertion_point(module_scope) diff --git a/roboteam_networking/proto_CI/ssl_vision_detection.proto b/roboteam_networking/proto_CI/ssl_vision_detection.proto deleted file mode 100644 index f81bd5cb0..000000000 --- a/roboteam_networking/proto_CI/ssl_vision_detection.proto +++ /dev/null @@ -1,34 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision"; - -message SSL_DetectionBall { - required float confidence = 1; - optional uint32 area = 2; - required float x = 3; - required float y = 4; - optional float z = 5; - required float pixel_x = 6; - required float pixel_y = 7; -} - -message SSL_DetectionRobot { - required float confidence = 1; - optional uint32 robot_id = 2; - required float x = 3; - required float y = 4; - optional float orientation = 5; - required float pixel_x = 6; - required float pixel_y = 7; - optional float height = 8; -} - -message SSL_DetectionFrame { - required uint32 frame_number = 1; - required double t_capture = 2; - required double t_sent = 3; - required uint32 camera_id = 4; - repeated SSL_DetectionBall balls = 5; - repeated SSL_DetectionRobot robots_yellow = 6; - repeated SSL_DetectionRobot robots_blue = 7; -} diff --git a/roboteam_networking/proto_CI/ssl_vision_detection_tracked.proto b/roboteam_networking/proto_CI/ssl_vision_detection_tracked.proto deleted file mode 100644 index 8282aa14e..000000000 --- a/roboteam_networking/proto_CI/ssl_vision_detection_tracked.proto +++ /dev/null @@ -1,91 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker"; - -import "ssl_gc_common.proto"; -import "ssl_gc_geometry.proto"; - -// Default network address: 224.5.23.2:10010 - -// Capabilities that a source implementation can have -enum Capability { - CAPABILITY_UNKNOWN = 0; - CAPABILITY_DETECT_FLYING_BALLS = 1; - CAPABILITY_DETECT_MULTIPLE_BALLS = 2; - CAPABILITY_DETECT_KICKED_BALLS = 3; -} - -// A single tracked ball -message TrackedBall { - // The position (x, y, height) [m] in the ssl-vision coordinate system - required Vector3 pos = 1; - - // The velocity [m/s] in the ssl-vision coordinate system - optional Vector3 vel = 2; - - // The visibility of the ball - // A value between 0 (not visible) and 1 (visible) - // The exact implementation depends on the source software - optional float visibility = 3; -} - -// A ball kicked by a robot, including predictions when the ball will come to a stop -message KickedBall { - // The initial position [m] from which the ball was kicked - required Vector2 pos = 1; - // The initial velocity [m/s] with which the ball was kicked - required Vector3 vel = 2; - // The unix timestamp [s] when the kick was performed - required double start_timestamp = 3; - - // The predicted unix timestamp [s] when the ball comes to a stop - optional double stop_timestamp = 4; - // The predicted position [m] at which the ball will come to a stop - optional Vector2 stop_pos = 5; - - // The robot that kicked the ball - optional RobotId robot_id = 6; -} - -// A single tracked robot -message TrackedRobot { - required RobotId robot_id = 1; - - // The position [m] in the ssl-vision coordinate system - required Vector2 pos = 2; - // The orientation [rad] in the ssl-vision coordinate system - required float orientation = 3; - - // The velocity [m/s] in the ssl-vision coordinate system - optional Vector2 vel = 4; - // The angular velocity [rad/s] in the ssl-vision coordinate system - optional float vel_angular = 5; - - // The visibility of the robot - // A value between 0 (not visible) and 1 (visible) - // The exact implementation depends on the source software - optional float visibility = 6; -} - -// A frame that contains all currently tracked objects on the field on all cameras -message TrackedFrame { - // A monotonous increasing frame counter - required uint32 frame_number = 1; - // The unix timestamp in [s] of the data - // If timestamp is larger than timestamp_captured, the source has applied a prediction already - required double timestamp = 2; - - // The list of detected balls - // The first ball is the primary one - // Sources may add additional balls based on their capabilities - repeated TrackedBall balls = 3; - // The list of detected robots of both teams - repeated TrackedRobot robots = 4; - - // Information about a kicked ball, if the ball was kicked by a robot and is still moving - // Note: This field is optional. Some source implementations might not set this at any time - optional KickedBall kicked_ball = 5; - - // List of capabilities of the source implementation - repeated Capability capabilities = 6; -} diff --git a/roboteam_networking/proto_CI/ssl_vision_detection_tracked_pb2.py b/roboteam_networking/proto_CI/ssl_vision_detection_tracked_pb2.py deleted file mode 100644 index fd2691d3a..000000000 --- a/roboteam_networking/proto_CI/ssl_vision_detection_tracked_pb2.py +++ /dev/null @@ -1,36 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_vision_detection_tracked.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -import ssl_gc_common_pb2 as ssl__gc__common__pb2 -import ssl_gc_geometry_pb2 as ssl__gc__geometry__pb2 - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"ssl_vision_detection_tracked.proto\x1a\x13ssl_gc_common.proto\x1a\x15ssl_gc_geometry.proto\"O\n\x0bTrackedBall\x12\x15\n\x03pos\x18\x01 \x02(\x0b\x32\x08.Vector3\x12\x15\n\x03vel\x18\x02 \x01(\x0b\x32\x08.Vector3\x12\x12\n\nvisibility\x18\x03 \x01(\x02\"\xa3\x01\n\nKickedBall\x12\x15\n\x03pos\x18\x01 \x02(\x0b\x32\x08.Vector2\x12\x15\n\x03vel\x18\x02 \x02(\x0b\x32\x08.Vector3\x12\x17\n\x0fstart_timestamp\x18\x03 \x02(\x01\x12\x16\n\x0estop_timestamp\x18\x04 \x01(\x01\x12\x1a\n\x08stop_pos\x18\x05 \x01(\x0b\x32\x08.Vector2\x12\x1a\n\x08robot_id\x18\x06 \x01(\x0b\x32\x08.RobotId\"\x96\x01\n\x0cTrackedRobot\x12\x1a\n\x08robot_id\x18\x01 \x02(\x0b\x32\x08.RobotId\x12\x15\n\x03pos\x18\x02 \x02(\x0b\x32\x08.Vector2\x12\x13\n\x0borientation\x18\x03 \x02(\x02\x12\x15\n\x03vel\x18\x04 \x01(\x0b\x32\x08.Vector2\x12\x13\n\x0bvel_angular\x18\x05 \x01(\x02\x12\x12\n\nvisibility\x18\x06 \x01(\x02\"\xb8\x01\n\x0cTrackedFrame\x12\x14\n\x0c\x66rame_number\x18\x01 \x02(\r\x12\x11\n\ttimestamp\x18\x02 \x02(\x01\x12\x1b\n\x05\x62\x61lls\x18\x03 \x03(\x0b\x32\x0c.TrackedBall\x12\x1d\n\x06robots\x18\x04 \x03(\x0b\x32\r.TrackedRobot\x12 \n\x0bkicked_ball\x18\x05 \x01(\x0b\x32\x0b.KickedBall\x12!\n\x0c\x63\x61pabilities\x18\x06 \x03(\x0e\x32\x0b.Capability*\x92\x01\n\nCapability\x12\x16\n\x12\x43\x41PABILITY_UNKNOWN\x10\x00\x12\"\n\x1e\x43\x41PABILITY_DETECT_FLYING_BALLS\x10\x01\x12$\n CAPABILITY_DETECT_MULTIPLE_BALLS\x10\x02\x12\"\n\x1e\x43\x41PABILITY_DETECT_KICKED_BALLS\x10\x03\x42\x41Z?github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker') - -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals()) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'ssl_vision_detection_tracked_pb2', globals()) -if _descriptor._USE_C_DESCRIPTORS == False: - - DESCRIPTOR._options = None - DESCRIPTOR._serialized_options = b'Z?github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker' - _CAPABILITY._serialized_start=670 - _CAPABILITY._serialized_end=816 - _TRACKEDBALL._serialized_start=82 - _TRACKEDBALL._serialized_end=161 - _KICKEDBALL._serialized_start=164 - _KICKEDBALL._serialized_end=327 - _TRACKEDROBOT._serialized_start=330 - _TRACKEDROBOT._serialized_end=480 - _TRACKEDFRAME._serialized_start=483 - _TRACKEDFRAME._serialized_end=667 -# @@protoc_insertion_point(module_scope) diff --git a/roboteam_networking/proto_CI/ssl_vision_geometry.proto b/roboteam_networking/proto_CI/ssl_vision_geometry.proto deleted file mode 100644 index fe71281e4..000000000 --- a/roboteam_networking/proto_CI/ssl_vision_geometry.proto +++ /dev/null @@ -1,137 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision"; - -// A 2D float vector. -message Vector2f { - required float x = 1; - required float y = 2; -} - -// Represents a field marking as a line segment represented by a start point p1, -// and end point p2, and a line thickness. The start and end points are along -// the center of the line, so the thickness of the line extends by thickness / 2 -// on either side of the line. -message SSL_FieldLineSegment { - // Name of this field marking. - required string name = 1; - // Start point of the line segment. - required Vector2f p1 = 2; - // End point of the line segment. - required Vector2f p2 = 3; - // Thickness of the line segment. - required float thickness = 4; - // The type of this shape - optional SSL_FieldShapeType type = 5; -} - -// Represents a field marking as a circular arc segment represented by center point, a -// start angle, an end angle, and an arc thickness. -message SSL_FieldCircularArc { - // Name of this field marking. - required string name = 1; - // Center point of the circular arc. - required Vector2f center = 2; - // Radius of the arc. - required float radius = 3; - // Start angle in counter-clockwise order. - required float a1 = 4; - // End angle in counter-clockwise order. - required float a2 = 5; - // Thickness of the arc. - required float thickness = 6; - // The type of this shape - optional SSL_FieldShapeType type = 7; -} - -message SSL_GeometryFieldSize { - required int32 field_length = 1; - required int32 field_width = 2; - required int32 goal_width = 3; - required int32 goal_depth = 4; - required int32 boundary_width = 5; - repeated SSL_FieldLineSegment field_lines = 6; - repeated SSL_FieldCircularArc field_arcs = 7; - optional int32 penalty_area_depth = 8; - optional int32 penalty_area_width = 9; - optional int32 center_circle_radius = 10; - optional int32 line_thickness = 11; - optional int32 goal_center_to_penalty_mark = 12; - optional int32 goal_height = 13; - optional float ball_radius = 14; - optional float max_robot_radius = 15; -} - -message SSL_GeometryCameraCalibration { - required uint32 camera_id = 1; - required float focal_length = 2; - required float principal_point_x = 3; - required float principal_point_y = 4; - required float distortion = 5; - required float q0 = 6; - required float q1 = 7; - required float q2 = 8; - required float q3 = 9; - required float tx = 10; - required float ty = 11; - required float tz = 12; - optional float derived_camera_world_tx = 13; - optional float derived_camera_world_ty = 14; - optional float derived_camera_world_tz = 15; - optional uint32 pixel_image_width = 16; - optional uint32 pixel_image_height = 17; -} - -// Two-Phase model for straight-kicked balls. -// There are two phases with different accelerations during the ball kicks: -// 1. Sliding -// 2. Rolling -// The full model is described in the TDP of ER-Force from 2016, which can be found here: -// https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf -message SSL_BallModelStraightTwoPhase { - // Ball sliding acceleration [m/s^2] (should be negative) - required double acc_slide = 1; - // Ball rolling acceleration [m/s^2] (should be negative) - required double acc_roll = 2; - // Fraction of the initial velocity where the ball starts to roll - required double k_switch = 3; -} - -// Fixed-Loss model for chipped balls. -// Uses fixed damping factors for xy and z direction per hop. -message SSL_BallModelChipFixedLoss { - // Chip kick velocity damping factor in XY direction for the first hop - required double damping_xy_first_hop = 1; - // Chip kick velocity damping factor in XY direction for all following hops - required double damping_xy_other_hops = 2; - // Chip kick velocity damping factor in Z direction for all hops - required double damping_z = 3; -} - -message SSL_GeometryModels { - optional SSL_BallModelStraightTwoPhase straight_two_phase = 1; - optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2; -} - -message SSL_GeometryData { - required SSL_GeometryFieldSize field = 1; - repeated SSL_GeometryCameraCalibration calib = 2; - optional SSL_GeometryModels models = 3; -} - -enum SSL_FieldShapeType { - Undefined = 0; - CenterCircle = 1; - TopTouchLine = 2; - BottomTouchLine = 3; - LeftGoalLine = 4; - RightGoalLine = 5; - HalfwayLine = 6; - CenterLine = 7; - LeftPenaltyStretch = 8; - RightPenaltyStretch = 9; - LeftFieldLeftPenaltyStretch = 10; - LeftFieldRightPenaltyStretch = 11; - RightFieldLeftPenaltyStretch = 12; - RightFieldRightPenaltyStretch = 13; -} diff --git a/roboteam_networking/proto_CI/ssl_vision_geometry_pb2.py b/roboteam_networking/proto_CI/ssl_vision_geometry_pb2.py deleted file mode 100644 index 576739786..000000000 --- a/roboteam_networking/proto_CI/ssl_vision_geometry_pb2.py +++ /dev/null @@ -1,44 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_vision_geometry.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x19ssl_vision_geometry.proto\" \n\x08Vector2f\x12\t\n\x01x\x18\x01 \x02(\x02\x12\t\n\x01y\x18\x02 \x02(\x02\"\x88\x01\n\x14SSL_FieldLineSegment\x12\x0c\n\x04name\x18\x01 \x02(\t\x12\x15\n\x02p1\x18\x02 \x02(\x0b\x32\t.Vector2f\x12\x15\n\x02p2\x18\x03 \x02(\x0b\x32\t.Vector2f\x12\x11\n\tthickness\x18\x04 \x02(\x02\x12!\n\x04type\x18\x05 \x01(\x0e\x32\x13.SSL_FieldShapeType\"\x9d\x01\n\x14SSL_FieldCircularArc\x12\x0c\n\x04name\x18\x01 \x02(\t\x12\x19\n\x06\x63\x65nter\x18\x02 \x02(\x0b\x32\t.Vector2f\x12\x0e\n\x06radius\x18\x03 \x02(\x02\x12\n\n\x02\x61\x31\x18\x04 \x02(\x02\x12\n\n\x02\x61\x32\x18\x05 \x02(\x02\x12\x11\n\tthickness\x18\x06 \x02(\x02\x12!\n\x04type\x18\x07 \x01(\x0e\x32\x13.SSL_FieldShapeType\"\xb0\x03\n\x15SSL_GeometryFieldSize\x12\x14\n\x0c\x66ield_length\x18\x01 \x02(\x05\x12\x13\n\x0b\x66ield_width\x18\x02 \x02(\x05\x12\x12\n\ngoal_width\x18\x03 \x02(\x05\x12\x12\n\ngoal_depth\x18\x04 \x02(\x05\x12\x16\n\x0e\x62oundary_width\x18\x05 \x02(\x05\x12*\n\x0b\x66ield_lines\x18\x06 \x03(\x0b\x32\x15.SSL_FieldLineSegment\x12)\n\nfield_arcs\x18\x07 \x03(\x0b\x32\x15.SSL_FieldCircularArc\x12\x1a\n\x12penalty_area_depth\x18\x08 \x01(\x05\x12\x1a\n\x12penalty_area_width\x18\t \x01(\x05\x12\x1c\n\x14\x63\x65nter_circle_radius\x18\n \x01(\x05\x12\x16\n\x0eline_thickness\x18\x0b \x01(\x05\x12#\n\x1bgoal_center_to_penalty_mark\x18\x0c \x01(\x05\x12\x13\n\x0bgoal_height\x18\r \x01(\x05\x12\x13\n\x0b\x62\x61ll_radius\x18\x0e \x01(\x02\x12\x18\n\x10max_robot_radius\x18\x0f \x01(\x02\"\x80\x03\n\x1dSSL_GeometryCameraCalibration\x12\x11\n\tcamera_id\x18\x01 \x02(\r\x12\x14\n\x0c\x66ocal_length\x18\x02 \x02(\x02\x12\x19\n\x11principal_point_x\x18\x03 \x02(\x02\x12\x19\n\x11principal_point_y\x18\x04 \x02(\x02\x12\x12\n\ndistortion\x18\x05 \x02(\x02\x12\n\n\x02q0\x18\x06 \x02(\x02\x12\n\n\x02q1\x18\x07 \x02(\x02\x12\n\n\x02q2\x18\x08 \x02(\x02\x12\n\n\x02q3\x18\t \x02(\x02\x12\n\n\x02tx\x18\n \x02(\x02\x12\n\n\x02ty\x18\x0b \x02(\x02\x12\n\n\x02tz\x18\x0c \x02(\x02\x12\x1f\n\x17\x64\x65rived_camera_world_tx\x18\r \x01(\x02\x12\x1f\n\x17\x64\x65rived_camera_world_ty\x18\x0e \x01(\x02\x12\x1f\n\x17\x64\x65rived_camera_world_tz\x18\x0f \x01(\x02\x12\x19\n\x11pixel_image_width\x18\x10 \x01(\r\x12\x1a\n\x12pixel_image_height\x18\x11 \x01(\r\"V\n\x1dSSL_BallModelStraightTwoPhase\x12\x11\n\tacc_slide\x18\x01 \x02(\x01\x12\x10\n\x08\x61\x63\x63_roll\x18\x02 \x02(\x01\x12\x10\n\x08k_switch\x18\x03 \x02(\x01\"l\n\x1aSSL_BallModelChipFixedLoss\x12\x1c\n\x14\x64\x61mping_xy_first_hop\x18\x01 \x02(\x01\x12\x1d\n\x15\x64\x61mping_xy_other_hops\x18\x02 \x02(\x01\x12\x11\n\tdamping_z\x18\x03 \x02(\x01\"\x86\x01\n\x12SSL_GeometryModels\x12:\n\x12straight_two_phase\x18\x01 \x01(\x0b\x32\x1e.SSL_BallModelStraightTwoPhase\x12\x34\n\x0f\x63hip_fixed_loss\x18\x02 \x01(\x0b\x32\x1b.SSL_BallModelChipFixedLoss\"\x8d\x01\n\x10SSL_GeometryData\x12%\n\x05\x66ield\x18\x01 \x02(\x0b\x32\x16.SSL_GeometryFieldSize\x12-\n\x05\x63\x61lib\x18\x02 \x03(\x0b\x32\x1e.SSL_GeometryCameraCalibration\x12#\n\x06models\x18\x03 \x01(\x0b\x32\x13.SSL_GeometryModels*\xdb\x02\n\x12SSL_FieldShapeType\x12\r\n\tUndefined\x10\x00\x12\x10\n\x0c\x43\x65nterCircle\x10\x01\x12\x10\n\x0cTopTouchLine\x10\x02\x12\x13\n\x0f\x42ottomTouchLine\x10\x03\x12\x10\n\x0cLeftGoalLine\x10\x04\x12\x11\n\rRightGoalLine\x10\x05\x12\x0f\n\x0bHalfwayLine\x10\x06\x12\x0e\n\nCenterLine\x10\x07\x12\x16\n\x12LeftPenaltyStretch\x10\x08\x12\x17\n\x13RightPenaltyStretch\x10\t\x12\x1f\n\x1bLeftFieldLeftPenaltyStretch\x10\n\x12 \n\x1cLeftFieldRightPenaltyStretch\x10\x0b\x12 \n\x1cRightFieldLeftPenaltyStretch\x10\x0c\x12!\n\x1dRightFieldRightPenaltyStretch\x10\rB@Z>github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision') - -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals()) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'ssl_vision_geometry_pb2', globals()) -if _descriptor._USE_C_DESCRIPTORS == False: - - DESCRIPTOR._options = None - DESCRIPTOR._serialized_options = b'Z>github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision' - _SSL_FIELDSHAPETYPE._serialized_start=1664 - _SSL_FIELDSHAPETYPE._serialized_end=2011 - _VECTOR2F._serialized_start=29 - _VECTOR2F._serialized_end=61 - _SSL_FIELDLINESEGMENT._serialized_start=64 - _SSL_FIELDLINESEGMENT._serialized_end=200 - _SSL_FIELDCIRCULARARC._serialized_start=203 - _SSL_FIELDCIRCULARARC._serialized_end=360 - _SSL_GEOMETRYFIELDSIZE._serialized_start=363 - _SSL_GEOMETRYFIELDSIZE._serialized_end=795 - _SSL_GEOMETRYCAMERACALIBRATION._serialized_start=798 - _SSL_GEOMETRYCAMERACALIBRATION._serialized_end=1182 - _SSL_BALLMODELSTRAIGHTTWOPHASE._serialized_start=1184 - _SSL_BALLMODELSTRAIGHTTWOPHASE._serialized_end=1270 - _SSL_BALLMODELCHIPFIXEDLOSS._serialized_start=1272 - _SSL_BALLMODELCHIPFIXEDLOSS._serialized_end=1380 - _SSL_GEOMETRYMODELS._serialized_start=1383 - _SSL_GEOMETRYMODELS._serialized_end=1517 - _SSL_GEOMETRYDATA._serialized_start=1520 - _SSL_GEOMETRYDATA._serialized_end=1661 -# @@protoc_insertion_point(module_scope) diff --git a/roboteam_networking/proto_CI/ssl_vision_wrapper.proto b/roboteam_networking/proto_CI/ssl_vision_wrapper.proto deleted file mode 100644 index 66bb0d009..000000000 --- a/roboteam_networking/proto_CI/ssl_vision_wrapper.proto +++ /dev/null @@ -1,11 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision"; - -import "ssl_vision_detection.proto"; -import "ssl_vision_geometry.proto"; - -message SSL_WrapperPacket { - optional SSL_DetectionFrame detection = 1; - optional SSL_GeometryData geometry = 2; -} diff --git a/roboteam_networking/proto_CI/ssl_vision_wrapper_pb2.py b/roboteam_networking/proto_CI/ssl_vision_wrapper_pb2.py deleted file mode 100644 index 37fb3c4ed..000000000 --- a/roboteam_networking/proto_CI/ssl_vision_wrapper_pb2.py +++ /dev/null @@ -1,28 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_vision_wrapper.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -import ssl_vision_detection_pb2 as ssl__vision__detection__pb2 -import ssl_vision_geometry_pb2 as ssl__vision__geometry__pb2 - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x18ssl_vision_wrapper.proto\x1a\x1assl_vision_detection.proto\x1a\x19ssl_vision_geometry.proto\"`\n\x11SSL_WrapperPacket\x12&\n\tdetection\x18\x01 \x01(\x0b\x32\x13.SSL_DetectionFrame\x12#\n\x08geometry\x18\x02 \x01(\x0b\x32\x11.SSL_GeometryDataB@Z>github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision') - -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals()) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'ssl_vision_wrapper_pb2', globals()) -if _descriptor._USE_C_DESCRIPTORS == False: - - DESCRIPTOR._options = None - DESCRIPTOR._serialized_options = b'Z>github.com/RoboCup-SSL/ssl-game-controller/internal/app/vision' - _SSL_WRAPPERPACKET._serialized_start=83 - _SSL_WRAPPERPACKET._serialized_end=179 -# @@protoc_insertion_point(module_scope) diff --git a/roboteam_networking/proto_CI/ssl_vision_wrapper_tracked.proto b/roboteam_networking/proto_CI/ssl_vision_wrapper_tracked.proto deleted file mode 100644 index 82d787285..000000000 --- a/roboteam_networking/proto_CI/ssl_vision_wrapper_tracked.proto +++ /dev/null @@ -1,17 +0,0 @@ -syntax = "proto2"; - -option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker"; - -import "ssl_vision_detection_tracked.proto"; - -// A wrapper packet containing meta data of the source -// Also serves for the possibility to extend the protocol later -message TrackerWrapperPacket { - // A random UUID of the source that is kept constant at the source while running - // If multiple sources are broadcasting to the same network, this id can be used to identify individual sources - required string uuid = 1; - // The name of the source software that is producing this messages. - optional string source_name = 2; - // The tracked frame - optional TrackedFrame tracked_frame = 3; -} diff --git a/roboteam_networking/proto_CI/ssl_vision_wrapper_tracked_pb2.py b/roboteam_networking/proto_CI/ssl_vision_wrapper_tracked_pb2.py deleted file mode 100644 index b511bf404..000000000 --- a/roboteam_networking/proto_CI/ssl_vision_wrapper_tracked_pb2.py +++ /dev/null @@ -1,27 +0,0 @@ -# -*- coding: utf-8 -*- -# Generated by the protocol buffer compiler. DO NOT EDIT! -# source: ssl_vision_wrapper_tracked.proto -"""Generated protocol buffer code.""" -from google.protobuf.internal import builder as _builder -from google.protobuf import descriptor as _descriptor -from google.protobuf import descriptor_pool as _descriptor_pool -from google.protobuf import symbol_database as _symbol_database -# @@protoc_insertion_point(imports) - -_sym_db = _symbol_database.Default() - - -import ssl_vision_detection_tracked_pb2 as ssl__vision__detection__tracked__pb2 - - -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n ssl_vision_wrapper_tracked.proto\x1a\"ssl_vision_detection_tracked.proto\"_\n\x14TrackerWrapperPacket\x12\x0c\n\x04uuid\x18\x01 \x02(\t\x12\x13\n\x0bsource_name\x18\x02 \x01(\t\x12$\n\rtracked_frame\x18\x03 \x01(\x0b\x32\r.TrackedFrameBAZ?github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker') - -_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals()) -_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'ssl_vision_wrapper_tracked_pb2', globals()) -if _descriptor._USE_C_DESCRIPTORS == False: - - DESCRIPTOR._options = None - DESCRIPTOR._serialized_options = b'Z?github.com/RoboCup-SSL/ssl-game-controller/internal/app/tracker' - _TRACKERWRAPPERPACKET._serialized_start=72 - _TRACKERWRAPPERPACKET._serialized_end=167 -# @@protoc_insertion_point(module_scope) diff --git a/roboteam_networking/proto_CI/test.py b/roboteam_networking/proto_CI/test.py deleted file mode 100644 index 63ffbfb1d..000000000 --- a/roboteam_networking/proto_CI/test.py +++ /dev/null @@ -1,35 +0,0 @@ -import asyncio -import websockets -from google.protobuf.json_format import MessageToJson, Parse -from ssl_gc_api_pb2 import Input -from ssl_gc_change_pb2 import Change -from ssl_gc_common_pb2 import Team -from ssl_gc_state_pb2 import Command - -async def reset_and_stop_match(uri='ws://localhost:8081/api/control'): - async with websockets.connect(uri) as websocket: - - # Step 1: Reset the match - reset_message = Input(reset_match=True) - await websocket.send(MessageToJson(reset_message)) - response = await websocket.recv() - - # Step 2: Send STOP command - stop_message = Input( - change=Change( - new_command_change=Change.NewCommand( - command=Command( - type=Command.Type.STOP, - for_team=Team.UNKNOWN - ) - ) - ) - ) - await websocket.send(MessageToJson(stop_message)) - print(f"Sent STOP command: {MessageToJson(stop_message)}") - response = await websocket.recv() - - print("Reset and STOP commands sent to SSL Game Controller") - -if __name__ == "__main__": - asyncio.run(reset_and_stop_match()) \ No newline at end of file