Protobuf update

roboteam_ai/src/stp/computations/PositionComputations.cpp

@@ -342,7 +342,8 @@ void PositionComputations::calculateInfoForHarasser(std::unordered_map<std::stri
     // project their point on the line
     Vector2 projectedPoint = ourToBall.project(enemyClosestToBall->get()->getPos());
     bool theyAreBetween = (projectedPoint != world->getWorld()->getBall()->get()->position);
-    bool theyAreCloser = (enemyClosestToBall->get()->getPos() - world->getWorld()->getBall()->get()->position).length() < (stpInfos["harasser"].getRobot()->get()->getPos() - world->getWorld()->getBall()->get()->position).length();
+    bool theyAreCloser = (enemyClosestToBall->get()->getPos() - world->getWorld()->getBall()->get()->position).length() <
+                         (stpInfos["harasser"].getRobot()->get()->getPos() - world->getWorld()->getBall()->get()->position).length();
     auto harasser = std::find_if(roles->begin(), roles->end(), [](const std::unique_ptr<Role> &role) { return role != nullptr && role->getName() == "harasser"; });
     if (theyAreBetween && theyAreCloser) {
         auto enemyPos = enemyClosestToBall->get()->getPos();

roboteam_networking/proto/CMakeLists.txt

@@ -4,10 +4,8 @@ protobuf_generate_cpp(NET_PROTO_SRCS NET_PROTO_HDRS
     "messages_robocup_ssl_game_controller_geometry.proto"
     "messages_robocup_ssl_game_event.proto"
     "messages_robocup_ssl_geometry.proto"
-    "messages_robocup_ssl_geometry_legacy.proto"
     "messages_robocup_ssl_referee.proto"
     "messages_robocup_ssl_wrapper.proto"
-    "messages_robocup_ssl_wrapper_legacy.proto"
 
     # Messages from ssl-simulation-control https://github.com/RoboCup-SSL/ssl-simulation-protocol/
     "ssl_gc_common.proto"
@@ -16,10 +14,9 @@ protobuf_generate_cpp(NET_PROTO_SRCS NET_PROTO_HDRS
     "ssl_simulation_error.proto"
     "ssl_simulation_robot_control.proto"
     "ssl_simulation_robot_feedback.proto" 
-    "ssl_simulation_synchronous.proto" 
-    "ssl_vision_detection.proto" 
     "ssl_vision_geometry.proto"
 
+    # Our own messages
     "RobotCommands.proto"
     "RobotFeedback.proto"
     "State.proto"

roboteam_networking/proto/messages_robocup_ssl_detection.proto

@@ -3,32 +3,57 @@ syntax = "proto2";
 package proto;
 
 message SSL_DetectionBall {
+  // Confidence in [0-1] of the detection
   required float  confidence = 1;
   optional uint32 area       = 2;
+  // X-coordinate in [mm] in global ssl-vision coordinate system
   required float  x          = 3;
+  // Y-coordinate in [mm] in global ssl-vision coordinate system
   required float  y          = 4;
+  // Z-coordinate in [mm] in global ssl-vision coordinate system
+  // Not supported by ssl-vision, but might be set by simulators
   optional float  z          = 5;
+  // X-coordinate in [pixel] in the image
   required float  pixel_x    = 6;
+  // Y-coordinate in [pixel] in the image
   required float  pixel_y    = 7;
 }
 
 message SSL_DetectionRobot {
+  // Confidence in [0-1] of the detection
   required float  confidence  =  1;
+  // Id of the robot
   optional uint32 robot_id    =  2;
+  // X-coordinate in [mm] in global ssl-vision coordinate system
   required float  x           =  3;
+  // Y-coordinate in [mm] in global ssl-vision coordinate system
   required float  y           =  4;
+  // Orientation in [rad]
   optional float  orientation =  5;
+  // X-coordinate in [pixel] in the image
   required float  pixel_x     =  6;
+  // Y-coordinate in [pixel] in the image
   required float  pixel_y     =  7;
+  // Height, as configured in ssl-vision for the respective team
   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;
-}
+  // monotonously increasing frame number
+  required uint32             frame_number     = 1;
+  // Unix timestamp in [seconds] at which the image has been received by ssl-vision
+  required double             t_capture        = 2;
+  // Unix timestamp in [seconds] at which this message has been sent to the network
+  required double             t_sent           = 3;
+  // Camera timestamp in [seconds] as reported by the camera, if supported
+  // This is not necessarily a unix timestamp
+  optional double             t_capture_camera = 8;
+  // Identifier of the camera
+  required uint32             camera_id        = 4;
+  // Detected balls
+  repeated SSL_DetectionBall  balls            = 5;
+  // Detected yellow robots
+  repeated SSL_DetectionRobot robots_yellow    = 6;
+  // Detected blue robots
+  repeated SSL_DetectionRobot robots_blue      = 7;
+}

roboteam_networking/proto/messages_robocup_ssl_game_controller_common.proto

@@ -1,7 +1,8 @@
 syntax = "proto2";
-
 package proto;
 
+option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
+
 // Team is either blue or yellow
 enum Team {
     // team not set

roboteam_networking/proto/messages_robocup_ssl_game_controller_geometry.proto

@@ -1,7 +1,8 @@
 syntax = "proto2";
-
 package proto;
 
+option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom";
+
 // A vector with two dimensions
 message Vector2 {
     required float x = 1;

roboteam_networking/proto/messages_robocup_ssl_game_event.proto

@@ -1,6 +1,8 @@
 syntax = "proto2";
-
 package proto;
+
+option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
+
 import "messages_robocup_ssl_game_controller_common.proto";
 import "messages_robocup_ssl_game_controller_geometry.proto";
 
@@ -79,36 +81,14 @@ message GameEvent {
         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
@@ -420,6 +400,8 @@ message GameEvent {
         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 {
@@ -465,6 +447,11 @@ message GameEvent {
         // 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
@@ -544,6 +531,7 @@ message GameEvent {
         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
 
@@ -569,19 +557,5 @@ message GameEvent {
 
         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];
-        */
     }
 }

roboteam_networking/proto/messages_robocup_ssl_geometry.proto

@@ -40,25 +40,40 @@ message SSL_FieldCircularArc {
 }
 
 message SSL_GeometryFieldSize {
+    // Field length (distance between goal lines) in mm
     required int32 field_length = 1;
+    // Field width (distance between touch lines) in mm
     required int32 field_width = 2;
+    // Goal width (distance between inner edges of goal posts) in mm
     required int32 goal_width = 3;
+    // Goal depth (distance from outer goal line edge to inner goal back) in mm
     required int32 goal_depth = 4;
+    // Boundary width (distance from touch/goal line centers to boundary walls) in mm
     required int32 boundary_width = 5;
+    // Generated line segments based on the other parameters 
     repeated SSL_FieldLineSegment field_lines = 6;
+    // Generated circular arcs based on the other parameters
     repeated SSL_FieldCircularArc field_arcs = 7;
+    // Depth of the penalty/defense area (measured between line centers) in mm
     optional int32 penalty_area_depth = 8;
+    // Width of the penalty/defense area (measured between line centers) in mm
     optional int32 penalty_area_width = 9;
+    // Radius of the center circle (measured between line centers) in mm
     optional int32 center_circle_radius = 10;
+    // Thickness/width of the lines on the field in mm
     optional int32 line_thickness = 11;
+    // Distance between the goal center and the center of the penalty mark in mm 
     optional int32 goal_center_to_penalty_mark = 12;
+    // Goal height in mm
     optional int32 goal_height = 13;
+    // Ball radius in mm (note that this is a float type to represent sub-mm precision)
     optional float ball_radius = 14;
+    // Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)
     optional float max_robot_radius = 15;
 }
 
 message SSL_GeometryCameraCalibration {
-    required uint32 camera_id = 1;
+    required uint32 camera_id     = 1;
     required float focal_length = 2;
     required float principal_point_x = 3;
     required float principal_point_y = 4;

roboteam_networking/proto/messages_robocup_ssl_referee.proto

@@ -1,6 +1,8 @@
 syntax = "proto2";
 package proto;
 
+option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
+
 import "messages_robocup_ssl_game_event.proto";
 
 // Each UDP packet contains one of these messages.
@@ -149,6 +151,10 @@ message Referee {
         optional bool ball_placement_failures_reached = 15;
         // The team is allowed to substitute one or more robots currently
         optional bool bot_substitution_allowed = 16;
+        // The number of bot substitutions left by the team in this halftime
+        optional uint32 bot_substitutions_left = 17;
+        // The number of microseconds left for current bot substitution
+        optional uint32 bot_substitution_time_left = 18;
     }
 
     // Information about the two teams.