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the current advantage choice of the team the choice is valid until another choice is received if the team disconnects, the choice is reset to its default (STOP) teams may either send their current choice continuously or only on change
Used in:
STOP = 0
stop the game
CONTINUE = 1
keep the game running
message
ssl_autoref_ci.proto:10The AutoRefCiInput contains all packets/messages that would otherwise be received through multicast by the auto-referee It may contain either a raw or a tracked SSL-vision packet. If both are given, the implementation may choose either one.
optional referee_message = 1
Latest referee message
optional tracker_wrapper_packet = 2
A tracked SSL-Vision packet to be processed without filtering
repeated detection = 3
A list of unfiltered SSL-Vision packets (for multiple cameras) to be filtered and processed
optional geometry = 4
Current geometry data, to be sent at least once at the beginning of the connection
message
ssl_autoref_ci.proto:22The AutoRefCiOutput contains any new data created by the auto-referee for further processing
optional tracker_wrapper_packet = 1
A resulting tracked SSL-Vision packet for input into the ssl-game-controller. The auto-referee will either generate it from the unfiltered SSL-Vision packets or simply return the tracked packet from the input.
message
ssl_gc_engine_config.proto:38The config for an auto referee
Used in:
map<string, AutoRefConfig.Behavior> game_event_behavior = 1
The game event behaviors for this auto referee
Behaviors for the game events reported by this auto referee
Used in:
BEHAVIOR_UNKNOWN = 0
Not set or unknown
BEHAVIOR_ACCEPT = 1
Accept the game event
BEHAVIOR_LOG = 2
Log the game event
BEHAVIOR_IGNORE = 3
Silently ignore the game event
message
ssl_gc_rcon_autoref.proto:7AutoRefRegistration is the first message that a client must send to the controller to identify itself
required string identifier = 1
identifier is a unique name of the client
optional signature = 2
signature can optionally be specified to enable secure communication
message
ssl_gc_rcon_autoref.proto:15AutoRefToController is the wrapper message for all subsequent messages from the autoRef to the controller
optional signature = 1
signature can optionally be specified to enable secure communication
optional game_event = 2
game_event is an optional event that the autoRef detected during the game
message
ssl_gc_engine.proto:80The ball state
Used in:
optional pos = 1
ball position [m]
optional vel = 2
ball velocity [m/s]
Capabilities that a source implementation can have
Used in:
CAPABILITY_UNKNOWN = 0
CAPABILITY_DETECT_FLYING_BALLS = 1
CAPABILITY_DETECT_MULTIPLE_BALLS = 2
CAPABILITY_DETECT_KICKED_BALLS = 3
message
ssl_gc_change.proto:27A certain change
Used in: , ,
optional string origin = 1
An identifier of the origin that triggered the change
optional bool revertible = 16
Is this change revertible?
oneof change
new_command_change = 2
change_stage_change = 3
set_ball_placement_pos_change = 4
add_yellow_card_change = 5
add_red_card_change = 6
yellow_card_over_change = 7
add_game_event_change = 8
add_passive_game_event_change = 19
add_proposal_change = 9
update_config_change = 12
update_team_state_change = 13
switch_colors_change = 14
revert_change = 15
new_game_state_change = 17
accept_proposal_group_change = 18
set_status_message_change = 20
message
ssl_gc_change.proto:111Accept a proposal group (that contain one or more proposals of the same type)
Used in:
optional string group_id = 3
The id of the group
optional string accepted_by = 2
An identifier of the acceptor
message
ssl_gc_change.proto:93Add a new game event
Used in:
optional game_event = 1
The game event
message
ssl_gc_change.proto:99Add a new passive game event (that is only logged, but does not automatically trigger anything)
Used in:
optional game_event = 1
The game event
message
ssl_gc_change.proto:105Add a new proposal (i.e. from an auto referee for majority voting)
Used in:
optional proposal = 1
The proposal
message
ssl_gc_change.proto:79Add a new red card
Used in:
optional Team for_team = 1
The team that the card is for
optional caused_by_game_event = 2
The game event that caused the card
message
ssl_gc_change.proto:71Add a new yellow card
Used in:
optional Team for_team = 1
The team that the card is for
optional caused_by_game_event = 2
The game event that caused the card
message
ssl_gc_change.proto:59Switch to a new stage
Used in:
optional Referee.Stage new_stage = 1
The new stage
message
ssl_gc_change.proto:53New referee command
Used in:
optional command = 1
The command
message
ssl_gc_change.proto:191Change the current game state
Used in:
optional game_state = 1
The new game state
message
ssl_gc_change.proto:185Revert a certain change
Used in:
optional int32 change_id = 1
The id of the change
message
ssl_gc_change.proto:65Set the ball placement pos
Used in:
optional pos = 1
The position in [m]
message
ssl_gc_change.proto:196Used in:
optional string status_message = 1
The new status message
message
ssl_gc_change.proto:181Switch the team colors
Used in:
(message has no fields)
message
ssl_gc_change.proto:119Update some configuration
Used in:
optional Division division = 1
The division to play with
optional Team first_kickoff_team = 2
the team that does/did the first kick off
optional MatchType match_type = 4
The match type
optional max_robots_per_team = 5
The number of robots per team
message
ssl_gc_change.proto:132Update the current state of a team (all fields that should be updated are set)
Used in:
optional Team for_team = 1
The team
optional team_name = 2
Change the name of the team
optional goals = 3
Change the number of goals that the teams has at the moment
optional goalkeeper = 4
The id of the goal keeper
optional timeouts_left = 5
The number of timeouts that the team has left
optional timeout_time_left = 6
The timeout time that the team has left
optional on_positive_half = 7
Does the team play on the positive or the negative half (in ssl-vision coordinates)?
optional ball_placement_failures = 8
The number of ball placement failures
optional can_place_ball = 9
Can the team place the ball, or is ball placement for this team disabled and should be skipped?
optional challenge_flags_left = 21
The number of challenge flags that the team has left
optional bot_substitutions_left = 22
The number of bot substitutions left by the team in this halftime
optional requests_bot_substitution = 10
Does the team want to substitute a robot in the next possible situation?
optional requests_timeout = 17
Does the team want to take a timeout in the next possible situation?
optional requests_challenge = 18
Does the team want to challenge a recent decision of the referee?
optional requests_emergency_stop = 19
Does the team want to request an emergency stop?
optional yellow_card = 20
Update a certain yellow card of the team
optional red_card = 12
Update a certain red card of the team
optional foul = 13
Update a certain foul of the team
optional remove_yellow_card = 14
Remove the yellow card with this id
optional remove_red_card = 15
Remove the red card with this id
optional remove_foul = 16
Remove the foul with this id
optional HullColor hull_color = 23
The color of the hull
message
ssl_gc_change.proto:87Trigger when a yellow card timed out
Used in:
optional Team for_team = 1
The team that the card was for
message
ssl_gc_ci.proto:9The input format to the GC
optional int64 timestamp = 1
New unix timestamp in [ns] for the GC
optional tracker_packet = 2
New tracker packet with ball and robot data
repeated api_inputs = 3
(UI) API input
optional geometry = 4
Update geometry
message
ssl_gc_ci.proto:21The output format of the GC response
optional referee_msg = 1
Latest referee message
message
ssl_gc_state.proto:28Used in: ,
required Command.Type type = 1
required Team for_team = 2
Used in:
UNKNOWN = 0
HALT = 1
STOP = 2
NORMAL_START = 3
FORCE_START = 4
DIRECT = 5
KICKOFF = 7
PENALTY = 8
TIMEOUT = 9
BALL_PLACEMENT = 10
message
ssl_gc_engine_config.proto:4The engine config
Used in: ,
map<string, Config.Behavior> game_event_behavior = 1
The behavior for each game event
map<string, > auto_ref_configs = 2
The config for each auto referee
optional string active_tracker_source = 3
The selected tracker source
repeated string teams = 4
The list of available teams
optional bool auto_continue = 5
Enable or disable auto continuation
Behaviors for each game event
Used in:
BEHAVIOR_UNKNOWN = 0
Not set or unknown
BEHAVIOR_ACCEPT = 1
Always accept the game event
BEHAVIOR_ACCEPT_MAJORITY = 2
Accept the game event if was reported by a majority
BEHAVIOR_PROPOSE_ONLY = 3
Only propose the game event (can be accepted in the UI by a human)
BEHAVIOR_LOG = 4
Only log the game event to the protocol
BEHAVIOR_IGNORE = 5
Silently ignore the game event
message
ssl_gc_engine.proto:97Used in: ,
required ContinueAction.Type type = 1
type of action that will be performed next
required Team for_team = 2
for which team (if team specific)
repeated string continuation_issues = 3
list of issues that hinders the game from continuing
optional ready_at = 4
timestamp at which the action will be ready (to give some preparation time)
optional ContinueAction.State state = 5
state of the action
Used in:
STATE_UNKNOWN = 0
BLOCKED = 1
WAITING = 2
READY_AUTO = 3
READY_MANUAL = 4
DISABLED = 5
Used in:
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
CORRECT_BALL_LEFT_FIELD_TEAM = 21
message
ssl_gc_engine.proto:148Used in:
required string message = 1
message
ssl_gc_rcon.proto:4a reply that is sent by the controller for each request from teams or autoRefs
Used in: , ,
optional ControllerReply.StatusCode status_code = 1
status_code is an optional code that indicates the result of the last request
optional string reason = 2
reason is an optional explanation of the status code
optional string next_token = 3
next_token must be send with the next request, if secure communication is used the token is used to avoid replay attacks the token is always present in the very first message before the registration starts the token is not present, if secure communication is not used
optional ControllerReply.Verification verification = 4
verification indicates if the last request could be verified (secure communication)
Used in:
UNKNOWN_STATUS_CODE = 0
OK = 1
REJECTED = 2
Used in:
UNKNOWN_VERIFICATION = 0
VERIFIED = 1
UNVERIFIED = 2
message
ssl_gc_rcon_autoref.proto:25ControllerToAutoRef is the wrapper message for all messages from controller to autoRef
oneof msg
controller_reply = 1
a reply from the controller
wrapper for all messages from controller to a team's computer
optional controller_reply = 1
a reply from the controller
optional state = 2
current team state
message
ssl_gc_rcon_team.proto:46wrapper for all messages from controller to a team's computer
oneof msg
controller_reply = 1
a reply from the controller
Division denotes the current division, which influences some rules
Used in: ,
DIV_UNKNOWN = 0
DIV_A = 1
DIV_B = 2
message
ssl_gc_state.proto:22Used in: ,
optional uint32 id = 1
optional caused_by_game_event = 2
optional timestamp = 3
message
ssl_gc_game_event.proto:12GameEvent 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.
Used in: , , , , , , , , , , , ,
optional string id = 50
A globally unique id of the game event.
optional GameEvent.Type type = 40
The type of the game event.
repeated string origin = 41
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.
optional uint64 created_timestamp = 49
Unix timestamp in microseconds when the event was created.
oneof event
the event that occurred
ball_left_field_touch_line = 6
ball_left_field_goal_line = 7
aimless_kick = 11
attacker_too_close_to_defense_area = 19
defender_in_defense_area = 31
boundary_crossing = 43
keeper_held_ball = 13
bot_dribbled_ball_too_far = 17
bot_pushed_bot = 24
bot_held_ball_deliberately = 26
bot_tipped_over = 27
bot_dropped_parts = 51
attacker_touched_ball_in_defense_area = 15
bot_kicked_ball_too_fast = 18
bot_crash_unique = 22
bot_crash_drawn = 21
defender_too_close_to_kick_point = 29
bot_too_fast_in_stop = 28
bot_interfered_placement = 20
possible_goal = 39
goal = 8
invalid_goal = 44
attacker_double_touched_ball = 14
placement_succeeded = 5
penalty_kick_failed = 45
no_progress_in_game = 2
placement_failed = 3
multiple_cards = 32
multiple_fouls = 34
bot_substitution = 37
excessive_bot_substitution = 52
too_many_robots = 38
challenge_flag = 46
challenge_flag_handled = 48
emergency_stop = 47
unsporting_behavior_minor = 35
unsporting_behavior_major = 36
prepared = 1
replaced by ready_to_continue flag
indirect_goal = 9
obsolete
chipped_goal = 10
replaced by the meta-information in the possible_goal event
kick_timeout = 12
obsolete
attacker_touched_opponent_in_defense_area = 16
rule removed
attacker_touched_opponent_in_defense_area_skipped = 42
obsolete
bot_crash_unique_skipped = 23
obsolete
bot_pushed_bot_skipped = 25
can not be used as long as autoRefs do not judge pushing
defender_in_defense_area_partially = 30
rule removed
multiple_placement_failures = 33
the referee msg already indicates this
message
ssl_gc_game_event.proto:124the ball left the field via goal line and a team committed an aimless kick
Used in:
required Team by_team = 1
the team that last touched the ball
optional uint32 by_bot = 2
the bot that last touched the ball
optional location = 3
the location where the ball left the field [m]
optional kick_location = 4
the location where the ball was last touched [m]
message
ssl_gc_game_event.proto:343an attacker touched the ball multiple times when it was not allowed to
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that touched the ball twice
optional location = 3
the location of the ball when it was first touched [m]
message
ssl_gc_game_event.proto:352an attacker was located too near to the opponent defense area during stop or free kick
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that is too close to the defense area
optional location = 3
the location of the bot [m]
optional float distance = 4
the distance [m] of the bot to the penalty area
optional ball_location = 5
the location of the ball at the moment when this foul occurred [m]
message
ssl_gc_game_event.proto:297an attacker touched the ball inside the opponent defense area
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that is inside the penalty area
optional location = 3
the location of the bot [m]
optional float distance = 4
the distance [m] that the bot is inside the penalty area
message
ssl_gc_game_event.proto:332an attacker touched the opponent robot inside defense area
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that touched the opponent robot
optional uint32 victim = 4
the bot of the opposite team that was touched
optional location = 3
the location of the contact point between both bots [m]
message
ssl_gc_game_event.proto:115the ball left the field normally
Used in:
required Team by_team = 1
the team that last touched the ball
optional uint32 by_bot = 2
the bot that last touched the ball
optional location = 3
the location where the ball left the field [m]
message
ssl_gc_game_event.proto:202two robots crashed into each other with similar speeds
Used in:
optional uint32 bot_yellow = 1
the bot of the yellow team
optional uint32 bot_blue = 2
the bot of the blue team
optional location = 3
the location of the crash (center between both bots) [m]
optional float crash_speed = 4
the calculated crash speed [m/s] of the two bots
optional float speed_diff = 5
the difference [m/s] of the velocity of the two bots
optional float crash_angle = 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
message
ssl_gc_game_event.proto:219two robots crashed into each other and one team was found guilty to due significant speed difference
Used in:
required Team by_team = 1
the team that caused the crash
optional uint32 violator = 2
the bot that caused the crash
optional uint32 victim = 3
the bot of the opposite team that was involved in the crash
optional location = 4
the location of the crash (center between both bots) [m]
optional float crash_speed = 5
the calculated crash speed vector [m/s] of the two bots
optional float speed_diff = 6
the difference [m/s] of the velocity of the two bots
optional float crash_angle = 7
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
message
ssl_gc_game_event.proto:321a bot dribbled to ball too far
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that dribbled too far
optional start = 3
the location where the dribbling started [m]
optional end = 4
the location where the maximum dribbling distance was reached [m]
message
ssl_gc_game_event.proto:262a bot dropped parts
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that dropped the parts
optional location = 3
the location where the parts were dropped [m]
optional ball_location = 4
the location of the ball at the moment when this foul occurred [m]
message
ssl_gc_game_event.proto:365a bot held the ball for too long
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that holds the ball
optional location = 3
the location of the ball [m]
optional float duration = 4
the duration [s] that the bot hold the ball
message
ssl_gc_game_event.proto:376a bot interfered the ball placement of the other team
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that interfered the placement
optional location = 3
the location of the bot [m]
message
ssl_gc_game_event.proto:308a bot kicked the ball too fast
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that kicked too fast
optional location = 3
the location of the ball at the time of the highest speed [m]
optional float initial_ball_speed = 4
the absolute initial ball speed (kick speed) [m/s]
optional bool chipped = 5
was the ball chipped?
message
ssl_gc_game_event.proto:238a bot pushed another bot over a significant distance
Used in:
required Team by_team = 1
the team that pushed the other team
optional uint32 violator = 2
the bot that pushed the other bot
optional uint32 victim = 3
the bot of the opposite team that was pushed
optional location = 4
the location of the push (center between both bots) [m]
optional float pushed_distance = 5
the pushed distance [m]
message
ssl_gc_game_event.proto:466bots are being substituted by a team
Used in:
required Team by_team = 1
the team that substitutes robots
message
ssl_gc_game_event.proto:251a bot tipped over
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that tipped over
optional location = 3
the location of the bot [m]
optional ball_location = 4
the location of the ball at the moment when this foul occurred [m]
message
ssl_gc_game_event.proto:180a bot moved too fast while the game was stopped
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that was too fast
optional location = 3
the location of the bot [m]
optional float speed = 4
the bot speed [m/s]
message
ssl_gc_game_event.proto:504a robot chipped the ball over the field boundary out of the playing surface
Used in:
required Team by_team = 1
the team that has too many robots
optional location = 2
the location of the ball [m]
message
ssl_gc_game_event.proto:476A challenge flag, requested by a team previously, is flagged
Used in:
required Team by_team = 1
the team that requested the challenge flag
message
ssl_gc_game_event.proto:481A challenge, flagged recently, has been handled by the referee
Used in:
required Team by_team = 1
the team that requested the challenge flag
required bool accepted = 2
the challenge was accepted by the referee
message
ssl_gc_game_event.proto:167the ball entered the goal, but was initially chipped
Used in:
required Team by_team = 1
the team that tried to shoot the goal
optional uint32 by_bot = 2
the bot that kicked the ball
optional location = 3
the location where the ball entered the goal [m]
optional kick_location = 4
the location where the ball was kicked [m]
optional float max_ball_height = 5
the maximum height [m] of the ball, before it entered the goal and since the last kick [m]
message
ssl_gc_game_event.proto:273a defender other than the keeper was fully located inside its own defense and touched the ball
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that is inside the penalty area
optional location = 3
the location of the bot [m]
optional float distance = 4
the distance [m] from bot case to the nearest point outside the defense area
message
ssl_gc_game_event.proto:284a defender other than the keeper was partially located inside its own defense area and touched the ball
Used in:
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that is partially inside the penalty area
optional location = 3
the location of the bot
optional float distance = 4
the distance [m] that the bot is inside the penalty area
optional ball_location = 5
the location of the ball at the moment when this foul occurred [m]
message
ssl_gc_game_event.proto:191a bot of the defending team got too close to the kick point during a free kick
Used in:
required Team by_team = 1
the team that was found guilty
optional uint32 by_bot = 2
the bot that violates the distance to the kick point
optional location = 3
the location of the bot [m]
optional float distance = 4
the distance [m] from bot to the kick point (including the minimum radius)
message
ssl_gc_game_event.proto:488An emergency stop, requested by team previously, occurred
Used in:
required Team by_team = 1
the team that substitutes robots
message
ssl_gc_game_event.proto:471A foul for excessive bot substitutions
Used in:
required Team by_team = 1
the team that substitutes robots
message
ssl_gc_game_event.proto:135a team shot a goal
Used in:
required Team by_team = 1
the team that scored the goal
optional Team kicking_team = 6
the team that shot the goal (different from by_team for own goals)
optional uint32 kicking_bot = 2
the bot that shot the goal
optional location = 3
the location where the ball entered the goal [m]
optional kick_location = 4
the location where the ball was kicked (for deciding if this was a valid goal) [m]
optional float max_ball_height = 5
the maximum height the ball reached during the goal kick (for deciding if this was a valid goal) [m]
optional uint32 num_robots_by_team = 7
number of robots of scoring team when the ball entered the goal (for deciding if this was a valid goal)
optional uint64 last_touch_by_team = 8
The UNIX timestamp [μs] when the scoring team last touched the ball
optional string message = 9
An additional message with e.g. a reason for invalid goals
message
ssl_gc_game_event.proto:156the ball entered the goal directly during an indirect free kick
Used in:
required Team by_team = 1
the team that tried to shoot the goal
optional uint32 by_bot = 2
the bot that kicked the ball - at least the team must be set
optional location = 3
the location where the ball entered the goal [m]
optional kick_location = 4
the location where the ball was kicked [m]
message
ssl_gc_game_event.proto:441a keeper held the ball in its defense area for too long
Used in:
required Team by_team = 1
the team that found guilty
optional location = 2
the location of the ball [m]
optional float duration = 3
the duration [s] that the keeper hold the ball
message
ssl_gc_game_event.proto:402timeout waiting for the attacking team to perform the free kick
Used in:
required Team by_team = 1
the team that that should have kicked
optional location = 2
the location of the ball [m]
optional float time = 3
the time [s] that was waited
message
ssl_gc_game_event.proto:385a team collected multiple yellow cards
Used in:
required Team by_team = 1
the team that received multiple yellow cards
message
ssl_gc_game_event.proto:390a team collected multiple fouls, which results in a yellow card
Used in:
required Team by_team = 1
the team that collected multiple fouls
repeated caused_game_events = 2
the list of game events that caused the multiple fouls
message
ssl_gc_game_event.proto:397a team failed to place the ball multiple times in a row
Used in:
required Team by_team = 1
the team that failed multiple times
message
ssl_gc_game_event.proto:411game was stuck
Used in:
optional location = 1
the location of the ball
optional float time = 2
the time [s] that was waited
message
ssl_gc_game_event.proto:511the penalty kick failed (by time or by keeper)
Used in:
required Team by_team = 1
the team that last touched the ball
optional location = 2
the location of the ball at the moment of this event [m]
optional string reason = 3
an explanation of the failure
message
ssl_gc_game_event.proto:418ball placement failed
Used in:
required Team by_team = 1
the team that failed
optional float remaining_distance = 2
the remaining distance [m] from ball to placement position
optional float nearest_own_bot_distance = 3
the distance [m] of the nearest own robot to the ball
message
ssl_gc_game_event.proto:450a team successfully placed the ball
Used in:
required Team by_team = 1
the team that did the placement
optional float time_taken = 2
the time [s] taken for placing the ball
optional float precision = 3
the distance [m] between placement location and actual ball position
optional float distance = 4
the distance [m] between the initial ball location and the placement position
message
ssl_gc_game_event.proto:461both teams are prepared - all conditions are met to continue (with kickoff or penalty kick)
Used in:
optional float time_taken = 1
the time [s] taken for preparing
message
ssl_gc_game_event.proto:493a team has too many robots on the field
Used in:
required Team by_team = 1
the team that has too many robots
optional int32 num_robots_allowed = 2
number of robots allowed at the moment
optional int32 num_robots_on_field = 3
number of robots currently on the field
optional ball_location = 4
the location of the ball at the moment when this foul occurred [m]
Used in:
UNKNOWN_GAME_EVENT_TYPE = 0
BALL_LEFT_FIELD_TOUCH_LINE = 6
triggered by autoRef
BALL_LEFT_FIELD_GOAL_LINE = 7
triggered by autoRef
AIMLESS_KICK = 11
triggered by autoRef
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
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
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
POSSIBLE_GOAL = 39
triggered by autoRef
GOAL = 8
triggered by GC
INVALID_GOAL = 42
triggered by GC
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
PREPARED = 1
INDIRECT_GOAL = 9
CHIPPED_GOAL = 10
KICK_TIMEOUT = 12
ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA = 16
ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED = 40
BOT_CRASH_UNIQUE_SKIPPED = 23
BOT_PUSHED_BOT_SKIPPED = 25
DEFENDER_IN_DEFENSE_AREA_PARTIALLY = 30
MULTIPLE_PLACEMENT_FAILURES = 33
message
ssl_gc_game_event.proto:434a team was found guilty for major unsporting behavior
Used in:
required Team by_team = 1
the team that found guilty
required string reason = 2
an explanation of the situation and decision
message
ssl_gc_game_event.proto:427a team was found guilty for minor unsporting behavior
Used in:
required Team by_team = 1
the team that found guilty
required string reason = 2
an explanation of the situation and decision
message
ssl_gc_referee_message.proto:219List of matching proposals
Used in:
optional string id = 3
Unique ID of this group
repeated game_events = 1
The proposed game events
optional bool accepted = 2
Whether the proposal group was accepted
message
ssl_gc_state.proto:47Used in: ,
required GameState.Type type = 1
optional Team for_team = 2
Used in:
UNKNOWN = 0
HALT = 1
STOP = 2
RUNNING = 3
FREE_KICK = 4
KICKOFF = 5
PENALTY = 6
TIMEOUT = 7
BALL_PLACEMENT = 8
message
ssl_gc_engine.proto:9The GC state contains settings and state independent of the match state
Used in:
map<string, > team_state = 1
the state of each team
map<string, > auto_ref_state = 2
the states of the auto referees
map<string, string> trackers = 3
the attached trackers (uuid -> source_name)
repeated continue_actions = 4
the next actions that can be executed when continuing
repeated continue_hints = 5
the next actions that can be executed when continuing
message
ssl_gc_engine.proto:59The GC state of an auto referee
Used in:
optional bool connection_verified = 1
true: The autoRef connected via TLS with a verified certificate
message
ssl_gc_engine.proto:27The GC state for a single team
Used in:
optional bool connected = 1
true: The team is connected
optional bool connection_verified = 2
true: The team connected via TLS with a verified certificate
optional bool remote_control_connected = 3
true: The remote control for the team is connected
optional bool remote_control_connection_verified = 4
true: The remote control for the team connected via TLS with a verified certificate
optional advantage_choice = 5
the advantage choice of the team
message
ssl_gc_engine.proto:65GC state of a tracker
optional string source_name = 1
Name of the source
optional string uuid = 4
UUID of the source
optional ball = 2
Current ball
repeated robots = 3
Current robots
HullColor is the color of the hull of the robots of a team
Used in: , ,
HULL_COLOR_UNKNOWN = 0
not set
HULL_COLOR_DARK = 1
dark hull color
HULL_COLOR_LIGHT = 2
light hull color
message
ssl_gc_api.proto:45Message format that can be send from the client to the GC
Used in:
optional change = 1
A change to be enqueued into the GC engine
optional bool reset_match = 2
Reset the match
optional config_delta = 3
An updated config delta
optional continue_action = 4
Continue with action
A ball kicked by a robot, including predictions when the ball will come to a stop
Used in:
required pos = 1
The initial position [m] from which the ball was kicked
required vel = 2
The initial velocity [m/s] with which the ball was kicked
required double start_timestamp = 3
The unix timestamp [s] when the kick was performed
optional double stop_timestamp = 4
The predicted unix timestamp [s] when the ball comes to a stop
optional stop_pos = 5
The predicted position [m] at which the ball will come to a stop
optional robot_id = 6
The robot that kicked the ball
MatchType is a meta information about the current match for easier log processing
Used in: , ,
UNKNOWN_MATCH = 0
not set
GROUP_PHASE = 1
match is part of the group phase
ELIMINATION_PHASE = 2
match is part of the elimination phase
FRIENDLY = 3
a friendly match, not part of a tournament
message
ssl_gc_api.proto:11Message format that is pushed from the GC to the client
optional match_state = 1
The current match state
optional gc_state = 2
The current GC state
optional protocol = 3
The protocol
optional config = 4
The engine config
message
ssl_gc_state.proto:64Used in: ,
optional timestamp = 1
The timestamp when the game event proposal occurred
optional game_event = 2
The proposed game event.
message
ssl_gc_state.proto:71Used in:
optional string id = 4
Unique ID of this group
repeated proposals = 1
The proposals in this group
optional bool accepted = 2
Whether the proposal group was accepted
message
ssl_gc_api.proto:23The game protocol
Used in:
optional bool delta = 1
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.
repeated entry = 2
The (delta) list of entries
message
ssl_gc_api.proto:33A protocol entry of a change
Used in:
optional int32 id = 1
Id of the entry
optional change = 2
The change that was made
optional match_time_elapsed = 3
The match time elapsed when this change was made
optional stage_time_elapsed = 4
The stage time elapsed when this change was made
message
ssl_gc_state.proto:17Used in: ,
optional uint32 id = 1
optional caused_by_game_event = 2
message
ssl_gc_referee_message.proto:6Each UDP packet contains one of these messages.
Used in: ,
optional string source_identifier = 18
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
optional MatchType match_type = 19
The match type is a meta information about the current match that helps to process the logs after a competition
required uint64 packet_timestamp = 1
The UNIX timestamp when the packet was sent, in microseconds. Divide by 1,000,000 to get a time_t.
required Referee.Stage stage = 2
optional sint64 stage_time_left = 3
The number of microseconds left in the stage. The following stages have this value; the rest do not: NORMAL_FIRST_HALF NORMAL_HALF_TIME NORMAL_SECOND_HALF EXTRA_TIME_BREAK EXTRA_FIRST_HALF EXTRA_HALF_TIME EXTRA_SECOND_HALF PENALTY_SHOOTOUT_BREAK If the stage runs over its specified time, this value becomes negative.
required Referee.Command command = 4
required uint32 command_counter = 5
The number of commands issued since startup (mod 2^32).
required uint64 command_timestamp = 6
The UNIX timestamp when the command was issued, in microseconds. This value changes only when a new command is issued, not on each packet.
required yellow = 7
Information about the two teams.
required blue = 8
optional designated_position = 9
optional bool blue_team_on_positive_half = 10
Information about the direction of play. True, if the blue team will have it's goal on the positive x-axis of the ssl-vision coordinate system. Obviously, the yellow team will play on the opposite half.
optional Referee.Command next_command = 12
The command that will be issued after the current stoppage and ball placement to continue the game.
repeated game_events = 16
repeated game_event_proposals = 17
optional int64 current_action_time_remaining = 15
The time in microseconds that is remaining until the current action times out The time will not be reset. It can get negative. An autoRef would raise an appropriate event, if the time gets negative. Possible actions where this time is relevant: * free kicks * kickoff, penalty kick, force start * ball placement
optional string status_message = 20
A message that can be displayed to the spectators, like a reason for a stoppage.
These are the "fine" states of play on the field.
Used in:
HALT = 0
All robots should completely stop moving.
STOP = 1
Robots must keep 50 cm from the ball.
NORMAL_START = 2
A prepared kickoff or penalty may now be taken.
FORCE_START = 3
The ball is dropped and free for either team.
PREPARE_KICKOFF_YELLOW = 4
The yellow team may move into kickoff position.
PREPARE_KICKOFF_BLUE = 5
The blue team may move into kickoff position.
PREPARE_PENALTY_YELLOW = 6
The yellow team may move into penalty position.
PREPARE_PENALTY_BLUE = 7
The blue team may move into penalty position.
DIRECT_FREE_YELLOW = 8
The yellow team may take a direct free kick.
DIRECT_FREE_BLUE = 9
The blue team may take a direct free kick.
INDIRECT_FREE_YELLOW = 10
The yellow team may take an indirect free kick.
INDIRECT_FREE_BLUE = 11
The blue team may take an indirect free kick.
TIMEOUT_YELLOW = 12
The yellow team is currently in a timeout.
TIMEOUT_BLUE = 13
The blue team is currently in a timeout.
GOAL_YELLOW = 14
The yellow team just scored a goal. For information only. Deprecated: Use the score field from the team infos instead. That way, you can also detect revoked goals.
GOAL_BLUE = 15
The blue team just scored a goal. See also GOAL_YELLOW.
BALL_PLACEMENT_YELLOW = 16
Equivalent to STOP, but the yellow team must pick up the ball and drop it in the Designated Position.
BALL_PLACEMENT_BLUE = 17
Equivalent to STOP, but the blue team must pick up the ball and drop it in the Designated Position.
message
ssl_gc_referee_message.proto:177The coordinates of the Designated Position. These are measured in millimetres and correspond to SSL-Vision coordinates. These fields are always either both present (in the case of a ball placement command) or both absent (in the case of any other command).
Used in:
required float x = 1
required float y = 2
These are the "coarse" stages of the game.
Used in: , ,
NORMAL_FIRST_HALF_PRE = 0
The first half is about to start. A kickoff is called within this stage. This stage ends with the NORMAL_START.
NORMAL_FIRST_HALF = 1
The first half of the normal game, before half time.
NORMAL_HALF_TIME = 2
Half time between first and second halves.
NORMAL_SECOND_HALF_PRE = 3
The second half is about to start. A kickoff is called within this stage. This stage ends with the NORMAL_START.
NORMAL_SECOND_HALF = 4
The second half of the normal game, after half time.
EXTRA_TIME_BREAK = 5
The break before extra time.
EXTRA_FIRST_HALF_PRE = 6
The first half of extra time is about to start. A kickoff is called within this stage. This stage ends with the NORMAL_START.
EXTRA_FIRST_HALF = 7
The first half of extra time.
EXTRA_HALF_TIME = 8
Half time between first and second extra halves.
EXTRA_SECOND_HALF_PRE = 9
The second half of extra time is about to start. A kickoff is called within this stage. This stage ends with the NORMAL_START.
EXTRA_SECOND_HALF = 10
The second half of extra time.
PENALTY_SHOOTOUT_BREAK = 11
The break before penalty shootout.
PENALTY_SHOOTOUT = 12
The penalty shootout.
POST_GAME = 13
The game is over.
message
ssl_gc_referee_message.proto:127Information about a single team.
Used in:
required string name = 1
The team's name (empty string if operator has not typed anything).
required uint32 score = 2
The number of goals scored by the team during normal play and overtime.
required uint32 red_cards = 3
The number of red cards issued to the team since the beginning of the game.
repeated uint32 yellow_card_times = 4
The amount of time (in microseconds) left on each yellow card issued to the team. If no yellow cards are issued, this array has no elements. Otherwise, times are ordered from smallest to largest.
required uint32 yellow_cards = 5
The total number of yellow cards ever issued to the team.
required uint32 timeouts = 6
The number of timeouts this team can still call. If in a timeout right now, that timeout is excluded.
required uint32 timeout_time = 7
The number of microseconds of timeout this team can use.
required uint32 goalkeeper = 8
The pattern number of this team's goalkeeper.
optional uint32 foul_counter = 9
The total number of countable fouls that act towards yellow cards
optional uint32 ball_placement_failures = 10
The number of consecutive ball placement failures of this team
optional bool can_place_ball = 12
Indicate if the team is able and allowed to place the ball
optional uint32 max_allowed_bots = 13
The maximum number of bots allowed on the field based on division and cards
optional bool bot_substitution_intent = 14
The team has submitted an intent to substitute one or more robots at the next chance
optional bool ball_placement_failures_reached = 15
Indicate if the team reached the maximum allowed ball placement failures and is thus not allowed to place the ball anymore
optional bool bot_substitution_allowed = 16
The team is allowed to substitute one or more robots currently
optional uint32 bot_substitutions_left = 17
The number of bot substitutions left by the team in this halftime
optional uint32 bot_substitution_time_left = 18
The number of microseconds left for current bot substitution
optional HullColor hull_color = 19
The color of the hull of the robots of this team
a registration that must be send by the remote control to the controller as the very first message
required Team team = 1
the team to be controlled
optional signature = 2
signature can optionally be specified to enable secure communication
All possible request types that the remote control can make
Used in:
UNKNOWN_REQUEST_TYPE = 0
EMERGENCY_STOP = 1
ROBOT_SUBSTITUTION = 2
TIMEOUT = 3
CHALLENGE_FLAG = 4
CHANGE_KEEPER_ID = 5
STOP_TIMEOUT = 6
FAIL_BALLPLACEMENT = 7
Current team state from Controller for remote control
Used in:
optional Team team = 12
the team that is controlled
repeated RemoteControlRequestType available_requests = 1
list of all currently available request types that can be made
repeated RemoteControlRequestType active_requests = 2
list of all currently active request types that are pending
optional int32 keeper_id = 3
currently set keeper id
optional float emergency_stop_in = 4
number of seconds till emergency stop is executed zero, if no emergency stop requested
optional int32 timeouts_left = 5
number of timeouts left for the team
optional float timeout_time_left = 10
number of seconds left for timeout for the team
optional int32 challenge_flags_left = 6
number of challenge flags left for the team
optional int32 max_robots = 7
max number of robots currently allowed
optional int32 robots_on_field = 9
current number of robots visible on field
repeated float yellow_cards_due = 8
list of due times for each active yellow card (in seconds)
optional bool can_substitute_robot = 11
if true, team is allowed to substitute robots
optional uint32 bot_substitutions_left = 13
number of bot substitutions left by the team in this halftime
optional float bot_substitution_time_left = 14
number of seconds left for current bot substitution
wrapper for all messages from the remote control to the controller
optional signature = 1
signature can optionally be specified to enable secure communication
oneof msg
RemoteControlToController.Request request = 2
send a request to the GC
int32 desired_keeper = 3
request a new desired keeper id
bool request_robot_substitution = 4
true: request to substitute a robot at the next possibility false: cancel request
bool request_timeout = 5
true: request a timeout with the next stoppage false: cancel the request
bool request_emergency_stop = 6
true: initiate an emergency stop false: cancel the request
Used in:
UNKNOWN = 0
PING = 1
Ping the GC to test the connection. The GC will respond with OK and the current team state
CHALLENGE_FLAG = 2
Raise a challenge flag (this is not revocable)
STOP_TIMEOUT = 3
Stop an ongoing timeout
FAIL_BALLPLACEMENT = 4
Fail a ball placement
message
ssl_gc_engine.proto:89The robot state
Used in:
optional id = 1
robot id and team
optional pos = 2
robot position [m]
message
ssl_gc_common.proto:14RobotId is the combination of a team and a robot id
Used in: , ,
optional uint32 id = 1
the robot number
optional Team team = 2
the team that the robot belongs to
message
ssl_vision_geometry.proto:121Fixed-Loss model for chipped balls. Uses fixed damping factors for xy and z direction per hop.
Used in:
required double damping_xy_first_hop = 1
Chip kick velocity damping factor in XY direction for the first hop
required double damping_xy_other_hops = 2
Chip kick velocity damping factor in XY direction for all following hops
required double damping_z = 3
Chip kick velocity damping factor in Z direction for all hops
message
ssl_vision_geometry.proto:110Two-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
Used in:
required double acc_slide = 1
Ball sliding acceleration [m/s^2] (should be negative)
required double acc_roll = 2
Ball rolling acceleration [m/s^2] (should be negative)
required double k_switch = 3
Fraction of the initial velocity where the ball starts to roll
message
ssl_vision_detection.proto:3Used in:
required float confidence = 1
Confidence in [0-1] of the detection
optional uint32 area = 2
required float x = 3
X-coordinate in [mm] in global ssl-vision coordinate system
required float y = 4
Y-coordinate in [mm] in global ssl-vision coordinate system
optional float z = 5
Z-coordinate in [mm] in global ssl-vision coordinate system Not supported by ssl-vision, but might be set by simulators
required float pixel_x = 6
X-coordinate in [pixel] in the image
required float pixel_y = 7
Y-coordinate in [pixel] in the image
message
ssl_vision_detection.proto:39Used in: ,
required uint32 frame_number = 1
monotonously increasing frame number
required double t_capture = 2
Unix timestamp in [seconds] at which the image has been received by ssl-vision
required double t_sent = 3
Unix timestamp in [seconds] at which this message has been sent to the network
optional double t_capture_camera = 8
Camera timestamp in [seconds] as reported by the camera, if supported This is not necessarily a unix timestamp
required uint32 camera_id = 4
Identifier of the camera
repeated balls = 5
Detected balls
repeated robots_yellow = 6
Detected yellow robots
repeated robots_blue = 7
Detected blue robots
message
ssl_vision_detection.proto:20Used in:
required float confidence = 1
Confidence in [0-1] of the detection
optional uint32 robot_id = 2
Id of the robot
required float x = 3
X-coordinate in [mm] in global ssl-vision coordinate system
required float y = 4
Y-coordinate in [mm] in global ssl-vision coordinate system
optional float orientation = 5
Orientation in [rad]
required float pixel_x = 6
X-coordinate in [pixel] in the image
required float pixel_y = 7
Y-coordinate in [pixel] in the image
optional float height = 8
Height, as configured in ssl-vision for the respective team
message
ssl_vision_geometry.proto:30Represents a field marking as a circular arc segment represented by center point, a start angle, an end angle, and an arc thickness.
Used in:
required string name = 1
Name of this field marking.
required center = 2
Center point of the circular arc.
required float radius = 3
Radius of the arc.
required float a1 = 4
Start angle in counter-clockwise order.
required float a2 = 5
End angle in counter-clockwise order.
required float thickness = 6
Thickness of the arc.
optional SSL_FieldShapeType type = 7
The type of this shape
message
ssl_vision_geometry.proto:15Represents 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.
Used in:
required string name = 1
Name of this field marking.
required p1 = 2
Start point of the line segment.
required p2 = 3
End point of the line segment.
required float thickness = 4
Thickness of the line segment.
optional SSL_FieldShapeType type = 5
The type of this shape
Used in: ,
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
message
ssl_vision_geometry.proto:84Used in:
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
message
ssl_vision_geometry.proto:135Used in: , ,
required field = 1
repeated calib = 2
optional models = 3
message
ssl_vision_geometry.proto:47Used in:
required int32 field_length = 1
Field length (distance between goal lines) in mm
required int32 field_width = 2
Field width (distance between touch lines) in mm
required int32 goal_width = 3
Goal width (distance between inner edges of goal posts) in mm
required int32 goal_depth = 4
Goal depth (distance from outer goal line edge to inner goal back) in mm
required int32 boundary_width = 5
Boundary width (distance from touch line centers to boundary walls) in mm
optional int32 boundary_width_goal_line = 16
Boundary width at the goal lines (distance from goal line centers to boundary walls) in mm
repeated field_lines = 6
Generated line segments based on the other parameters
repeated field_arcs = 7
Generated circular arcs based on the other parameters
optional int32 penalty_area_depth = 8
Depth of the penalty/defense area (measured between line centers) in mm
optional int32 penalty_area_width = 9
Width of the penalty/defense area (measured between line centers) in mm
optional int32 center_circle_radius = 10
Radius of the center circle (measured between line centers) in mm
optional int32 line_thickness = 11
Thickness/width of the lines on the field in mm
optional int32 goal_center_to_penalty_mark = 12
Distance between the goal center and the center of the penalty mark in mm
optional int32 goal_height = 13
Goal height in mm
optional float ball_radius = 14
Ball radius in mm (note that this is a float type to represent sub-mm precision)
optional float max_robot_radius = 15
Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)
optional int32 goal_substitution_area_width = 17
Width of the goal substitution area (distance from goal line center plus boundary width to boundary walls) in mm
message
ssl_vision_geometry.proto:130Used in:
optional straight_two_phase = 1
optional chip_fixed_loss = 2
Used in:
SSL_SOURCE_UNKNOWN = 0
SSL_SOURCE_OTHER = 1
SSL_SOURCE_SSL_VISION = 2
SSL_SOURCE_VISION_PROCESSOR = 3
SSL_SOURCE_GRSIM = 4
SSL_SOURCE_ERFORCE_SIM = 5
message
ssl_vision_wrapper.proto:15optional detection = 1
optional geometry = 2
optional SSL_Source source = 3
message
ssl_gc_state.proto:129Used in:
optional Team next_team = 1
map<string, int32> number_of_attempts = 2
message
ssl_gc_rcon.proto:31Signature can be added to a request to let it be verfied by the controller
Used in: , , , , ,
required string token = 1
the token that was received with the last controller reply
required bytes pkcs1v15 = 2
the PKCS1v15 signature of this message
message
ssl_gc_state.proto:105Used in: ,
optional Referee.Stage stage = 1
optional command = 2
optional game_state = 19
optional stage_time_elapsed = 4
optional stage_time_left = 5
optional match_time_start = 6
map<string, > team_state = 8
optional placement_pos = 9
optional next_command = 10
optional current_action_time_remaining = 12
repeated game_events = 13
repeated proposal_groups = 14
optional Division division = 15
optional Team first_kickoff_team = 17
optional MatchType match_type = 18
optional ready_continue_time = 20
optional shootout_state = 21
optional string status_message = 22
optional int32 max_bots_per_team = 23
The maximum number of bots per team (overwrites the division config)
message
ssl_gc_change.proto:13A state change
optional int32 id = 1
A unique increasing id
optional state_pre = 2
The previous state
optional state = 3
The state after the change was applied
optional change = 4
The change itself
optional timestamp = 5
The timestamp when the change was triggered
Team is either blue or yellow
Used in: , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , ,
UNKNOWN = 0
team not set
YELLOW = 1
yellow team
BLUE = 2
blue team
message
ssl_gc_engine.proto:45The choice from a team regarding the advantage rule
Used in:
optional TeamAdvantageChoice.AdvantageChoice choice = 1
the choice of the team
possible advantage choices
Used in:
STOP = 0
stop the game
CONTINUE = 1
keep the match running
message
ssl_gc_state.proto:81Used in:
optional string name = 1
optional int32 goals = 2
optional int32 goalkeeper = 3
repeated yellow_cards = 4
repeated red_cards = 5
optional int32 timeouts_left = 6
optional timeout_time_left = 7
optional bool on_positive_half = 8
repeated fouls = 9
optional int32 ball_placement_failures = 10
optional bool ball_placement_failures_reached = 11
optional bool can_place_ball = 12
optional int32 max_allowed_bots = 13
optional requests_bot_substitution_since = 14
optional requests_timeout_since = 15
optional requests_emergency_stop_since = 16
optional int32 challenge_flags = 17
optional bool bot_substitution_allowed = 18
optional int32 bot_substitutions_left = 19
optional bot_substitution_time_left = 20
optional HullColor hull_color = 21
message
ssl_gc_rcon_team.proto:7a registration that must be send by teams to the controller as the very first message
required string team_name = 1
the exact team name as published by the game-controller
optional signature = 2
signature can optionally be specified to enable secure communication
optional Team team = 3
the team (relevant only if a team plays against itself)
message
ssl_gc_rcon_team.proto:17wrapper for all messages from a team's computer to the controller
optional signature = 1
signature can optionally be specified to enable secure communication
oneof msg
int32 desired_keeper = 2
request a new desired keeper id
AdvantageChoice advantage_choice = 3
response to an advantage choice request
bool substitute_bot = 4
request to substitute a robot at the next possibility
bool ping = 5
send a ping to the GC to test if the connection is still open. the value is ignored and a reply is sent back
A single tracked ball
Used in:
required pos = 1
The position (x, y, height) [m] in the ssl-vision coordinate system
optional vel = 2
The velocity [m/s] in the ssl-vision coordinate system
optional float visibility = 3
The visibility of the ball A value between 0 (not visible) and 1 (visible) The exact implementation depends on the source software
A frame that contains all currently tracked objects on the field on all cameras
Used in:
required uint32 frame_number = 1
A monotonous increasing frame counter
required double timestamp = 2
The unix timestamp in [s] of the data If timestamp is larger than timestamp_captured, the source has applied a prediction already
repeated balls = 3
The list of detected balls The first ball is the primary one Sources may add additional balls based on their capabilities
repeated robots = 4
The list of detected robots of both teams
optional kicked_ball = 5
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
repeated Capability capabilities = 6
List of capabilities of the source implementation
A single tracked robot
Used in:
required robot_id = 1
required pos = 2
The position [m] in the ssl-vision coordinate system
required float orientation = 3
The orientation [rad] in the ssl-vision coordinate system
optional vel = 4
The velocity [m/s] in the ssl-vision coordinate system
optional float vel_angular = 5
The angular velocity [rad/s] in the ssl-vision coordinate system
optional float visibility = 6
The visibility of the robot A value between 0 (not visible) and 1 (visible) The exact implementation depends on the source software
A wrapper packet containing meta data of the source Also serves for the possibility to extend the protocol later
Used in: , ,
required string uuid = 1
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
optional string source_name = 2
The name of the source software that is producing this messages.
optional tracked_frame = 3
The tracked frame
message
ssl_gc_geometry.proto:4A vector with two dimensions
Used in: , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , ,
required float x = 1
required float y = 2
message
ssl_vision_geometry.proto:4A 2D float vector.
Used in: ,
required float x = 1
X-coordinate in mm
required float y = 2
Y-coordinate in mm
message
ssl_gc_geometry.proto:10A vector with three dimensions
Used in: , ,
required float x = 1
required float y = 2
required float z = 3
message
ssl_gc_state.proto:11Used in: ,
optional uint32 id = 1
optional caused_by_game_event = 2
optional time_remaining = 3