package Packet

Get desktop application:
View/edit binary Protocol Buffers messages

Used in: LogFrame.Robot, RadioRx

• NoBall = 0

• HasBall = 1

• Dazzled = 2

• Failed = 3

Used in: Robot

• required float xVelocity = 1

• required float yVelocity = 2

• required float aVelocity = 3

• required float dVelocity = 4

• required uint32 kcStrength = 5

• required Control.ShootMode shootMode = 6

• required Control.TriggerMode triggerMode = 7

• optional Control.Role role = 9

LEDs on the robot display different colors based on current role

Used in: Control

• GOALIE = 0

• DEFENSE = 1

• OFFENSE = 2

• UNKNOWN = 3

Used in: Control

• KICK = 0

• CHIP = 1

Used in: Control

• STAND_DOWN = 0

• IMMEDIATE = 1

• ON_BREAK_BEAM = 2

Used in: LogFrame

• optional uint32 color = 1

• optional sint32 layer = 2

• required Point center = 3

• required float radius = 4

• required float start = 5

• required float end = 6

Used in: LogFrame

• optional uint32 color = 1

• optional sint32 layer = 2

• required Point center = 3

• required float radius = 4

Used in: LogFrame

• optional uint32 color = 1

• optional sint32 layer = 2

• repeated Point points = 3

Used in: LogFrame

• optional sint32 layer = 1

• repeated DebugRobotPath.DebugRobotPathPoint points = 3

Used in: DebugRobotPath

• required Point pos = 2

• required Point vel = 3

Used in: LogFrame, LogFrame.Robot

• optional uint32 color = 1

• optional sint32 layer = 2

• optional Point pos = 3

  Not present for robot text, otherwise required

• required string text = 4

• optional bool center = 5

Used in: RadioRx

• FpgaGood = 0

• FpgaNotInitialized = 1

• FpgaError = 2

Used in: RadioRx

• Unknown = 0

• RJ2008 = 1

• RJ2011 = 2

• RJ2015 = 3

• RJ2018 = 4

• Simulation = 5

Only the first LogFrame in a log file contains this. It contains unchanging information about the soccer build and invocation.

Used in: LogFrame

• optional string generator = 1

  Name of the program which generated this log

• optional string git_version_hash = 2

  git commit hash that the generating program was built from

• optional bool git_version_dirty = 3

  If true, there were uncommitted changes to the code

• optional bool simulation = 4

  If true, we are running in a simulation. The standalone loggers don't set this field because they don't know for sure.

• optional LogConfig log_config = 2047

  Only present in the first LogFrame, and not guaranteed even then.

• repeated SSL_WrapperPacket raw_vision = 1

  Network packets received since the last iteration

• repeated Referee raw_refbox = 27

• repeated RadioRx radio_rx = 3

• repeated bytes raw_referee = 2

  Deprecated field kept for compatability with old logs

• optional bool blue_team = 4

  Which team are we playing as?

• optional uint64 command_time = 5

  Time when robot commands are expected to take effect

• repeated DebugRobotPath debug_robot_paths = 26

  Debug graphics

• repeated DebugPath debug_paths = 6

• repeated DebugPath debug_polygons = 7

• repeated DebugCircle debug_circles = 8

• repeated DebugArc debug_arcs = 9

• repeated DebugText debug_texts = 10

• repeated string debug_layers = 11

• repeated LogFrame.Robot self = 12

• repeated LogFrame.Robot opp = 13

• optional LogFrame.Ball ball = 14

• optional RadioTx radio_tx = 15

  Data sent to the radio

• optional sint32 manual_id = 16

  Which robot is under manual control

• optional bool defend_plus_x = 17

  True if our goal is on the +X side of vision

• optional string play = 18

  Name of the current play NOTE: with the transition to a python-based gameplay system, we no longer log this. Instead, we log the "Behavior Tree", which has the play name and all subbehavior names.

• optional bool use_our_half = 19

  True if using each half of the field

• optional bool use_opponent_half = 20

• repeated TestResult testResults = 21

  results from testing

• optional string behavior_tree = 22

  the description of the behavior tree should show the hierarchy of behaviors and each behavior's state

• optional string team_name_yellow = 23

• optional string team_name_blue = 24

• required uint64 timestamp = 25

  timestamp in microseconds since epoch

Used in: LogFrame

• required Point pos = 1

• required Point vel = 2

Filtered world state and commands

Used in: LogFrame

• required Point pos = 1

• required Point world_vel = 7

• optional Point body_vel = 16

• required int32 shell = 2

• required float angle = 3

• optional BallSenseStatus ball_sense_status = 4

• repeated DebugText text = 6

• optional Point cmd_vel = 8

  only during commands

• optional float cmd_w = 9

• optional bool charged = 10

• optional float kicker_voltage = 11

• repeated MotorStatus motor_status = 12

• optional bool kicker_works = 13

• optional float battery_voltage = 14

Used in: LogFrame.Robot, RadioRx

• Good = 0

• Hall_Failure = 1

• Stalled = 2

• Encoder_Failure = 3

Used in: DebugArc, DebugCircle, DebugPath, DebugRobotPath.DebugRobotPathPoint, DebugText, LogFrame.Ball, LogFrame.Robot

• required float x = 1

• required float y = 2

Packet going out from radio program to control program

Used in: LogFrame

• required uint64 timestamp = 1

• required uint32 robot_id = 2

• optional float rssi = 3

• optional float battery = 4

• optional BallSenseStatus ball_sense_status = 5

• repeated MotorStatus motor_status = 7

• repeated int32 encoders = 8

• optional uint32 kicker_status = 9

• optional uint32 kicker_voltage = 11

• optional FpgaStatus fpga_status = 14

• optional HardwareVersion hardware_version = 12

Used in: LogFrame

• repeated Robot robots = 2

Used in: RadioTx

• required uint32 uid = 1

• required Control control = 3

Used in: LogFrame

• optional TestResult.TestState result = 1

• optional string name = 2

• optional string group = 3

Used in: TestResult

• INCOMPLETE = 0

• PASSED = 1

• FAILED = 2