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information about the advantage choice that is offered to a team
Used in:
required AdvantageChoice.Foul foul = 1
the type of foul that occurred
optional bot_crash_unique = 2
the bot crash event that was the source for this advantage choice
optional bot_pushed_bot = 3
the bot push event that was the source for this advantage choice
optional attacker_touched_opponent_in_defense_area = 4
the bot push event that was the source for this advantage choice
Used in:
UNKNOWN = 0
default value when not set
COLLISION = 1
an opponent bot has crashed with one of your bots
PUSHING = 2
an opponent bot has pushed one of your bots
ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA = 3
an opponent has touched one of your bots while your bot has been at least partially inside the defense area
a message from autoRef, describing the current state or situation
Used in:
oneof message
string custom = 1
a custom message an empty string indicates that there is no message
wait_for_bots = 2
one or more bots are at invalid locations and need to move
the bots that is waited for
Used in:
repeated violators = 1
the bots that are waited for
Used in:
required bot_id = 1
the id of the violator
required float distance = 2
the distance to the next valid position
AutoRefRegistration 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
AutoRefToController 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
optional auto_ref_message = 3
auto_ref_message is an optional message that describes the current state or situation of the game/autoRef it is not and never was processed by the GC and is this marked deprecated
message
log_labels.proto:15Used in:
BallPossessionLabel.State state = 1
uint32 robot_id = 2
Used in:
NONE = 0
YELLOW_POSSES = 1
BLUE_POSSES = 2
BallSpeedMeasurement is a single measurement sample of the ball speed
required uint64 timestamp = 1
The UNIX timestamp [μs] when the measurement was taken.
required float ball_speed = 2
the ball speed measurement [m/s]
optional float initial_ball_speed = 3
the estimated initial ball speed (kick speed) [m/s]
BotId is the combination of a team and a robot id
Used in:
optional int32 id = 1
the robot id - a negative value indicates that the id is not set
optional Team team = 2
the team that the robot belongs to
a 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
ControllerToAutoRef 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
oneof msg
controller_reply = 1
a reply from the controller
advantage_choice = 2
the team is offered an advantage choice
message
log_labels.proto:9Used in:
bool is_dribbling = 1
uint32 robot_id = 2
TeamColor team = 3
message
ssl_game_event_2019.proto:11GameEvent 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: , ,
required GameEventType type = 40
repeated string origin = 41
the origin of this game event empty, if it originates from game controller autoRef name(s), if it originates from one or more autoRefs
oneof event
the event that occurred
prepared = 1
no_progress_in_game = 2
placement_failed = 3
placement_succeeded = 5
bot_substitution = 37
too_many_robots = 38
ball_left_field_touch_line = 6
ball_left_field_goal_line = 7
possible_goal = 39
goal = 8
indirect_goal = 9
chipped_goal = 10
aimless_kick = 11
kick_timeout = 12
keeper_held_ball = 13
attacker_double_touched_ball = 14
attacker_touched_ball_in_defense_area = 15
attacker_touched_opponent_in_defense_area = 16
attacker_touched_opponent_in_defense_area_skipped = 42
bot_dribbled_ball_too_far = 17
bot_kicked_ball_too_fast = 18
attacker_too_close_to_defense_area = 19
bot_interfered_placement = 20
bot_crash_drawn = 21
bot_crash_unique = 22
bot_crash_unique_skipped = 23
bot_pushed_bot = 24
bot_pushed_bot_skipped = 25
bot_held_ball_deliberately = 26
bot_tipped_over = 27
bot_too_fast_in_stop = 28
defender_too_close_to_kick_point = 29
defender_in_defense_area_partially = 30
defender_in_defense_area = 31
multiple_cards = 32
multiple_placement_failures = 33
multiple_fouls = 34
unsporting_behavior_minor = 35
unsporting_behavior_major = 36
message
ssl_game_event_2019.proto:91the 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
optional kick_location = 4
the location where the ball was last touched
message
ssl_game_event_2019.proto:287an 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
message
ssl_game_event_2019.proto:296an attacker was located too near to the opponent defense area when ball entered play
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
optional float distance = 4
the distance [m] of the bot to the penalty area
message
ssl_game_event_2019.proto:241an 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
optional float distance = 4
the distance [m] that the bot is inside the penalty area
message
ssl_game_event_2019.proto:276an attacker touched the opponent keeper
Used in: ,
required Team by_team = 1
the team that found guilty
optional uint32 by_bot = 2
the bot that touched the opponent keeper
optional uint32 victim = 4
the bot of the opposite team that was touched
optional location = 3
the location of the contact point between bot and keeper
message
ssl_game_event_2019.proto:82the 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
message
ssl_game_event_2019.proto:161two 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)
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_game_event_2019.proto:178two 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)
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_game_event_2019.proto:265a 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
optional end = 4
the location where the maximum dribbling distance was reached
message
ssl_game_event_2019.proto:307a 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
optional float duration = 4
the duration [s] that the bot hold the ball
message
ssl_game_event_2019.proto:318a 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
message
ssl_game_event_2019.proto:252a 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
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_game_event_2019.proto:197a 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)
optional float pushed_distance = 5
the pushed distance [m]
message
ssl_game_event_2019.proto:404bots are being substituted by at least one team
Used in:
required Team by_team = 1
the team that substitutes robots
message
ssl_game_event_2019.proto:210a 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
message
ssl_game_event_2019.proto:139a 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
optional float speed = 4
the bot speed [m/s]
message
ssl_game_event_2019.proto:126the 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
optional kick_location = 4
the location where the ball was kicked
optional float max_ball_height = 5
the maximum height [m] of the ball, before it entered the goal and since the last kick
message
ssl_game_event_2019.proto:219a 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
optional float distance = 4
the distance [m] from bot case to the nearest point outside the defense area
message
ssl_game_event_2019.proto:230a 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
message
ssl_game_event_2019.proto:150a 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 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
optional float distance = 4
the distance [m] from bot to the kick point (including the minimum radius)
message
ssl_game_event_2019.proto:102a 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
optional kick_location = 4
the location where the ball was kicked
message
ssl_game_event_2019.proto:115the 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
optional kick_location = 4
the location where the ball was kicked
message
ssl_game_event_2019.proto:379a 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
optional float duration = 3
the duration [s] that the keeper hold the ball
message
ssl_game_event_2019.proto:342timeout 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
optional float time = 3
the time [s] that was waited
message
ssl_game_event_2019.proto:327a team collected multiple cards (yellow and red), which results in a penalty kick
Used in:
required Team by_team = 1
the team that received multiple yellow cards
message
ssl_game_event_2019.proto:332a team collected multiple fouls, which results in a yellow card
Used in:
required Team by_team = 1
the team that collected multiple fouls
message
ssl_game_event_2019.proto:337a 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_game_event_2019.proto:351game was stuck
Used in:
optional location = 1
the location of the ball
optional float time = 2
the time [s] that was waited
message
ssl_game_event_2019.proto:358ball 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
message
ssl_game_event_2019.proto:388a 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_game_event_2019.proto:399both 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_game_event_2019.proto:409a team has too many robots on the field
Used in:
required Team by_team = 1
the team that has too many robots
message
ssl_game_event_2019.proto:372a 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_game_event_2019.proto:365a 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
Used in:
UNKNOWN_GAME_EVENT_TYPE = 0
PREPARED = 1
NO_PROGRESS_IN_GAME = 2
PLACEMENT_FAILED = 3
PLACEMENT_SUCCEEDED = 5
BOT_SUBSTITUTION = 37
TOO_MANY_ROBOTS = 38
BALL_LEFT_FIELD_TOUCH_LINE = 6
BALL_LEFT_FIELD_GOAL_LINE = 7
POSSIBLE_GOAL = 39
GOAL = 8
INDIRECT_GOAL = 9
CHIPPED_GOAL = 10
AIMLESS_KICK = 11
KICK_TIMEOUT = 12
KEEPER_HELD_BALL = 13
ATTACKER_DOUBLE_TOUCHED_BALL = 14
ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA = 15
ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA = 16
ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED = 40
BOT_DRIBBLED_BALL_TOO_FAR = 17
BOT_KICKED_BALL_TOO_FAST = 18
ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA = 19
BOT_INTERFERED_PLACEMENT = 20
BOT_CRASH_DRAWN = 21
BOT_CRASH_UNIQUE = 22
BOT_CRASH_UNIQUE_SKIPPED = 23
BOT_PUSHED_BOT = 24
BOT_PUSHED_BOT_SKIPPED = 25
BOT_HELD_BALL_DELIBERATELY = 26
BOT_TIPPED_OVER = 27
BOT_TOO_FAST_IN_STOP = 28
DEFENDER_TOO_CLOSE_TO_KICK_POINT = 29
DEFENDER_IN_DEFENSE_AREA_PARTIALLY = 30
DEFENDER_IN_DEFENSE_AREA = 31
MULTIPLE_CARDS = 32
MULTIPLE_PLACEMENT_FAILURES = 33
MULTIPLE_FOULS = 34
UNSPORTING_BEHAVIOR_MINOR = 35
UNSPORTING_BEHAVIOR_MAJOR = 36
message
ssl_game_event.proto:4a game event that caused a referee command
Used in:
required Game_Event.GameEventType gameEventType = 1
the game event type that happened
optional originator = 2
the team and optionally a designated robot that is the originator of the game event
optional string message = 3
a message describing further details of this game event
Used in:
UNKNOWN = 0
not set
CUSTOM = 1
an event that is not listed in this enum yet. Give further details in the message below
NUMBER_OF_PLAYERS = 2
Law 3: Number of players
BALL_LEFT_FIELD = 3
Law 9: Ball out of play
GOAL = 4
Law 10: Team scored a goal
KICK_TIMEOUT = 5
Law 9.3: lack of progress while bringing the ball into play
NO_PROGRESS_IN_GAME = 6
Law ?: There is no progress in game for (10|15)? seconds
BOT_COLLISION = 7
Law 12: Pushing / Substantial Contact
MULTIPLE_DEFENDER = 8
Law 12.2: Defender is completely inside penalty area
MULTIPLE_DEFENDER_PARTIALLY = 9
Law 12: Defender is partially inside penalty area
ATTACKER_IN_DEFENSE_AREA = 10
Law 12.3: Attacker in defense area
ICING = 11
Law 12: Icing (kicking over midline and opponent goal line)
BALL_SPEED = 12
Law 12: Ball speed
ROBOT_STOP_SPEED = 13
Law 12: Robot speed during STOP
BALL_DRIBBLING = 14
Law 12: Maximum dribbling distance
ATTACKER_TOUCH_KEEPER = 15
Law 12: Touching the opponent goalkeeper
DOUBLE_TOUCH = 16
Law 12: Double touch
ATTACKER_TO_DEFENCE_AREA = 17
Law 13-17: Attacker not too close to the opponent's penalty area when ball enters play
DEFENDER_TO_KICK_POINT_DISTANCE = 18
Law 13-17: Keeping the correct distance to the ball during opponents freekicks
BALL_HOLDING = 19
Law 12: A robot holds the ball deliberately
INDIRECT_GOAL = 20
Law 12: The ball entered the goal directly after an indirect kick was performed
BALL_PLACEMENT_FAILED = 21
Law 9.2: Ball placement
CHIP_ON_GOAL = 22
Law 10: A goal is only scored if the ball has not exceeded a robot height (150mm) between the last kick of an attacker and the time the ball crossed the goal line.
message
ssl_game_event.proto:90information about an originator
Used in:
required Team team = 1
optional uint32 botId = 2
a team
Used in:
TEAM_UNKNOWN = 0
TEAM_YELLOW = 1
TEAM_BLUE = 2
message
log_labels.proto:35Used in:
uint64 start_frame = 1
uint64 end_frame = 2
bool successful = 3
uint32 shooter_id = 4
TeamColor shooter_team = 5
message
log_labeler_data.proto:11Used in:
uint64 timestamp = 1
oneof frame
vision_frame = 2
referee_frame = 3
message
log_labeler_data.proto:19repeated frames = 1
message
log_labeler_data.proto:6uint32 num_cameras = 1
repeated uint64 message_offsets = 2
message
log_labels.proto:43repeated dribbling_labels = 1
repeated ball_possession_labels = 2
repeated passing_labels = 3
repeated goal_shot_labels = 4
Location is a 2d-coordinate on the field in ssl-vision coordinate system. Units are in meters.
Used in: , , , , , , , , , , , , , , , , , , , , , , ,
required float x = 1
the x-coordinate in [m] in the ssl-vision coordinate system
required float y = 2
the y-coordinate in [m] in the ssl-vision coordinate system
Used in:
required frame = 1
required string refbox_cmd = 2
message
log_labels.proto:26Used in:
uint64 start_frame = 1
uint64 end_frame = 2
bool successful = 3
uint32 passer_id = 4
TeamColor passer_team = 5
uint32 receiver_id = 6
message
ssl_referee.proto:195Used in:
required uint64 valid_until = 1
The UNIX timestamp when the game event proposal will time out, in microseconds.
required string proposer_id = 2
The identifier of the proposer.
required game_event = 3
The proposed game event.
repeated log = 1
message
ssl_referee.proto:7Each UDP packet contains one of these messages.
Used in:
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 sint32 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 game_event = 11
The game event that caused the referee command. deprecated in favor of game_events.
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 = 13
All game events that were detected since the last RUNNING state. Will be cleared as soon as the game is continued.
repeated proposed_game_events = 14
All non-finished proposed game events that may be processed next.
optional int32 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
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. For rules compliance, teams must treat as STOP. 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_referee.proto:160The 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_referee.proto:122Information 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
Used in:
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
Used in: , ,
required uint32 frame_number = 1
required double t_capture = 2
required double t_sent = 3
required uint32 camera_id = 4
repeated balls = 5
repeated robots_yellow = 6
repeated robots_blue = 7
Used in:
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
Represents 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.
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.
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.
Used 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
Used in:
required field = 1
repeated calib = 2
Used in:
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 field_lines = 6
repeated field_arcs = 7
Used in:
optional detection = 1
optional geometry = 2
Signature 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
Team is either blue or yellow
Used in: , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , ,
UNKNOWN = 0
team not set
YELLOW = 1
yellow team
BLUE = 2
blue team
Used in: , ,
TeamYELLOW = 0
TeamBLUE = 1
message
ssl_game_controller_team.proto:7a registration that must be send by teams and autoRefs 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
wrapper 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 this is only allowed during STOP and will be rejected otherwise
TeamToController.AdvantageResponse advantage_response = 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
Used in:
UNDECIDED = 0
no choice -> will default to STOP
STOP = 0
stop the game and handle the foul immediately
CONTINUE = 1
continue the game until the next stop of the game, then handle the foul
A 2D float vector.
Used in: ,
required float x = 1
required float y = 2
message
vision_detection.proto:3Used in:
optional float vel_x = 1
optional float vel_y = 2
optional uint32 area = 3
required float x = 4
required float y = 5
optional float height = 6
optional uint32 ball_state = 7
optional uint32 last_touch = 8
required bool valid = 9
required float raw_x = 10
required float raw_y = 11
optional float chip_predict_x = 12
optional float chip_predict_y = 13
message
vision_detection.proto:38required balls = 1
repeated robots_yellow = 2
repeated robots_blue = 3
message
vision_detection.proto:19Used in:
required bool valid = 1
optional uint32 robot_id = 2
required float x = 3
required float y = 4
optional float orientation = 5
optional float vel_x = 6
optional float vel_y = 7
optional float rotate_vel = 8
optional float accelerate_x = 9
optional float accelerate_y = 10
required float raw_x = 11
required float raw_y = 12
optional float raw_orientation = 13
optional float raw_vel_x = 14
optional float raw_vel_y = 15
optional float raw_rotate_vel = 16
message
grSim_Replacement.proto:12Used in:
required double x = 1
required double y = 2
required double vx = 3
required double vy = 4
message
grSim_Commands.proto:18Used in:
required double timestamp = 1
required bool isteamyellow = 2
repeated robot_commands = 3
message
grSim_Packet.proto:5optional commands = 1
optional replacement = 2
message
grSim_Replacement.proto:19Used in:
optional ball = 1
repeated robots = 2
message
grSim_Replacement.proto:3Used in:
required double x = 1
required double y = 2
required double dir = 3
required uint32 id = 4
required bool yellowteam = 5
optional bool turnon = 6
message
grSim_Commands.proto:3Used in:
required uint32 id = 1
required float kickspeedx = 2
required float kickspeedz = 3
required float veltangent = 4
required float velnormal = 5
required float velangular = 6
required bool spinner = 7
required bool wheelsspeed = 8
optional float wheel1 = 9
optional float wheel2 = 10
optional float wheel3 = 11
optional float wheel4 = 12