package SSLProto

Get desktop application:
View/edit binary Protocol Buffers messages

The 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 referee_message = 1

  Latest referee message

• optional TrackerWrapperPacket tracker_wrapper_packet = 2

  A tracked SSL-Vision packet to be processed without filtering

• repeated SSL_DetectionFrame detection = 3

  A list of unfiltered SSL-Vision packets (for multiple cameras) to be filtered and processed

• optional SSL_GeometryData geometry = 4

  Current geometry data, to be sent at least once at the beginning of the connection

The AutoRefCiOutput contains any new data created by the auto-referee for further processing

• optional TrackerWrapperPacket 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.

The config for an auto referee

Used in: Config

• 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: AutoRefConfig

• 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

The ball state

Used in: GcStateTracker

• optional Vector3 pos = 1

  ball position [m]

• optional Vector3 vel = 2

  ball velocity [m/s]

Capabilities that a source implementation can have

Used in: TrackedFrame

• CAPABILITY_UNKNOWN = 0

• CAPABILITY_DETECT_FLYING_BALLS = 1

• CAPABILITY_DETECT_MULTIPLE_BALLS = 2

• CAPABILITY_DETECT_KICKED_BALLS = 3

A certain change

Used in: Input, ProtocolEntry, StateChange

• optional string origin = 1

  An identifier of the origin that triggered the change

• optional bool revertible = 16

  Is this change revertible?

• oneof change

  • Change.NewCommand new_command_change = 2

  • Change.ChangeStage change_stage_change = 3

  • Change.SetBallPlacementPos set_ball_placement_pos_change = 4

  • Change.AddYellowCard add_yellow_card_change = 5

  • Change.AddRedCard add_red_card_change = 6

  • Change.YellowCardOver yellow_card_over_change = 7

  • Change.AddGameEvent add_game_event_change = 8

  • Change.AddPassiveGameEvent add_passive_game_event_change = 19

  • Change.AddProposal add_proposal_change = 9

  • Change.UpdateConfig update_config_change = 12

  • Change.UpdateTeamState update_team_state_change = 13

  • Change.SwitchColors switch_colors_change = 14

  • Change.Revert revert_change = 15

  • Change.NewGameState new_game_state_change = 17

  • Change.AcceptProposalGroup accept_proposal_group_change = 18

  • Change.SetStatusMessage set_status_message_change = 20

Accept a proposal group (that contain one or more proposals of the same type)

Used in: Change

• optional string group_id = 3

  The id of the group

• optional string accepted_by = 2

  An identifier of the acceptor

Add a new game event

Used in: Change

• optional GameEvent game_event = 1

  The game event

Add a new passive game event (that is only logged, but does not automatically trigger anything)

Used in: Change

• optional GameEvent game_event = 1

  The game event

Add a new proposal (i.e. from an auto referee for majority voting)

Used in: Change

• optional Proposal proposal = 1

  The proposal

Add a new red card

Used in: Change

• optional Team for_team = 1

  The team that the card is for

• optional GameEvent caused_by_game_event = 2

  The game event that caused the card

Add a new yellow card

Used in: Change

• optional Team for_team = 1

  The team that the card is for

• optional GameEvent caused_by_game_event = 2

  The game event that caused the card

Switch to a new stage

Used in: Change

• optional Referee.Stage new_stage = 1

  The new stage

New referee command

Used in: Change

• optional Command command = 1

  The command

Change the current game state

Used in: Change

• optional GameState game_state = 1

  The new game state

Revert a certain change

Used in: Change

• optional int32 change_id = 1

  The id of the change

Set the ball placement pos

Used in: Change

• optional Vector2 pos = 1

  The position in [m]

Used in: Change

• optional string status_message = 1

  The new status message

Switch the team colors

Used in: Change

(message has no fields)

Update some configuration

Used in: Change

• 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 google.protobuf.Int32Value max_robots_per_team = 5

  The number of robots per team

Update the current state of a team (all fields that should be updated are set)

Used in: Change

• optional Team for_team = 1

  The team

• optional google.protobuf.StringValue team_name = 2

  Change the name of the team

• optional google.protobuf.Int32Value goals = 3

  Change the number of goals that the teams has at the moment

• optional google.protobuf.Int32Value goalkeeper = 4

  The id of the goal keeper

• optional google.protobuf.Int32Value timeouts_left = 5

  The number of timeouts that the team has left

• optional google.protobuf.StringValue timeout_time_left = 6

  The timeout time that the team has left

• optional google.protobuf.BoolValue on_positive_half = 7

  Does the team play on the positive or the negative half (in ssl-vision coordinates)?

• optional google.protobuf.Int32Value ball_placement_failures = 8

  The number of ball placement failures

• optional google.protobuf.BoolValue can_place_ball = 9

  Can the team place the ball, or is ball placement for this team disabled and should be skipped?

• optional google.protobuf.Int32Value challenge_flags_left = 21

  The number of challenge flags that the team has left

• optional google.protobuf.Int32Value bot_substitutions_left = 22

  The number of bot substitutions left by the team in this halftime

• optional google.protobuf.BoolValue requests_bot_substitution = 10

  Does the team want to substitute a robot in the next possible situation?

• optional google.protobuf.BoolValue requests_timeout = 17

  Does the team want to take a timeout in the next possible situation?

• optional google.protobuf.BoolValue requests_challenge = 18

  Does the team want to challenge a recent decision of the referee?

• optional google.protobuf.BoolValue requests_emergency_stop = 19

  Does the team want to request an emergency stop?

• optional YellowCard yellow_card = 20

  Update a certain yellow card of the team

• optional RedCard red_card = 12

  Update a certain red card of the team

• optional Foul foul = 13

  Update a certain foul of the team

• optional google.protobuf.UInt32Value remove_yellow_card = 14

  Remove the yellow card with this id

• optional google.protobuf.UInt32Value remove_red_card = 15

  Remove the red card with this id

• optional google.protobuf.UInt32Value remove_foul = 16

  Remove the foul with this id

Trigger when a yellow card timed out

Used in: Change

• optional Team for_team = 1

  The team that the card was for

The input format to the GC

• optional int64 timestamp = 1

  New unix timestamp in [ns] for the GC

• optional TrackerWrapperPacket tracker_packet = 2

  New tracker packet with ball and robot data

• repeated Input api_inputs = 3

  (UI) API input

• optional SSL_GeometryData geometry = 4

  Update geometry

The output format of the GC response

• optional Referee referee_msg = 1

  Latest referee message

Used in: Change.NewCommand, ManualGCCommand, State

• required Command.Type type = 1

• required Team for_team = 2

Used in: Command

• UNKNOWN = 0

• HALT = 1

• STOP = 2

• NORMAL_START = 3

• FORCE_START = 4

• DIRECT = 5

• KICKOFF = 7

• PENALTY = 8

• TIMEOUT = 9

• BALL_PLACEMENT = 10

The engine config

Used in: Input, Output

• map<string, Config.Behavior> game_event_behavior = 1

  The behavior for each game event

• map<string, AutoRefConfig> 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: Config

• 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

Used in: GcState, Input

• 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 google.protobuf.Timestamp 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: ContinueAction

• STATE_UNKNOWN = 0

• BLOCKED = 1

• WAITING = 2

• READY_AUTO = 3

• READY_MANUAL = 4

• DISABLED = 5

Used in: ContinueAction

• 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

Used in: GcState

• required string message = 1

Division denotes the current division, which influences some rules

Used in: Change.UpdateConfig, State

• DIV_UNKNOWN = 0

• DIV_A = 1

• DIV_B = 2

Used in: Change.UpdateTeamState, TeamInfo

• optional uint32 id = 1

• optional GameEvent caused_by_game_event = 2

• optional google.protobuf.Timestamp timestamp = 3

GameEvent contains exactly one game event Each game event has optional and required fields. The required fields are mandatory to process the event. Some optional fields are only used for visualization, others are required to determine the ball placement position. If fields are missing that are required for the ball placement position, no ball placement command will be issued. Fields are marked optional to make testing and extending of the protocol easier. An autoRef should ideally set all fields, except if there are good reasons to not do so.

Used in: Change.AddGameEvent, Change.AddPassiveGameEvent, Change.AddRedCard, Change.AddYellowCard, Foul, GameEvent.MultipleFouls, GameEventProposalGroup, Proposal, RedCard, Referee, State, YellowCard

• 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 out of field events (stopping)

  • GameEvent.BallLeftField ball_left_field_touch_line = 6

  • GameEvent.BallLeftField ball_left_field_goal_line = 7

  • GameEvent.AimlessKick aimless_kick = 11

  • GameEvent.AttackerTooCloseToDefenseArea attacker_too_close_to_defense_area = 19

  • GameEvent.DefenderInDefenseArea defender_in_defense_area = 31

  • GameEvent.BoundaryCrossing boundary_crossing = 43

  • GameEvent.KeeperHeldBall keeper_held_ball = 13

  • GameEvent.BotDribbledBallTooFar bot_dribbled_ball_too_far = 17

  • GameEvent.BotPushedBot bot_pushed_bot = 24

  • GameEvent.BotHeldBallDeliberately bot_held_ball_deliberately = 26

  • GameEvent.BotTippedOver bot_tipped_over = 27

  • GameEvent.BotDroppedParts bot_dropped_parts = 51

  • GameEvent.AttackerTouchedBallInDefenseArea attacker_touched_ball_in_defense_area = 15

  • GameEvent.BotKickedBallTooFast bot_kicked_ball_too_fast = 18

  • GameEvent.BotCrashUnique bot_crash_unique = 22

  • GameEvent.BotCrashDrawn bot_crash_drawn = 21

  • GameEvent.DefenderTooCloseToKickPoint defender_too_close_to_kick_point = 29

  • GameEvent.BotTooFastInStop bot_too_fast_in_stop = 28

  • GameEvent.BotInterferedPlacement bot_interfered_placement = 20

  • GameEvent.Goal possible_goal = 39

  • GameEvent.Goal goal = 8

  • GameEvent.Goal invalid_goal = 44

  • GameEvent.AttackerDoubleTouchedBall attacker_double_touched_ball = 14

  • GameEvent.PlacementSucceeded placement_succeeded = 5

  • GameEvent.PenaltyKickFailed penalty_kick_failed = 45

  • GameEvent.NoProgressInGame no_progress_in_game = 2

  • GameEvent.PlacementFailed placement_failed = 3

  • GameEvent.MultipleCards multiple_cards = 32

  • GameEvent.MultipleFouls multiple_fouls = 34

  • GameEvent.BotSubstitution bot_substitution = 37

  • GameEvent.ExcessiveBotSubstitution excessive_bot_substitution = 52

  • GameEvent.TooManyRobots too_many_robots = 38

  • GameEvent.ChallengeFlag challenge_flag = 46

  • GameEvent.ChallengeFlagHandled challenge_flag_handled = 48

  • GameEvent.EmergencyStop emergency_stop = 47

  • GameEvent.UnsportingBehaviorMinor unsporting_behavior_minor = 35

  • GameEvent.UnsportingBehaviorMajor unsporting_behavior_major = 36

  • GameEvent.Prepared prepared = 1

    replaced by ready_to_continue flag

  • GameEvent.IndirectGoal indirect_goal = 9

    obsolete

  • GameEvent.ChippedGoal chipped_goal = 10

    replaced by the meta-information in the possible_goal event

  • GameEvent.KickTimeout kick_timeout = 12

    obsolete

  • GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area = 16

    rule removed

  • GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area_skipped = 42

    obsolete

  • GameEvent.BotCrashUnique bot_crash_unique_skipped = 23

    obsolete

  • GameEvent.BotPushedBot bot_pushed_bot_skipped = 25

    can not be used as long as autoRefs do not judge pushing

  • GameEvent.DefenderInDefenseAreaPartially defender_in_defense_area_partially = 30

    rule removed

  • GameEvent.MultiplePlacementFailures multiple_placement_failures = 33

    the referee msg already indicates this

the ball left the field via goal line and a team committed an aimless kick

Used in: GameEvent

• 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 Vector2 location = 3

  the location where the ball left the field [m]

• optional Vector2 kick_location = 4

  the location where the ball was last touched [m]

an attacker touched the ball multiple times when it was not allowed to

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that touched the ball twice

• optional Vector2 location = 3

  the location of the ball when it was first touched [m]

an attacker was located too near to the opponent defense area during stop or free kick

Used in: GameEvent

• 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 Vector2 location = 3

  the location of the bot [m]

• optional float distance = 4

  the distance [m] of the bot to the penalty area

• optional Vector2 ball_location = 5

  the location of the ball at the moment when this foul occurred [m]

an attacker touched the ball inside the opponent defense area

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that is inside the penalty area

• optional Vector2 location = 3

  the location of the bot [m]

• optional float distance = 4

  the distance [m] that the bot is inside the penalty area

an attacker touched the opponent robot inside defense area

Used in: GameEvent

• 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 Vector2 location = 3

  the location of the contact point between both bots [m]

the ball left the field normally

Used in: GameEvent

• 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 Vector2 location = 3

  the location where the ball left the field [m]

two robots crashed into each other with similar speeds

Used in: GameEvent

• optional uint32 bot_yellow = 1

  the bot of the yellow team

• optional uint32 bot_blue = 2

  the bot of the blue team

• optional Vector2 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

two robots crashed into each other and one team was found guilty to due significant speed difference

Used in: GameEvent

• 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 Vector2 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

a bot dribbled to ball too far

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that dribbled too far

• optional Vector2 start = 3

  the location where the dribbling started [m]

• optional Vector2 end = 4

  the location where the maximum dribbling distance was reached [m]

a bot dropped parts

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that dropped the parts

• optional Vector2 location = 3

  the location where the parts were dropped [m]

• optional Vector2 ball_location = 4

  the location of the ball at the moment when this foul occurred [m]

a bot held the ball for too long

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that holds the ball

• optional Vector2 location = 3

  the location of the ball [m]

• optional float duration = 4

  the duration [s] that the bot hold the ball

a bot interfered the ball placement of the other team

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that interfered the placement

• optional Vector2 location = 3

  the location of the bot [m]

a bot kicked the ball too fast

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that kicked too fast

• optional Vector2 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?

a bot pushed another bot over a significant distance

Used in: GameEvent

• 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 Vector2 location = 4

  the location of the push (center between both bots) [m]

• optional float pushed_distance = 5

  the pushed distance [m]

bots are being substituted by a team

Used in: GameEvent

• required Team by_team = 1

  the team that substitutes robots

a bot tipped over

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that tipped over

• optional Vector2 location = 3

  the location of the bot [m]

• optional Vector2 ball_location = 4

  the location of the ball at the moment when this foul occurred [m]

a bot moved too fast while the game was stopped

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that was too fast

• optional Vector2 location = 3

  the location of the bot [m]

• optional float speed = 4

  the bot speed [m/s]

a robot chipped the ball over the field boundary out of the playing surface

Used in: GameEvent

• required Team by_team = 1

  the team that has too many robots

• optional Vector2 location = 2

  the location of the ball [m]

A challenge flag, requested by a team previously, is flagged

Used in: GameEvent

• required Team by_team = 1

  the team that requested the challenge flag

A challenge, flagged recently, has been handled by the referee

Used in: GameEvent

• required Team by_team = 1

  the team that requested the challenge flag

• required bool accepted = 2

  the challenge was accepted by the referee

the ball entered the goal, but was initially chipped

Used in: GameEvent

• 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 Vector2 location = 3

  the location where the ball entered the goal [m]

• optional Vector2 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]

a defender other than the keeper was fully located inside its own defense and touched the ball

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional uint32 by_bot = 2

  the bot that is inside the penalty area

• optional Vector2 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

a defender other than the keeper was partially located inside its own defense area and touched the ball

Used in: GameEvent

• 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 Vector2 location = 3

  the location of the bot

• optional float distance = 4

  the distance [m] that the bot is inside the penalty area

• optional Vector2 ball_location = 5

  the location of the ball at the moment when this foul occurred [m]

a bot of the defending team got too close to the kick point during a free kick

Used in: GameEvent

• 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 Vector2 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)

An emergency stop, requested by team previously, occurred

Used in: GameEvent

• required Team by_team = 1

  the team that substitutes robots

A foul for excessive bot substitutions

Used in: GameEvent

• required Team by_team = 1

  the team that substitutes robots

a team shot a goal

Used in: GameEvent

• 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 Vector2 location = 3

  the location where the ball entered the goal [m]

• optional Vector2 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

the ball entered the goal directly during an indirect free kick

Used in: GameEvent

• 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 Vector2 location = 3

  the location where the ball entered the goal [m]

• optional Vector2 kick_location = 4

  the location where the ball was kicked [m]

a keeper held the ball in its defense area for too long

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• optional Vector2 location = 2

  the location of the ball [m]

• optional float duration = 3

  the duration [s] that the keeper hold the ball

timeout waiting for the attacking team to perform the free kick

Used in: GameEvent

• required Team by_team = 1

  the team that that should have kicked

• optional Vector2 location = 2

  the location of the ball [m]

• optional float time = 3

  the time [s] that was waited

a team collected multiple yellow cards

Used in: GameEvent

• required Team by_team = 1

  the team that received multiple yellow cards

a team collected multiple fouls, which results in a yellow card

Used in: GameEvent

• required Team by_team = 1

  the team that collected multiple fouls

• repeated GameEvent caused_game_events = 2

  the list of game events that caused the multiple fouls

a team failed to place the ball multiple times in a row

Used in: GameEvent

• required Team by_team = 1

  the team that failed multiple times

game was stuck

Used in: GameEvent

• optional Vector2 location = 1

  the location of the ball

• optional float time = 2

  the time [s] that was waited

the penalty kick failed (by time or by keeper)

Used in: GameEvent

• required Team by_team = 1

  the team that last touched the ball

• optional Vector2 location = 2

  the location of the ball at the moment of this event [m]

• optional string reason = 3

  an explanation of the failure

ball placement failed

Used in: GameEvent

• 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

a team successfully placed the ball

Used in: GameEvent

• 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

both teams are prepared - all conditions are met to continue (with kickoff or penalty kick)

Used in: GameEvent

• optional float time_taken = 1

  the time [s] taken for preparing

a team has too many robots on the field

Used in: GameEvent

• 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 Vector2 ball_location = 4

  the location of the ball at the moment when this foul occurred [m]

Used in: GameEvent

• 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

a team was found guilty for major unsporting behavior

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• required string reason = 2

  an explanation of the situation and decision

a team was found guilty for minor unsporting behavior

Used in: GameEvent

• required Team by_team = 1

  the team that found guilty

• required string reason = 2

  an explanation of the situation and decision

List of matching proposals

Used in: Referee

• optional string id = 3

  Unique ID of this group

• repeated GameEvent game_events = 1

  The proposed game events

• optional bool accepted = 2

  Whether the proposal group was accepted

Used in: Change.NewGameState, State

• required GameState.Type type = 1

• optional Team for_team = 2

Used in: GameState

• UNKNOWN = 0

• HALT = 1

• STOP = 2

• RUNNING = 3

• FREE_KICK = 4

• KICKOFF = 5

• PENALTY = 6

• TIMEOUT = 7

• BALL_PLACEMENT = 8

The GC state contains settings and state independent of the match state

Used in: Output

• map<string, GcStateTeam> team_state = 1

  the state of each team

• map<string, GcStateAutoRef> auto_ref_state = 2

  the states of the auto referees

• map<string, string> trackers = 3

  the attached trackers (uuid -> source_name)

• repeated ContinueAction continue_actions = 4

  the next actions that can be executed when continuing

• repeated ContinueHint continue_hints = 5

  the next actions that can be executed when continuing

The GC state of an auto referee

Used in: GcState

• optional bool connection_verified = 1

  true: The autoRef connected via TLS with a verified certificate

The GC state for a single team

Used in: GcState

• 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 TeamAdvantageChoice advantage_choice = 5

  the advantage choice of the team

GC state of a tracker

• optional string source_name = 1

  Name of the source

• optional string uuid = 4

  UUID of the source

• optional Ball ball = 2

  Current ball

• repeated Robot robots = 3

  Current robots

Message format that can be send from the client to the GC

Used in: CiInput

• optional Change change = 1

  A change to be enqueued into the GC engine

• optional bool reset_match = 2

  Reset the match

• optional Config config_delta = 3

  An updated config delta

• optional ContinueAction continue_action = 4

  Continue with action

A ball kicked by a robot, including predictions when the ball will come to a stop

Used in: TrackedFrame

• required Vector2 pos = 1

  The initial position [m] from which the ball was kicked

• required Vector3 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 Vector2 stop_pos = 5

  The predicted position [m] at which the ball will come to a stop

• optional RobotId robot_id = 6

  The robot that kicked the ball

• required Command manual_command = 1

• optional Vector2 final_ball_placement_point = 2

MatchType is a meta information about the current match for easier log processing

Used in: Change.UpdateConfig, Referee, State

• 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 format that is pushed from the GC to the client

• optional State match_state = 1

  The current match state

• optional GcState gc_state = 2

  The current GC state

• optional Protocol protocol = 3

  The protocol

• optional Config config = 4

  The engine config

Used in: Change.AddProposal, ProposalGroup

• optional google.protobuf.Timestamp timestamp = 1

  The timestamp when the game event proposal occurred

• optional GameEvent game_event = 2

  The proposed game event.

Used in: State

• optional string id = 4

  Unique ID of this group

• repeated Proposal proposals = 1

  The proposals in this group

• optional bool accepted = 2

  Whether the proposal group was accepted

The game protocol

Used in: Output

• 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 ProtocolEntry entry = 2

  The (delta) list of entries

A protocol entry of a change

Used in: Protocol

• optional int32 id = 1

  Id of the entry

• optional Change change = 2

  The change that was made

• optional google.protobuf.Duration match_time_elapsed = 3

  The match time elapsed when this change was made

• optional google.protobuf.Duration stage_time_elapsed = 4

  The stage time elapsed when this change was made

Used in: Change.UpdateTeamState, TeamInfo

• optional uint32 id = 1

• optional GameEvent caused_by_game_event = 2

Each UDP packet contains one of these messages.

Used in: AutoRefCiInput, CiOutput, SensorProto

• 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 Referee.TeamInfo yellow = 7

  Information about the two teams.

• required Referee.TeamInfo blue = 8

• optional Referee.Point 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 GameEvent game_events = 16

• repeated GameEventProposalGroup 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: Referee

• 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.

The 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: Referee

• required float x = 1

• required float y = 2

These are the "coarse" stages of the game.

Used in: Change.ChangeStage, Referee, State

• 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.

Information about a single team.

Used in: Referee

• 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

The robot state

Used in: GcStateTracker

• optional RobotId id = 1

  robot id and team

• optional Vector2 pos = 2

  robot position [m]

RobotId is the combination of a team and a robot id

Used in: KickedBall, Robot, TrackedRobot, SSLSimulationProto.RobotSpecs, SSLSimulationProto.TeleportRobot

• optional uint32 id = 1

  the robot number

• optional Team team = 2

  the team that the robot belongs to

Fixed-Loss model for chipped balls. Uses fixed damping factors for xy and z direction per hop.

Used in: SSL_GeometryModels

• 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

Two-Phase model for straight-kicked balls. There are two phases with different accelerations during the ball kicks: 1. Sliding 2. Rolling The full model is described in the TDP of ER-Force from 2016, which can be found here: https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf

Used in: SSL_GeometryModels

• 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

Used in: SSL_DetectionFrame

• 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: AutoRefCiInput, SSL_WrapperPacket, SSLSimulationProto.SimulationSyncResponse

• required uint32 frame_number = 1

• required double t_capture = 2

• required double t_sent = 3

• required uint32 camera_id = 4

• repeated SSL_DetectionBall balls = 5

• repeated SSL_DetectionRobot robots_yellow = 6

• repeated SSL_DetectionRobot robots_blue = 7

Used in: SSL_DetectionFrame

• 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: SSL_GeometryFieldSize

• required string name = 1

  Name of this field marking.

• required Vector2f 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

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: SSL_GeometryFieldSize

• required string name = 1

  Name of this field marking.

• required Vector2f p1 = 2

  Start point of the line segment.

• required Vector2f 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: SSL_FieldCircularArc, SSL_FieldLineSegment

• 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

Used in: SSL_GeometryData, amun.SimulatorSetup

• 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

Used in: AutoRefCiInput, CiInput, SSL_WrapperPacket, SSLSimulationProto.SimulatorConfig

• required SSL_GeometryFieldSize field = 1

• repeated SSL_GeometryCameraCalibration calib = 2

• optional SSL_GeometryModels models = 3

Used in: SSL_GeometryData

• required int32 field_length = 1

• required int32 field_width = 2

• required int32 goal_width = 3

• required int32 goal_depth = 4

• required int32 boundary_width = 5

• repeated SSL_FieldLineSegment field_lines = 6

• repeated SSL_FieldCircularArc field_arcs = 7

• optional int32 penalty_area_depth = 8

• optional int32 penalty_area_width = 9

• optional int32 center_circle_radius = 10

• optional int32 line_thickness = 11

• optional int32 goal_center_to_penalty_mark = 12

• optional int32 goal_height = 13

• optional float ball_radius = 14

• optional float max_robot_radius = 15

Used in: SSL_GeometryData

• optional SSL_BallModelStraightTwoPhase straight_two_phase = 1

• optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2

Used in: SensorProto, world.State

• optional SSL_DetectionFrame detection = 1

• optional SSL_GeometryData geometry = 2

Used in: State

• optional Team next_team = 1

• map<string, int32> number_of_attempts = 2

Used in: Output, StateChange

• optional Referee.Stage stage = 1

• optional Command command = 2

• optional GameState game_state = 19

• optional google.protobuf.Duration stage_time_elapsed = 4

• optional google.protobuf.Duration stage_time_left = 5

• optional google.protobuf.Timestamp match_time_start = 6

• map<string, TeamInfo> team_state = 8

• optional Vector2 placement_pos = 9

• optional Command next_command = 10

• optional google.protobuf.Duration current_action_time_remaining = 12

• repeated GameEvent game_events = 13

• repeated ProposalGroup proposal_groups = 14

• optional Division division = 15

• optional Team first_kickoff_team = 17

• optional MatchType match_type = 18

• optional google.protobuf.Timestamp ready_continue_time = 20

• optional ShootoutState shootout_state = 21

• optional string status_message = 22

• optional int32 max_bots_per_team = 23

  The maximum number of bots per team (overwrites the division config)

A state change

• optional int32 id = 1

  A unique increasing id

• optional State state_pre = 2

  The previous state

• optional State state = 3

  The state after the change was applied

• optional Change change = 4

  The change itself

• optional google.protobuf.Timestamp timestamp = 5

  The timestamp when the change was triggered

Team is either blue or yellow

Used in: Change.AddRedCard, Change.AddYellowCard, Change.UpdateConfig, Change.UpdateTeamState, Change.YellowCardOver, Command, ContinueAction, GameEvent.AimlessKick, GameEvent.AttackerDoubleTouchedBall, GameEvent.AttackerTooCloseToDefenseArea, GameEvent.AttackerTouchedBallInDefenseArea, GameEvent.AttackerTouchedOpponentInDefenseArea, GameEvent.BallLeftField, GameEvent.BotCrashUnique, GameEvent.BotDribbledBallTooFar, GameEvent.BotDroppedParts, GameEvent.BotHeldBallDeliberately, GameEvent.BotInterferedPlacement, GameEvent.BotKickedBallTooFast, GameEvent.BotPushedBot, GameEvent.BotSubstitution, GameEvent.BotTippedOver, GameEvent.BotTooFastInStop, GameEvent.BoundaryCrossing, GameEvent.ChallengeFlag, GameEvent.ChallengeFlagHandled, GameEvent.ChippedGoal, GameEvent.DefenderInDefenseArea, GameEvent.DefenderInDefenseAreaPartially, GameEvent.DefenderTooCloseToKickPoint, GameEvent.EmergencyStop, GameEvent.ExcessiveBotSubstitution, GameEvent.Goal, GameEvent.IndirectGoal, GameEvent.KeeperHeldBall, GameEvent.KickTimeout, GameEvent.MultipleCards, GameEvent.MultipleFouls, GameEvent.MultiplePlacementFailures, GameEvent.PenaltyKickFailed, GameEvent.PlacementFailed, GameEvent.PlacementSucceeded, GameEvent.TooManyRobots, GameEvent.UnsportingBehaviorMajor, GameEvent.UnsportingBehaviorMinor, GameState, RobotId, ShootoutState, State

• UNKNOWN = 0

  team not set

• YELLOW = 1

  yellow team

• BLUE = 2

  blue team

The choice from a team regarding the advantage rule

Used in: GcStateTeam

• optional TeamAdvantageChoice.AdvantageChoice choice = 1

  the choice of the team

possible advantage choices

Used in: TeamAdvantageChoice

• STOP = 0

  stop the game

• CONTINUE = 1

  keep the match running

Used in: State

• optional string name = 1

• optional int32 goals = 2

• optional int32 goalkeeper = 3

• repeated YellowCard yellow_cards = 4

• repeated RedCard red_cards = 5

• optional int32 timeouts_left = 6

• optional google.protobuf.Duration timeout_time_left = 7

• optional bool on_positive_half = 8

• repeated Foul 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 google.protobuf.Timestamp requests_bot_substitution_since = 14

• optional google.protobuf.Timestamp requests_timeout_since = 15

• optional google.protobuf.Timestamp requests_emergency_stop_since = 16

• optional int32 challenge_flags = 17

• optional bool bot_substitution_allowed = 18

• optional int32 bot_substitutions_left = 19

• optional google.protobuf.Duration bot_substitution_time_left = 20

A single tracked ball

Used in: TrackedFrame

• required Vector3 pos = 1

  The position (x, y, height) [m] in the ssl-vision coordinate system

• optional Vector3 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: TrackerWrapperPacket

• 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 TrackedBall balls = 3

  The list of detected balls The first ball is the primary one Sources may add additional balls based on their capabilities

• repeated TrackedRobot robots = 4

  The list of detected robots of both teams

• optional KickedBall 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: TrackedFrame

• required RobotId robot_id = 1

• required Vector2 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 Vector2 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: AutoRefCiInput, AutoRefCiOutput, CiInput

• 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 TrackedFrame tracked_frame = 3

  The tracked frame

A vector with two dimensions

Used in: Change.SetBallPlacementPos, GameEvent.AimlessKick, GameEvent.AttackerDoubleTouchedBall, GameEvent.AttackerTooCloseToDefenseArea, GameEvent.AttackerTouchedBallInDefenseArea, GameEvent.AttackerTouchedOpponentInDefenseArea, GameEvent.BallLeftField, GameEvent.BotCrashDrawn, GameEvent.BotCrashUnique, GameEvent.BotDribbledBallTooFar, GameEvent.BotDroppedParts, GameEvent.BotHeldBallDeliberately, GameEvent.BotInterferedPlacement, GameEvent.BotKickedBallTooFast, GameEvent.BotPushedBot, GameEvent.BotTippedOver, GameEvent.BotTooFastInStop, GameEvent.BoundaryCrossing, GameEvent.ChippedGoal, GameEvent.DefenderInDefenseArea, GameEvent.DefenderInDefenseAreaPartially, GameEvent.DefenderTooCloseToKickPoint, GameEvent.Goal, GameEvent.IndirectGoal, GameEvent.KeeperHeldBall, GameEvent.KickTimeout, GameEvent.NoProgressInGame, GameEvent.PenaltyKickFailed, GameEvent.TooManyRobots, KickedBall, ManualGCCommand, Robot, State, TrackedRobot

• required float x = 1

• required float y = 2

A 2D float vector.

Used in: SSL_FieldCircularArc, SSL_FieldLineSegment

• required float x = 1

• required float y = 2

A vector with three dimensions

Used in: Ball, KickedBall, TrackedBall

• required float x = 1

• required float y = 2

• required float z = 3

Used in: Change.UpdateTeamState, TeamInfo

• optional uint32 id = 1

• optional GameEvent caused_by_game_event = 2

• optional google.protobuf.Duration time_remaining = 3