package TbotsProto

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Used in: ThunderbotsConfig

• required AiControlConfig ai_control_config = 1

• required DribbleTacticConfig dribble_tactic_config = 2

• required AttackerTacticConfig attacker_tactic_config = 3

• required FreeKickPlayConfig free_kick_play_config = 4

• required PassingConfig passing_config = 5

• required GoalieTacticConfig goalie_tactic_config = 6

• required EnemyCapabilityConfig enemy_capability_config = 7

• required ShootOrPassPlayConfig shoot_or_pass_play_config = 8

• required RobotCapabilitiesConfig robot_capabilities_config = 9

• required EnemyBallPlacementPlayConfig enemy_ball_placement_play_config = 10

• required DefensePlayConfig defense_play_config = 11

• required RobotNavigationObstacleConfig robot_navigation_obstacle_config = 12

• required AiParameterConfig ai_parameter_config = 13

• required ReceiverTacticConfig receiver_tactic_config = 14

• required CreaseDefenderConfig crease_defender_config = 15

• required PassDefenderConfig pass_defender_config = 16

Used in: AiConfig

• required bool run_ai = 1

  Whether we should run or stop ai

• required PlayName override_ai_play = 2

  Override the existing play with the Play enum provided

• required NetworkConfig network_config = 3

  Interfaces for various network listeners

Used in: AiConfig

• required double ball_is_kicked_m_per_s_threshold = 1

  threshold to decide if ball hasn't been kicked

Used in: ChipTactic, DribbleTactic, EnemyThreat, GetBehindBallTactic, KickTactic, MoveTactic, PivotKickTactic, RobotState, Shot, TrajectoryParamsAngular1D

• required double radians = 1

  the angle in radians

Used in: MotorControl.DirectVelocityControl, MotorStatus, RobotState, TrajectoryParamsAngular1D

• required double radians_per_second = 1

  the angular velocity in radians

• map<uint32, Tactic> assigned_tactics = 1

Used in: Tactic

• optional Pass best_pass_so_far = 1

  The best pass so far

• required bool pass_committed = 2

  whether we have committed to the pass and will be taking it

• optional Point chip_target = 3

  The point the robot will chip towards if it is unable to shoot and is in danger of losing the ball to an enemy

Used in: AiConfig

• required double enemy_about_to_steal_ball_radius = 1

  The radius of the circle around a friendly robot around which we think an enemy is about to steal the ball

• required double min_open_angle_for_shot_deg = 2

  The minimum open angle to the goal that we require before taking a shot

• optional Pass pass_ = 1

  needs the _ because pass is a keyword in python

• bool pass_committed = 2

• optional Shot shot = 3

• optional Point chip_target = 4

Used in: MovePrimitive, MoveTactic, PivotKickTactic, PowerControl.ChickerControl

• oneof auto_chip_or_kick

  • float autokick_speed_m_per_s = 1

  • float autochip_distance_meters = 2

  • float autokick_pulse_width = 3

  • float autochip_pulse_width = 4

Used in: GameState, World

• required BallState current_state = 1

• required Timestamp timestamp = 2

Used in: MoveTactic

• ALLOW = 0

• AVOID = 1

• optional Point ball_placement_point = 1

Used in: Ball, WorldState

• optional Point global_position = 1

• optional Vector global_velocity = 2

• double distance_from_ground = 3

Used in: CreaseDefenderTactic, PassDefenderTactic

• IGNORE = 0

  The robot avoids stealing ball/getting possession

• STEAL = 1

  The robot can steal the ball/try to get possession of the ball

Used in: Tactic

• required Point chip_origin = 1

  The location where the chip will be taken from

• required Angle chip_direction = 2

  The direction the Robot will chip in

• required double chip_distance_meters = 3

  The distance the robot will chip to

Data about the status of the chipper and kicker

Used in: RobotStatus

• double ms_since_chipper_fired = 1

  Indicates the time elapsed since chipper was last fired in ms

• double ms_since_kicker_fired = 2

  Indicates the time elapsed since kicker was last fired in ms

Used in: Obstacle, Shape, ValidationGeometry

• required Point origin = 1

• required double radius = 2

• uint32 num_rows = 1

• uint32 num_cols = 2

• repeated double cost = 3

Used in: PassingConfig

• required bool generate_sample_passes = 1

  Whether we should generate sample passes for the cost visualization

• required int32 num_cols = 2

• required bool static_position_quality = 3

  cost functions

• required bool pass_forward_quality = 7

• required bool pass_not_too_close_quality = 8

• required bool pass_friendly_capability = 4

• required bool pass_enemy_risk = 5

• required bool pass_shoot_score = 6

• required bool enemy_proximity_risk = 9

• required bool enemy_interception_risk = 10

• required bool passer_position_score = 11

• required bool receiver_position_score = 12

Used in: CreaseDefenderTactic

• LEFT = 0

• RIGHT = 1

• CENTRE = 2

Used in: AiConfig

• required DefenderStealConfig defender_steal_config = 1

  Unique steal config for crease defenders

• required double goal_post_offset_chipping = 4

  The additional buffer length for each side of the goal to determine if crease defender chipping is "towards goal"

Used in: Tactic

• required Point enemy_threat_origin = 1

  The origin point of the enemy threat

• required CreaseDefenderAlignment crease_defender_alignment = 2

  The crease defender alignment with respect to the enemy threat

• required MaxAllowedSpeedMode max_allowed_speed_mode = 3

  The maximum allowed speed mode

• required BallStealMode ball_steal_mode = 4

  The crease defender's aggressiveness towards the ball

• repeated DebugShapes.DebugShape debug_shapes = 1

  Unique ID to a named shape

Used in: DebugShapes

• optional Shape shape = 1

• string unique_id = 2

  Unique ID to identify the shape

• string debug_text = 3

  Text to display next to the shape

Used in: CreaseDefenderConfig, PassDefenderConfig

• required double max_get_ball_ratio_threshold = 1

  Max ratio between distances (defender and ball) / (nearest enemy and ball) for defender to chase ball. Threshold = 1.0 results in defenders chasing the ball even if the ball is equidistant to nearest enemy. Threshold < 1.0 results in defenders chasing the ball only when it is at least (threshold)% closer to our bot than the nearest enemy. ┌──────────────────────────────────────────┐ | Defender <────> Ball <───────────> Enemy | | () x () | └──────────────────────────────────────────┘

• required double max_get_ball_radius_m = 2

  Max distance that the defender will try and get possession of a ball

• required double max_ball_speed_to_get_m_per_s = 3

  Max speed of ball that pass defender will try and get possession

Used in: AiConfig

• required double immediate_threat_distance = 1

  The distance at which a threat is considered "immediate" if there is only 1 "immediate" threat the defense play will swarm that robot with shadowers

• required DefensePlayConfig.DefenderAssignmentConfig defender_assignment_config = 2

  The DefenderAssignmentConfig for tuning defender assignments

Used in: DefensePlayConfig

• required double min_distance_between_threats_meters = 1

  The minimum distance in meters between two threats for them to be considered non-similar

• required double min_angle_between_threats_degrees = 2

  The minimum difference between two threats in angle to the primary threat for them to be considered non-similar

• required double goal_lane_threat_multiplier = 3

  Multiplier to ensure that goal lanes are scored higher (in threat rating) than passing lanes

• required double goal_lane_density_threshold = 4

  Max percent difference between two goal lanes' angles to goal for them to be considered a dense lane cluster

• required double goal_lane_nondense_bonus = 5

  Bonus added to coverage rating if the goal lane is not part of a dense cluster

• required uint32 max_num_crease_defenders = 6

  The max number of crease defender can be created at a moment

Used in: Primitive

• optional MotorControl motor_control = 1

• optional PowerControl power_control = 2

Used in: Tactic

• optional Point dribble_destination = 1

  The destination for dribbling the ball

• optional Angle final_dribble_orientation = 2

  The final orientation to face the ball when finishing dribbling

• required bool allow_excessive_dribbling = 3

  whether to allow excessive dribbling, i.e. more than 1 metre at a time

Used in: AiConfig

• required double lose_ball_possession_threshold = 1

  If ball and front of robot are separated by this amount, then we've lost possession (in m)

• required double ball_close_to_dest_threshold = 2

  Threshold to determine if the ball is at the destination determined experimentally (in m)

• required double final_destination_close_threshold_deg = 3

  Threshold to determine if the robot has the expected orientation when completing the dribble (in degrees)

• required double max_continuous_dribbling_distance = 4

  Maximum distance to continuously dribble the ball, slightly conservative to not break the 1 meter rule (in m)

• required double robot_dribbling_done_speed = 5

  Robot speed at which the robot is done dribbling (in m/s)

• required double max_ball_interception_slack_time_sec = 6

  The maximum amount of additional time that the robot should reach the interception point prior to the ball.

• required double offset_to_ball_when_not_aligned_meters = 7

  The additional offset from the regular ball interception point that the robot should aim for when the robot's dribbler is not aligned with the ball.

• required double max_robot_angular_vel_when_getting_possession_deg_per_s = 8

  The maximum angular velocity the robot can have when it is about to get possession of the ball. This is used to avoid the robot from trying to get possession of the ball when it is turning too fast.

Used in: PowerFrame

• uint32 dribbler_speed = 1

Used in: MovePrimitive, MoveTactic

• OFF = 0

• INDEFINITE = 1

• MAX_FORCE = 2

Data about the status of the dribbler Note that the rotation is from the perspective of rear of the motor, looking down the shaft starting from the motor body

Used in: MotorStatus

• float dribbler_rpm = 1

  The current speed of the dribbler in RPM

• repeated MotorFault motor_faults = 3

• bool enabled = 4

Used in: MotorStatus

• float wheel_velocity = 1

  The current RPM of the wheel

• repeated MotorFault motor_faults = 2

• bool enabled = 3

  certain drive faults cause the motor to be disabled

Used in: AiConfig

• required double distance_to_keep_meters = 1

  The distance to keep from the enemy ball placement stadium

Used in: AiConfig

• required bool enemy_team_can_pass = 1

  This value should be set based on whether or not the team we are playing against can pass the ball. This will affect how we defend against the team.

Used in: ShadowEnemyTactic

• required Robot robot = 1

  The enemy robot

• required bool has_ball = 2

  Whether or not this robot has possession of the ball

• required Angle goal_angle = 3

  How much of the goal the enemy robot can see This does not account for obstacles For example, robots in the corner would have a very small angle while robots directly in front of the net would have a large angle

• optional Angle best_shot_angle = 4

  The largest angle the robot has to shoot on the friendly net, taking obstacles into account

• optional Point best_shot_target = 5

  The target the robot would shoot at

• required int32 num_passes_to_get_possession = 6

  How many passes it would take for this robot to get the ball 0 - The robot already has the ball 1 - The robot needs 1 pass to get the ball 2 - ...etc

• optional Robot passer = 7

  The robot that would pass to this robot if necessary

Error codes are to be displayed in the visualizer

Used in: RobotStatus

• NO_ERROR = 0

  Default message required for proto enums

• HIGH_CAP = 1

  Level triggered events

• LOW_BATTERY = 2

• HIGH_BOARD_TEMP = 3

• DRIBBLER_MOTOR_HOT = 4

• UNSTABLE_POWER_SUPPLY = 5

Used in: World

• required double field_x_length = 1

• required double field_y_length = 2

• required double defense_x_length = 3

• required double defense_y_length = 4

• required double goal_x_length = 5

• required double goal_y_length = 6

• required double boundary_buffer_size = 7

• required double center_circle_radius = 8

• DIV_A = 0

• DIV_B = 1

Used in: AiConfig

• required double max_time_commit_to_pass_seconds = 1

  The maximum time that we will wait before committing to a pass

Used in: World

• required GameState.PlayState play_state = 1

• required GameState.RestartReason restart_reason = 2

• required GameState.RefereeCommand command = 3

• optional Ball ball = 4

• optional Point ball_placement_point = 5

Used in: GameState

• PLAY_STATE_HALT = 0

• PLAY_STATE_STOP = 1

• PLAY_STATE_SETUP = 2

• PLAY_STATE_READY = 3

• PLAY_STATE_PLAYING = 4

Used in: GameState

• REFEREE_COMMAND_HALT = 0

• REFEREE_COMMAND_STOP = 1

• REFEREE_COMMAND_NORMAL_START = 2

• REFEREE_COMMAND_FORCE_START = 3

• REFEREE_COMMAND_PREPARE_KICKOFF_US = 4

• REFEREE_COMMAND_PREPARE_KICKOFF_THEM = 5

• REFEREE_COMMAND_PREPARE_PENALTY_US = 6

• REFEREE_COMMAND_PREPARE_PENALTY_THEM = 7

• REFEREE_COMMAND_DIRECT_FREE_US = 8

• REFEREE_COMMAND_DIRECT_FREE_THEM = 9

• REFEREE_COMMAND_INDIRECT_FREE_US = 10

• REFEREE_COMMAND_INDIRECT_FREE_THEM = 11

• REFEREE_COMMAND_TIMEOUT_US = 12

• REFEREE_COMMAND_TIMEOUT_THEM = 13

• REFEREE_COMMAND_GOAL_US = 14

• REFEREE_COMMAND_GOAL_THEM = 15

• REFEREE_COMMAND_BALL_PLACEMENT_US = 16

• REFEREE_COMMAND_BALL_PLACEMENT_THEM = 17

Used in: GameState

• RESTART_REASON_NONE = 0

• RESTART_REASON_KICKOFF = 1

• RESTART_REASON_DIRECT = 2

• RESTART_REASON_INDIRECT = 3

• RESTART_REASON_PENALTY = 4

• RESTART_REASON_BALL_PLACEMENT = 5

Used in: Tactic

• required Point ball_location = 1

  The location where the chick will be taken, i.e. where we expect the ball to be when we chip or kick it

• required Angle chick_direction = 2

  The direction the Robot will chick in

Used in: Tactic

• required MaxAllowedSpeedMode max_allowed_speed_mode = 1

  The maximum allowed speed mode

Used in: AiConfig

• required double ball_speed_panic = 2

  At what speed of the ball should the goalie panic and stop the ball

• required double block_cone_radius = 3

  The radius to wedge the robot into the cone

• required double defense_area_deflation = 4

  How much to deflate the defense area by, larger value means closer to the net

• required double conservative_depth_meters = 5

  Depth goalie should be at for plays close to the defense area (potential lateral play, rebounds)

• required double aggressive_depth_meters = 6

  Depth goalie should be at to aggressively narrow the angle the ball has to the goal as it enters the friendly half

• required double chip_target_area_inset_meters = 7

  Distance in meters to inset the target area for finding chip targets

• required double min_chip_distance_from_crease_meters = 8

  Minimum distance in meters that a chip target must be away from the front defense area crease

• required double safe_distance_multiplier = 9

  Distance threshold multiplier used for calculating whether or not an enemy robot is a safe distance away

Used in: Tactic

(message has no fields)

• int32 robot_id = 1

• string ip_address = 2

Used in: Tactic

• required Point kick_origin = 1

  The location where the kick will be taken from

• required Angle kick_direction = 2

  The direction the Robot will kick in

• required double kick_speed_meters_per_second = 3

  How fast the Robot will kick the ball in meters per second

the severity level of the log

Used in: RobotLog

• DEBUG = 0

• INFO = 1

• WARNING = 2

• FATAL = 3

• CONTRACT = 4

  Special Fatal log for if a CHECK fails

Used in: CreaseDefenderTactic, GoalieTactic, MoveTactic, TrajectoryPathParams2D

• PHYSICAL_LIMIT = 0

  The physical limit of the robots

• STOP_COMMAND = 1

  Move at speed limit for the stop command

• COLLISIONS_ALLOWED = 2

  Move at speed at which collisions are allowed

• FRIENDLY_DEFENSE_AREA = 0

  The box around the friendly goal

• ENEMY_DEFENSE_AREA = 1

  The box around the enemy goal

• INFLATED_ENEMY_DEFENSE_AREA = 2

  The inflated box around the enemy defense area

• CENTER_CIRCLE = 3

  The center circle

• ENEMY_HALF = 4

  The enemy half of the field

• FRIENDLY_HALF = 5

  The friendly half of the field

• AVOID_FIELD_BOUNDARY_ZONE = 6

  Region around the playable zone

• HALF_METER_AROUND_BALL = 7

  A half meter radius around the ball

• AVOID_BALL_PLACEMENT_INTERFERENCE = 8

  Path between ball and placement point in ball placement

• ENEMY_HALF_WITHOUT_CENTRE_CIRCLE = 9

  The enemy half of the field without the centre circle

• FRIENDLY_GOAL = 10

  The friendly goal

• ENEMY_GOAL = 11

  The enemy goal

Used in: DirectControlPrimitive

• oneof drive_control

  • MotorControl.DirectPerWheelControl direct_per_wheel_control = 1

  • MotorControl.DirectVelocityControl direct_velocity_control = 2

• int32 dribbler_speed_rpm = 4

Used in: MotorControl

• float front_left_wheel_velocity = 1

• float back_left_wheel_velocity = 2

• float front_right_wheel_velocity = 3

• float back_right_wheel_velocity = 4

Used in: MotorControl

• optional Vector velocity = 1

• optional AngularVelocity angular_velocity = 2

********** TMC Faults ***********

Used in: DribblerStatus, DriveUnit

• RESET = 0

  Refer to Trinamic 6100 datasheet for precise definitions of motor faults. https://trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC6100_datasheet_Rev1.00.pdf (Section 5.1, p22-23)

• DRIVER_OVERTEMPERATURE_PREWARNING = 1

• DRIVER_OVERTEMPERATURE = 2

• UNDERVOLTAGE_CHARGEPUMP = 3

• PHASE_U_SHORT_COUNTER_DETECTED = 4

• PHASE_U_SHORT_TO_GND_DETECTED = 5

• PHASE_U_SHORT_TO_VS_DETECTED = 6

• PHASE_V_SHORT_COUNTER_DETECTED = 8

  for the sake of consistency with the TMC 6100, "7" is unused

• PHASE_V_SHORT_TO_GND_DETECTED = 9

• PHASE_V_SHORT_TO_VS_DETECTED = 10

• PHASE_W_SHORT_COUNTER_DETECTED = 12

  for the sake of consistency with the TMC 6100, "11" is unused

• PHASE_W_SHORT_TO_GND_DETECTED = 13

• PHASE_W_SHORT_TO_VS_DETECTED = 14

• NO_FAULT = 15

  ********** STSPIN Faults ***********

• DURATION = 16

• OVER_VOLT = 17

• UNDER_VOLT = 18

• OVER_TEMP = 19

• START_UP = 20

• SPEED_FDBK = 21

• OVER_CURR = 22

• SW_ERROR = 23

• SAMPLE_FAULT = 24

• OVERCURR_SW = 25

• DP_FAULT = 26

Data from all four drive units and the dribbler

Used in: RobotStatus

• optional DriveUnit front_left = 1

• optional DriveUnit front_right = 2

• optional DriveUnit back_left = 3

• optional DriveUnit back_right = 4

• optional DribblerStatus dribbler = 5

• optional Vector local_velocity = 6

• optional AngularVelocity angular_velocity = 7

• optional Vector target_local_velocity = 8

• optional AngularVelocity target_angular_velocity = 9

Used in: Tactic

(message has no fields)

Used in: Primitive

• optional AutoChipOrKick auto_chip_or_kick = 6

• optional TrajectoryPathParams2D xy_traj_params = 10

• optional TrajectoryParamsAngular1D w_traj_params = 11

• DribblerMode dribbler_mode = 12

Used in: Tactic

• required Point destination = 1

  The point the robot is trying to move to

• required Angle final_orientation = 2

  The orientation the robot should have when it arrives at its destination

• required DribblerMode dribbler_mode = 4

  How to run the dribbler

• required BallCollisionType ball_collision_type = 5

  How to navigate around the ball

• required AutoChipOrKick auto_chip_or_kick = 6

  The command to autochip or autokick

• required MaxAllowedSpeedMode max_allowed_speed_mode = 7

  The maximum allowed speed mode

• required ObstacleAvoidanceMode obstacle_avoidance_mode = 9

  The obstacle avoidance mode to use while moving

• string name = 1

• float value = 2

Used in: AiControlConfig

• required string robot_communication_interface = 1

  The robot communication interface

• required string referee_interface = 2

  The referee interface

• required string vision_interface = 3

  The vision interface

Data about the network connection with the robots, including network-derived values

Used in: RobotStatus

• double ms_since_last_vision_received = 1

  Indicates the time elapsed since the last vision packet was received in ms

• double ms_since_last_primitive_received = 2

  Indicates the time elapsed since the last primitive packet was received in ms

• uint32 primitive_packet_loss_percentage = 3

  Indicates the percentage of primitive packets lost during communication

Used in: ObstacleList, VirtualObstacles

• oneof obstacle

  • Polygon polygon = 1

  • Circle circle = 2

  • Stadium stadium = 3

Used in: MoveTactic

• SAFE = 0

  The robot avoids obstacles in a safe manner

• AGGRESSIVE = 1

  The robot is more aggressive in reaching its destination and may be less safe when avoiding obstacles

• repeated Obstacle obstacles = 1

• optional double min_double_value = 1

• optional double max_double_value = 2

• optional int64 min_int_value = 3

• optional int64 max_int_value = 4

Used in: AttackerTactic, AttackerVisualization, PassWithRating, ReceiverTactic

• required Point passer_point = 1

  The location of the passer

• required Point receiver_point = 2

  The location of the receiver

• required double pass_speed_m_per_s = 3

  The speed of the pass in meters/second

Used in: AiConfig

• required DefenderStealConfig defender_steal_config = 1

  Unique steal config for pass defenders

Used in: Tactic

• required Point position_to_block_from = 1

  The location on the field to block enemy passes from

• required BallStealMode ball_steal_mode = 2

  The pass defender's aggressiveness towards the ball

Used in: PassingConfig

• required bool visualize_sampled_passes = 1

• repeated PassWithRating best_passes = 1

Used in: PassVisualization

• double rating = 1

• optional Pass pass_ = 2

  needs the _ because pass is a keyword in python

Note that the order the fields are defined here is the order that they are displayed in Thunderscope's Parameters widget, and the order is independent of the field's numbering.

Used in: AiConfig

• required uint32 pass_gen_num_samples_per_robot = 21

  The number of passes to sample per robot.

• required double pass_gen_min_rand_sample_std_dev_meters = 22

  The minimum standard deviation (in meters) of the normal sampling distribution used to generate passes around robots. This STD is used when the robot is stationary.

• required double pass_gen_rand_sample_std_dev_robot_vel_multiplier = 23

  The rate of growth of the STD as the robot velocity increases.

• required double pass_gen_rand_sample_center_robot_vel_multiplier = 24

  The rate of growth of the distance offset of the center of the normal distribution as the robot velocity increases. If set to 0, the center of the sampled receiving positions will be the same as the robot's position.

• required double min_pass_speed_m_per_s = 6

  The minimum pass speed (in m/s)

• required double max_pass_speed_m_per_s = 7

  The maximum pass speed (in m/s)

• required double max_receive_speed_m_per_s = 11

  The max speed at which a pass should be received

• required int32 number_of_gradient_descent_steps_per_iter = 9

  The number of steps of gradient descent to perform in each iteration

• required double static_field_position_quality_x_offset = 1

  The offset from the sides of the field to place the rectangular sigmoid we use to determine what areas to pass to

• required double static_field_position_quality_y_offset = 2

  The offset from the sides of the field to place the rectangular sigmoid we use to determine what areas to pass to

• required double static_field_position_quality_friendly_goal_distance_weight = 3

  The weight that being close to the goal will have on the static position quality. Lower, more negative weights result in the distance to the goal having less of an effect.

• required double pass_delay_sec = 12

  The estimated delay in seconds between the time we commit to a pass and the time the pass is taken.

• required double friendly_time_to_receive_slack_sec = 13

  The extra time added to the minimum time that it will take a friendly robot to reach the receiving position and orientation.

• required double enemy_proximity_importance = 4

  This controls how heavily we weigh an enemy robot being near the pass receiver when calculating enemy risk to a pass

• required double enemy_interception_time_multiplier = 14

  A value multiplied by the duration that our enemy robot model predicts will take an enemy robot to intercept a pass. 1 implies that our enemy robot model is exactly correct, with higher values meaning that the enemy will take longer to intercept the pass, and lower values meaning that the enemy will intercept the pass earlier than we anticipate.

• required double enemy_interception_risk_importance = 15

  This controls how heavily we weigh the time the enemy team has to intercept a pass. Increasing this value increases the risk (decreasing the score) associated with a pass that the enemy could intercept.

• required double backwards_pass_distance_meters = 16

  The distance in meters along the x-axis from the passer that we prefer the receiver to be when receiving a pass on the friendly half. Note that this is a soft limit and the receiver may be further back.

• required double receiver_ideal_max_distance_meters = 17

  The max distance in meters that the receiver can be from the passer when receiving a pass.

• required double receiver_ideal_min_distance_meters = 18

  The min distance in meters that the receiver can be from the passer when receiving a pass.

• required double min_ideal_pass_shoot_goal_open_angle_deg = 19

  The minimum open angle (in degrees) for an ideal shot on enemy goal from the receiver's position. Any angle greater than this is also considered ideal, where as angles below this are considered less ideal and are given a lower score.

• required double min_pass_shoot_score = 20

  The min score that ratePassShootScore return. Used to limit the cost function from returning a very low score, causing the rest of the cost functions to be ignored.

• required CostVisualizationConfig cost_vis_config = 10

  Cost function visualization parameters

• required PassGeneratorVisualizationConfig pass_gen_vis_config = 25

  Pass generator visualization parameters

• required ReceiverPositionGeneratorConfig receiver_position_generator_config = 26

  **** Receiver position generation parameters ****

Used in: PathVisualization

• repeated Point points = 1

• repeated Path paths = 1

Used in: Tactic

(message has no fields)

Used in: Tactic

• required Point kick_origin = 1

  The location where the kick will be taken from

• required Angle kick_direction = 2

  The direction the Robot will kick in

• required AutoChipOrKick auto_chip_or_kick = 3

  How the robot will chip or kick the ball

• required PlayName name = 1

• map<uint32, PlayInfo.Tactic> robot_tactic_assignment = 1

• optional PlayInfo.Play play = 2

Used in: PlayInfo

• repeated string play_state = 1

Used in: PlayInfo

• string tactic_name = 1

• string tactic_fsm_state = 2

Used in: AiControlConfig, Play

• UseAiSelection = 1

• ShootOrChipPlay = 2

• KickoffFriendlyPlay = 3

• OffensePlay = 4

• ShootOrPassPlay = 6

• BallPlacementPlay = 7

• HaltPlay = 8

• EnemyFreeKickPlay = 9

• ExamplePlay = 10

• DefensePlay = 11

• EnemyBallPlacementPlay = 12

• PenaltyKickEnemyPlay = 13

• PenaltyKickPlay = 14

• FreeKickPlay = 15

• CreaseDefensePlay = 16

• StopPlay = 17

• KickoffEnemyPlay = 18

• AssignedTacticsPlay = 19

• ScoringWithStaticDefendersPlay = 20

• DribblingParcourPlay = 21

• ScoringFromContestedPossessionPlay = 22

• PassEndurancePlay = 23

• double timestamp = 1

• map<string, double> data = 2

Used in: AttackerTactic, AttackerVisualization, BallPlacementVisualization, BallState, ChipTactic, Circle, CreaseDefenderTactic, DribbleTactic, EnemyThreat, GameState, GetBehindBallTactic, KickTactic, MoveTactic, Pass, PassDefenderTactic, Path, PivotKickTactic, Polygon, RobotState, Segment, Shot, TrajectoryPathParams2D, TrajectoryPathParams2D.SubDestination

• required double x_meters = 1

  x coordinate

• required double y_meters = 2

  y coordinate

Used in: Obstacle, Shape, ValidationGeometry

• repeated Point points = 1

  list of polygon vertices

Used in: SensorFusionConfig

• required double distance_near_tolerance_meters = 1

  Max distance in meters between robot and ball for robot to be considered near the ball

• required double distance_far_tolerance_meters = 2

  Min distance in meters between robot and ball for robot to be considered far away from the ball

• required double time_near_threshold_s = 3

  Min time in seconds that robot must stay close to ball for it to be considered near

• required double time_far_threshold_s = 4

  Min time in seconds that robot must stay away from ball for it to be considered far away

This is only used for simulation. Similar proto in power_frame_msg.proto but with pulse width instead of m_per_s

Used in: DirectControlPrimitive

• optional PowerControl.ChickerControl chicker = 1

• Geneva.Slot geneva_slot = 2

Used in: PowerControl

• oneof chicker_command

  • float kick_speed_m_per_s = 1

  • float chip_distance_meters = 2

  • AutoChipOrKick auto_chip_or_kick = 3

  • float kick_pulse_width = 4

  • float chip_pulse_width = 5

• uint32 length = 1

• uint32 crc = 2

• oneof power_msg

  • PowerPulseControl power_control = 3

  • PowerStatus power_status = 4

  • DribblerControl dribbler_control = 5

This is used on the robots. Similar proto in primitive.proto but with m_per_s instead of pulse width

Used in: PowerFrame

• optional PowerPulseControl.ChickerControl chicker = 1

• Geneva.Slot geneva_slot = 2

Used in: ChickerControl

• oneof auto_chip_or_kick

  • uint32 autokick_pulse_width = 1

  • uint32 autochip_pulse_width = 2

Used in: PowerPulseControl

• oneof chicker_command

  • uint32 kick_pulse_width = 1

  • uint32 chip_pulse_width = 2

  • AutoChipOrKick auto_chip_or_kick = 3

Battery and capacitor voltages

Used in: PowerFrame, RobotStatus

• float battery_voltage = 1

  The voltage on the robot’s battery, in volts.

• float capacitor_voltage = 2

• float current_draw = 3

  voltage on the robot’s capacitor, in volts.

• Geneva.Slot geneva_slot = 4

• uint32 sequence_num = 5

• bool breakbeam_tripped = 6

Used in: PrimitiveSet

• oneof primitive

  • MovePrimitive move = 1

  • StopPrimitive stop = 2

  • DirectControlPrimitive direct_control = 3

• uint64 sequence_number = 4

  Sequence number for the primitive

• optional Timestamp time_sent = 6

  Epoch timestamp when primitives were assigned

Used in: RobotStatus

• bool running_primitive = 1

• optional Timestamp time_sent = 1

  Epoch timestamp when primitives were assigned

• bool stay_away_from_ball = 2

  Whether robots should stay away from the ball (eg. during stop play)

• map<uint32, Primitive> robot_primitives = 3

  Robot ID to RadioPrimitive map

• uint64 sequence_number = 4

Used in: PassingConfig

• required double previous_best_receiver_position_score_multiplier = 1

  A multiplier to incentivize using the same receiver position as the previous iteration

• required uint32 num_initial_samples_per_zone = 2

  The number of samples to generate initially for each zone to get a sense of the best zones.

• required uint32 num_additional_samples_per_top_zone = 3

  The number of additional samples to generate for the top zones after the initial samples. Used to get a more accurate max score.

• required double min_angle_between_receivers_deg = 4

  The minimum angle (in degrees) between a receiver, the ball, and a previously selected receiver.

• required ReceiverPositionGeneratorVisualizationConfig receiver_vis_config = 5

Used in: ReceiverPositionGeneratorConfig

• required bool visualize_best_receiving_positions_and_zones = 1

Used in: Tactic

• optional Pass pass = 1

  The pass to receive

• required bool disable_one_touch_shot = 2

  If set to true, we will only receive and dribble

Used in: AiConfig

• required bool enable_one_touch_kick = 1

  Whether one touch kicks should be enabled or not

• required double min_open_angle_for_one_touch_deg = 2

  The minimum open angle to the goal that we require before taking a one touch kick

• required double max_deflection_for_one_touch_deg = 3

  TODO (#2570): try to make it as big as possible when tuning The maximum deflection angle that we will attempt a one-touch kick towards the enemy goal

• optional Timestamp timestamp = 1

Used in: EnemyThreat, Team

• required uint32 id = 1

• required RobotState current_state = 2

• repeated Robot.RobotCapability unavailable_capabilities = 3

• required Timestamp timestamp = 4

Used in: Robot

• Dribble = 0

• Kick = 1

• Chip = 2

• Move = 3

Used in: AiConfig

• required string broken_dribblers = 1

  Comma-separated list of numbers of robots with broken dribblers

• required string broken_chippers = 2

  Comma-separated list of numbers of robots with broken chippers

• required string broken_kickers = 3

  Comma-separated list of numbers of robots with broken kickers

• uint32 robot_id = 1

• string exit_signal = 2

• string stack_dump = 3

• optional RobotStatus status = 4

• uint32 robot_id = 1

  the id of the robot that is logging

• optional Timestamp created_timestamp = 2

  the timestamp of when the log was generated

• LogLevel log_level = 3

  the severity level of the log

• uint32 line_number = 4

  the line number of where the log was generated

• string file_name = 5

• string log_msg = 6

Used in: AiConfig

• required double robot_obstacle_inflation_factor = 1

• required double enemy_defense_area_additional_inflation_meters = 2

  The additional inflation amount (in meters) for the enemy defense area

• required double dynamic_enemy_robot_obstacle_min_speed_mps = 3

  The minimum velocity of an enemy robot for it to be considered as a dynamic obstacle. Below this speed, the robot is considered to be stationary.

• required double dynamic_enemy_robot_obstacle_horizon_sec = 4

  The maximum time into the future that we will predict the enemy robot's position for obstacle avoidance

Used in: Robot, WorldState

• optional Point global_position = 1

• optional Angle global_orientation = 2

• optional Vector global_velocity = 3

• optional AngularVelocity global_angular_velocity = 4

Used in: SensorProto, RobotCrash

• uint32 robot_id = 1

• repeated ErrorCode error_code = 2

• optional ChipperKickerStatus chipper_kicker_status = 4

• optional MotorStatus motor_status = 5

• optional NetworkStatus network_status = 6

• optional PowerStatus power_status = 7

• optional ThunderloopStatus thunderloop_status = 9

• optional Timestamp time_sent = 10

• uint64 last_handled_primitive_set = 11

• optional PrimitiveExecutorStatus primitive_executor_status = 12

• optional Timestamp adjusted_time_sent = 13

• string thunderloop_version = 14

• string thunderloop_date_flashed = 15

Used in: Stadium, ValidationGeometry, World

• required Point start = 1

• required Point end = 2

Used in: ThunderbotsConfig

• required bool vision_flipping_filter_enabled = 1

  Ignores frames if our goalie appears in the opponent defense area

• required bool ignore_invalid_camera_data = 2

  Whether or not to ignore invalid camera data. If this value is true, any ball or robot detections that are not within the min and max valid x coordinates will be ignored. If this value is false, all data is collected as normal and not ignored.

• required double min_valid_x = 3

  When ignoreInvalidCameraData is true, any robot or ball detection with an x-coordinate less than this value is ignored.

• required double max_valid_x = 4

  When ignoreInvalidCameraData is true, any robot or ball detection with an x-coordinate greater than this value is ignored.

• required int32 friendly_goalie_id = 5

  The id of the friendly goalie

• required int32 enemy_goalie_id = 6

  The id of the enemy goalie

• required bool friendly_color_yellow = 9

  Yellow if selected, Blue if unselected

• required bool override_game_controller_friendly_goalie_id = 10

  Overrides the friendly goalie id provided by the game controller, with FriendlyGoalieId parameter

• required bool override_game_controller_enemy_goalie_id = 11

  Overrides the enemy goalie id provided by the game controller, with EnemyGoalieId parameter

• required int32 num_dropped_detections_before_ball_not_in_dribbler = 12

  Number of dropped detections before we consider the ball not to be in the dribbler

• required PossessionTrackerConfig possession_tracker_config = 13

  Possession tracker for determining which team has possession of the ball

• required double touching_ball_threshold_meters = 14

  Max distance between the ball and front of the robot for the robot to be considered touching the ball (in m)

Used in: Tactic

• optional EnemyThreat enemy_threat = 1

  The Enemy Threat indicating which enemy to shadow

• required double shadow_distance = 2

  How far from the enemy the robot will position itself to shadow. If the enemy threat has the ball, it will position itself to block the shot on goal. Otherwise it will try to block the pass to the enemy threat.

Used in: DebugShapes.DebugShape

• oneof shape

  • Polygon polygon = 1

  • Circle circle = 2

  • Stadium stadium = 3

Used in: AiConfig

• required double abs_min_pass_score = 1

  The absolute minimum pass quality we're willing to attempt

• required double min_perfect_pass_score = 6

  The minimum pass quality we're willing to attempt before ramping down the score to abs_min_pass_score

• required double pass_score_ramp_down_duration = 2

  When we're choosing a pass, we start by looking for a pass with a perfect score of 1, and then over time lower the score we're will to accept. This parameter how fast we ramp down to abs_min_pass_score. This is in seconds.

• required double ball_shot_threshold = 3

  threshold to decide if the ball has been kicked by a robot

• required double min_distance_to_pass = 4

  threshold to decide if the ball has been kicked by a robot

• required double short_pass_threshold = 5

  threshold for the distance between passer and receiver

Used in: AttackerVisualization

• required Point shot_origin = 1

• required Point shot_target = 2

• required Angle open_angle = 3

• required bool is_playing = 1

• required double simulation_speed = 2

• required double milliseconds = 1

  The duration to step the simulation

Used in: Obstacle, Shape, ValidationGeometry

• required Segment segment = 1

• required double radius = 2

Used in: Primitive

(message has no fields)

Used in: AssignedTacticPlayControlParams

• oneof tactic

  • AttackerTactic attacker = 1

  • ChipTactic chip = 2

  • CreaseDefenderTactic crease_defender = 3

  • DribbleTactic dribble = 4

  • GetBehindBallTactic get_behind_ball = 5

  • GoalieTactic goalie = 6

  • KickTactic kick = 7

  • MoveGoalieToGoalLineTactic move_goalie_to_goal_line = 8

  • MoveTactic move = 9

  • PenaltyKickTactic penalty_kick = 10

  • PivotKickTactic pivot_kick = 11

  • ReceiverTactic receiver = 12

  • ShadowEnemyTactic shadow_enemy = 13

  • HaltTactic halt = 14

  • PassDefenderTactic pass_defender = 15

Used in: World

• repeated Robot team_robots = 1

• optional uint32 goalie_id = 2

• required AiConfig ai_config = 1

• required SensorFusionConfig sensor_fusion_config = 2

Used in: RobotStatus

• double network_service_poll_time_ms = 1

• double primitive_executor_start_time_ms = 2

• double primitive_executor_step_time_ms = 3

• double motor_service_poll_time_ms = 4

• double power_service_poll_time_ms = 5

• double iteration_time_ms = 6

Used in: SensorProto, Ball, Primitive, PrimitiveSet, ReplayBookmark, Robot, RobotLog, RobotStatus, World

• double epoch_timestamp_seconds = 1

  Total seconds of UTC time since Unix epoch

Used in: MovePrimitive

• optional Angle start_angle = 1

• optional Angle final_angle = 2

• optional AngularVelocity initial_velocity = 3

Used in: MovePrimitive

• optional Point start_position = 1

• optional Point destination = 2

• optional Vector initial_velocity = 3

• MaxAllowedSpeedMode max_speed_mode = 4

• repeated TrajectoryPathParams2D.SubDestination sub_destinations = 5

Used in: TrajectoryPathParams2D

• optional Point sub_destination = 1

  Intermediate destination for the trajectory path to travel to prior to going to the destination.

• float connection_time_s = 2

  The time at which a new trajectory is branched off of the last trajectory in path to go towards the sub_destination.

Visual representation of the Validation

Used in: ValidationProto

• repeated Polygon polygons = 1

• repeated Circle circles = 2

• repeated Vector vectors = 3

• repeated Segment segments = 4

• repeated Stadium stadiums = 5

Used in: ValidationProtoSet

• required string failure_msg = 1

• required ValidationGeometry geometry = 2

• required ValidationStatus status = 3

• required string test_name = 1

• required ValidationType validation_type = 2

• repeated ValidationProto validations = 3

Used in: ValidationProto

• PASSING = 0

• FAILING = 1

Used in: ValidationProtoSet

• EVENTUALLY = 0

• ALWAYS = 1

Used in: BallState, MotorControl.DirectVelocityControl, MotorStatus, RobotState, TrajectoryPathParams2D, ValidationGeometry

• required double x_component_meters = 1

  x component

• required double y_component_meters = 2

  y component

• repeated Obstacle obstacles = 1

• required Timestamp time_sent = 1

• required Field field = 2

• required Team friendly_team = 3

• required Team enemy_team = 4

• required Ball ball = 5

• required GameState game_state = 6

• optional uint64 sequence_number = 7

• optional Segment dribble_displacement = 8

• map<uint32, RobotState> blue_robots = 1

  Robot ID to RobotState map for both teams

• map<uint32, RobotState> yellow_robots = 2

• optional BallState ball_state = 3

(message has no fields)