package amun

Get desktop application:
View/edit binary Protocol Buffers messages

Used in: Visualization

• required float p_x = 1

• required float p_y = 2

• required float radius = 3

Used in: Pen, Visualization

• optional uint32 red = 1

• optional uint32 green = 2

• optional uint32 blue = 3

• optional uint32 alpha = 4

• optional CommandSimulator simulator = 1

• optional CommandReferee referee = 2

• optional robot.Team set_team_blue = 3

• optional robot.Team set_team_yellow = 4

• optional CommandStrategy strategy_blue = 5

• optional CommandStrategy strategy_yellow = 6

• optional CommandStrategy strategy_autoref = 7

• optional CommandControl control = 8

• optional CommandTransceiver transceiver = 9

• optional CommandTracking tracking = 11

  optional float speed = 10;

• optional CommandAmun amun = 12

• optional HostAddress mixed_team_destination = 13

• repeated RobotMoveCommand robot_move_blue = 14

• repeated RobotMoveCommand robot_move_yellow = 15

• optional CommandDebuggerInput debugger_input = 16

• optional PauseSimulatorCommand pause_simulator = 17

• optional CommandReplay replay = 18

• optional CommandPlayback playback = 19

• optional CommandRecord record = 20

Used in: Command

• optional uint32 vision_port = 1

• optional uint32 referee_port = 2

• optional uint32 tracker_port = 4

• optional CommandStrategyChangeOption change_option = 3

Used in: Command

• repeated robot.RadioCommand commands = 1

Used in: Command

• required DebuggerInputTarget strategy_type = 1

• optional CommandDebuggerInputDisable disable = 2

• optional CommandDebuggerInputLine queue_line = 3

Used in: CommandDebuggerInput

(message has no fields)

Used in: CommandDebuggerInput

• optional string line = 1

Used in: Command

• optional int32 seek_time = 1

• optional int32 seek_packet = 2

• optional int32 seek_time_backwards = 3

• optional int32 playback_speed = 4

• optional Flag toggle_paused = 5

• optional bool run_playback = 6

  used to switch between live and log (corresponding to ra and horus in the UI)

• optional logfile.LogRequest log_path = 7

• optional Flag instant_replay = 8

• optional string export_vision_log = 9

  the location to save the vision log to

• optional Flag get_uid = 10

• optional string find_logfile = 11

• optional int32 playback_limit = 12

• optional int32 collect_game_events = 13

  number identifies the scan command to avoid confusing packets from different logs

Used in: Command

• optional bool use_logfile_location = 1

• optional Flag save_backlog = 2

• optional bool run_logging = 3

• optional bool for_replay = 4

  has to be set to either true or false iff save_backlog, request_backlog or run_logging are set

• optional int32 request_backlog = 5

  sent by the plotter when opened.

• optional string overwrite_record_filename = 6

  must be given in the first frame in which run_logging is true to be effective

Used in: Command

• optional bool active = 1

  Activation

• optional bool restart_game_controller = 2

• optional bool use_automatic_robot_exchange = 10

  Configuration

• optional bool use_auto_continue = 11

• optional world.Geometry.Division use_division = 12

• optional CommandReferee.EventsConfig events_config = 13

• optional bytes command = 20

  Referee Commands

Used in: CommandReferee

• MAJORITY = 0

  Accept events for which a majority is present (in our case formed by the single autoref)

• DISABLE = 1

  Disable events

Used in: Command

• optional bool enable = 1

  replay in general, not any specific strategy. This may be enabled even when no strategy is replayed

• optional bool enable_blue_strategy = 2

• optional CommandStrategy blue_strategy = 3

• optional bool enable_yellow_strategy = 4

• optional CommandStrategy yellow_strategy = 5

Used in: Command

• optional bool enable = 1

• optional SimulatorSetup simulator_setup = 2

• optional SimulatorWorstCaseVision vision_worst_case = 3

• optional RealismConfigErForce realism_config = 4

• optional world.SimulatorState set_simulator_state = 5

• optional sslsim.SimulatorControl ssl_control = 6

Used in: Command, CommandReplay

• optional CommandStrategyLoad load = 1

• optional CommandStrategyClose close = 2

• optional bool reload = 3

• optional bool auto_reload = 4

• optional bool enable_debug = 5

• optional CommandStrategyTriggerDebugger debug = 6

• optional bool performance_mode = 7

• optional bool start_profiling = 8

• optional string finish_and_save_profile = 9

• optional bool tournament_mode = 10

• optional CommandStrategyAutomaticEntrypoints automatic_entrypoints = 11

Used in: CommandStrategy

• repeated CommandStrategyAutomaticEntrypoints.EntrypointForStage mapping = 1

Used in: CommandStrategyAutomaticEntrypoints

• required SSL_Referee.Stage stage = 1

• required string entry_point = 2

the UI may not store the option state, therefore only single values will be changed (by hand)

Used in: CommandAmun

• required string name = 1

• required bool value = 2

Used in: CommandStrategy

(message has no fields)

Used in: CommandStrategy

• required string filename = 1

• optional string entry_point = 2

Used in: CommandStrategy

(message has no fields)

WARNING: if tracking parameters are added in the ui, it must be checked if they are necessary for the trackig replay (and if they are they must be saved in status packages)

Used in: Command

• optional bool aoi_enabled = 1

• optional world.TrackingAOI aoi = 2

• optional bool reset = 4

• optional bool enable_virtual_field = 5

• optional VirtualFieldTransform field_transform = 6

• optional world.Geometry virtual_geometry = 7

• optional bool tracking_replay_enabled = 8

• optional world.BallModel ball_model = 9

• optional uint64 radio_command_delay = 10

Used in: Command

• optional bool enable = 1

• optional bool charge = 2

• optional TransceiverConfiguration configuration = 3

• optional HostAddress network_configuration = 4

• optional bool use_network = 5

• optional SimulatorNetworking simulator_configuration = 6

Used in: DebugValues

• StrategyBlue = 1

• StrategyYellow = 2

• Controller = 3

• Autoref = 4

• Tracking = 5

• RadioResponse = 6

• ReplayBlue = 7

• ReplayYellow = 8

• NetworkTransceiver = 9

• GameController = 10

Used in: DebugValues

• required string key = 1

• optional float float_value = 2

• optional bool bool_value = 3

• optional string string_value = 4

Used in: Status

• required DebugSource source = 1

• optional int64 time = 7

• repeated DebugValue value = 2

• repeated Visualization visualization = 3

• repeated StatusLog log = 4

• repeated PlotValue plot = 5

• repeated RobotValue robot = 6

• optional DebuggerOutput debugger_output = 8

• repeated MetricValue metric = 9

Used in: CommandDebuggerInput

• DITStrategyYellow = 0

• DITStrategyBlue = 1

• DITAutoref = 2

Used in: DebugValues

• optional string line = 1

Used in: CommandPlayback, CommandRecord

(message has no fields)

Used in: UiResponse

• required int32 current_packet = 1

• required int32 total_packets = 2

• required int32 scan_id = 3

• repeated LogGameEvent game_events = 4

Used in: Status

• required SSL_Referee.Stage stage = 1

• optional sint64 stage_time_left = 2

• required GameState.State state = 3

  Current state on the field Required as the refbox command doesn't tell whether we or the opponents have taken a free kick / kickoff / penalty yet

• required SSL_Referee.TeamInfo yellow = 4

• required SSL_Referee.TeamInfo blue = 5

• optional SSL_Referee.Point designated_position = 6

• optional Old_Refbox_Game_Event old_refbox_game_event = 7

• optional bool goals_flipped = 8

• optional bool is_real_game_running = 9

  even when the internal referee is enabled, this value will be true when a real game is running (i.e. not in halt, timeout)

• optional int64 current_action_time_remaining = 10

  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 GameState.State next_state = 11

  the state that is supposed to come after the current state this is important for ball placement for which it is necessary to know the state that would follow the ball placement if successfull. Note that it is not guaranteed to be the next state, since ball placement might fail or fouls might be commited

• repeated gameController.GameEvent game_event_2019 = 12

  the last game events that was sent by the game controller it replaces the field game_event

Used in: GameState

• Halt = 1

• Stop = 2

• Game = 3

• GameForce = 4

• KickoffYellowPrepare = 5

• KickoffYellow = 6

• PenaltyYellowPrepare = 7

• PenaltyYellow = 8

• PenaltyYellowRunning = 21

• DirectYellow = 9

• IndirectYellow = 10

• BallPlacementYellow = 19

• KickoffBluePrepare = 11

• KickoffBlue = 12

• PenaltyBluePrepare = 13

• PenaltyBlue = 14

• PenaltyBlueRunning = 22

• DirectBlue = 15

• IndirectBlue = 16

• BallPlacementBlue = 20

• TimeoutYellow = 17

• TimeoutBlue = 18

Used in: Status

• required GitInfo.Kind kind = 1

• required string hash = 2

• required string diff = 3

• required string min_hash = 4

• required string error = 5

Used in: GitInfo

• BLUE = 1

• YELLOW = 2

• AUTOREF = 3

• RA = 4

• CONFIG = 5

Used in: Command, CommandTransceiver

• required string host = 1

• required uint32 port = 2

Used in: Visualization

• required uint32 width = 1

• required uint32 height = 2

• required bytes data = 3

  data containing blue, green, red and alpha bytes in this exact order

• optional Rectangle draw_area = 4

  if not given, the whole field rectangle is used

Used in: GameEventScanProgress

• required int32 packet = 1

• required gameController.GameEvent game_event = 2

Used in: UiResponse

• required int64 start_time = 1

• required int64 duration = 2

• required int64 packet_count = 3

Used in: UiResponse

• required bool success = 1

• required string filename = 2

  filename if success = true, error-message if success = false

Used in: UiResponse

• required bool is_logging = 1

• required bool is_replay_logger = 2

Used in: DebugValues

• required string name = 1

• required float value = 2

  for an entire game, the metric value is the sum of the values divided by the sum of `divisor` values

• required float divisor = 3

tells the strategy and ui if an option is enabled or not

Used in: StatusAmun

• required string name = 2

• required bool value = 3

Used in: Visualization

• repeated Point point = 1

Used in: Command

• required PauseSimulatorReason reason = 1

• optional bool pause = 2

• optional bool toggle = 3

Used in: PauseSimulatorCommand

• Ui = 1

• WindowFocus = 2

• DebugBlueStrategy = 3

• DebugYellowStrategy = 4

• DebugAutoref = 5

• Replay = 6

• Horus = 7

• Logging = 8

Used in: Visualization

• optional Pen.Style style = 1

• optional Color color = 2

Used in: Pen

• DashLine = 1

• DotLine = 2

• DashDotLine = 3

• DashDotDotLine = 4

Used in: DebugValues

• required string name = 1

• required float value = 2

Used in: Path, Polygon, Rectangle

• required float x = 1

• required float y = 2

Used in: Visualization

• repeated Point point = 1

Used in: StatusAmun

• required uint32 port = 1

Used in: ImageVisualization

• required Point topleft = 1

  the minimum of the x and y corner values

• required Point bottomright = 2

  the maximum of the x and y corner values

Used in: Command, UserInput

• required uint32 id = 1

• optional float p_x = 2

• optional float p_y = 3

Used in: DebugValues

• required uint32 generation = 1

• required uint32 id = 2

• optional bool exchange = 3

Used in: CommandTransceiver

• required bool control_simulator = 1

• required bool control_blue = 2

• required bool control_yellow = 3

• required uint32 port_blue = 4

• required uint32 port_yellow = 5

Used in: CommandSimulator

• required world.Geometry geometry = 1

• repeated SSL_GeometryCameraCalibration camera_setup = 2

Used in: CommandSimulator

• optional float min_robot_detection_time = 1

  minimum time between two detections of one robot or ball (in seconds) when the feature is disabled, zero may be set here

• optional float min_ball_detection_time = 2

The status message is dumped for log replay -> take care not to break compatibility! WARNING: every message containing timestamps must be rewritten in the logcutter

Used in: UiResponse

• required int64 time = 1

• optional GameState game_state = 15

  optional deprecated.amun.GameState game_state_deprecated = 2;

• optional world.State world_state = 3

• optional world.Geometry geometry = 4

• optional robot.Team team_blue = 5

• optional robot.Team team_yellow = 6

• optional StatusStrategy strategy_blue = 7

  deprecated

• optional StatusStrategy strategy_yellow = 8

  deprecated

• optional StatusStrategy strategy_autoref = 18

  deprecated

• repeated DebugValues debug = 10

• optional Timing timing = 11

• repeated robot.RadioCommand radio_command = 12

• optional StatusTransceiver transceiver = 13

• optional UserInput user_input_blue = 16

  deprecated = 14;

• optional UserInput user_input_yellow = 17

• optional StatusAmun amun_state = 19

• optional float timer_scaling = 20

• optional bool blue_running = 21

• optional bool yellow_running = 22

• optional bool autoref_running = 26

• optional world.State execution_state = 23

• optional GameState execution_game_state = 24

• optional UserInput execution_user_input = 25

• optional logfile.Uid log_id = 27

• optional uint64 original_frame_number = 28

• optional StatusStrategyWrapper status_strategy = 29

• optional UiResponse pure_ui_response = 30

  NOTE: ANY STATUS containing this message will not be serialized in a log.

• repeated GitInfo git_info = 31

Used in: Status

• optional PortBindError port_bind_error = 1

• repeated OptionStatus options = 2

• optional StatusGameController game_controller = 3

Used in: StatusAmun

• optional StatusGameController.GameControllerState current_state = 1

Used in: StatusGameController

• STOPPED = 1

• STARTING = 2

• RUNNING = 3

• CRASHED = 4

• NOT_RESPONDING = 5

Used in: DebugValues

• required int64 timestamp = 1

• required string text = 2

Used in: Status, StatusStrategyWrapper

• required StatusStrategy.STATE state = 1

• optional string filename = 2

• optional string name = 3

• optional string current_entry_point = 4

• repeated string entry_point = 5

• optional bool has_debugger = 7

  deprecated = 6

• repeated StrategyOption options = 8

Used in: StatusStrategy

• CLOSED = 1

• RUNNING = 3

• FAILED = 4

• COMPILING = 5

Used in: Status

• required StatusStrategyWrapper.StrategyType type = 1

• required StatusStrategy status = 2

Used in: StatusStrategyWrapper

• BLUE = 1

• YELLOW = 2

• AUTOREF = 3

• REPLAY_BLUE = 4

• REPLAY_YELLOW = 5

Used in: Status

• required bool active = 1

• optional string error = 2

• optional int32 dropped_usb_packets = 3

• optional int32 dropped_commands = 4

• optional string name = 5

sent out by the strategy to tell that it offers this option

Used in: StatusStrategy

• required string name = 1

• optional bool default_value = 2

Used in: Status

• optional float blue_total = 1

• optional float blue_path = 2

• optional float yellow_total = 3

• optional float yellow_path = 4

• optional float autoref_total = 10

• optional float tracking = 5

• optional float controller = 8

• optional float transceiver = 6

• optional float transceiver_rtt = 9

• optional float simulator = 7

Used in: CommandTransceiver

• required uint32 channel = 1

This message can be used for pure user-ui-response. It will be cut out when writing to log, therefore modifications can be done without breaking log compatibility. DO NOT use this message for information that could be useful in a logfile! DO NOT add a UIResponse to a normal Status, send a NEW STATUS instead.

Used in: Status

• optional bool enable_logging = 1

• optional LoggingInfo logging_info = 2

• repeated Status logger_status = 3

  used for the plotter right now

• optional bool playback_burst_end = 4

  used to notify logslider to update its position to Status::time

• optional bool playback_paused = 5

• optional LogPlaybackInfo log_info = 6

• optional int64 frame_number = 7

• optional bool force_ra_horus = 8

  true if forced Ra, false if forced Horus

• optional LogfileOpenInfo log_open = 9

• optional string export_visionlog_error = 10

• optional string requested_log_uid = 11

• optional logfile.LogOffer log_offers = 12

• optional string log_uid_parser_error = 13

• optional string log_open_error = 14

• optional GameEventScanProgress game_events_progress = 15

for strategy

Used in: Status

• repeated robot.RadioCommand radio_command = 1

• repeated RobotMoveCommand move_command = 2

Used in: CommandTracking

• required float a11 = 1

• required float a12 = 2

• required float a21 = 3

• required float a22 = 4

• required float offsetX = 5

• required float offsetY = 6

Used in: DebugValues

• required string name = 1

• optional Pen pen = 2

• optional Color brush = 3

• optional float width = 4

• optional Circle circle = 5

• optional Polygon polygon = 6

• optional Path path = 7

• optional bool background = 8

• optional ImageVisualization image = 9