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List of matching proposals

Used in: SSL_Referee

• optional string id = 3

  Unique ID of this group

• repeated gameController.GameEvent game_events = 1

  The proposed game events

• optional bool accepted = 2

  Whether the proposal group was accepted

HullColor is the color of the hull of the robots of a team

Used in: SSL_Referee.TeamInfo, gameController.Change.UpdateTeamState, gameController.TeamInfo

• HULL_COLOR_UNKNOWN = 0

  not set

• HULL_COLOR_DARK = 1

  dark hull color

• HULL_COLOR_LIGHT = 2

  light hull color

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

Used in: SSL_Referee, gameController.Change.UpdateConfig, gameController.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

a game event that caused a referee command

Used in: amun.GameState

• required Old_Refbox_Game_Event.GameEventType gameEventType = 1

  the game event type that happened

• optional Old_Refbox_Game_Event.Originator originator = 2

  the team and optionally a designated robot that is the originator of the game event

• optional string message = 3

  a message describing further details of this game event

Used in: Old_Refbox_Game_Event

• UNKNOWN = 0

  not set

• CUSTOM = 1

  an event that is not listed in this enum yet. Give further details in the message below

• NUMBER_OF_PLAYERS = 2

  Law 3: Number of players

• BALL_LEFT_FIELD = 3

  Law 9: Ball out of play

• GOAL = 4

  Law 10: Team scored a goal

• KICK_TIMEOUT = 5

  Law 9.3: lack of progress while bringing the ball into play

• NO_PROGRESS_IN_GAME = 6

  Law ?: There is no progress in game for (10|15)? seconds

• BOT_COLLISION = 7

  Law 12: Pushing / Substantial Contact

• MULTIPLE_DEFENDER = 8

  Law 12.2: Defender is completely inside penalty area

• MULTIPLE_DEFENDER_PARTIALLY = 9

  Law 12: Defender is partially inside penalty area

• ATTACKER_IN_DEFENSE_AREA = 10

  Law 12.3: Attacker in defense area

• ICING = 11

  Law 12: Icing (kicking over midline and opponent goal line)

• BALL_SPEED = 12

  Law 12: Ball speed

• ROBOT_STOP_SPEED = 13

  Law 12: Robot speed during STOP

• BALL_DRIBBLING = 14

  Law 12: Maximum dribbling distance

• ATTACKER_TOUCH_KEEPER = 15

  Law 12: Touching the opponent goalkeeper

• DOUBLE_TOUCH = 16

  Law 12: Double touch

• ATTACKER_TO_DEFENCE_AREA = 17

  Law 13-17: Attacker not too close to the opponent's penalty area when ball enters play

• DEFENDER_TO_KICK_POINT_DISTANCE = 18

  Law 13-17: Keeping the correct distance to the ball during opponents freekicks

• BALL_HOLDING = 19

  Law 12: A robot holds the ball deliberately

• INDIRECT_GOAL = 20

  Law 12: The ball entered the goal directly after an indirect kick was performed

• BALL_PLACEMENT_FAILED = 21

  Law 9.2: Ball placement

• CHIP_ON_GOAL = 22

  Law 10: A goal is only scored if the ball has not exceeded a robot height (150mm) between the last kick of an attacker and the time the ball crossed the goal line.

information about an originator

Used in: Old_Refbox_Game_Event

• required Team team = 1

• optional uint32 botId = 2

a team

Used in: Originator

• TEAM_UNKNOWN = 0

• TEAM_YELLOW = 1

• TEAM_BLUE = 2

Realism configuration for ER-Force simulator this message is stored in human readable form for saved ui settings therefore do NOT modify field names without changing them in the config files

Used in: amun.CommandSimulator

• optional float stddev_ball_p = 1

  Standard deviation of the gaussian noise applied to the ball position [m]

• optional float stddev_robot_p = 2

  Standard deviation of the gaussian noise applied to the robot position [m]

• optional float stddev_robot_phi = 3

  Standard deviation of the gaussian noise applied to the robot angle [rad]

• optional float stddev_ball_area = 4

  Standard deviation of the gaussian noise applied to reported ball area [pixel]

• optional bool enable_invisible_ball = 5

  Whether or not to simulate the ball being invisible when the view from the camera to it is blocked by a robot. It also simulates the slight perceived motion of the ball when it is partially overshadowed by a robot as the visible center of the ball shifts

• optional float ball_visibility_threshold = 6

  The occlusion threshold at which the ball will no longer be visible [0-1] A value of 0 would make the ball always visible

• optional float camera_overlap = 7

  The overlap of the visible range of the different cameras [m] For example: if there are two cameras and the overlap value is 0.5m then the ball is visible in both cameras between -0.5 and 0.5 meters from the centerline

• optional float dribbler_ball_detections = 8

  With this probability, additional erroneous ball detections are added at the edge of a robots dribbler (to emulate the red break beam lights sometimes being visible from the camera). [detections/s/robot]

• optional float camera_position_error = 9

  How much the reported camera positions should deviate from the actual camera positions used for ball projection etc. [m]

• optional float robot_command_loss = 10

  The percentage of robot control commands that are "lost in transit" [0-1]

• optional float robot_response_loss = 11

  The percentage of robot reply messages that are "lost in transit" [0-1]

• optional float missing_ball_detections = 12

  The percentage of times the ball is erroneously not "seen" by a camera [0-1]

• optional int64 vision_delay = 13

  Sending out the vision data is delayed by this time after capturing the positions [ns]

• optional int64 vision_processing_time = 14

  The difference between the reported t_capture and t_sent of the vision frame [ns]

• optional bool simulate_dribbling = 15

  If false, 'glue' the ball during dribbling

• optional float object_position_offset = 16

  Simulates an offset of all reported object positions (robots, ball) at this magnitude [m]

• optional float missing_robot_detections = 17

  The percentage of times a robot is erroneously not "seen" by a camera [0-1]

• optional int64 command_delay = 18

  The time it takes for the robot to receive the command, after the simulator receives the command. [ns]

• optional float robot_rotation_error = 19

  How much the robots rotational acceleration should be influenced by the forward acceleration

• optional float rotated_robot_detections_start = 20

  For each camera and robot, the probability to start adding an additional robot detection rotated 90 degrees counterclockwise with the appropriately rotated pattern.

• optional float rotated_robot_detections_stop = 21

  The probability to stop adding rotated robot detections once started.

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

  Confidence in [0-1] of the detection

• optional uint32 area = 2

• required float x = 3

  X-coordinate in [mm] in global ssl-vision coordinate system

• required float y = 4

  Y-coordinate in [mm] in global ssl-vision coordinate system

• optional float z = 5

  Z-coordinate in [mm] in global ssl-vision coordinate system Not supported by ssl-vision, but might be set by simulators

• required float pixel_x = 6

  X-coordinate in [pixel] in the image

• required float pixel_y = 7

  Y-coordinate in [pixel] in the image

Used in: SSL_WrapperPacket

• required uint32 frame_number = 1

  monotonously increasing frame number

• required double t_capture = 2

  Unix timestamp in [seconds] at which the image has been received by ssl-vision

• required double t_sent = 3

  Unix timestamp in [seconds] at which this message has been sent to the network

• optional double t_capture_camera = 8

  Camera timestamp in [seconds] as reported by the camera, if supported This is not necessarily a unix timestamp

• required uint32 camera_id = 4

  Identifier of the camera

• repeated SSL_DetectionBall balls = 5

  Detected balls

• repeated SSL_DetectionRobot robots_yellow = 6

  Detected yellow robots

• repeated SSL_DetectionRobot robots_blue = 7

  Detected blue robots

Used in: SSL_DetectionFrame

• required float confidence = 1

  Confidence in [0-1] of the detection

• optional uint32 robot_id = 2

  Id of the robot

• required float x = 3

  X-coordinate in [mm] in global ssl-vision coordinate system

• required float y = 4

  Y-coordinate in [mm] in global ssl-vision coordinate system

• optional float orientation = 5

  Orientation in [rad]

• required float pixel_x = 6

  X-coordinate in [pixel] in the image

• required float pixel_y = 7

  Y-coordinate in [pixel] in the image

• optional float height = 8

  Height, as configured in ssl-vision for the respective team

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: SSL_WrapperPacket, gameController.CiInput, sslsim.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

  Field length (distance between goal lines) in mm

• required int32 field_width = 2

  Field width (distance between touch lines) in mm

• required int32 goal_width = 3

  Goal width (distance between inner edges of goal posts) in mm

• required int32 goal_depth = 4

  Goal depth (distance from outer goal line edge to inner goal back) in mm

• required int32 boundary_width = 5

  Boundary width (distance from touch line centers to boundary walls) in mm

• optional int32 boundary_width_goal_line = 16

  Boundary width at the goal lines (distance from goal line centers to boundary walls) in mm

• repeated SSL_FieldLineSegment field_lines = 6

  Generated line segments based on the other parameters

• repeated SSL_FieldCircularArc field_arcs = 7

  Generated circular arcs based on the other parameters

• optional int32 penalty_area_depth = 8

  Depth of the penalty/defense area (measured between line centers) in mm

• optional int32 penalty_area_width = 9

  Width of the penalty/defense area (measured between line centers) in mm

• optional int32 center_circle_radius = 10

  Radius of the center circle (measured between line centers) in mm

• optional int32 line_thickness = 11

  Thickness/width of the lines on the field in mm

• optional int32 goal_center_to_penalty_mark = 12

  Distance between the goal center and the center of the penalty mark in mm

• optional int32 goal_height = 13

  Goal height in mm

• optional float ball_radius = 14

  Ball radius in mm (note that this is a float type to represent sub-mm precision)

• optional float max_robot_radius = 15

  Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)

• optional int32 goal_substitution_area_width = 17

  Width of the goal substitution area (distance from boundary walls that count as "inside the substitution area") in mm

Used in: SSL_GeometryData

• optional SSL_BallModelStraightTwoPhase straight_two_phase = 1

• optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2

Each UDP packet contains one of these messages.

Used in: gameController.CiOutput

• 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 SSL_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 SSL_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 SSL_Referee.TeamInfo yellow = 7

  Information about the two teams.

• required SSL_Referee.TeamInfo blue = 8

• optional SSL_Referee.Point designated_position = 9

• optional bool blueTeamOnPositiveHalf = 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 SSL_Referee.Command next_command = 12

  The command that will be issued after the current stoppage and ball placement to continue the game.

• repeated gameController.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. Deprecated variants use the proper keyword upstream, but this causes an unfixable (in our Protobuf version) warning in the generated headers

Used in: SSL_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.

  [deprecated = true];

• INDIRECT_FREE_BLUE = 11

  The blue team may take an indirect free kick.

  [deprecated = true];

• 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.

  [deprecated = true];

• GOAL_BLUE = 15

  The blue team just scored a goal. See also GOAL_YELLOW.

  [deprecated = true];

• 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: SSL_Referee, amun.GameState

• required float x = 1

• required float y = 2

These are the "coarse" stages of the game.

Used in: SSL_Referee, amun.CommandStrategyAutomaticEntrypoints.EntrypointForStage, amun.GameState, gameController.Change.ChangeStage, gameController.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: SSL_Referee, amun.GameState

• 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 goalie = 8

  The pattern number of this team's goalie.

• 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

• optional HullColor hull_color = 19

  The color of the hull of the robots of this team

Used in: world.State

• optional SSL_DetectionFrame detection = 1

• optional SSL_GeometryData geometry = 2

A 2D float vector.

Used in: SSL_FieldCircularArc, SSL_FieldLineSegment

• required float x = 1

  X-coordinate in mm

• required float y = 2

  Y-coordinate in mm

Used in: grSim_Replacement

• optional double x = 1

• optional double y = 2

• optional double vx = 3

• optional double vy = 4

Used in: grSim_Packet

• required double timestamp = 1

• required bool isteamyellow = 2

• repeated grSim_Robot_Command robot_commands = 3

• optional grSim_Commands commands = 1

• optional grSim_Replacement replacement = 2

Used in: grSim_Packet

• optional grSim_BallReplacement ball = 1

• repeated grSim_RobotReplacement robots = 2

Used in: grSim_Replacement

• required double x = 1

• required double y = 2

• required double dir = 3

• required uint32 id = 4

• required bool yellowteam = 5

• optional bool turnon = 6

Used in: grSim_Commands

• required uint32 id = 1

• required float kickspeedx = 2

• required float kickspeedz = 3

• required float veltangent = 4

• required float velnormal = 5

• required float velangular = 6

• required bool spinner = 7

• required bool wheelsspeed = 8

• optional float wheel1 = 9

• optional float wheel2 = 10

• optional float wheel3 = 11

• optional float wheel4 = 12