ssl_game_controller_common.proto

syntax = "proto2";

// Team is either blue or yellow
enum Team {
    // team not set
    UNKNOWN = 0;
    // yellow team
    YELLOW = 1;
    // blue team
    BLUE = 2;
}

// BotId is the combination of a team and a robot id
message BotId {
    // the robot id - a negative value indicates that the id is not set
    optional int32 id = 1;
    // the team that the robot belongs to
    optional Team team = 2;
}

// Location is a 2d-coordinate on the field in ssl-vision coordinate system. Units are in meters.
message Location {
    // the x-coordinate in [m] in the ssl-vision coordinate system
    required float x = 1;
    // the y-coordinate in [m] in the ssl-vision coordinate system
    required float y = 2;
}

// a reply that is sent by the controller for each request from teams or autoRefs
message ControllerReply {
    // status_code is an optional code that indicates the result of the last request
    optional StatusCode status_code = 1;
    // reason is an optional explanation of the status code
    optional string reason = 2;
    // next_token must be send with the next request, if secure communication is used
    // the token is used to avoid replay attacks
    // the token is always present in the very first message before the registration starts
    // the token is not present, if secure communication is not used
    optional string next_token = 3;
    // verification indicates if the last request could be verified (secure communication)
    optional Verification verification = 4;

    enum StatusCode {
        UNKNOWN_STATUS_CODE = 0;
        OK = 1;
        REJECTED = 2;
    }

    enum Verification {
        UNKNOWN_VERIFICATION = 0;
        VERIFIED = 1;
        UNVERIFIED = 2;
    }
}

// Signature can be added to a request to let it be verfied by the controller
message Signature {
    // the token that was received with the last controller reply
    required string token = 1;
    // the PKCS1v15 signature of this message
    required bytes pkcs1v15 = 2;
}

// BallSpeedMeasurement is a single measurement sample of the ball speed
message BallSpeedMeasurement {
    // The UNIX timestamp [μs] when the measurement was taken.
    required uint64 timestamp = 1;
    // the ball speed measurement [m/s]
    required float ball_speed = 2;
    // the estimated initial ball speed (kick speed) [m/s]
    optional float initial_ball_speed = 3;
}