ssl_gc_engine.proto

syntax = "proto2";

option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/engine";

import "ssl_gc_geometry.proto";
import "ssl_gc_common.proto";

import "google/protobuf/timestamp.proto";

// The GC state contains settings and state independent of the match state
message GcState {
    // the state of each team
    map<string, GcStateTeam> team_state = 1;

    // the states of the auto referees
    map<string, GcStateAutoRef> auto_ref_state = 2;

    // the attached trackers (uuid -> source_name)
    map<string, string> trackers = 3;

    // the next actions that can be executed when continuing
    repeated ContinueAction continue_actions = 4;

    // the next actions that can be executed when continuing
    repeated ContinueHint continue_hints = 5;
}

// The GC state for a single team
message GcStateTeam {
    // true: The team is connected
    optional bool connected = 1;

    // true: The team connected via TLS with a verified certificate
    optional bool connection_verified = 2;

    // true: The remote control for the team is connected
    optional bool remote_control_connected = 3;

    // true: The remote control for the team connected via TLS with a verified certificate
    optional bool remote_control_connection_verified = 4;

    // the advantage choice of the team
    optional TeamAdvantageChoice advantage_choice = 5;
}

// The choice from a team regarding the advantage rule
message TeamAdvantageChoice {
    // the choice of the team
    optional AdvantageChoice choice = 1;

    // possible advantage choices
    enum AdvantageChoice {
        // stop the game
        STOP = 0;
        // keep the match running
        CONTINUE = 1;
    }
}

// The GC state of an auto referee
message GcStateAutoRef {
    // true: The autoRef connected via TLS with a verified certificate
    optional bool connection_verified = 1;
}

// GC state of a tracker
message GcStateTracker {
    // Name of the source
    optional string source_name = 1;

    // UUID of the source
    optional string uuid = 4;

    // Current ball
    optional Ball ball = 2;

    // Current robots
    repeated Robot robots = 3;
}

// The ball state
message Ball {
    // ball position [m]
    optional Vector3 pos = 1;

    // ball velocity [m/s]
    optional Vector3 vel = 2;
}

// The robot state
message Robot {
    // robot id and team
    optional RobotId id = 1;

    // robot position [m]
    optional Vector2 pos = 2;
}

message ContinueAction {
    // type of action that will be performed next
    required Type type = 1;

    // for which team (if team specific)
    required Team for_team = 2;

    // list of issues that hinders the game from continuing
    repeated string continuation_issues = 3;

    // timestamp at which the action will be ready (to give some preparation time)
    optional google.protobuf.Timestamp ready_at = 4;

    // state of the action
    optional State state = 5;

    enum Type {
        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;
    }

    enum State {
        STATE_UNKNOWN = 0;
        BLOCKED = 1;
        WAITING = 2;
        READY_AUTO = 3;
        READY_MANUAL = 4;
        DISABLED = 5;
    }
}

message ContinueHint {
    required string message = 1;
}