add (updated) proto files for manipulating GC

roboteam_networking/proto_CI/.gitignore

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+# Ignore Python cache files
+__pycache__/
+*.pyc
+*.pyo
+*.pyd

roboteam_networking/proto_CI/.gitignore.save

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+# Ignore Python cache files
+__pycache__/
+*.pyc
+*.pyo
+*.pyd

roboteam_networking/proto_CI/README.md

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+# CI (Continuous integration)
+
+This folder contains all the files necessary to carry out CI mode using TCP to connect to the game controller (GC).
+
+You need to get the ball information, robot information and geometry information. Then you need to send this as a packaged protobuf file to the GC. The "old" protobuf stuff to get information out of the system still uses the old protobuf files.
+
+However we use these new files to establish a TCP connection using CI.

roboteam_networking/proto_CI/ssl_autoref_ci.proto

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+syntax = "proto2";
+
+option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/ci/autoref";
+
+import "ssl_vision_wrapper_tracked.proto";
+import "ssl_vision_detection.proto";
+import "ssl_vision_geometry.proto";
+import "ssl_gc_referee_message.proto";
+
+// The AutoRefCiInput contains all packets/messages that would otherwise be received through multicast by the auto-referee
+// It may contain either a raw or a tracked SSL-vision packet. If both are given, the implementation may choose either one.
+message AutoRefCiInput {
+    // Latest referee message
+    optional Referee referee_message = 1;
+    // A tracked SSL-Vision packet to be processed without filtering
+    optional TrackerWrapperPacket tracker_wrapper_packet = 2;
+    // A list of unfiltered SSL-Vision packets (for multiple cameras) to be filtered and processed
+    repeated SSL_DetectionFrame detection = 3;
+    // Current geometry data, to be sent at least once at the beginning of the connection
+    optional SSL_GeometryData geometry = 4;
+}
+
+// The AutoRefCiOutput contains any new data created by the auto-referee for further processing
+message AutoRefCiOutput {
+    // A resulting tracked SSL-Vision packet for input into the ssl-game-controller.
+    // The auto-referee will either generate it from the unfiltered SSL-Vision packets
+    // or simply return the tracked packet from the input.
+    optional TrackerWrapperPacket tracker_wrapper_packet = 1;
+}

roboteam_networking/proto_CI/ssl_gc_api.proto

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+syntax = "proto2";
+
+option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/api";
+
+import "ssl_gc_state.proto";
+import "ssl_gc_change.proto";
+import "ssl_gc_engine.proto";
+import "ssl_gc_engine_config.proto";
+
+import "google/protobuf/duration.proto";
+
+// Message format that is pushed from the GC to the client
+message Output {
+    // The current match state
+    optional State match_state = 1;
+    // The current GC state
+    optional GcState gc_state = 2;
+    // The protocol
+    optional Protocol protocol = 3;
+    // The engine config
+    optional Config config = 4;
+}
+
+// The game protocol
+message Protocol {
+    // Is this a delta only?
+    // Entries that were already sent are not sent again, because the protocol is immutable anyway.
+    // But if the game is reset, the whole protocol must be replaced. That's what this flag is for.
+    optional bool delta = 1;
+    // The (delta) list of entries
+    repeated ProtocolEntry entry = 2;
+}
+
+// A protocol entry of a change
+message ProtocolEntry {
+    // Id of the entry
+    optional int32 id = 1;
+    // The change that was made
+    optional Change change = 2;
+    // The match time elapsed when this change was made
+    optional google.protobuf.Duration match_time_elapsed = 3;
+    // The stage time elapsed when this change was made
+    optional google.protobuf.Duration stage_time_elapsed = 4;
+}
+
+// Message format that can be send from the client to the GC
+message Input {
+    // A change to be enqueued into the GC engine
+    optional Change change = 1;
+    // Reset the match
+    optional bool reset_match = 2;
+    // An updated config delta
+    optional Config config_delta = 3;
+    // Continue with action
+    optional ContinueAction continue_action = 4;
+}

roboteam_networking/proto_CI/ssl_gc_change.proto

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+syntax = "proto2";
+
+option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/statemachine";
+
+import "ssl_gc_state.proto";
+import "ssl_gc_common.proto";
+import "ssl_gc_geometry.proto";
+import "ssl_gc_game_event.proto";
+import "ssl_gc_referee_message.proto";
+
+import "google/protobuf/timestamp.proto";
+import "google/protobuf/wrappers.proto";
+
+// A state change
+message StateChange {
+    // A unique increasing id
+    optional int32 id = 1;
+    // The previous state
+    optional State state_pre = 2;
+    // The state after the change was applied
+    optional State state = 3;
+    // The change itself
+    optional Change change = 4;
+    // The timestamp when the change was triggered
+    optional google.protobuf.Timestamp timestamp = 5;
+}
+
+// A certain change
+message Change {
+    // An identifier of the origin that triggered the change
+    optional string origin = 1;
+    // Is this change revertible?
+    optional bool revertible = 16;
+
+    oneof change {
+        NewCommand new_command_change = 2;
+        ChangeStage change_stage_change = 3;
+        SetBallPlacementPos set_ball_placement_pos_change = 4;
+        AddYellowCard add_yellow_card_change = 5;
+        AddRedCard add_red_card_change = 6;
+        YellowCardOver yellow_card_over_change = 7;
+        AddGameEvent add_game_event_change = 8;
+        AddPassiveGameEvent add_passive_game_event_change = 19;
+        AddProposal add_proposal_change = 9;
+        UpdateConfig update_config_change = 12;
+        UpdateTeamState update_team_state_change = 13;
+        SwitchColors switch_colors_change = 14;
+        Revert revert_change = 15;
+        NewGameState new_game_state_change = 17;
+        AcceptProposalGroup accept_proposal_group_change = 18;
+        SetStatusMessage set_status_message_change = 20;
+    }
+
+    // New referee command
+    message NewCommand {
+        // The command
+        optional Command command = 1;
+    }
+
+    // Switch to a new stage
+    message ChangeStage {
+        // The new stage
+        optional Referee.Stage new_stage = 1;
+    }
+
+    // Set the ball placement pos
+    message SetBallPlacementPos {
+        // The position in [m]
+        optional Vector2 pos = 1;
+    }
+
+    // Add a new yellow card
+    message AddYellowCard {
+        // The team that the card is for
+        optional Team for_team = 1;
+        // The game event that caused the card
+        optional GameEvent caused_by_game_event = 2;
+    }
+
+    // Add a new red card
+    message AddRedCard {
+        // The team that the card is for
+        optional Team for_team = 1;
+        // The game event that caused the card
+        optional GameEvent caused_by_game_event = 2;
+    }
+
+    // Trigger when a yellow card timed out
+    message YellowCardOver {
+        // The team that the card was for
+        optional Team for_team = 1;
+    }
+
+    // Add a new game event
+    message AddGameEvent {
+        // The game event
+        optional GameEvent game_event = 1;
+    }
+
+    // Add a new passive game event (that is only logged, but does not automatically trigger anything)
+    message AddPassiveGameEvent {
+        // The game event
+        optional GameEvent game_event = 1;
+    }
+
+    // Add a new proposal (i.e. from an auto referee for majority voting)
+    message AddProposal {
+        // The proposal
+        optional Proposal proposal = 1;
+    }
+
+    // Accept a proposal group (that contain one or more proposals of the same type)
+    message AcceptProposalGroup {
+        // The id of the group
+        optional string group_id = 3;
+        // An identifier of the acceptor
+        optional string accepted_by = 2;
+    }
+
+    // Update some configuration
+    message UpdateConfig {
+        // The division to play with
+        optional Division division = 1;
+        // the team that does/did the first kick off
+        optional Team first_kickoff_team = 2;
+        reserved 3; // auto_continue moved to gcState
+        // The match type
+        optional MatchType match_type = 4;
+        // The number of robots per team
+        optional google.protobuf.Int32Value max_robots_per_team = 5;
+    }
+
+    // Update the current state of a team (all fields that should be updated are set)
+    message UpdateTeamState {
+        // The team
+        optional Team for_team = 1;
+
+        // Change the name of the team
+        optional google.protobuf.StringValue team_name = 2;
+        // Change the number of goals that the teams has at the moment
+        optional google.protobuf.Int32Value goals = 3;
+        // The id of the goal keeper
+        optional google.protobuf.Int32Value goalkeeper = 4;
+        // The number of timeouts that the team has left
+        optional google.protobuf.Int32Value timeouts_left = 5;
+        // The timeout time that the team has left
+        optional google.protobuf.StringValue timeout_time_left = 6;
+        // Does the team play on the positive or the negative half (in ssl-vision coordinates)?
+        optional google.protobuf.BoolValue on_positive_half = 7;
+        // The number of ball placement failures
+        optional google.protobuf.Int32Value ball_placement_failures = 8;
+        // Can the team place the ball, or is ball placement for this team disabled and should be skipped?
+        optional google.protobuf.BoolValue can_place_ball = 9;
+        // The number of challenge flags that the team has left
+        optional google.protobuf.Int32Value challenge_flags_left = 21;
+        // The number of bot substitutions left by the team in this halftime
+        optional google.protobuf.Int32Value bot_substitutions_left = 22;
+        // Does the team want to substitute a robot in the next possible situation?
+        optional google.protobuf.BoolValue requests_bot_substitution = 10;
+        // Does the team want to take a timeout in the next possible situation?
+        optional google.protobuf.BoolValue requests_timeout = 17;
+        // Does the team want to challenge a recent decision of the referee?
+        optional google.protobuf.BoolValue requests_challenge = 18;
+        // Does the team want to request an emergency stop?
+        optional google.protobuf.BoolValue requests_emergency_stop = 19;
+        // Update a certain yellow card of the team
+        optional YellowCard yellow_card = 20;
+        // Update a certain red card of the team
+        optional RedCard red_card = 12;
+        // Update a certain foul of the team
+        optional Foul foul = 13;
+        // Remove the yellow card with this id
+        optional google.protobuf.UInt32Value remove_yellow_card = 14;
+        // Remove the red card with this id
+        optional google.protobuf.UInt32Value remove_red_card = 15;
+        // Remove the foul with this id
+        optional google.protobuf.UInt32Value remove_foul = 16;
+    }
+
+    // Switch the team colors
+    message SwitchColors {
+    }
+
+    // Revert a certain change
+    message Revert {
+        // The id of the change
+        optional int32 change_id = 1;
+    }
+
+    // Change the current game state
+    message NewGameState {
+        // The new game state
+        optional GameState game_state = 1;
+    }
+
+    message SetStatusMessage {
+        // The new status message
+        optional string status_message = 1;
+    }
+}