ssl_simulation_control.proto

syntax = "proto2";
option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";

import "ssl_gc_common.proto";
import "ssl_simulation_config.proto";
import "ssl_simulation_error.proto";

// Teleport the ball to a new location and optionally set it to some velocity
message TeleportBall {
    // x-coordinate [m]
    optional float x = 1;
    // y-coordinate [m]
    optional float y = 2;
    // z-coordinate (height) [m]
    optional float z = 3;
    // Velocity in x-direction [m/s]
    optional float vx = 4;
    // Velocity in y-direction [m/s]
    optional float vy = 5;
    // Velocity in z-direction [m/s]
    optional float vz = 6;
    // Teleport the ball safely to the target, for example by
    // moving robots out of the way in case of collision and set speed of robots close-by to zero
    optional bool teleport_safely = 7 [default = false];
    // Adapt the angular ball velocity such that the ball is rolling
    optional bool roll = 8 [default = false];
    // Instead of teleporting the ball, apply some force to make sure
    // the ball reaches the required position soon (velocity is ignored if true)
    // WARNING: A command with by_force stays active (the move will take some time)
    // until cancled by another TeleportBall command with by_force = false.
    // To avoid teleporting the ball at the end and resetting its current spin,
    // do not set any of the optional fields in this message to end the force without triggering
    // an additional teleportation
    optional bool by_force = 9 [ default = false];
}

// Teleport a robot to some location and give it a velocity
message TeleportRobot {
    // Robot id to teleport
    required RobotId id = 1;
    // x-coordinate [m]
    optional float x = 2;
    // y-coordinate [m]
    optional float y = 3;
    // Orientation [rad], measured from the x-axis counter-clockwise
    optional float orientation = 4;
    // Global velocity [m/s] towards x-axis
    optional float v_x = 5 [default = 0];
    // Global velocity [m/s] towards y-axis
    optional float v_y = 6 [default = 0];
    // Angular velocity [rad/s]
    optional float v_angular = 7 [default = 0];
    // Robot should be present on the field?
    // true -> robot will be added, if it does not exist yet
    // false -> robot will be removed, if it is present
    optional bool present = 8;
    // Instead of teleporting, apply some force to make sure
    // the robot reaches the required position soon (velocity is ignored if true)
    // WARNING: A command with by_force stays active (the move will take some time)
    // until cancled by another TeleportRobot command for the same bot with by_force = false.
    // To avoid teleporting at the end,
    // do not set any of the optional fields in this message
    // to end the force without triggering
    // an additional teleportation
    optional bool by_force = 9 [ default = false];
}

// Control the simulation
message SimulatorControl {
    // Teleport the ball
    optional TeleportBall teleport_ball = 1;
    // Teleport robots
    repeated TeleportRobot teleport_robot = 2;
    // Change the simulation speed
    optional float simulation_speed = 3;
}

// Command from the connected client to the simulator
message SimulatorCommand {
    // Control the simulation
    optional SimulatorControl control = 1;
    // Configure the simulation
    optional SimulatorConfig config = 2;
}

// Response of the simulator to the connected client
message SimulatorResponse {
    // List of errors, like using unsupported features
    repeated SimulatorError errors = 1;
}