PyRemote/RemoteAPI.proto at master · IEEE-UCSD-RoboCupSSL/PyRemote · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
syntax = "proto3";

option java_package = "Proto";

message Vec2D {
    double x = 1;
    double y = 2;
}


message Vec3D {
    double x = 1;
    double y = 2;
    double z = 3;
}

// message RemoteGeometry {
//     int32 field_length = 1;
//     int32 field_width = 2;
//     int32 goal_width = 3;
//     int32 goal_depth = 4;
// }


message Commands {
    bool enable_ball_auto_capture = 1; // if true, motion cmds are disabled, robot will
                                       // automatically perform delicate moves to capture ball
                                       // that's near the robot

    int32 mode = 2; /* enum CTRL_Mode {TDRD = 0, //TDRD: translational displacement & rotational displacement (at the same time)
                                       TDRV = 1, //TDRV: translational displacement & rotational velocity (at the same time)
                                       TVRD = 2, //TVRD: translational velocity & rotational displacement (at the same time)
                                       TVRV = 3, //TVRV: translational velocity & rotational velocity (at the same time)
                                       NSTDRD = 4, // No slowdown TDRD
                                       NSTDRV = 5  // No slowdown TDRV
                                       }
                                       */

    bool is_world_frame = 3; // True WorldFrame | False BodyFrame for motion setpoint

    Vec3D motion_set_point = 4; // <x, y, theta>
                                // theta is between -180 ~ 180 degree

    Vec2D kicker_set_point = 5; // <x, y>

    // Note: dribbler will be managed by the robot automatically
}


message RobotInternalData { /* Body Frame */
    Vec2D trans_vel = 1;

    // this is essentially the orientation angle, if we let both the robot and the camera to reference the same axis
    Vec2D trans_disp = 2; // Displacement relative to Robot's body reference frame

    double rotat_vel = 3;
    double rotat_disp = 4; // Rotational displacement would be the same as the bot angle in Vision_Data below
                           // if we initialize the robot's 0 orientation to be the same orientation of
                           // the camera's frame.
                           // Though coordinate transformation will take care of the nuences, it's recommended
                           // to set them as the same to keep things simpler
}

message VisionData { /* World(Camera) Frame */
    Vec2D bot_pos = 1; // Position on the field, relative to World camera's reference frame (world frame)
    Vec2D bot_vel = 2;
    double bot_ang = 3;
    double bot_ang_vel = 4;
    Vec2D ball_pos = 5;
    Vec2D ball_vel = 6;
}