From 5865daf2da0e00b35e3b9b509847993039005457 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Elisson=20Ara=C3=BAjo?= <44985807+ersaraujo@users.noreply.github.com> Date: Thu, 31 Oct 2024 12:33:42 -0300 Subject: [PATCH] Fix file formatting (#66) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Ajusta a formatação dos arquivos. --------- Co-authored-by: Felipe Nunes --- .../cpp/robocin/utility/iproto_convertible.h | 2 + .../robot_command/robot_command_mapper.cpp | 2 +- .../.devcontainer/devcontainer.json | 2 +- .../decision-guardiola.code-workspace | 2 +- .../processing/decision_processor.cpp | 2 + .../navigation-luffy.code-workspace | 2 +- .../messaging/receiver/CMakeLists.txt | 2 +- .../navigation/parameters/CMakeLists.txt | 2 +- .../processing/motion_parser/CMakeLists.txt | 2 +- protocols/protocols/behavior/behavior.proto | 8 +- .../behavior/behavior_unification.proto | 30 ++-- protocols/protocols/behavior/motion.proto | 130 +++++++++--------- protocols/protocols/behavior/planning.proto | 10 +- protocols/protocols/common/feedback.proto | 23 ++-- protocols/protocols/common/message_type.proto | 14 +- .../common/peripheral_actuation.proto | 7 +- .../protocols/common/robot_dribbler.proto | 30 ++-- protocols/protocols/common/robot_kick.proto | 32 ++--- protocols/protocols/common/robot_motor.proto | 14 +- protocols/protocols/common/robot_pose.proto | 4 +- .../protocols/common/robot_velocity.proto | 4 +- protocols/protocols/communication/README.md | 2 +- .../protocols/communication/robot_info.proto | 40 +++--- protocols/protocols/decision/decision.proto | 20 +-- .../protocols/navigation/navigation.proto | 30 ++-- protocols/protocols/playback/README.md | 4 +- 26 files changed, 210 insertions(+), 210 deletions(-) diff --git a/common/cpp/robocin/utility/iproto_convertible.h b/common/cpp/robocin/utility/iproto_convertible.h index a6dbdbad..92b6162c 100644 --- a/common/cpp/robocin/utility/iproto_convertible.h +++ b/common/cpp/robocin/utility/iproto_convertible.h @@ -14,6 +14,8 @@ class IProtoConvertible { IProtoConvertible& operator=(IProtoConvertible&&) noexcept = default; virtual ~IProtoConvertible() = default; + + virtual T toProto() const = 0; virtual void fromProto(const T& proto) = 0; }; diff --git a/communication-ms/communication-jaiminho/communication/processing/robot_command/robot_command_mapper.cpp b/communication-ms/communication-jaiminho/communication/processing/robot_command/robot_command_mapper.cpp index d457be52..2f461ea2 100644 --- a/communication-ms/communication-jaiminho/communication/processing/robot_command/robot_command_mapper.cpp +++ b/communication-ms/communication-jaiminho/communication/processing/robot_command/robot_command_mapper.cpp @@ -52,7 +52,7 @@ rc::RobotInfo RobotCommandMapper::fromNavigationAndReferee(const tp::Referee& re rc::RobotDribbler::DribblerCommand dribbler_command; rc::Flags robot_flag; - command->set_msg_type(rc::MessageType::SSL_SPEED); + command->set_msg_type(rc::MessageType::MESSAGE_TYPE_SSL_SPEED); robot_id->CopyFrom(navigation.output(navigation.output_size() - 1).robot_id()); diff --git a/decision-ms/decision-guardiola/.devcontainer/devcontainer.json b/decision-ms/decision-guardiola/.devcontainer/devcontainer.json index 82c78d7a..302fe4b9 100644 --- a/decision-ms/decision-guardiola/.devcontainer/devcontainer.json +++ b/decision-ms/decision-guardiola/.devcontainer/devcontainer.json @@ -113,4 +113,4 @@ } } } -} \ No newline at end of file +} diff --git a/decision-ms/decision-guardiola/decision-guardiola.code-workspace b/decision-ms/decision-guardiola/decision-guardiola.code-workspace index a76206eb..f0a4a735 100644 --- a/decision-ms/decision-guardiola/decision-guardiola.code-workspace +++ b/decision-ms/decision-guardiola/decision-guardiola.code-workspace @@ -22,4 +22,4 @@ "**/**/.devcontainer": true, } } -} \ No newline at end of file +} diff --git a/decision-ms/decision-guardiola/decision/processing/decision_processor.cpp b/decision-ms/decision-guardiola/decision/processing/decision_processor.cpp index 730abe1a..a092fa83 100644 --- a/decision-ms/decision-guardiola/decision/processing/decision_processor.cpp +++ b/decision-ms/decision-guardiola/decision/processing/decision_processor.cpp @@ -66,6 +66,8 @@ std::optional DecisionProcessor::process(std::span return std::nullopt; } + const rc::Detection last_detection = detections.back(); + return rc::Decision{}; } diff --git a/navigation-ms/navigation-luffy/navigation-luffy.code-workspace b/navigation-ms/navigation-luffy/navigation-luffy.code-workspace index a76206eb..f0a4a735 100644 --- a/navigation-ms/navigation-luffy/navigation-luffy.code-workspace +++ b/navigation-ms/navigation-luffy/navigation-luffy.code-workspace @@ -22,4 +22,4 @@ "**/**/.devcontainer": true, } } -} \ No newline at end of file +} diff --git a/navigation-ms/navigation-luffy/navigation/messaging/receiver/CMakeLists.txt b/navigation-ms/navigation-luffy/navigation/messaging/receiver/CMakeLists.txt index 6408eb77..422d9ba4 100644 --- a/navigation-ms/navigation-luffy/navigation/messaging/receiver/CMakeLists.txt +++ b/navigation-ms/navigation-luffy/navigation/messaging/receiver/CMakeLists.txt @@ -11,4 +11,4 @@ robocin_cpp_library( common::output common::wip protocols::protobufs -) \ No newline at end of file +) diff --git a/navigation-ms/navigation-luffy/navigation/parameters/CMakeLists.txt b/navigation-ms/navigation-luffy/navigation/parameters/CMakeLists.txt index a5fae83f..02fa8dee 100644 --- a/navigation-ms/navigation-luffy/navigation/parameters/CMakeLists.txt +++ b/navigation-ms/navigation-luffy/navigation/parameters/CMakeLists.txt @@ -3,4 +3,4 @@ robocin_cpp_library( HDRS parameters.h SRCS parameters.cpp DEPS common::parameters -) \ No newline at end of file +) diff --git a/navigation-ms/navigation-luffy/navigation/processing/motion_parser/CMakeLists.txt b/navigation-ms/navigation-luffy/navigation/processing/motion_parser/CMakeLists.txt index 4c447080..bb7852bb 100644 --- a/navigation-ms/navigation-luffy/navigation/processing/motion_parser/CMakeLists.txt +++ b/navigation-ms/navigation-luffy/navigation/processing/motion_parser/CMakeLists.txt @@ -4,4 +4,4 @@ robocin_cpp_library( SRCS motion_parser.cpp DEPS protocols::protobufs navigation_utils -) \ No newline at end of file +) diff --git a/protocols/protocols/behavior/behavior.proto b/protocols/protocols/behavior/behavior.proto index b42719bb..7a7f520f 100644 --- a/protocols/protocols/behavior/behavior.proto +++ b/protocols/protocols/behavior/behavior.proto @@ -3,12 +3,12 @@ syntax = "proto3"; package protocols.behavior; import "protocols/common/geometry.proto"; -import "protocols/common/robot_id.proto"; import "protocols/common/peripheral_actuation.proto"; +import "protocols/common/robot_id.proto"; /* BETA: - These messages are not implemented in CBR-2024 release. - It is a beta version for future development. + These messages are not implemented in CBR-2024 release. + It is a beta version for future development. */ message Motion { @@ -36,4 +36,4 @@ message Obstacles { bool right_goal_post = 7; // TODO: Add game state obstacles: Stop, ball placement... -} \ No newline at end of file +} diff --git a/protocols/protocols/behavior/behavior_unification.proto b/protocols/protocols/behavior/behavior_unification.proto index 68a82bcf..6bbfe093 100644 --- a/protocols/protocols/behavior/behavior_unification.proto +++ b/protocols/protocols/behavior/behavior_unification.proto @@ -2,32 +2,30 @@ syntax = "proto3"; package protocols.behavior.unification; -import "protocols/common/peripheral_actuation.proto"; -import "protocols/common/robot_id.proto"; - import "protocols/behavior/motion.proto"; import "protocols/behavior/planning.proto"; +import "protocols/common/peripheral_actuation.proto"; +import "protocols/common/robot_id.proto"; -/* - Remove this implementation after CBR-2024. - This is a replica of current implementation of ssl-unification behavior output. +/* + Remove this implementation after CBR-2024. + This is a replica of current implementation of ssl-unification behavior output. */ message Behavior { - repeated Output output = 1; + repeated Output output = 1; } message Output { - common.RobotId robot_id = 1; - Motion motion = 2; - Planning planning = 3; + common.RobotId robot_id = 1; + Motion motion = 2; + Planning planning = 3; } message Motion { - GoToPoint go_to_point = 1; - GoToPointWithTrajectory go_to_point_with_trajectory = 2; - RotateInPoint rotate_in_point = 3; - RotateOnSelf rotate_on_self = 4; - common.PeripheralActuation peripheral_actuation = 5; + GoToPoint go_to_point = 1; + GoToPointWithTrajectory go_to_point_with_trajectory = 2; + RotateInPoint rotate_in_point = 3; + RotateOnSelf rotate_on_self = 4; + common.PeripheralActuation peripheral_actuation = 5; } - diff --git a/protocols/protocols/behavior/motion.proto b/protocols/protocols/behavior/motion.proto index 062dda29..f29dc216 100644 --- a/protocols/protocols/behavior/motion.proto +++ b/protocols/protocols/behavior/motion.proto @@ -5,93 +5,93 @@ package protocols.behavior; import "protocols/common/geometry.proto"; message DiscretizedPath { - repeated PathNode path = 1; - GoToPoint go_to_point = 2; + repeated PathNode path = 1; + GoToPoint go_to_point = 2; } message PathNode { - common.Point2Df position = 1; - common.Point2Df velocity = 2; - double time = 3; + common.Point2Df position = 1; + common.Point2Df velocity = 2; + double time = 3; } message RotateInPoint { - common.Point2Df target = 1; - double target_angle = 2; - bool clockwise = 3; - double orbit_radius = 4; - - double rotate_velocity = 5; - double min_velocity = 6; - double approach_kp = 7; - double angle_kp = 8; + common.Point2Df target = 1; + double target_angle = 2; + bool clockwise = 3; + double orbit_radius = 4; + + double rotate_velocity = 5; + double min_velocity = 6; + double approach_kp = 7; + double angle_kp = 8; } message RotateOnSelf { - double target_angle = 1; - common.Point2Df velocity = 2; - double kp = 3; + double target_angle = 1; + common.Point2Df velocity = 2; + double kp = 3; } message GoToPoint { - common.Point2Df target = 1; - double target_angle = 2; - - MovingProfile moving_profile = 3; - PrecisionToTarget precision_to_target = 4; - bool sync_rotate_with_linear_movement = 5; + common.Point2Df target = 1; + double target_angle = 2; + + MovingProfile moving_profile = 3; + PrecisionToTarget precision_to_target = 4; + bool sync_rotate_with_linear_movement = 5; } message GoToPointWithTrajectory { - GoToPoint go_to_point = 1; - PathConfig path_config = 2; + GoToPoint go_to_point = 1; + PathConfig path_config = 2; } message PathConfig { - common.Point2Df target_velocity = 1; - bool avoid_ball = 2; - bool avoid_ball_placement = 3; - bool avoid_ally_penalty_area = 4; - bool avoid_enemy_penalty_area = 5; - bool avoid_ally_robots = 6; - bool avoid_enemy_robots = 7; - - repeated int32 ally_skipped = 8; - repeated int32 enemy_skipped = 9; + common.Point2Df target_velocity = 1; + bool avoid_ball = 2; + bool avoid_ball_placement = 3; + bool avoid_ally_penalty_area = 4; + bool avoid_enemy_penalty_area = 5; + bool avoid_ally_robots = 6; + bool avoid_enemy_robots = 7; + + repeated int32 ally_skipped = 8; + repeated int32 enemy_skipped = 9; } enum PrecisionToTarget { - High = 0; - Normal = 1; + High = 0; + Normal = 1; } enum MovingProfile { - // Move safely profile - SafeInStopSpeed = 0; - - // Specific movement profile - BalancedInApproachBallSpeed = 1; - BalancedInCarryBallSpeed = 2; - BalancedInCarryBallLowSpeed = 3; - - // Goto point direct profile - DirectApproachBallSpeed = 4; - DirectSafeKickBallSpeed = 5; - DirectBalancedKickBallSpeed = 6; - DirectKickBallwithEnemyClose = 7; - gotoBallWithEnemy = 8; - PushBallInPenalty = 9; - TOTOZINHO = 10; - - // Default movement profile - BalancedInSlowSpeed = 11; - BalancedInMedianSpeed = 12; - BalancedInDefaultSpeed = 13; - BalancedInHighSpeed = 14; - - // Goalkepper profile - GoalkeeperInTopSpeed = 15; - - // Penalty push ball - PenaltyPushBall = 16; + // Move safely profile + SafeInStopSpeed = 0; + + // Specific movement profile + BalancedInApproachBallSpeed = 1; + BalancedInCarryBallSpeed = 2; + BalancedInCarryBallLowSpeed = 3; + + // Goto point direct profile + DirectApproachBallSpeed = 4; + DirectSafeKickBallSpeed = 5; + DirectBalancedKickBallSpeed = 6; + DirectKickBallwithEnemyClose = 7; + gotoBallWithEnemy = 8; + PushBallInPenalty = 9; + TOTOZINHO = 10; + + // Default movement profile + BalancedInSlowSpeed = 11; + BalancedInMedianSpeed = 12; + BalancedInDefaultSpeed = 13; + BalancedInHighSpeed = 14; + + // Goalkepper profile + GoalkeeperInTopSpeed = 15; + + // Penalty push ball + PenaltyPushBall = 16; } diff --git a/protocols/protocols/behavior/planning.proto b/protocols/protocols/behavior/planning.proto index 5d6d82e7..b55efac7 100644 --- a/protocols/protocols/behavior/planning.proto +++ b/protocols/protocols/behavior/planning.proto @@ -6,9 +6,9 @@ import "protocols/behavior/motion.proto"; import "protocols/common/peripheral_actuation.proto"; message Planning { - DiscretizedPath discretized_path = 1; - GoToPoint go_to_point = 2; - RotateInPoint rotate_in_point = 3; - RotateOnSelf rotate_on_self = 4; - common.PeripheralActuation peripheral_actuation = 5; + DiscretizedPath discretized_path = 1; + GoToPoint go_to_point = 2; + RotateInPoint rotate_in_point = 3; + RotateOnSelf rotate_on_self = 4; + common.PeripheralActuation peripheral_actuation = 5; } diff --git a/protocols/protocols/common/feedback.proto b/protocols/protocols/common/feedback.proto index a430ef81..00b1fe8c 100644 --- a/protocols/protocols/common/feedback.proto +++ b/protocols/protocols/common/feedback.proto @@ -3,20 +3,19 @@ syntax = "proto3"; package protocols.common; import "protocols/common/robot_id.proto"; -import "protocols/common/robot_pose.proto"; import "protocols/common/robot_kick.proto"; -import "protocols/common/robot_velocity.proto"; import "protocols/common/robot_motor.proto"; +import "protocols/common/robot_pose.proto"; +import "protocols/common/robot_velocity.proto"; message Feedback { - Telemetry telemetry = 1; - optional RobotPose pose = 2; - - message Telemetry { - RobotId robot_id = 1; - RobotVelocity robot_velocity = 2; - RobotMotor robot_motor = 3; - RobotKick.KickInfo kick_info = 4; - } -} + Telemetry telemetry = 1; + optional RobotPose pose = 2; + message Telemetry { + RobotId robot_id = 1; + RobotVelocity robot_velocity = 2; + RobotMotor robot_motor = 3; + RobotKick.KickInfo kick_info = 4; + } +} diff --git a/protocols/protocols/common/message_type.proto b/protocols/protocols/common/message_type.proto index a9f3e8dd..85423eec 100644 --- a/protocols/protocols/common/message_type.proto +++ b/protocols/protocols/common/message_type.proto @@ -3,10 +3,10 @@ syntax = "proto3"; package protocols.common; enum MessageType { - UNKNOWN = 0; - SSL_SPEED = 1; - SSL_POSITION = 2; - SSL_TELEMETRY = 3; - SSL_ODOMETRY = 4; - SSL_MOTORS = 5; -} \ No newline at end of file + MESSAGE_TYPE_UNSPECIFIED = 0; + MESSAGE_TYPE_SSL_SPEED = 1; + MESSAGE_TYPE_SSL_POSITION = 2; + MESSAGE_TYPE_SSL_TELEMETRY = 3; + MESSAGE_TYPE_SSL_ODOMETRY = 4; + MESSAGE_TYPE_SSL_MOTORS = 5; +} diff --git a/protocols/protocols/common/peripheral_actuation.proto b/protocols/protocols/common/peripheral_actuation.proto index 55688acc..8ac840a8 100644 --- a/protocols/protocols/common/peripheral_actuation.proto +++ b/protocols/protocols/common/peripheral_actuation.proto @@ -2,11 +2,10 @@ syntax = "proto3"; package protocols.common; -import "protocols/common/robot_kick.proto"; import "protocols/common/robot_dribbler.proto"; +import "protocols/common/robot_kick.proto"; message PeripheralActuation { - RobotKick.KickCommand kick_command = 1; - RobotDribbler robot_dribbler = 2; + RobotKick.KickCommand kick_command = 1; + RobotDribbler robot_dribbler = 2; } - diff --git a/protocols/protocols/common/robot_dribbler.proto b/protocols/protocols/common/robot_dribbler.proto index 531360ee..6f329ff3 100644 --- a/protocols/protocols/common/robot_dribbler.proto +++ b/protocols/protocols/common/robot_dribbler.proto @@ -3,19 +3,19 @@ syntax = "proto3"; package protocols.common; message RobotDribbler { - oneof dribbler { - DribblerCommand dribbler_command = 1; - DribblerInfo dribbler_info = 2; - } - - message DribblerCommand { - double dribbler_speed = 1; - bool is_active = 2; - } + oneof dribbler { + DribblerCommand dribbler_command = 1; + DribblerInfo dribbler_info = 2; + } - message DribblerInfo { - double dribbler_speed = 1; - double dribbler_current = 2; - bool is_ball_detected = 3; - } -} \ No newline at end of file + message DribblerCommand { + double dribbler_speed = 1; + bool is_active = 2; + } + + message DribblerInfo { + double dribbler_speed = 1; + double dribbler_current = 2; + bool is_ball_detected = 3; + } +} diff --git a/protocols/protocols/common/robot_kick.proto b/protocols/protocols/common/robot_kick.proto index 3996e42b..c9baee9d 100644 --- a/protocols/protocols/common/robot_kick.proto +++ b/protocols/protocols/common/robot_kick.proto @@ -3,21 +3,21 @@ syntax = "proto3"; package protocols.common; message RobotKick { - oneof kick { - KickCommand kick_command = 1; - KickInfo kick_info = 2; - } + oneof kick { + KickCommand kick_command = 1; + KickInfo kick_info = 2; + } - message KickCommand { - double kick_strength = 1; - bool is_front = 2; - bool is_chip = 3; - bool charge_capacitor = 4; - bool is_bypass_ir = 5; - } + message KickCommand { + double kick_strength = 1; + bool is_front = 2; + bool is_chip = 3; + bool charge_capacitor = 4; + bool is_bypass_ir = 5; + } - message KickInfo { - double capacitor_charge = 1; - bool is_ball_detected = 2; - } -} \ No newline at end of file + message KickInfo { + double capacitor_charge = 1; + bool is_ball_detected = 2; + } +} diff --git a/protocols/protocols/common/robot_motor.proto b/protocols/protocols/common/robot_motor.proto index 18a5fcc4..ffa09cd5 100644 --- a/protocols/protocols/common/robot_motor.proto +++ b/protocols/protocols/common/robot_motor.proto @@ -3,11 +3,11 @@ syntax = "proto3"; package protocols.common; message RobotMotor { - repeated Motor motor = 4; + repeated Motor motor = 4; - message Motor { - uint32 motor_id = 1; - float motor_speed = 2; - float motor_current = 3; - } -} \ No newline at end of file + message Motor { + uint32 motor_id = 1; + float motor_speed = 2; + float motor_current = 3; + } +} diff --git a/protocols/protocols/common/robot_pose.proto b/protocols/protocols/common/robot_pose.proto index 1db1dbc6..a9630587 100644 --- a/protocols/protocols/common/robot_pose.proto +++ b/protocols/protocols/common/robot_pose.proto @@ -5,6 +5,6 @@ package protocols.common; import "protocols/common/geometry.proto"; message RobotPose { - Point2Df position = 1; - float orientation = 2; + Point2Df position = 1; + float orientation = 2; } diff --git a/protocols/protocols/common/robot_velocity.proto b/protocols/protocols/common/robot_velocity.proto index 4963dbb2..a0d4b5f7 100644 --- a/protocols/protocols/common/robot_velocity.proto +++ b/protocols/protocols/common/robot_velocity.proto @@ -5,6 +5,6 @@ package protocols.common; import "protocols/common/geometry.proto"; message RobotVelocity { - Point2Df velocity = 1; - float angular_velocity = 2 ; + Point2Df velocity = 1; + float angular_velocity = 2; } diff --git a/protocols/protocols/communication/README.md b/protocols/protocols/communication/README.md index 1b8ed020..8a227a4a 100644 --- a/protocols/protocols/communication/README.md +++ b/protocols/protocols/communication/README.md @@ -6,7 +6,7 @@ This directory contains the output of the communication service. - [communication](#communication) - [Table of Contents](#table-of-contents) - - [`RobotInfo`](#robot-command) + - [`RobotInfo`](#robotinfo) ## [`RobotInfo`](robot_info.proto) diff --git a/protocols/protocols/communication/robot_info.proto b/protocols/protocols/communication/robot_info.proto index 355acb46..0391ded3 100644 --- a/protocols/protocols/communication/robot_info.proto +++ b/protocols/protocols/communication/robot_info.proto @@ -2,37 +2,37 @@ syntax = "proto3"; package protocols.communication; +import "protocols/common/feedback.proto"; import "protocols/common/game_command.proto"; -import "protocols/common/robot_id.proto"; import "protocols/common/message_type.proto"; -import "protocols/common/feedback.proto"; -import "protocols/common/robot_velocity.proto"; -import "protocols/common/robot_kick.proto"; import "protocols/common/robot_dribbler.proto"; +import "protocols/common/robot_id.proto"; +import "protocols/common/robot_kick.proto"; +import "protocols/common/robot_velocity.proto"; message RobotInfo { - oneof type { - Command command = 1; - common.Feedback feedback = 2; - } + oneof type { + Command command = 1; + common.Feedback feedback = 2; + } } message Command { - common.MessageType msg_type = 1; - common.RobotId robot_id = 2; + common.MessageType msg_type = 1; + common.RobotId robot_id = 2; - common.GameCommand ref_command = 3; + common.GameCommand ref_command = 3; - common.RobotVelocity robot_velocity = 4; + common.RobotVelocity robot_velocity = 4; - common.RobotKick.KickCommand kick_command = 5; - common.RobotDribbler.DribblerCommand dribbler_command = 6; - - Flags robot_flags = 7; + common.RobotKick.KickCommand kick_command = 5; + common.RobotDribbler.DribblerCommand dribbler_command = 6; + + Flags robot_flags = 7; } message Flags { - bool robot_locked = 1; - bool critical_move = 2; - bool global_speed = 3; -} \ No newline at end of file + bool robot_locked = 1; + bool critical_move = 2; + bool global_speed = 3; +} diff --git a/protocols/protocols/decision/decision.proto b/protocols/protocols/decision/decision.proto index c3e96aee..e3d1839b 100644 --- a/protocols/protocols/decision/decision.proto +++ b/protocols/protocols/decision/decision.proto @@ -2,29 +2,29 @@ syntax = "proto3"; package protocols.decision; -import "protocols/common/robot_id.proto"; import "protocols/common/geometry.proto"; +import "protocols/common/robot_id.proto"; message Decision { - repeated Behavior behavior = 1; - TacticalPlan plan = 2; + repeated Behavior behavior = 1; + TacticalPlan plan = 2; } message Behavior { - uint32 id = 1; - common.RobotId robot_id = 2; - optional common.Point2Df target = 3; + uint32 id = 1; + common.RobotId robot_id = 2; + optional common.Point2Df target = 3; } message TacticalPlan { - OffensivePlan offensive = 1; - DefensivePlan defensive = 2; + OffensivePlan offensive = 1; + DefensivePlan defensive = 2; } message DefensivePlan { - // todo: mapear cálculos que podem ser repassados para o behavior do decision + // todo: mapear cálculos que podem ser repassados para o behavior do decision } message OffensivePlan { - // todo: mapear cálculos que podem ser repassados para o behavior do decision + // todo: mapear cálculos que podem ser repassados para o behavior do decision } diff --git a/protocols/protocols/navigation/navigation.proto b/protocols/protocols/navigation/navigation.proto index be28238c..9bad0d61 100644 --- a/protocols/protocols/navigation/navigation.proto +++ b/protocols/protocols/navigation/navigation.proto @@ -9,21 +9,21 @@ import "protocols/common/robot_id.proto"; import "protocols/common/robot_pose.proto"; message Navigation { - repeated Output output = 1; + repeated Output output = 1; } message Output { - common.RobotId robot_id = 1; - common.PeripheralActuation peripheral_actuation = 2; - google.protobuf.Timestamp timestamp = 3; - double forward_velocity = 4; - double left_velocity = 5; - double angular_velocity = 6; - - uint32 custom_command = 7; - - uint32 sequence_number = 8; - common.Point2Df output_global_linear_velocity = 9; - - common.RobotPose robot_pose = 13; -} \ No newline at end of file + common.RobotId robot_id = 1; + common.PeripheralActuation peripheral_actuation = 2; + google.protobuf.Timestamp timestamp = 3; + double forward_velocity = 4; + double left_velocity = 5; + double angular_velocity = 6; + + uint32 custom_command = 7; + + uint32 sequence_number = 8; + common.Point2Df output_global_linear_velocity = 9; + + common.RobotPose robot_pose = 13; +} diff --git a/protocols/protocols/playback/README.md b/protocols/protocols/playback/README.md index 1f645147..eefea1f6 100644 --- a/protocols/protocols/playback/README.md +++ b/protocols/protocols/playback/README.md @@ -9,9 +9,9 @@ This directory contains the output of the playback service. - [`detection`](#detection) - [`field`](#field) - [`game_status`](#game_status) - - [`raw_detection`](#raw_detection) + - [`raw_detection`](#raw_detection) - [`sample`](#sample) - - [`tracked_detection`](#tracked_detection) + - [`tracked_detection`](#tracked_detection) ## [`detection`](detection.proto)