Protocol Documentation

general infos Color of the team

identifier for the tasks

Tasks

additional info for the refbox

flags and result of the current task cancels current task

if true current task is paused, if false again task is continued

was the task finished successful?

the task was successfully cancled from the agent

only set if failure, error-codes not yet

machine-id because need to know if CS1 or CS2

only for old-gripper, valid shelf-numbers: 1, 2, 3

name of the machine

valid machine-points: input, slide

name of the machine

valid machine-points: input, output

can be a zone or a machine (default is input side of a machine)

can be used to specify the point of the machine (input, output)

name of the machine

valid machine-points: input, output, shelf

description fo the current workpiece the robot has gripped

description fo the current workpiece the robot has gripped

description fo the current workpiece the robot has gripped

The message to display, be brief!

Time (sec) the msg should be visible

if the message only regards one team

Local time in UTC

Sequence number

The robot's jersey number

The robot's team name

The robot's name

Team color, teams MUST sent this

Position and orientation of the robot on the LLSF playing field

Maybe needed for future generalisation of beacon signal and tracking of robots current activity (used by GRIPS currently) current task-id of robot

a list of all the tasks that the robot has done. Contains the ID of

the specific task thats been done

the result of the task thats been done

The signal assignments

The zones to explore

machine type of this assignment

Light specification (MachineInfo.proto)

Zone to explore

Team the machine belongs to

The new desired phase

Name of the team to set

Color of team

Time in seconds since game start

Current game state

Current game phase

Awarded points, cyan

Name of the currently playing team

Awarded points, magenta

Name of the currently playing team

The new desired phase

The new desired state

Machine to place puck at

Machine to place puck at

Desired state of the lights

Machine to place puck at

State to set

Color and state of described light

Machine name, type, and team

Current state of the lights

Optional pose if known to refbox

Which zone the machine is in

Only set during exploration phase Correctly reported? (zone and type correct)

Number of bases loaded Default: 0

Instruction information (only clients)

more fine-grained exploration (only clients)

Status of the storage station shelf-slots

List of machines states

Team color (only broadcast)

shelf position (see MachineInstructons.proto)

slot position

fill status

additional information of the workpiece in that position

Send order_id 0 to let DS consume a product without further action. This can be used to get rid of waste products, such as clear bases.

Shelves: Slots: Top 5 4 1 3 5 7 3 0 2 4 6 2 Input ------> OUTPUT 1 (_) BOT 0 |

Optional description of the workpiece that is stored. The RefBox attaches this description when sending information about stored products

Machine name which to instruct

time since Unix epoch in seconds if specified and the message is too old it gets ignored (threshold is specified in globals.clp)

Machine name which to instruct

Team for which the report is sent

All machines already already recognized or a subset thereof

Machine name and recognized type and zone the machine is in

[0-360] in deg

Names of machines for which the refbox received a report from a robot (which may have been correct or wrong)

Team for which the report is sent

Responses to reports that were received by the refbox and that contained machine types and zones

Feedback about whether a reported type in a zone is correct "name" and "team_color" are only set if the reported type is located in the zone and if the number of reported types did not exceed the number of machines with the types

ID and requested product of this order

Quantity requested and delivered

Start and end time of the delivery period in seconds of game time

The gate to deliver to, defaults to any (non-defunct, i.e. non-red light) gate

The current orders

Time when this pose was measured

X/Y coordinates in meters

Orientation in rad

Ring color this concerns

number of additional bases required to produce this ring type

List of all known pucks

Number of robot to set state

True to activate maintenance, false to bring back robot

Team the robot belongs to

Name, team, and number of the robot as it was announced by the robot in the BeaconSignal message.

Host from where the BeaconSignal was received

Timestamp in UTC when a BeaconSignal was received last from this robot

Pose information (reported by robot)

Pose information (reported by vision)

Current state of this robot

Time in seconds remaining in current maintenance cycle, negative if overdue Default: 0

number of times maintenance has been performed, including current

List of all known robots

Time in seconds since the Unix epoch in UTC or seconds part of duration

Nano seconds after seconds for a time or nanoseconds part for duration

Puck unique ID

Machine which detected the workpiece

last seen at machine

Team the puck belongs to

Puck unique ID

List of all known pucks