multi_team_communication.proto

package multi_team_comm;
//Protocol to communicate rough plans to other teammates
//Units are specified as follows:
//length - millimeters
//time - seconds
//angle - radians

//Plan of a list of robots
message TeamPlan {
  repeated RobotPlan plans = 1;
}

//Plan of a single robot
message RobotPlan {
  //ID of the robot from SSL vision
  required uint32 robot_id = 1;

  //Different roles a robot can assume
  enum RobotRole {
    Default = 0; //no specified role
    Goalie = 1;
    Defense = 2;
    Offense = 3;
  }
  //Planned role of this robot
  optional RobotRole role = 2;

  //Planned navigation target
  optional Pose nav_target = 3;

  //Planned shot target
  optional Location shot_target = 4;
}



// Location message, in mm. The center of the field is specified as (0, 0).
// Positive x axis points to the opponent's goal
message Location {
  required int32 x = 1;
  required int32 y = 2;
}

message Pose {
  //location of the robot
  optional Location loc = 1;
  //heading of the robot
  optional float heading = 2;
};