Thunderbot_Software/software_2constants_8h_source.html

#pragma once


#include <string>


#include "shared/constants.h"


// How many milliseconds a robot must not be seen in vision before it is

// considered as "gone" and no longer reported.

static constexpr unsigned int ROBOT_DEBOUNCE_DURATION_MILLISECONDS = 200;


// Unix Socket Paths

const std::string TACTIC_OVERRIDE_PATH                   = "/tactic_override";

const std::string PLAY_OVERRIDE_PATH                     = "/play_override";

const std::string WORLD_PATH                             = "/world";

const std::string PRIMITIVE_PATH                         = "/primitive";

const std::string ROBOT_STATUS_PATH                      = "/robot_status";

const std::string DEFENDING_SIDE                         = "/defending_side";

const std::string SSL_WRAPPER_PATH                       = "/ssl_wrapper";

const std::string BLUE_SSL_WRAPPER_PATH                  = "/blue_ssl_wrapper";

const std::string YELLOW_SSL_WRAPPER_PATH                = "/yellow_ssl_wrapper";

const std::string SSL_REFEREE_PATH                       = "/ssl_referee";

const std::string SENSOR_PROTO_PATH                      = "/sensor_proto";

const std::string WORLD_STATE_PATH                       = "/world_state";

const std::string BLUE_ROBOT_STATUS_PATH                 = "/blue_robot_status";

const std::string YELLOW_ROBOT_STATUS_PATH               = "/yellow_robot_status";

const std::string SIMULATION_TICK_PATH                   = "/simulation_tick";

const std::string YELLOW_WORLD_PATH                      = "/yellow_world";

const std::string BLUE_WORLD_PATH                        = "/blue_world";

const std::string BLUE_PRIMITIVE_SET                     = "/blue_primitive_set";

const std::string YELLOW_PRIMITIVE_SET                   = "/yellow_primitive_set";

const std::string SIMULATOR_STATE_PATH                   = "/simulator_state";

const std::string VALIDATION_PROTO_SET_PATH              = "/validation_proto_set";

const std::string ROBOT_LOG_PATH                         = "/robot_log";

const std::string ROBOT_CRASH_PATH                       = "/robot_crash";

const std::string REPLAY_BOOKMARK_PATH                   = "/replay_bookmark";

const std::string DYNAMIC_PARAMETER_UPDATE_REQUEST_PATH  = "/dynamic_parameter_request";

const std::string DYNAMIC_PARAMETER_UPDATE_RESPONSE_PATH = "/dynamic_parameter_response";

const std::string WORLD_STATE_RECEIVED_TRIGGER_PATH = "/world_state_received_trigger";


const unsigned UNIX_BUFFER_SIZE = 20000;


static const double BALL_TO_FRONT_OF_ROBOT_DISTANCE_WHEN_DRIBBLING =

    BALL_MAX_RADIUS_METERS -

    2 * BALL_MAX_RADIUS_METERS * MAX_FRACTION_OF_BALL_COVERED_BY_ROBOT;


// Redis Keys

const std::string ROBOT_ID_REDIS_KEY                = "/robot_id";

const std::string ROBOT_MULTICAST_CHANNEL_REDIS_KEY = "/channel_id";

const std::string ROBOT_NETWORK_INTERFACE_REDIS_KEY = "/network_interface";

const std::string ROBOT_KICK_CONSTANT_REDIS_KEY     = "/kick_constant";

const std::string ROBOT_KICK_EXP_COEFF_REDIS_KEY    = "/kick_coeff";

const std::string ROBOT_CHIP_PULSE_WIDTH_REDIS_KEY  = "/chip_pulse_width";

const std::string ROBOT_CURRENT_DRAW_REDIS_KEY      = "/current_draw";

const std::string ROBOT_BATTERY_VOLTAGE_REDIS_KEY   = "/battery_voltage";

const std::string ROBOT_CAPACITOR_VOLTAGE_REDIS_KEY = "/cap_voltage";


const std::string SSL_VISION_ADDRESS          = "224.5.23.2";

static constexpr unsigned int SSL_VISION_PORT = 10020;


const std::string SSL_REFEREE_ADDRESS          = "224.5.23.1";

static constexpr unsigned int SSL_REFEREE_PORT = 10003;