ssl_geometry.h

#pragma once
 
#include <memory>
#include <optional>
 
#include "proto/ssl_vision_geometry.pb.h"
#include "software/geom/circle.h"
#include "software/geom/segment.h"
#include "software/util/make_enum/make_enum.hpp"
#include "software/world/field.h"
 
// clang-format off
MAKE_ENUM(SSLFieldLines,
          POS_Y_FIELD_LINE,                  // A
          NEG_Y_FIELD_LINE,                  // B
          NEG_X_FIELD_LINE,                  // C
          POS_X_FIELD_LINE,                  // D
          HALFWAY_LINE,                      // E
          CENTER_LINE,                       // F
          NEG_X_DEFENSE_AREA_FRONT_LINE,     // G
          POS_X_DEFENSE_AREA_FRONT_LINE,     // H
          POS_Y_LINE_OF_POS_X_GOAL,          // I
          NEG_Y_LINE_OF_POS_X_GOAL,          // J
          POS_X_GOAL_REAR_LINE,              // K
          POS_Y_LINE_OF_NEG_X_GOAL,          // L
          NEG_Y_LINE_OF_NEG_X_GOAL,          // M
          NEG_X_GOAL_REAR_LINE,              // N
          POS_Y_LINE_OF_NEG_X_DEFENSE_AREA,  // O
          NEG_Y_LINE_OF_NEG_X_DEFENSE_AREA,  // P
          NEG_Y_LINE_OF_POS_X_DEFENSE_AREA,  // Q
          POS_Y_LINE_OF_POS_X_DEFENSE_AREA,  // R
          )
 
MAKE_ENUM(SSLCircularArcs,
          CENTER_CIRCLE,                     // S
          )
// clang-format on
 
std::optional<SSLProto::SSL_FieldLineSegment> findLineSegment(
    const google::protobuf::RepeatedPtrField<SSLProto::SSL_FieldLineSegment>&
        line_segments,
    SSLFieldLines line_type);
 
std::optional<SSLProto::SSL_FieldCircularArc> findCircularArc(
    const google::protobuf::RepeatedPtrField<SSLProto::SSL_FieldCircularArc>&
        circular_arcs,
    SSLCircularArcs arc_type);
 
std::unique_ptr<SSLProto::Vector2f> createVector2f(const Point& point);
 
std::unique_ptr<SSLProto::SSL_FieldLineSegment> createFieldLineSegment(
    const Segment& segment, float thickness, SSLFieldLines line_type,
    const SSLProto::SSL_FieldShapeType& shape_type);
 
std::unique_ptr<SSLProto::SSL_FieldCircularArc> createFieldCircularArc(
    const Circle& circle, float thickness, SSLCircularArcs arc_type,
    const SSLProto::SSL_FieldShapeType& shape_type);
 
std::unique_ptr<SSLProto::SSL_GeometryFieldSize> createGeometryFieldSize(
    const Field& field, float thickness);
 
std::unique_ptr<SSLProto::SSL_GeometryData> createGeometryData(const Field& field,
                                                               float thickness);
 
std::optional<Field> createField(const SSLProto::SSL_GeometryData& geometry_packet);