tbots_protobuf.h

#pragma once
 
#include "proto/message_translation/tbots_geometry.h"
#include "proto/tbots_software_msgs.pb.h"
#include "proto/vision.pb.h"
#include "proto/visualization.pb.h"
#include "proto/world.pb.h"
#include "software/ai/navigator/trajectory/bang_bang_trajectory_1d_angular.h"
#include "software/ai/navigator/trajectory/trajectory_path.h"
#include "software/ai/passing/pass_with_rating.h"
#include "software/world/world.h"
 
std::unique_ptr<TbotsProto::World> createWorld(const World& world);
 
std::unique_ptr<TbotsProto::World> createWorldWithSequenceNumber(
    const World& world, const uint64_t sequence_number);
 
std::unique_ptr<TbotsProto::Team> createTeam(const Team& team);
 
std::unique_ptr<TbotsProto::Robot> createRobot(const Robot& robot);
 
std::unique_ptr<TbotsProto::Ball> createBall(const Ball& ball);
 
std::unique_ptr<TbotsProto::Field> createField(const Field& field);
 
std::unique_ptr<TbotsProto::RobotState> createRobotStateProto(const Robot& robot);
std::unique_ptr<TbotsProto::RobotState> createRobotStateProto(
    const RobotState& robot_state);
std::unique_ptr<TbotsProto::GameState> createGameState(const GameState& game_state);
std::unique_ptr<TbotsProto::BallState> createBallState(const Ball& ball);
 
std::unique_ptr<TbotsProto::Timestamp> createTimestamp(const Timestamp& timestamp);
 
std::unique_ptr<TbotsProto::NamedValue> createNamedValue(const std::string name,
                                                         float value);
 
std::unique_ptr<TbotsProto::PlotJugglerValue> createPlotJugglerValue(
    const std::map<std::string, double>& values);
 
template <class Shape>
std::unique_ptr<TbotsProto::DebugShapes::DebugShape> createDebugShape(
    const Shape& shape, const std::string& unique_id, const std::string& debug_text = "")
{
    auto debug_shape = std::make_unique<TbotsProto::DebugShapes::DebugShape>();
    (*debug_shape->mutable_shape()) = *createShapeProto(shape);
    debug_shape->set_unique_id(unique_id);
    debug_shape->set_debug_text(debug_text);
    return debug_shape;
};
 
std::unique_ptr<TbotsProto::DebugShapes> createDebugShapes(
    const std::vector<TbotsProto::DebugShapes::DebugShape>& debug_shapes);
 
std::unique_ptr<TbotsProto::Shape> createShapeProto(const Circle& circle);
std::unique_ptr<TbotsProto::Shape> createShapeProto(const Polygon& polygon);
std::unique_ptr<TbotsProto::Shape> createShapeProto(const Stadium& stadium);
 
std::unique_ptr<TbotsProto::Timestamp> createCurrentTimestamp();
 
RobotState createRobotState(const TbotsProto::RobotState robot_state);
 
BallState createBallState(const TbotsProto::BallState ball_state);
 
std::unique_ptr<TbotsProto::PassVisualization> createPassVisualization(
    const std::vector<PassWithRating>& passes_with_rating);
 
std::unique_ptr<TbotsProto::WorldStateReceivedTrigger> createWorldStateReceivedTrigger();
 
std::unique_ptr<TbotsProto::CostVisualization> createCostVisualization(
    const std::vector<double>& costs, int num_rows, int num_cols);
 
std::optional<TrajectoryPath> createTrajectoryPathFromParams(
    const TbotsProto::TrajectoryPathParams2D& params, const Vector& initial_velocity,
    const RobotConstants& robot_constants);
 
BangBangTrajectory1DAngular createAngularTrajectoryFromParams(
    const TbotsProto::TrajectoryParamsAngular1D& params,
    const AngularVelocity& initial_velocity, const RobotConstants& robot_constants);
 
int convertDribblerModeToDribblerSpeed(TbotsProto::DribblerMode dribbler_mode,
                                       RobotConstants_t robot_constants);
 
double convertMaxAllowedSpeedModeToMaxAllowedSpeed(
    TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode,
    RobotConstants_t robot_constants);