RCJ-Soccer-StandardMessage

This is a proposal for a standard message in RoboCupJunior Soccer.

Protocol

JSON-based

{
  "header": "RCJ Soccer Open",
  "version": "1.0",
  "data": {
    "teamNumber": 1,
    "teamID": 1,
    "robot": {
      "number": 1,
      "position": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "velocity": {
        "x": 0,
        "y": 0
      },
      "status": 0,
      "role": 0,
      "intention": 0,
      "suggestion": [
        0,
        0,
        0,
        0,
        0
      ]
    },
    "ball": {
      "has": 0,
      "age": 0,
      "position": {
        "x": 0,
        "y": 0
      },
      "velocity": {
        "x": 0,
        "y": 0
      }
    }
  },
  "timestamp": 0,
  "customData": {}
}

Description

teamNumber - 1(home team) and 2(guest team)

teamID - choosen by each team, has to be unique

robot:number - choosen in each game, similar to marker on robots

robot:position:x - absolute position on the field in mm

robot:position:y - absolute position on the field in mm

robot:position:z - in degree (-180 to 180)

robot:velocity:x - in mm/s

robot:velocity:y - in mm/s

robot:status - 0(not playing), 1(playing)

robot:role - 0(don't know), 1(goalie), 2(defender), 3(midfielder), 4(striker)

robot:intention - see robot:role

robot:suggestion - see robot:role, suggest each robot which role it should take

ball:has - in ms, how long the robot has the ball in his own control

ball:age - in ms, how long the robot sees the ball, 0(saw no ball) everthing greater indicates robot sees the ball

ball:position:x - relative position to the robot in mm

ball:position:y - relative position to the robot in mm

ball:velocity:x - in mm/s

ball:velocity:y - in mm/s

timestamp - time since kickoff started

customData - up to yourself :)

Contribution

Feel free to do change requests or add a new example based on other libraries or platforms.

Thanks

Thanks to the RoboCup SPL Community. This protocol is based on their approach. https://github.com/bhuman/GameController/blob/master/include/SPLStandardMessage.h