[robocup-small] New Referee Box Protocol

[Christopher Head]

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OK, thanks for the great discussion everyone! Based on the feedback, I
have made a new message structure. Changes from the previous are as
follows:

* timestamp renamed to packet_timestamp
* stage_time_left made optional and signed
* command_timestamp field added
* TeamInfo::name field added

The new definition is below. Please indicate any further issues!

Chris

// Each UDP packet contains one of these messages.
message Referee {
	// The UNIX timestamp when the packet was sent, in microseconds.
	// Divide by 1,000,000 to get a time_t.
	required uint64 packet_timestamp = 1;

	// These are the "coarse" stages of the game.
	enum Stage {
		// The first half is about to start.
		// A kickoff is called within this stage.
		// This stage ends with the NORMAL_START.
		NORMAL_FIRST_HALF_PRE = 0;
		// The first half of the normal game, before half time.
		NORMAL_FIRST_HALF = 1;
		// Half time between first and second halves.
		NORMAL_HALF_TIME = 2;
		// The second half is about to start.
		// A kickoff is called within this stage.
		// This stage ends with the NORMAL_START.
		NORMAL_SECOND_HALF_PRE = 3;
		// The second half of the normal game, after half time.
		NORMAL_SECOND_HALF = 4;
		// The break before extra time.
		EXTRA_TIME_BREAK = 5;
		// The first half of extra time is about to start.
		// A kickoff is called within this stage.
		// This stage ends with the NORMAL_START.
		EXTRA_FIRST_HALF_PRE = 6;
		// The first half of extra time.
		EXTRA_FIRST_HALF = 7;
		// Half time between first and second extra halves.
		EXTRA_HALF_TIME = 8;
		// The second half of extra time is about to start.
		// A kickoff is called within this stage.
		// This stage ends with the NORMAL_START.
		EXTRA_SECOND_HALF_PRE = 9;
		// The second half of extra time.
		EXTRA_SECOND_HALF = 10;
		// The break before penalty shootout.
		PENALTY_SHOOTOUT_BREAK = 11;
		// The penalty shootout.
		PENALTY_SHOOTOUT = 12;
		// The game is over.
		POST_GAME = 13;
	}
	required Stage stage = 2;

	// The number of seconds left in the stage.
	// The following stages have this value; the rest do not:
	// NORMAL_FIRST_HALF
	// NORMAL_HALF_TIME
	// NORMAL_SECOND_HALF
	// EXTRA_TIME_BREAK
	// EXTRA_FIRST_HALF
	// EXTRA_HALF_TIME
	// EXTRA_SECOND_HALF
	// PENALTY_SHOOTOUT_BREAK
	//
	// If the stage runs over its specified time, this value
	// becomes negative.
	optional sint32 stage_time_left = 3;

	// These are the "fine" states of play on the field.
	enum Command {
		// All robots should completely stop moving.
		HALT = 0;
		// Robots must keep 50 cm from the ball.
		STOP = 1;
		// A prepared kickoff or penalty may now be taken.
		NORMAL_START = 2;
		// The ball is dropped and free for either team.
		FORCE_START = 3;
		// The yellow team may move into kickoff position.
		PREPARE_KICKOFF_YELLOW = 4;
		// The blue team may move into kickoff position.
		PREPARE_KICKOFF_BLUE = 5;
		// The yellow team may move into penalty position.
		PREPARE_PENALTY_YELLOW = 6;
		// The blue team may move into penalty position.
		PREPARE_PENALTY_BLUE = 7;
		// The yellow team may take a direct free kick.
		DIRECT_FREE_YELLOW = 8;
		// The blue team may take a direct free kick.
		DIRECT_FREE_BLUE = 9;
		// The yellow team may take an indirect free kick.
		INDIRECT_FREE_YELLOW = 10;
		// The blue team may take an indirect free kick.
		INDIRECT_FREE_BLUE = 11;
		// The yellow team is currently in a timeout.
		TIMEOUT_YELLOW = 12;
		// The blue team is currently in a timeout.
		TIMEOUT_BLUE = 13;
		// The yellow team just scored a goal.
		// For information only.
		// For rules compliance, teams must treat as STOP.
		GOAL_YELLOW = 14;
		// The blue team just scored a goal.
		GOAL_BLUE = 15;
	}
	required Command command = 4;

	// The number of commands issued since startup (mod 2^32).
	required uint32 command_counter = 5;

	// The UNIX timestamp when the command was issued, in
	// microseconds.
	// This value changes only when a new command is issued, not on
	// each packet.
	required uint64 command_timestamp = 6;

	// Information about a single team.
	message TeamInfo {
		// The team’s name (empty string if operator has not
		// typed anything).
		required string name = 1;
		// The number of goals scored by the team.
		required uint32 score = 2;
		// The number of red cards issued to the team
		// since the beginning of the game.
		required uint32 red_cards = 3;
		// The amount of time (in seconds) left on each yellow
		// card issued to the team.
		// If no yellow cards are issued, this array has no
		// elements.
		// Otherwise, ordered from smallest to largest.
		repeated uint32 yellow_card_times = 4;
		// The number of timeouts this team can still call.
		// If in a timeout right now, that timeout is excluded.
		required uint32 timeouts = 5;
		// The number of seconds of timeout this team can use.
		required uint32 timeout_time = 6;
	}

	// Information about the two teams.
	required TeamInfo yellow = 7;
	required TeamInfo blue = 8;
}
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