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Copy pathencode_extended.cpp
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138 lines (122 loc) · 6.17 KB
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#include <google/protobuf/timestamp.pb.h>
#include <chrono>
#include <cmath>
#include <fstream>
#include <iostream>
#include <string>
#include "robocup_extension.pb.h"
#include "utils.hpp"
int main(void) {
// Create a new message which contains extensions
robocup::humanoid::Message msg;
// Set the transmission timestamp
auto d = std::chrono::system_clock::now().time_since_epoch();
auto seconds = std::chrono::duration_cast<std::chrono::seconds>(d);
auto nanos = std::chrono::duration_cast<std::chrono::nanoseconds>(d - seconds);
msg.mutable_timestamp()->set_seconds(seconds.count());
msg.mutable_timestamp()->set_nanos(nanos.count());
// Set player details
msg.mutable_current_pose()->set_player_id(3);
msg.mutable_current_pose()->set_team(robocup::humanoid::Team::BLUE);
msg.mutable_current_pose()->mutable_position()->set_x(1.0f);
msg.mutable_current_pose()->mutable_position()->set_y(3.0f);
msg.mutable_current_pose()->mutable_position()->set_z(M_PI / 3);
msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_x(1.0f);
msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_y(0.0f);
msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_z(0.0f);
msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_x(0.0f);
msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_y(1.0f);
msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_z(0.0f);
msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_x(0.0f);
msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_y(0.0f);
msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_z(1.0f);
// Set ball details
msg.mutable_ball()->mutable_position()->set_x(2.0f);
msg.mutable_ball()->mutable_position()->set_y(3.0f);
msg.mutable_ball()->mutable_position()->set_z(1.0f);
msg.mutable_ball()->mutable_velocity()->set_x(0.5f);
msg.mutable_ball()->mutable_velocity()->set_y(0.5f);
msg.mutable_ball()->mutable_velocity()->set_z(-0.5f);
msg.mutable_ball()->mutable_covariance()->mutable_x()->set_x(1.0f);
msg.mutable_ball()->mutable_covariance()->mutable_x()->set_y(0.0f);
msg.mutable_ball()->mutable_covariance()->mutable_x()->set_z(0.0f);
msg.mutable_ball()->mutable_covariance()->mutable_y()->set_x(0.0f);
msg.mutable_ball()->mutable_covariance()->mutable_y()->set_y(1.0f);
msg.mutable_ball()->mutable_covariance()->mutable_y()->set_z(0.0f);
msg.mutable_ball()->mutable_covariance()->mutable_z()->set_x(0.0f);
msg.mutable_ball()->mutable_covariance()->mutable_z()->set_y(0.0f);
msg.mutable_ball()->mutable_covariance()->mutable_z()->set_z(1.0f);
// Set walk command
msg.mutable_walk_command()->set_x(0.15f);
msg.mutable_walk_command()->set_y(0.15f);
msg.mutable_walk_command()->set_z(-0.05f);
// Set target pose
msg.mutable_target_pose()->set_player_id(3);
msg.mutable_target_pose()->set_team(robocup::humanoid::Team::BLUE);
msg.mutable_target_pose()->mutable_position()->set_x(2.0f);
msg.mutable_target_pose()->mutable_position()->set_y(3.0f);
msg.mutable_target_pose()->mutable_position()->set_z(-M_PI / 3);
// Set kick target
msg.mutable_kick_target()->set_x(4.5f);
msg.mutable_kick_target()->set_y(0.0f);
// Set state
msg.set_state(robocup::humanoid::State::UNPENALISED);
// Set some others details
robocup::humanoid::Robot* other = msg.add_others();
other->set_player_id(2);
other->set_team(robocup::humanoid::Team::BLUE);
other->mutable_position()->set_x(1.0f);
other->mutable_position()->set_y(-3.0f);
other->mutable_position()->set_z(M_PI / 6);
other->mutable_covariance()->mutable_x()->set_x(1.0f);
other->mutable_covariance()->mutable_x()->set_y(0.0f);
other->mutable_covariance()->mutable_x()->set_z(0.0f);
other->mutable_covariance()->mutable_y()->set_x(0.0f);
other->mutable_covariance()->mutable_y()->set_y(1.0f);
other->mutable_covariance()->mutable_y()->set_z(0.0f);
other->mutable_covariance()->mutable_z()->set_x(0.0f);
other->mutable_covariance()->mutable_z()->set_y(0.0f);
other->mutable_covariance()->mutable_z()->set_z(1.0f);
other = msg.add_others();
other->set_player_id(1);
other->set_team(robocup::humanoid::Team::RED);
other->mutable_position()->set_x(4.5f);
other->mutable_position()->set_y(0.0f);
other->mutable_position()->set_z(M_PI);
other->mutable_covariance()->mutable_x()->set_x(1.0f);
other->mutable_covariance()->mutable_x()->set_y(0.0f);
other->mutable_covariance()->mutable_x()->set_z(0.0f);
other->mutable_covariance()->mutable_y()->set_x(0.0f);
other->mutable_covariance()->mutable_y()->set_y(1.0f);
other->mutable_covariance()->mutable_y()->set_z(0.0f);
other->mutable_covariance()->mutable_z()->set_x(0.0f);
other->mutable_covariance()->mutable_z()->set_y(0.0f);
other->mutable_covariance()->mutable_z()->set_z(1.0f);
other = msg.add_others();
other->set_player_id(0);
other->set_team(robocup::humanoid::Team::UNKNOWN_TEAM);
other->mutable_position()->set_x(4.0f);
other->mutable_position()->set_y(0.0f);
other->mutable_position()->set_z(M_PI);
other->mutable_covariance()->mutable_x()->set_x(1.0f);
other->mutable_covariance()->mutable_x()->set_y(0.0f);
other->mutable_covariance()->mutable_x()->set_z(0.0f);
other->mutable_covariance()->mutable_y()->set_x(0.0f);
other->mutable_covariance()->mutable_y()->set_y(1.0f);
other->mutable_covariance()->mutable_y()->set_z(0.0f);
other->mutable_covariance()->mutable_z()->set_x(0.0f);
other->mutable_covariance()->mutable_z()->set_y(0.0f);
other->mutable_covariance()->mutable_z()->set_z(1.0f);
// ******************************
// * Official message ends here *
// ******************************
// Set max walking speed (an extension value)
msg.set_max_walking_speed(0.25f);
// Dump serialised message to file
std::ofstream ofs("extended_message.pb", std::ofstream::binary);
std::string string_msg;
msg.SerializeToString(&string_msg);
ofs.write(string_msg.data(), string_msg.size());
ofs.close();
return 0;
}