service.proto

syntax = "proto3";

package protos;

enum ViewWidth {
  NARROW = 0;
  NORMAL = 1;
  WIDE = 2;
}

message Vector2D {
  float x = 1;
  float y = 2;
  float dist = 3;
  float angle = 4;
}

message Ball {
  Vector2D position = 1;
  Vector2D relative_position = 2;
  Vector2D seen_position = 3;
  Vector2D heard_position = 4;
  Vector2D velocity = 5;
  Vector2D seen_velocity = 6;
  Vector2D heard_velocity = 7;
  int32 pos_count = 8;
  int32 seen_pos_count = 9;
  int32 heard_pos_count = 10;
  int32 vel_count = 11;
  int32 seen_vel_count = 12;
  int32 heard_vel_count = 13;
  int32 lost_count = 14;
  int32 ghost_count = 15;
  float dist_from_self = 16;
  float angle_from_self = 17;
}

enum Side {
  UNKNOWN = 0;
  LEFT = 1;
  RIGHT = 2;
}

enum LoggerLevel{
  None = 0;
  SYSTEM = 0x00000001;
  SENSOR = 0x00000002;
  WORLD = 0x00000004;
  ACTION = 0x00000008;
  INTERCEPT = 0x00000010;
  KICK = 0x00000020;
  HOLD = 0x00000040;
  DRIBBLE = 0x00000080;
  PASS = 0x00000100;
  CROSS = 0x00000200;
  SHOOT = 0x00000400;
  CLEAR = 0x00000800;
  BLOCK = 0x00001000;
  MARK = 0x00002000;
  POSITIONING = 0x00004000;
  ROLE = 0x00008000;
  TEAM = 0x00010000;
  COMMUNICATION = 0x00020000;
  ANALYZER = 0x00040000;
  ACTION_CHAIN = 0x00080000;
  PLAN = 0x00100000;
  // TRAINING = 0x80000000;
  // LEVEL_ANY = 0xffffffff;
}

message Player {
  Vector2D position = 1;
  Vector2D seen_position = 2;
  Vector2D heard_position = 3;
  Vector2D velocity = 4;
  Vector2D seen_velocity = 5;
  int32 pos_count = 6;
  int32 seen_pos_count = 7;
  int32 heard_pos_count = 8;
  int32 vel_count = 9;
  int32 seen_vel_count = 10;
  int32 ghost_count = 11;
  float dist_from_self = 12;
  float angle_from_self = 13;
  int32 id = 14;
  Side side = 15;
  int32 uniform_number = 16;
  int32 uniform_number_count = 17;
  bool is_goalie = 18;
  float body_direction = 19;
  int32 body_direction_count = 20;
  float face_direction = 21;
  int32 face_direction_count = 22;
  float point_to_direction = 23;
  int32 point_to_direction_count = 24;
  bool is_kicking = 25;
  float dist_from_ball = 26;
  float angle_from_ball = 27;
  int32 ball_reach_steps = 28;
  bool is_tackling = 29;
  int32 type_id = 30;
}

message Self {
  Vector2D position = 1;
  Vector2D seen_position = 2;
  Vector2D heard_position = 3;
  Vector2D velocity = 4;
  Vector2D seen_velocity = 5;
  int32 pos_count = 6;
  int32 seen_pos_count = 7;
  int32 heard_pos_count = 8;
  int32 vel_count = 9;
  int32 seen_vel_count = 10;
  int32 ghost_count = 11;
  int32 id = 12;
  Side side = 13;
  int32 uniform_number = 14;
  int32 uniform_number_count = 15;
  bool is_goalie = 16;
  float body_direction = 17;
  int32 body_direction_count = 18;
  float face_direction = 19;
  int32 face_direction_count = 20;
  float point_to_direction = 21;
  int32 point_to_direction_count = 22;
  bool is_kicking = 23;
  float dist_from_ball = 24;
  float angle_from_ball = 25;
  int32 ball_reach_steps = 26;
  bool is_tackling = 27;
  float relative_neck_direction = 28;
  float stamina = 29;
  bool is_kickable = 30;
  float catch_probability = 31;
  float tackle_probability = 32;
  float foul_probability = 33;
  ViewWidth view_width = 34;
  int32 type_id = 35;
  float kick_rate = 36;
}

enum InterceptActionType {
  UNKNOWN_Intercept_Action_Type = 0;
  OMNI_DASH = 1;
  TURN_FORWARD_DASH = 2;
  TURN_BACKWARD_DASH = 3;
}

message InterceptInfo {
  InterceptActionType action_type = 1;
  int32 turn_steps = 2;
  float turn_angle = 3;
  int32 dash_steps = 4;
  float dash_power = 5;
  float dash_dir = 6;
  Vector2D final_self_position = 7;
  float final_ball_dist = 8;
  float final_stamina = 9;
  float value = 10;
}

message InterceptTable {
  int32 self_reach_steps = 1;
  int32 first_teammate_reach_steps = 2;
  int32 second_teammate_reach_steps = 3;
  int32 first_opponent_reach_steps = 4;
  int32 second_opponent_reach_steps = 5;
  int32 first_teammate_id = 6;
  int32 second_teammate_id = 7;
  int32 first_opponent_id = 8;
  int32 second_opponent_id = 9;
  repeated InterceptInfo self_intercept_info = 10;
}

enum GameModeType {
  BeforeKickOff = 0;
  TimeOver = 1;
  PlayOn = 2;
  KickOff_ = 3;
  KickIn_ = 4;
  FreeKick_ = 5;
  CornerKick_ = 6;
  GoalKick_ = 7;
  AfterGoal_ = 8;
  OffSide_ = 9;
  PenaltyKick_ = 10;
  FirstHalfOver = 11;
  Pause = 12;
  Human = 13;
  FoulCharge_ = 14;
  FoulPush_ = 15;
  FoulMultipleAttacker_ = 16;
  FoulBallOut_ = 17;
  BackPass_ = 18;
  FreeKickFault_ = 19;
  CatchFault_ = 20;
  IndFreeKick_ = 21;
  PenaltySetup_ = 22;
  PenaltyReady_ = 23;
  PenaltyTaken_ = 24;
  PenaltyMiss_ = 25;
  PenaltyScore_ = 26;
  IllegalDefense_ = 27;
  PenaltyOnfield_ = 28;
  PenaltyFoul_ = 29;
  GoalieCatch_ = 30;
  ExtendHalf = 31;
  MODE_MAX = 32;
}

message WorldModel {
  InterceptTable intercept_table = 1;
  string our_team_name = 2;
  string their_team_name = 3;
  Side our_side = 4;
  int32 last_set_play_start_time = 5;
  Self self = 6;
  Ball ball = 7;
  repeated Player teammates = 8;
  repeated Player opponents = 9;
  repeated Player unknowns = 10;
  map<int32, Player> our_players_dict = 11;
  map<int32, Player> their_players_dict = 12;
  int32 our_goalie_uniform_number = 13;
  int32 their_goalie_uniform_number = 14;
  float offside_line_x = 15;
  int32 ofside_line_x_count = 16;
  int32 kickable_teammate_id = 17;
  int32 kickable_opponent_id = 18;
  Side last_kick_side = 19;
  int32 last_kicker_uniform_number = 20;
  int32 cycle = 21;
  GameModeType game_mode_type = 22;
  int32 left_team_score = 23;
  int32 right_team_score = 24;
  bool is_our_set_play = 25;
  bool is_their_set_play = 26;
  int32 stoped_cycle = 27;
  int32 our_team_score = 28;
  int32 their_team_score = 29;
  bool is_penalty_kick_mode = 30;
  map<int32, Vector2D> helios_home_positions = 31;
}

message State {
  AgentType agent_type = 1;
  WorldModel world_model = 2;
  WorldModel full_world_model = 3;
  
}

enum AgentType {
  PlayerT = 0;
  CoachT = 1;
  TrainerT = 2;
}

message InitMessage {
  AgentType agent_type = 1;
  bool debug_mode = 2;
}

message Dash {
  float power = 1;
  float relative_direction = 2;
}

message Turn {
  float relative_direction = 1;
}

message Kick {
  float power = 1;
  float relative_direction = 2;
}

message Tackle {
  float power_or_dir = 1;
  bool foul = 2;
}

message Catch {

}

message Move {
  float x = 1;
  float y = 2;
}

message TurnNeck {
  float moment = 1;
}

message ChangeView {
  ViewWidth view_width = 1;
}

message BallMessage {
  Vector2D ball_position = 1;
  Vector2D ball_velocity = 2;
}

message PassMessage {
  int32 receiver_uniform_number = 1;
  Vector2D receiver_point = 2;
  Vector2D ball_position = 3;
  Vector2D ball_velocity = 4;
}

message InterceptMessage {
  bool our = 1;
  int32 uniform_number = 2;
  int32 cycle = 3;
}

message GoalieMessage {
  int32 goalie_uniform_number = 1;
  Vector2D goalie_position = 2;
  float goalie_body_direction = 3;
}

message GoalieAndPlayerMessage {
  int32 goalie_uniform_number = 1;
  Vector2D goalie_position = 2;
  float goalie_body_direction = 3;

  int32 player_uniform_number = 4;
  Vector2D player_position = 5;
}

message OffsideLineMessage {
  float offside_line_x = 1;
}

message DefenseLineMessage {
  float defense_line_x = 1;
}

message WaitRequestMessage {
}

message SetplayMessage {
  int32 wait_step = 1;
}

message PassRequestMessage {
  Vector2D target_point = 1;
}

message StaminaMessage {
  float stamina = 1;
}

message RecoveryMessage {
  float recovery = 1;
}

message StaminaCapacityMessage {
  float stamina_capacity = 1;
}

message DribbleMessage {
  Vector2D target_point = 1;
  int32 queue_count = 2;
}

message BallGoalieMessage {
  Vector2D ball_position = 1;
  Vector2D ball_velocity = 2;
  
  Vector2D goalie_position = 3;
  float goalie_body_direction = 4;
}

message OnePlayerMessage {
  int32 uniform_number = 1;
  Vector2D position = 2;
}

message TwoPlayerMessage {
  int32 first_uniform_number = 1;
  Vector2D first_position = 2;
  
  int32 second_uniform_number = 3;
  Vector2D second_position = 4;
}

message ThreePlayerMessage {
  int32 first_uniform_number = 1;
  Vector2D first_position = 2;
  
  int32 second_uniform_number = 3;
  Vector2D second_position = 4;

  int32 third_uniform_number = 5;
  Vector2D third_position = 6;
}

message SelfMessage {
  Vector2D self_position = 1;
  float self_body_direction = 2;
  float self_stamina = 3;
}

message TeammateMessage {
  int32 uniform_number = 1;
  Vector2D position = 2;
  float body_direction = 3;
}

message OpponentMessage {
  int32 uniform_number = 1;
  Vector2D position = 2;
  float body_direction = 3;
}

message BallPlayerMessage {
  Vector2D ball_position = 1;
  Vector2D ball_velocity = 2;

  int32 uniform_number = 3;
  Vector2D player_position = 4;
  float body_direction = 5;
}

message Say {
  oneof message {
    BallMessage ball_message = 1;
    PassMessage pass_message = 2;
    InterceptMessage intercept_message = 3;
    GoalieMessage goalie_message = 4;
    GoalieAndPlayerMessage goalie_and_player_message = 5;
    OffsideLineMessage offside_line_message = 6;
    DefenseLineMessage defense_line_message = 7;
    WaitRequestMessage wait_request_message = 8;
    SetplayMessage setplay_message = 9;
    PassRequestMessage pass_request_message = 10;
    StaminaMessage stamina_message = 11;
    RecoveryMessage recovery_message = 12;
    StaminaCapacityMessage stamina_capacity_message = 13;
    DribbleMessage dribble_message = 14;
    BallGoalieMessage ball_goalie_message = 15;
    OnePlayerMessage one_player_message = 16;
    TwoPlayerMessage two_player_message = 17;
    ThreePlayerMessage three_player_message = 18;
    SelfMessage self_message = 19;
    TeammateMessage teammate_message = 20;
    OpponentMessage opponent_message = 21;
    BallPlayerMessage ball_player_message = 22;
  }  
}

message PointTo {
  float x = 1;
  float y = 2;
}

message PointToOf {

}

message AttentionTo {
  Side side = 1;
  int32 unum = 2;
}

message AttentionToOf {

}

message AddText{
  LoggerLevel level = 1;
  string message = 2;
}

message AddPoint{
  LoggerLevel level = 1;
  Vector2D point = 2;
  string color = 3;
}

message AddLine{
  LoggerLevel level = 1;
  Vector2D start = 2;
  Vector2D end = 3;
  string color = 4;
}

message AddArc{
  LoggerLevel level = 1;
  Vector2D center = 2;
  float radius = 3;
  float start_angle = 4;
  float span_angel = 5;
  string color = 6;
}

message AddCircle{
  LoggerLevel level = 1;
  Vector2D center = 2;
  float radius = 3;
  string color = 4;
  bool fill = 5;
}

message AddTriangle{
  LoggerLevel level = 1;
  Vector2D point1 = 2;
  Vector2D point2 = 3;
  Vector2D point3 = 4;
  string color = 5;
  bool fill = 6;
}

message AddRectangle{
  LoggerLevel level = 1;
  float left = 2;
  float top = 3;
  float length = 4;
  float width = 5;
  string color = 6;
  bool fill = 7;
}

message AddSector{
  LoggerLevel level = 1;
  Vector2D center = 2;
  float min_radius = 3;
  float max_radius = 4;
  float start_angle = 5;
  float span_angel = 6;
  string color = 7;
  bool fill = 8;
}

message AddMessage{
  LoggerLevel level = 1;
  Vector2D position = 2;
  string message = 3;
  string color = 4;
}

message Log {
  oneof log {
    AddText add_text = 1;
    AddPoint add_point = 2;
    AddLine add_line = 3;
    AddArc add_arc = 4;
    AddCircle add_circle = 5;
    AddTriangle add_triangle = 6;
    AddRectangle add_rectangle = 7;
    AddSector add_sector = 8;
    AddMessage add_message = 9;
  }
}

message DebugClient {
  string message = 1;
}

message Body_GoToPoint { // todo more variables
  Vector2D target_point = 1;
  float distance_threshold = 2;
  float max_dash_power = 3;
}

message Body_SmartKick { // todo more variables
  Vector2D target_point = 1;
  float first_speed = 2;
  float first_speed_threshold = 3;
  int32 max_steps = 4;
}

message Bhv_BeforeKickOff {
  Vector2D point = 1;
}

message Bhv_BodyNeckToBall {
}

message Bhv_BodyNeckToPoint {
  Vector2D point = 1;
}

message Bhv_Emergency {
}

message Bhv_GoToPointLookBall {
  Vector2D target_point = 1;
  float distance_threshold = 2;
  float max_dash_power = 3;
}

message Bhv_NeckBodyToBall {
  float angle_buf = 1;
}

message Bhv_NeckBodyToPoint {
  Vector2D point = 1;
  float angle_buf = 2;
}

message Bhv_ScanField {
}

message Body_AdvanceBall {
}

message Body_ClearBall {
}

message Body_Dribble {
  Vector2D target_point = 1;
  float distance_threshold = 2;
  float dash_power = 3;
  int32 dash_count = 4;
  bool dodge = 5;
}

message Body_GoToPointDodge {
  Vector2D target_point = 1;
  float dash_power = 2;
}

message Body_HoldBall {
  bool do_turn = 1;
  Vector2D turn_target_point = 2;
  Vector2D kick_target_point = 3;
}

message Body_Intercept {
  bool save_recovery = 1;
  Vector2D face_point = 2;
}

message Body_KickOneStep {
  Vector2D target_point = 1;
  float first_speed = 2;
  bool force_mode = 3;
}

message Body_StopBall {
}

message Body_StopDash {
  bool save_recovery = 1;
}

message Body_TackleToPoint {
  Vector2D target_point = 1;
  float min_probability = 2;
  float min_speed = 3;
}

message Body_TurnToAngle {
  float angle = 1;
}

message Body_TurnToBall {
  int32 cycle = 1;
}

message Body_TurnToPoint {
  Vector2D target_point = 1;
  int32 cycle = 2;
}

message Focus_MoveToPoint {
  Vector2D target_point = 1;
}

message Focus_Reset {
}

message Neck_ScanField {
}

message Neck_ScanPlayers { // todo min/max_angle
}

message Neck_TurnToBallAndPlayer {
  Side side = 1;
  int32 uniform_number = 2;
  int32 count_threshold = 3;
}

message Neck_TurnToBallOrScan {
  int32 count_threshold = 1;
}

message Neck_TurnToBall {
}

message Neck_TurnToGoalieOrScan {
  int32 count_threshold = 1;
}

message Neck_TurnToLowConfTeammate {
}

message Neck_TurnToPlayerOrScan {
  Side side = 1;
  int32 uniform_number = 2;
  int32 count_threshold = 3;
}

message Neck_TurnToPoint {
  Vector2D target_point = 1;
}

message Neck_TurnToRelative {
  float angle = 1;
}

message View_ChangeWidth {
  ViewWidth view_width = 1;
}

message View_Normal {
}

message View_Synch {
}

message View_Wide {
}

message HeliosGoalie {}

message HeliosGoalieMove {}

message HeliosGoalieKick {}

message HeliosShoot {}

message HeliosChainAction {
  bool direct_pass = 1;
  bool lead_pass = 2;
  bool through_pass = 3;
  bool short_dribble = 4;
  bool long_dribble = 5;
  bool cross = 6;
  bool simple_pass = 7;
  bool simple_dribble = 8;
  bool simple_shoot = 9;
}

message HeliosBasicOffensive {}

message HeliosBasicMove {}

message HeliosSetPlay {}

message HeliosPenalty {}

message HeliosCommunicaion {}

message PlayerAction {
  oneof action {
      Dash dash = 1;
      Turn turn = 2;
      Kick kick = 3;
      Tackle tackle = 4;
      Catch catch = 5;
      Move move = 6;
      TurnNeck turn_neck = 7;
      ChangeView change_view = 8;
      Say say = 9;
      PointTo point_to = 10;
      PointToOf point_to_of = 11;
      AttentionTo attention_to = 12;
      AttentionToOf attention_to_of = 13;
      Log log = 14;
      DebugClient debug_client = 15;
      Body_GoToPoint  body_go_to_point = 16;
      Body_SmartKick body_smart_kick = 17;
      Bhv_BeforeKickOff bhv_before_kick_off = 18;
      Bhv_BodyNeckToBall bhv_body_neck_to_ball = 19;
      Bhv_BodyNeckToPoint bhv_body_neck_to_point = 20;
      Bhv_Emergency bhv_emergency = 21;
      Bhv_GoToPointLookBall bhv_go_to_point_look_ball = 22;
      Bhv_NeckBodyToBall bhv_neck_body_to_ball = 23;
      Bhv_NeckBodyToPoint bhv_neck_body_to_point = 24;
      Bhv_ScanField bhv_scan_field = 25;
      Body_AdvanceBall body_advance_ball = 26;
      Body_ClearBall body_clear_ball = 27;
      Body_Dribble body_dribble = 28;
      Body_GoToPointDodge body_go_to_point_dodge = 29;
      Body_HoldBall body_hold_ball = 30;
      Body_Intercept body_intercept = 31;
      Body_KickOneStep body_kick_one_step = 32;
      Body_StopBall body_stop_ball = 33;
      Body_StopDash body_stop_dash = 34;
      Body_TackleToPoint body_tackle_to_point = 35;
      Body_TurnToAngle body_turn_to_angle = 36;
      Body_TurnToBall body_turn_to_ball = 37;
      Body_TurnToPoint body_turn_to_point = 38;
      Focus_MoveToPoint focus_move_to_point = 39;
      Focus_Reset focus_reset = 40;
      Neck_ScanField neck_scan_field = 41;
      Neck_ScanPlayers neck_scan_players = 42;
      Neck_TurnToBallAndPlayer neck_turn_to_ball_and_player = 43;
      Neck_TurnToBallOrScan neck_turn_to_ball_or_scan = 44;
      Neck_TurnToBall neck_turn_to_ball = 45;
      Neck_TurnToGoalieOrScan neck_turn_to_goalie_or_scan = 46;
      Neck_TurnToLowConfTeammate neck_turn_to_low_conf_teammate = 47;
      Neck_TurnToPlayerOrScan neck_turn_to_player_or_scan = 48;
      Neck_TurnToPoint neck_turn_to_point = 49;
      Neck_TurnToRelative neck_turn_to_relative = 50;
      View_ChangeWidth view_change_width = 51;
      View_Normal view_normal = 52;
      View_Synch view_synch = 53;
      View_Wide view_wide = 54;
      HeliosGoalie helios_goalie = 55;
      HeliosGoalieMove helios_goalie_move = 56;
      HeliosGoalieKick helios_goalie_kick = 57;
      HeliosShoot helios_shoot = 58;
      HeliosChainAction helios_chain_action = 59;
      HeliosBasicOffensive helios_basic_offensive = 60;
      HeliosBasicMove helios_basic_move = 61;
      HeliosSetPlay helios_set_play = 62;
      HeliosPenalty helios_penalty = 63;
      HeliosCommunicaion helios_communication = 64;
  }
}

message PlayerActions {
  repeated PlayerAction actions = 1;
}

message ChangePlayerType {
  int32 uniform_number = 1;
  int32 type = 2;
}

message DoHeliosSubstitute {}

message DoHeliosSayPlayerTypes {}

message CoachAction {
  oneof action {
    ChangePlayerType change_player_types = 1;
    DoHeliosSubstitute do_helios_substitute = 2;
    DoHeliosSayPlayerTypes do_helios_say_player_types = 3;
  }
}

message CoachActions {
  repeated CoachAction actions = 1;
}

message DoKickOff {}

message DoMoveBall {
  Vector2D position = 1;
  Vector2D velocity = 2;
}

message DoMovePlayer {
  bool our_side = 1;
  int32 uniform_number = 2;
  Vector2D position = 3;
  float body_direction = 4;
}

message DoRecover {}

message DoChangeMode {
  GameModeType game_mode_type = 1;
  Side side = 2; //some of the game mode need to know the side
}

message DoChangePlayerType {
  bool our_side = 1;
  int32 uniform_number = 2;
  int32 type = 3;
}

message TrainerAction {
  oneof action {
    DoKickOff do_kick_off = 1;
    DoMoveBall do_move_ball = 2;
    DoMovePlayer do_move_player = 3;
    DoRecover do_recover = 4;
    DoChangeMode do_change_mode = 5;
    DoChangePlayerType do_change_player_type = 6;
  }
}

message TrainerActions {
  repeated TrainerAction actions = 1;
}

message ServerParam {
  AgentType agent_type = 1;
  float inertia_moment = 2;
  float player_size = 3;
  float player_decay = 4;
  float player_rand = 5;
  float player_weight = 6;
  float player_speed_max = 7;
  float player_accel_max = 8;
  float stamina_max = 9;
  float stamina_inc_max = 10;
  float recover_init = 11;
  float recover_dec_thr = 12;
  float recover_min = 13;
  float recover_dec = 14;
  float effort_init = 15;
  float effort_dec_thr = 16;
  float effort_min = 17;
  float effort_dec = 18;
  float effort_inc_thr = 19;
  float effort_inc = 20;
  float kick_rand = 21;
  bool team_actuator_noise = 22;
  float player_rand_factor_l = 23;
  float player_rand_factor_r = 24;
  float kick_rand_factor_l = 25;
  float kick_rand_factor_r = 26;
  float ball_size = 27;
  float ball_decay = 28;
  float ball_rand = 29;
  float ball_weight = 30;
  float ball_speed_max = 31;
  float ball_accel_max = 32;
  float dash_power_rate = 33;
  float kick_power_rate = 34;
  float kickable_margin = 35;
  float control_radius = 36;
  float control_radius_width = 37;
  float max_power = 38;
  float min_power = 39;
  float max_moment = 40;
  float min_moment = 41;
  float max_neck_moment = 42;
  float min_neck_moment = 43;
  float max_neck_angle = 44;
  float min_neck_angle = 45;
  float visible_angle = 46;
  float visible_distance = 47;
  float wind_dir = 48;
  float wind_force = 49;
  float wind_angle = 50;
  float wind_rand = 51;
  float kickable_area = 52;
  float catch_area_l = 53;
  float catch_area_w = 54;
  float catch_probability = 55;
  int32 goalie_max_moves = 56;
  float corner_kick_margin = 57;
  float offside_active_area_size = 58;
  bool wind_none = 59;
  bool use_wind_random = 60;
  int32 coach_say_count_max = 61;
  int32 coach_say_msg_size = 62;
  int32 clang_win_size = 63;
  int32 clang_define_win = 64;
  int32 clang_meta_win = 65;
  int32 clang_advice_win = 66;
  int32 clang_info_win = 67;
  int32 clang_mess_delay = 68;
  int32 clang_mess_per_cycle = 69;
  int32 half_time = 70;
  int32 simulator_step = 71;
  int32 send_step = 72;
  int32 recv_step = 73;
  int32 sense_body_step = 74;
  int32 lcm_step = 75;
  int32 player_say_msg_size = 76;
  int32 player_hear_max = 77;
  int32 player_hear_inc = 78;
  int32 player_hear_decay = 79;
  int32 catch_ban_cycle = 80;
  int32 slow_down_factor = 81;
  bool use_offside = 82;
  bool kickoff_offside = 83;
  float offside_kick_margin = 84;
  float audio_cut_dist = 85;
  float dist_quantize_step = 86;
  float landmark_dist_quantize_step = 87;
  float dir_quantize_step = 88;
  float dist_quantize_step_l = 89;
  float dist_quantize_step_r = 90;
  float landmark_dist_quantize_step_l = 91;
  float landmark_dist_quantize_step_r = 92;
  float dir_quantize_step_l = 93;
  float dir_quantize_step_r = 94;
  bool coach_mode = 95;
  bool coach_with_referee_mode = 96;
  bool use_old_coach_hear = 97;
  float slowness_on_top_for_left_team = 98;
  float slowness_on_top_for_right_team = 99;
  int32 start_goal_l = 100;
  int32 start_goal_r = 101;
  bool fullstate_l = 102;
  bool fullstate_r = 103;
  int32 drop_ball_time = 104;
  bool synch_mode = 105;
  int32 synch_offset = 106;
  int32 synch_micro_sleep = 107;
  int32 point_to_ban = 108; 
  int32 point_to_duration = 109; 
  int32 player_port = 110;
  int32 trainer_port = 111;
  int32 online_coach_port = 112;
  bool verbose_mode = 113;
  int32 coach_send_vi_step = 114; 
  string replay_file = 115; 
  string landmark_file = 116;
  bool send_comms = 117; 
  bool text_logging = 118;
  bool game_logging = 119;
  int32 game_log_version = 120;
  string text_log_dir = 121;
  string game_log_dir = 122;
  string text_log_fixed_name = 123;
  string game_log_fixed_name = 124;
  bool use_text_log_fixed = 125;
  bool use_game_log_fixed = 126;
  bool use_text_log_dated = 127;
  bool use_game_log_dated = 128;
  string log_date_format = 129;
  bool log_times = 130; 
  bool record_message = 131; 
  int32 text_log_compression = 132; 
  int32 game_log_compression = 133;
  bool use_profile = 134; 
  float tackle_dist = 135;
  float tackle_back_dist = 136;
  float tackle_width = 137;
  float tackle_exponent = 138;
  int32 tackle_cycles = 139; 
  float tackle_power_rate = 140;
  int32 freeform_wait_period = 141; 
  int32 freeform_send_period = 142; 
  bool free_kick_faults = 143;
  bool back_passes = 144;
  bool proper_goal_kicks = 145; 
  float stopped_ball_vel = 146; 
  int32 max_goal_kicks = 147; 
  int32 clang_del_win = 148;
  int32 clang_rule_win = 149;
  bool auto_mode = 150;    
  int32 kick_off_wait = 151; 
  int32 connect_wait = 152;  
  int32 game_over_wait = 153; 
  string team_l_start = 154; 
  string team_r_start = 155;
  bool keepaway_mode = 156; 
  float keepaway_length = 157; 
  float keepaway_width = 158;  
  bool keepaway_logging = 159; 
  string keepaway_log_dir = 160;
  string keepaway_log_fixed_name = 161;
  bool keepaway_log_fixed = 162;
  bool keepaway_log_dated = 163;
  int32 keepaway_start = 164; 
  int32 nr_normal_halfs = 165;     
  int32 nr_extra_halfs = 166;      
  bool penalty_shoot_outs = 167; 
  int32 pen_before_setup_wait = 168; 
  int32 pen_setup_wait = 169;        
  int32 pen_ready_wait = 170;        
  int32 pen_taken_wait = 171;        
  int32 pen_nr_kicks = 172;          
  int32 pen_max_extra_kicks = 173;   
  float pen_dist_x = 174;         
  bool pen_random_winner = 175;    
  bool pen_allow_mult_kicks = 176; 
  float pen_max_goalie_dist_x = 177; 
  bool pen_coach_moves_players = 178; 
  string module_dir = 179;
  float ball_stuck_area = 180;
  string coach_msg_file = 181;
  float max_tackle_power = 182;
  float max_back_tackle_power = 183;
  float player_speed_max_min = 184;
  float extra_stamina = 185;
  int32 synch_see_offset = 186;
  int32 extra_half_time = 187;
  float stamina_capacity = 188;
  float max_dash_angle = 189;
  float min_dash_angle = 190;
  float dash_angle_step = 191;
  float side_dash_rate = 192;
  float back_dash_rate = 193;
  float max_dash_power = 194;
  float min_dash_power = 195;
  float tackle_rand_factor = 196;
  float foul_detect_probability = 197;
  float foul_exponent = 198;
  int32 foul_cycles = 199;
  bool golden_goal = 200;
  float red_card_probability = 201;
  int32 illegal_defense_duration = 202;
  int32 illegal_defense_number = 203;
  float illegal_defense_dist_x = 204;
  float illegal_defense_width = 205;
  string fixed_teamname_l = 206;
  string fixed_teamname_r = 207;
  float max_catch_angle = 208;
  float min_catch_angle = 209;
  int32 random_seed = 210;
  float long_kick_power_factor = 211;
  int32 long_kick_delay = 212;
  int32 max_monitors = 213;
  float catchable_area = 214; 
  float real_speed_max = 215; 
  float pitch_half_length = 216;
  float pitch_half_width = 217;
  float our_penalty_area_line_x = 218;
  float their_penalty_area_line_x = 219;
  float penalty_area_half_width = 220;
  float penalty_area_length = 221;
  float goal_width = 222;
}

message PlayerParam {
  AgentType agent_type = 1;
  int32 player_types = 2;
  int32 subs_max = 3;
  int32 pt_max = 4;
  bool allow_mult_default_type = 5;
  float player_speed_max_delta_min = 6;
  float player_speed_max_delta_max = 7;
  float stamina_inc_max_delta_factor = 8;
  float player_decay_delta_min = 9;
  float player_decay_delta_max = 10;
  float inertia_moment_delta_factor = 11;
  float dash_power_rate_delta_min = 12;
  float dash_power_rate_delta_max = 13;
  float player_size_delta_factor = 14;
  float kickable_margin_delta_min = 15;
  float kickable_margin_delta_max = 16;
  float kick_rand_delta_factor = 17;
  float extra_stamina_delta_min = 18;
  float extra_stamina_delta_max = 19;
  float effort_max_delta_factor = 20;
  float effort_min_delta_factor = 21;
  int32 random_seed = 22;
  float new_dash_power_rate_delta_min = 23;
  float new_dash_power_rate_delta_max = 24;
  float new_stamina_inc_max_delta_factor = 25;
  float kick_power_rate_delta_min = 26;
  float kick_power_rate_delta_max = 27;
  float foul_detect_probability_delta_factor = 28;
  float catchable_area_l_stretch_min = 29;
  float catchable_area_l_stretch_max = 30;
  
}

message PlayerType {
  AgentType agent_type = 1;
  int32 id = 2;
  float stamina_inc_max = 3;
  float player_decay = 4;
  float inertia_moment = 5;
  float dash_power_rate = 6;
  float player_size = 7;
  float kickable_margin = 8;
  float kick_rand = 9;
  float extra_stamina = 10;
  float effort_max = 11;
  float effort_min = 12;
  float kick_power_rate = 13;
  float foul_detect_probability = 14;
  float catchable_area_l_stretch = 15;
  float unum_far_length = 16;
  float unum_too_far_length = 17;
  float team_far_length = 18;
  float team_too_far_length = 19;
  float player_max_observation_length = 20;
  float ball_vel_far_length = 21;
  float ball_vel_too_far_length = 22;
  float ball_max_observation_length = 23;
  float flag_chg_far_length = 24;
  float flag_chg_too_far_length = 25;
  float flag_max_observation_length = 26;
  float kickable_area = 27;
  float reliable_catchable_dist = 28;
  float max_catchable_dist = 29;
  float real_speed_max = 30;
  float player_speed_max2 = 31;
  float real_speed_max2 = 32;
  int32 cycles_to_reach_max_speed = 33;
  float player_speed_max = 34;
}

message Empty {
}

message InitMessageFromServer {
}

service Game {
  rpc GetPlayerActions(State) returns (PlayerActions) {}
  rpc GetCoachActions(State) returns (CoachActions) {}
  rpc GetTrainerActions(State) returns (TrainerActions) {}
  rpc SendInitMessage(InitMessage) returns (Empty) {}
  rpc SendServerParams(ServerParam) returns (Empty) {}
  rpc SendPlayerParams(PlayerParam) returns (Empty) {}
  rpc SendPlayerType(PlayerType) returns (Empty) {} //should be PlayerTypes
  rpc GetInitMessage(Empty) returns (InitMessageFromServer) {}
}