Add bindings for visual referee challenge results

game_controller_msgs/headers/bindings.h

@@ -11,3 +11,6 @@
 
 static const size_t GAMECONTROLLER_STRUCT_SIZE = sizeof(struct RoboCupGameControlData);
 static const size_t GAMECONTROLLER_RETURN_STRUCT_SIZE = sizeof(struct RoboCupGameControlReturnData);
+
+static const uint8_t GAMECONTROLLER_RETURN_STRUCT_VRC_GESTURE_MIN = GAMECONTROLLER_RETURN_STRUCT_VRC_GESTURE_KICK_IN_BLUE_TEAM;
+static const uint8_t GAMECONTROLLER_RETURN_STRUCT_VRC_GESTURE_MAX = GAMECONTROLLER_RETURN_STRUCT_VRC_GESTURE_SUBSTITUTION_RED_TEAM;

game_controller_msgs/src/lib.rs

@@ -7,6 +7,7 @@ mod bindings;
 mod control_message;
 mod monitor_request;
 mod status_message;
+mod vrc_message;
 
 use bindings::{
     GAMECONTROLLER_DATA_PORT, GAMECONTROLLER_RETURN_PORT, GAMECONTROLLER_RETURN_STRUCT_SIZE,
@@ -37,3 +38,4 @@ pub const TEAM_MESSAGE_PORT_BASE: u16 = 10000;
 pub use control_message::ControlMessage;
 pub use monitor_request::MonitorRequest;
 pub use status_message::StatusMessage;
+pub use vrc_message::VrcMessage;

game_controller_msgs/src/vrc_message.rs

@@ -0,0 +1,69 @@
+use anyhow::{bail, Error};
+use bytes::{Buf, Bytes};
+
+use crate::bindings::{
+    GAMECONTROLLER_RETURN_STRUCT_HEADER, GAMECONTROLLER_RETURN_STRUCT_SIZE,
+    GAMECONTROLLER_RETURN_STRUCT_VRC_GESTURE_MAX, GAMECONTROLLER_RETURN_STRUCT_VRC_GESTURE_MIN,
+    GAMECONTROLLER_RETURN_STRUCT_VRC_VERSION, MAX_NUM_PLAYERS,
+};
+
+/// This struct corresponds to `RoboCupGameControlReturnData`, modified for the visual referee
+/// challenge result reports. `RoboCupGameControlReturnData::header`,
+/// `RoboCupGameControlReturnData::version`, `RoboCupGameControlReturnData::pose`, and
+/// `RoboCupGameControlReturnData::ball` are implicitly added/removed when converting to/from the
+/// binary format.
+pub struct VrcMessage {
+    /// This field corresponds to `RoboCupGameControlReturnData::playerNum`.
+    pub player_number: u8,
+    /// This field corresponds to `RoboCupGameControlReturnData::teamNum`.
+    pub team_number: u8,
+    /// This field corresponds to `RoboCupGameControlReturnData::fallen`.
+    pub gesture: u8,
+    /// This field corresponds to `RoboCupGameControlReturnData::ballAge`.
+    pub whistle_age: f32,
+}
+
+impl TryFrom<Bytes> for VrcMessage {
+    type Error = Error;
+
+    fn try_from(mut bytes: Bytes) -> Result<Self, Self::Error> {
+        if bytes.len() != GAMECONTROLLER_RETURN_STRUCT_SIZE {
+            bail!("wrong length");
+        }
+        let header = bytes.copy_to_bytes(4);
+        if header != GAMECONTROLLER_RETURN_STRUCT_HEADER[..4] {
+            bail!("wrong header");
+        }
+        let version = bytes.get_u8();
+        if version != GAMECONTROLLER_RETURN_STRUCT_VRC_VERSION {
+            bail!("wrong version");
+        }
+        let player_number = bytes.get_u8();
+        if !(1..=MAX_NUM_PLAYERS).contains(&player_number) {
+            bail!("invalid player number");
+        }
+        let team_number = bytes.get_u8();
+        let gesture = bytes.get_u8();
+        if !(GAMECONTROLLER_RETURN_STRUCT_VRC_GESTURE_MIN
+            ..=GAMECONTROLLER_RETURN_STRUCT_VRC_GESTURE_MAX)
+            .contains(&gesture)
+        {
+            bail!("invalid gesture");
+        }
+        // ignore pose
+        let _ = [bytes.get_f32_le(), bytes.get_f32_le(), bytes.get_f32_le()];
+        let whistle_age = bytes.get_f32_le();
+        if whistle_age.is_nan() {
+            bail!("invalid whistle age");
+        }
+        // ignore ball
+        let _ = [bytes.get_f32_le(), bytes.get_f32_le()];
+        assert!(!bytes.has_remaining());
+        Ok(VrcMessage {
+            player_number,
+            team_number,
+            gesture,
+            whistle_age,
+        })
+    }
+}