From d7f020ccf41e50bcee44a0ca9307cf1c67e9a6b0 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Wed, 2 Sep 2026 23:16:12 -0400
Subject: [PATCH 01/23] initial go work

---
 .gitignore                               |   1 +
 flake.nix                                |  17 ++
 gui/cmd/ssl-vision-processor-gui/main.go |  75 +++++++++
 gui/go.mod                               |  11 ++
 gui/go.sum                               |  10 ++
 gui/internal/logging/logging.go          | 192 +++++++++++++++++++++++
 gui/internal/logging/logging_test.go     |  71 +++++++++
 7 files changed, 377 insertions(+)
 create mode 100644 gui/cmd/ssl-vision-processor-gui/main.go
 create mode 100644 gui/go.mod
 create mode 100644 gui/go.sum
 create mode 100644 gui/internal/logging/logging.go
 create mode 100644 gui/internal/logging/logging_test.go

diff --git a/.gitignore b/.gitignore
index de4914a..add702a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -12,6 +12,7 @@ __pycache__
 # Debug and test image directories
 /img
 /test-data
+*.log
 
 #Output binaries
 vision_processor
diff --git a/flake.nix b/flake.nix
index 878abcf..18a6eae 100644
--- a/flake.nix
+++ b/flake.nix
@@ -37,6 +37,13 @@
               cmake
               pkg-config
               protobuf          # provides protoc for both C++ and Python codegen
+
+              # gui/ toolchain. The Go host and its Svelte frontend are built
+              # here rather than in a second flake so that one `nix develop`
+              # covers every language in the repo.
+              go
+              buf               # protobuf codegen for Go and TypeScript at once
+              nodejs_22         # frontend build; .github/workflows/ci.yml pins 22
             ];
 
             buildInputs = with pkgs; [
@@ -72,12 +79,22 @@
             UV_PYTHON = python.interpreter;
             UV_PYTHON_DOWNLOADS = "never";
 
+            # The other league Go tools carry a `toolchain` line newer than the
+            # `go` directive (ssl-vision-client: go 1.25.0, toolchain go1.27.1).
+            # Left to itself Go would fetch that toolchain over the network,
+            # silently ignoring the pin above and breaking sandboxed builds.
+            # "local" turns the mismatch into an error at the point it happens.
+            GOTOOLCHAIN = "local";
+
             shellHook = ''
               echo "vision_processor dev shell"
               echo "  eigen      ${pkgs.eigen.version}"
               echo "  opencv     ${pkgs.opencv.version}"
               echo "  ffmpeg     ${pkgs.ffmpeg_8.version}"
               echo "  protobuf   ${pkgs.protobuf.version}"
+              echo "  go         ${pkgs.go.version}"
+              echo "  node       ${pkgs.nodejs_22.version}"
+              echo "  buf        ${pkgs.buf.version}"
               echo
               echo "  cmake -B build . && make -C build -j vision_processor"
               echo
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
new file mode 100644
index 0000000..dd8aa31
--- /dev/null
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -0,0 +1,75 @@
+package main
+
+import (
+	"context"
+	"flag"
+	"log/slog"
+	"os"
+	"os/signal"
+	"strings"
+	"syscall"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/logging"
+)
+
+var address = flag.String("address", ":8085", "The address on which the vision processor GUI and API are served, default: :8085")
+var visionAddress = flag.String("visionAddress", "224.5.23.2:10006", "The multicast address of field vision, default: 224.5.23.2:10006")
+var skipInterfaces = flag.String("skipInterfaces", "", "Comma separated list of interface names to ignore when receiving multicast packets")
+var logLevelFlag = flag.String("logLevel", "Info", "Log Level: Debug, Info, Warn, Error. Default: Info")
+var logFile = flag.String("logFile", "logs/vision-processor-gui.log", "Rotating log file to write alongside stderr, empty to disable. Default: logs/vision-processor-gui.log")
+
+func main() {
+	flag.Parse()
+
+	// Parsed before Setup so that the level is known when the handler is built,
+	// but reported after it, so the warning goes through the same handler as
+	// everything else.
+	level, levelErr := logging.ParseLevel(*logLevelFlag)
+
+	closeLog, logErr := logging.Setup(logging.Config{
+		Level: level,
+		File:  *logFile,
+	})
+	defer closeLog()
+
+	if levelErr != nil {
+		slog.Warn("falling back to info level", "err", levelErr)
+	}
+
+	if logErr != nil {
+		slog.Warn("file logging disabled", "err", logErr)
+	}
+
+	slog.Info("Init VP GUI")
+
+	// register Ctrl+C handler
+	ctx, stopSignals := signal.NotifyContext(context.Background(), os.Interrupt, syscall.SIGTERM)
+	defer stopSignals()
+
+	slog.Info("UI is available", "url", formattedAddress())
+
+	<-ctx.Done()
+
+	// Restore default signal handling: while shutdown is in progress a second
+	// Ctrl-C should kill the process outright rather than being swallowed.
+	stopSignals()
+
+	slog.Info("shutting down")
+
+	// Cleanup of the HTTP server, receivers and bus clients goes here, bounded
+	// by its own context so a wedged component cannot hang the process:
+	//
+	//	shutdownCtx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
+	//	defer cancel()
+	//	httpServer.Shutdown(shutdownCtx)
+
+	slog.Info("shutdown complete")
+}
+
+func formattedAddress() string {
+	if strings.HasPrefix(*address, ":") {
+		return "http://localhost" + *address
+	}
+
+	return "http://" + *address
+}
diff --git a/gui/go.mod b/gui/go.mod
new file mode 100644
index 0000000..150696c
--- /dev/null
+++ b/gui/go.mod
@@ -0,0 +1,11 @@
+module github.com/RoboCup-SSL/ssl-vision-processor/gui
+
+go 1.26.7
+
+require (
+	github.com/RoboCup-SSL/ssl-go-tools v1.12.0 // indirect
+	github.com/gorilla/websocket v1.5.3 // indirect
+	github.com/lmittmann/tint v1.2.0 // indirect
+	google.golang.org/protobuf v1.36.12 // indirect
+	gopkg.in/natefinch/lumberjack.v2 v2.2.1 // indirect
+)
diff --git a/gui/go.sum b/gui/go.sum
new file mode 100644
index 0000000..7915b85
--- /dev/null
+++ b/gui/go.sum
@@ -0,0 +1,10 @@
+github.com/RoboCup-SSL/ssl-go-tools v1.12.0 h1:sXN+VSlMSOtNdLD0MPCaig3vSlj3ZTz/KIi9uJR/dy0=
+github.com/RoboCup-SSL/ssl-go-tools v1.12.0/go.mod h1:Gqrqs0LAcXmCQD3Z+IPXxrqxS9xc9sWJolYQyi3AHbw=
+github.com/gorilla/websocket v1.5.3 h1:saDtZ6Pbx/0u+bgYQ3q96pZgCzfhKXGPqt7kZ72aNNg=
+github.com/gorilla/websocket v1.5.3/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
+github.com/lmittmann/tint v1.2.0 h1:AogHRHy8HUJUnNJBHJlYa+fR4YY8mko2cnCp67xn9JY=
+github.com/lmittmann/tint v1.2.0/go.mod h1:HIS3gSy7qNwGCj+5oRjAutErFBl4BzdQP6cJZ0NfMwE=
+google.golang.org/protobuf v1.36.12 h1:pJOKDDOyeXErUroCihFAd5LQuwXBSpVnKGrj5o/fwxc=
+google.golang.org/protobuf v1.36.12/go.mod h1:HTf+CrKn2C3g5S8VImy6tdcUvCska2kB7j23XfzDpco=
+gopkg.in/natefinch/lumberjack.v2 v2.2.1 h1:bBRl1b0OH9s/DuPhuXpNl+VtCaJXFZ5/uEFST95x9zc=
+gopkg.in/natefinch/lumberjack.v2 v2.2.1/go.mod h1:YD8tP3GAjkrDg1eZH7EGmyESg/lsYskCTPBJVb9jqSc=
diff --git a/gui/internal/logging/logging.go b/gui/internal/logging/logging.go
new file mode 100644
index 0000000..ba5fade
--- /dev/null
+++ b/gui/internal/logging/logging.go
@@ -0,0 +1,192 @@
+// Package logging configures the process wide slog handler: a condensed,
+// coloured console for whoever is watching the terminal, and a full fidelity
+// rotating file for reading after a match.
+package logging
+
+import (
+	"context"
+	"errors"
+	"fmt"
+	"log/slog"
+	"os"
+	"path/filepath"
+	"strings"
+
+	"github.com/lmittmann/tint"
+	"gopkg.in/natefinch/lumberjack.v2"
+)
+
+const (
+	defaultMaxSizeMB  = 50
+	defaultMaxBackups = 5
+	defaultMaxAgeDays = 14
+)
+
+// logLevel is package level so that an API handler can raise the level at
+// runtime through SetLevel. LevelVar is safe for concurrent use; a plain
+// slog.Level is not.
+var logLevel slog.LevelVar
+
+// Config describes one process's logging. The zero value logs at info level to
+// stderr only.
+type Config struct {
+	Level slog.Level
+
+	// File is the rotating log file to write alongside stderr. Empty disables
+	// file logging entirely.
+	File string
+
+	MaxSizeMB  int
+	MaxBackups int
+	MaxAgeDays int
+}
+
+// SetLevel changes the level of every handler installed by Setup. Safe to call
+// from any goroutine, which is what makes a runtime log level endpoint possible.
+func SetLevel(level slog.Level) {
+	logLevel.Set(level)
+}
+
+// Level reports the level currently in effect.
+func Level() slog.Level {
+	return logLevel.Level()
+}
+
+// ParseLevel maps a flag value onto a slog.Level, case insensitively. An
+// unrecognised value yields slog.LevelInfo along with an error, so a caller can
+// carry on logging and still report the typo.
+func ParseLevel(name string) (slog.Level, error) {
+	switch strings.ToLower(strings.TrimSpace(name)) {
+	case "debug":
+		return slog.LevelDebug, nil
+	case "info", "":
+		return slog.LevelInfo, nil
+	case "warn":
+		return slog.LevelWarn, nil
+	case "error":
+		return slog.LevelError, nil
+	default:
+		return slog.LevelInfo, fmt.Errorf("unknown log level %q", name)
+	}
+}
+
+// Setup installs the process wide slog handler and returns a function that
+// flushes and closes the log file.
+//
+// The handler is installed whether or not the log file could be opened, so a
+// non-nil error means "file logging is off", not "logging is unusable" -- losing
+// the file must not stop the GUI from starting at a venue. Callers should warn
+// and carry on.
+//
+// slog.SetDefault also routes the standard log package through this handler, so
+// log.Printf calls made after this point come out structured too.
+func Setup(cfg Config) (func(), error) {
+	logLevel.Set(cfg.Level)
+
+	handlers := []slog.Handler{
+		tint.NewHandler(os.Stderr, &tint.Options{
+			Level:      &logLevel,
+			AddSource:  true,
+			TimeFormat: "15:04:05.000",
+			NoColor:    !colorSupported(os.Stderr),
+		}),
+	}
+	closeLog := func() {}
+	var setupErr error
+
+	if cfg.File != "" {
+		// lumberjack creates the file but not its parent directories.
+		if err := os.MkdirAll(filepath.Dir(cfg.File), 0o755); err != nil {
+			setupErr = fmt.Errorf("create log directory for %v: %w", cfg.File, err)
+		} else {
+			rotator := &lumberjack.Logger{
+				Filename:   cfg.File,
+				MaxSize:    orDefault(cfg.MaxSizeMB, defaultMaxSizeMB), // megabytes per file
+				MaxBackups: orDefault(cfg.MaxBackups, defaultMaxBackups),
+				MaxAge:     orDefault(cfg.MaxAgeDays, defaultMaxAgeDays), // days
+				Compress:   false,
+			}
+			handlers = append(handlers, slog.NewTextHandler(rotator, &slog.HandlerOptions{
+				Level:     &logLevel,
+				AddSource: true,
+			}))
+			closeLog = func() {
+				if err := rotator.Close(); err != nil {
+					slog.Error("closing log file", "err", err)
+				}
+			}
+		}
+	}
+
+	slog.SetDefault(slog.New(multiHandler(handlers)))
+
+	return closeLog, setupErr
+}
+
+func orDefault(value, fallback int) int {
+	if value == 0 {
+		return fallback
+	}
+
+	return value
+}
+
+// colorSupported reports whether ANSI colour should be emitted to f. A pipe or
+// a redirect to a file is not a terminal, and NO_COLOR is the cross-tool
+// convention for turning colour off on one that is.
+func colorSupported(f *os.File) bool {
+	if _, set := os.LookupEnv("NO_COLOR"); set {
+		return false
+	}
+
+	stat, err := f.Stat()
+
+	return err == nil && stat.Mode()&os.ModeCharDevice != 0
+}
+
+// multiHandler fans one record out to several handlers. io.MultiWriter cannot
+// do this job because both destinations would then share one format.
+type multiHandler []slog.Handler
+
+func (m multiHandler) Enabled(ctx context.Context, level slog.Level) bool {
+	for _, h := range m {
+		if h.Enabled(ctx, level) {
+			return true
+		}
+	}
+
+	return false
+}
+
+func (m multiHandler) Handle(ctx context.Context, record slog.Record) error {
+	var errs error
+	for _, h := range m {
+		if !h.Enabled(ctx, record.Level) {
+			continue
+		}
+
+		if err := h.Handle(ctx, record.Clone()); err != nil {
+			errs = errors.Join(errs, err)
+		}
+	}
+
+	return errs
+}
+
+func (m multiHandler) WithAttrs(attrs []slog.Attr) slog.Handler {
+	out := make(multiHandler, len(m))
+	for i, h := range m {
+		out[i] = h.WithAttrs(attrs)
+	}
+
+	return out
+}
+
+func (m multiHandler) WithGroup(name string) slog.Handler {
+	out := make(multiHandler, len(m))
+	for i, h := range m {
+		out[i] = h.WithGroup(name)
+	}
+
+	return out
+}
diff --git a/gui/internal/logging/logging_test.go b/gui/internal/logging/logging_test.go
new file mode 100644
index 0000000..e119bcb
--- /dev/null
+++ b/gui/internal/logging/logging_test.go
@@ -0,0 +1,71 @@
+package logging
+
+import (
+	"bytes"
+	"log/slog"
+	"strings"
+	"testing"
+)
+
+func TestParseLevel(t *testing.T) {
+	cases := map[string]struct {
+		want    slog.Level
+		wantErr bool
+	}{
+		"debug":   {want: slog.LevelDebug},
+		"Info":    {want: slog.LevelInfo},
+		"  WARN ": {want: slog.LevelWarn},
+		"error":   {want: slog.LevelError},
+		"":        {want: slog.LevelInfo},
+		"verbose": {want: slog.LevelInfo, wantErr: true},
+	}
+
+	for name, want := range cases {
+		got, err := ParseLevel(name)
+		if got != want.want {
+			t.Errorf("ParseLevel(%q) = %v, want %v", name, got, want.want)
+		}
+
+		if (err != nil) != want.wantErr {
+			t.Errorf("ParseLevel(%q) err = %v, want error: %v", name, err, want.wantErr)
+		}
+	}
+}
+
+// The point of the fan-out is that each destination keeps its own format, which
+// is exactly what a single io.MultiWriter cannot do.
+func TestMultiHandlerKeepsPerHandlerFormat(t *testing.T) {
+	var text, json bytes.Buffer
+
+	handler := multiHandler{
+		slog.NewTextHandler(&text, nil),
+		slog.NewJSONHandler(&json, nil),
+	}
+	slog.New(handler).With("instance", "cam0").Info("announce", "camId", 3)
+
+	if !strings.Contains(text.String(), `msg=announce instance=cam0 camId=3`) {
+		t.Errorf("text handler got %q", text.String())
+	}
+
+	if !strings.Contains(json.String(), `"msg":"announce","instance":"cam0","camId":3`) {
+		t.Errorf("json handler got %q", json.String())
+	}
+}
+
+func TestMultiHandlerSkipsDisabledHandlers(t *testing.T) {
+	var debug, errorsOnly bytes.Buffer
+
+	handler := multiHandler{
+		slog.NewTextHandler(&debug, &slog.HandlerOptions{Level: slog.LevelDebug}),
+		slog.NewTextHandler(&errorsOnly, &slog.HandlerOptions{Level: slog.LevelError}),
+	}
+	slog.New(handler).Info("only the debug handler wants this")
+
+	if debug.Len() == 0 {
+		t.Error("debug handler received nothing")
+	}
+
+	if errorsOnly.Len() != 0 {
+		t.Errorf("error-only handler received %q", errorsOnly.String())
+	}
+}

From f9644f33d8611958461f29a4e18e3d02cae21c37 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Mon, 7 Sep 2026 20:31:20 -0400
Subject: [PATCH 02/23] svelte fe migration

---
 .github/workflows/ci.yml                      |  6 +-
 .pre-commit-config.yaml                       |  8 +--
 README.md                                     |  2 +-
 gui/cmd/ssl-vision-processor-gui/main.go      | 32 +++++++++--
 gui/cmd/ssl-vision-processor-gui/routes.go    |  9 +++
 gui/cmd/ssl-vision-processor-gui/server.go    | 30 ++++++++++
 .../ssl-vision-processor-gui/server_test.go   | 55 +++++++++++++++++++
 {wrapper-frontend => gui/frontend}/.gitignore |  0
 .../frontend}/.prettierignore                 |  0
 .../frontend}/.prettierrc.json                |  0
 .../frontend}/.vscode/extensions.json         |  0
 {wrapper-frontend => gui/frontend}/README.md  |  4 +-
 .../frontend}/eslint.config.js                |  0
 {wrapper-frontend => gui/frontend}/index.html |  0
 .../frontend}/package-lock.json               |  4 +-
 .../frontend}/package.json                    |  2 +-
 .../frontend}/src/App.svelte                  |  0
 .../frontend}/src/lib/wrapper-bus.ts          |  0
 .../frontend}/src/main.ts                     |  0
 .../frontend}/svelte.config.js                |  0
 .../frontend}/tsconfig.app.json               |  0
 .../frontend}/tsconfig.json                   |  0
 .../frontend}/tsconfig.node.json              |  0
 .../frontend}/vite.config.ts                  |  0
 24 files changed, 134 insertions(+), 18 deletions(-)
 create mode 100644 gui/cmd/ssl-vision-processor-gui/routes.go
 create mode 100644 gui/cmd/ssl-vision-processor-gui/server.go
 create mode 100644 gui/cmd/ssl-vision-processor-gui/server_test.go
 rename {wrapper-frontend => gui/frontend}/.gitignore (100%)
 rename {wrapper-frontend => gui/frontend}/.prettierignore (100%)
 rename {wrapper-frontend => gui/frontend}/.prettierrc.json (100%)
 rename {wrapper-frontend => gui/frontend}/.vscode/extensions.json (100%)
 rename {wrapper-frontend => gui/frontend}/README.md (98%)
 rename {wrapper-frontend => gui/frontend}/eslint.config.js (100%)
 rename {wrapper-frontend => gui/frontend}/index.html (100%)
 rename {wrapper-frontend => gui/frontend}/package-lock.json (99%)
 rename {wrapper-frontend => gui/frontend}/package.json (95%)
 rename {wrapper-frontend => gui/frontend}/src/App.svelte (100%)
 rename {wrapper-frontend => gui/frontend}/src/lib/wrapper-bus.ts (100%)
 rename {wrapper-frontend => gui/frontend}/src/main.ts (100%)
 rename {wrapper-frontend => gui/frontend}/svelte.config.js (100%)
 rename {wrapper-frontend => gui/frontend}/tsconfig.app.json (100%)
 rename {wrapper-frontend => gui/frontend}/tsconfig.json (100%)
 rename {wrapper-frontend => gui/frontend}/tsconfig.node.json (100%)
 rename {wrapper-frontend => gui/frontend}/vite.config.ts (100%)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index cf7fedf..b044784 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -59,11 +59,11 @@ jobs:
           '
 
   frontend:
-    name: Frontend (wrapper-frontend)
+    name: Frontend (gui/frontend)
     runs-on: ubuntu-latest
     defaults:
       run:
-        working-directory: wrapper-frontend
+        working-directory: gui/frontend
     steps:
       - uses: actions/checkout@v4
 
@@ -71,7 +71,7 @@ jobs:
         with:
           node-version: 22
           cache: npm
-          cache-dependency-path: wrapper-frontend/package-lock.json
+          cache-dependency-path: gui/frontend/package-lock.json
 
       - run: npm ci
 
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 4e67894..8a74344 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -18,13 +18,13 @@ repos:
         pass_filenames: false
       - id: eslint
         name: eslint
-        entry: npm --prefix wrapper-frontend run lint
+        entry: npm --prefix gui/frontend run lint
         language: system
-        files: ^wrapper-frontend/
+        files: ^gui/frontend/
         pass_filenames: false
       - id: prettier
         name: prettier
-        entry: npm --prefix wrapper-frontend run format:check
+        entry: npm --prefix gui/frontend run format:check
         language: system
-        files: ^wrapper-frontend/
+        files: ^gui/frontend/
         pass_filenames: false
diff --git a/README.md b/README.md
index 730d4c7..d903765 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@ for all vision_processors, teams and the game controller.
 A modular replacement for `geom_publisher.py` plus a browser UI:
 
 - `wrapper_backend/` — async Python (uv-managed). Owns the field geometry, absorbs incoming calibrations, exposes the bus over WebSocket. Run with `./start_wrapper.sh` (defaults to `geometry-divB.yml`). See [`wrapper_backend/README.md`](wrapper_backend/README.md).
-- `wrapper-frontend/` — Svelte 5 + TypeScript + Vite. Connects to the backend's WebSocket and renders the operator UI. Run with `cd wrapper-frontend && npm install && npm run dev`. See [`wrapper-frontend/README.md`](wrapper-frontend/README.md).
+- `gui/frontend/` — Svelte 5 + TypeScript + Vite. Connects to the backend's WebSocket and renders the operator UI. Run with `cd gui/frontend && npm install && npm run dev`. See [`gui/frontend/README.md`](gui/frontend/README.md).
 
 ## Dependency installation and compilation
 
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
index dd8aa31..0b88ba5 100644
--- a/gui/cmd/ssl-vision-processor-gui/main.go
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -2,12 +2,15 @@ package main
 
 import (
 	"context"
+	"errors"
 	"flag"
 	"log/slog"
+	"net/http"
 	"os"
 	"os/signal"
 	"strings"
 	"syscall"
+	"time"
 
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/logging"
 )
@@ -46,6 +49,23 @@ func main() {
 	ctx, stopSignals := signal.NotifyContext(context.Background(), os.Interrupt, syscall.SIGTERM)
 	defer stopSignals()
 
+	srv := &http.Server{
+		Addr: *address,
+		Handler: NewVisionServer(),
+		ReadHeaderTimeout: 10 * time.Second,
+	}
+
+	go func() {
+		if err := srv.ListenAndServe(); err != nil && !errors.Is(err, http.ErrServerClosed) {
+			slog.Error("http server init failed", "err", err)
+
+			// ListenAndServer always returns, but ErrServerClosed is the graceful shutdown condition
+			// if we got anything else, the system didn't start and the process should die
+			// call stopSignals() now to cancel the context otherwise we continue to block on Ctrl+C
+			stopSignals()
+		}
+	}()
+
 	slog.Info("UI is available", "url", formattedAddress())
 
 	<-ctx.Done()
@@ -54,14 +74,16 @@ func main() {
 	// Ctrl-C should kill the process outright rather than being swallowed.
 	stopSignals()
 
-	slog.Info("shutting down")
+	slog.Info("initiating graceful shutdown")
 
 	// Cleanup of the HTTP server, receivers and bus clients goes here, bounded
 	// by its own context so a wedged component cannot hang the process:
-	//
-	//	shutdownCtx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
-	//	defer cancel()
-	//	httpServer.Shutdown(shutdownCtx)
+	shutdownCtx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
+	defer cancel()
+
+	if err := srv.Shutdown(shutdownCtx); err != nil {
+		slog.Error("http server failed to close gracefully", "err", err)
+	}
 
 	slog.Info("shutdown complete")
 }
diff --git a/gui/cmd/ssl-vision-processor-gui/routes.go b/gui/cmd/ssl-vision-processor-gui/routes.go
new file mode 100644
index 0000000..95b237f
--- /dev/null
+++ b/gui/cmd/ssl-vision-processor-gui/routes.go
@@ -0,0 +1,9 @@
+package main
+
+import (
+	"net/http"
+)
+
+func (s *VisionServer) addRoutes(mux *http.ServeMux) {
+	mux.Handle("GET /api/health", s.handleHealth())
+}
\ No newline at end of file
diff --git a/gui/cmd/ssl-vision-processor-gui/server.go b/gui/cmd/ssl-vision-processor-gui/server.go
new file mode 100644
index 0000000..c6e88cb
--- /dev/null
+++ b/gui/cmd/ssl-vision-processor-gui/server.go
@@ -0,0 +1,30 @@
+package main
+
+import (
+	"encoding/json"
+	"log/slog"
+	"net/http"
+)
+
+type VisionServer struct {
+
+}
+
+func NewVisionServer() http.Handler {
+	s := &VisionServer{}
+
+	mux := http.NewServeMux()
+	s.addRoutes(mux)
+
+	return mux
+}
+
+func (s *VisionServer) handleHealth() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		w.Header().Set("Content-Type", "application/json")
+
+		if err := json.NewEncoder(w).Encode(map[string]string{"status": "ok"}); err != nil {
+			slog.Error("writing health response", "err", err)
+		}
+	}
+}
\ No newline at end of file
diff --git a/gui/cmd/ssl-vision-processor-gui/server_test.go b/gui/cmd/ssl-vision-processor-gui/server_test.go
new file mode 100644
index 0000000..c41b14f
--- /dev/null
+++ b/gui/cmd/ssl-vision-processor-gui/server_test.go
@@ -0,0 +1,55 @@
+package main
+
+import (
+	"net/http"
+	"net/http/httptest"
+	"testing"
+)
+
+func TestHealthReturnsOK(t *testing.T) {
+	req := httptest.NewRequest(http.MethodGet, "/api/health", nil)
+	rec := httptest.NewRecorder()
+
+	NewVisionServer().ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusOK {
+		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
+	}
+
+	if got := rec.Header().Get("Content-Type"); got != "application/json" {
+		t.Errorf("Content-Type = %q, want application/json", got)
+	}
+
+	// json.Encoder.Encode terminates every value with a newline.
+	if got, want := rec.Body.String(), "{\"status\":\"ok\"}\n"; got != want {
+		t.Errorf("body = %q, want %q", got, want)
+	}
+}
+
+// The method prefix in the route pattern is what produces this, so it breaks if
+// someone registers the route without one.
+func TestHealthRejectsNonGET(t *testing.T) {
+	for _, method := range []string{http.MethodPost, http.MethodPut, http.MethodDelete} {
+		req := httptest.NewRequest(method, "/api/health", nil)
+		rec := httptest.NewRecorder()
+
+		NewVisionServer().ServeHTTP(rec, req)
+
+		if rec.Code != http.StatusMethodNotAllowed {
+			t.Errorf("%s /api/health = %d, want %d", method, rec.Code, http.StatusMethodNotAllowed)
+		}
+	}
+}
+
+// Until the frontend is embedded there is no catch-all route, so an unknown
+// path must 404 rather than being swallowed by something broader.
+func TestUnknownPathReturns404(t *testing.T) {
+	req := httptest.NewRequest(http.MethodGet, "/nope", nil)
+	rec := httptest.NewRecorder()
+
+	NewVisionServer().ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusNotFound {
+		t.Errorf("status = %d, want %d", rec.Code, http.StatusNotFound)
+	}
+}
diff --git a/wrapper-frontend/.gitignore b/gui/frontend/.gitignore
similarity index 100%
rename from wrapper-frontend/.gitignore
rename to gui/frontend/.gitignore
diff --git a/wrapper-frontend/.prettierignore b/gui/frontend/.prettierignore
similarity index 100%
rename from wrapper-frontend/.prettierignore
rename to gui/frontend/.prettierignore
diff --git a/wrapper-frontend/.prettierrc.json b/gui/frontend/.prettierrc.json
similarity index 100%
rename from wrapper-frontend/.prettierrc.json
rename to gui/frontend/.prettierrc.json
diff --git a/wrapper-frontend/.vscode/extensions.json b/gui/frontend/.vscode/extensions.json
similarity index 100%
rename from wrapper-frontend/.vscode/extensions.json
rename to gui/frontend/.vscode/extensions.json
diff --git a/wrapper-frontend/README.md b/gui/frontend/README.md
similarity index 98%
rename from wrapper-frontend/README.md
rename to gui/frontend/README.md
index b13513a..24efacf 100644
--- a/wrapper-frontend/README.md
+++ b/gui/frontend/README.md
@@ -1,4 +1,4 @@
-# wrapper-frontend
+# vision-processor-gui-frontend
 
 Browser UI for the vision-processor wrapper. Svelte 5 + TypeScript + Vite.
 
@@ -17,7 +17,7 @@ Two terminals from the repo root:
 ./start_wrapper.sh
 
 # terminal 2 (the Vite dev server, on :5173 with HMR)
-cd wrapper-frontend
+cd gui/frontend
 npm install
 npm run dev
 ```
diff --git a/wrapper-frontend/eslint.config.js b/gui/frontend/eslint.config.js
similarity index 100%
rename from wrapper-frontend/eslint.config.js
rename to gui/frontend/eslint.config.js
diff --git a/wrapper-frontend/index.html b/gui/frontend/index.html
similarity index 100%
rename from wrapper-frontend/index.html
rename to gui/frontend/index.html
diff --git a/wrapper-frontend/package-lock.json b/gui/frontend/package-lock.json
similarity index 99%
rename from wrapper-frontend/package-lock.json
rename to gui/frontend/package-lock.json
index 1d69c8b..03d6216 100644
--- a/wrapper-frontend/package-lock.json
+++ b/gui/frontend/package-lock.json
@@ -1,11 +1,11 @@
 {
-  "name": "wrapper-frontend",
+  "name": "vision-processor-gui-frontend",
   "version": "0.0.0",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
-      "name": "wrapper-frontend",
+      "name": "vision-processor-gui-frontend",
       "version": "0.0.0",
       "devDependencies": {
         "@eslint/js": "^10.0.1",
diff --git a/wrapper-frontend/package.json b/gui/frontend/package.json
similarity index 95%
rename from wrapper-frontend/package.json
rename to gui/frontend/package.json
index 34d55f5..dcd660c 100644
--- a/wrapper-frontend/package.json
+++ b/gui/frontend/package.json
@@ -1,5 +1,5 @@
 {
-  "name": "wrapper-frontend",
+  "name": "vision-processor-gui-frontend",
   "private": true,
   "version": "0.0.0",
   "type": "module",
diff --git a/wrapper-frontend/src/App.svelte b/gui/frontend/src/App.svelte
similarity index 100%
rename from wrapper-frontend/src/App.svelte
rename to gui/frontend/src/App.svelte
diff --git a/wrapper-frontend/src/lib/wrapper-bus.ts b/gui/frontend/src/lib/wrapper-bus.ts
similarity index 100%
rename from wrapper-frontend/src/lib/wrapper-bus.ts
rename to gui/frontend/src/lib/wrapper-bus.ts
diff --git a/wrapper-frontend/src/main.ts b/gui/frontend/src/main.ts
similarity index 100%
rename from wrapper-frontend/src/main.ts
rename to gui/frontend/src/main.ts
diff --git a/wrapper-frontend/svelte.config.js b/gui/frontend/svelte.config.js
similarity index 100%
rename from wrapper-frontend/svelte.config.js
rename to gui/frontend/svelte.config.js
diff --git a/wrapper-frontend/tsconfig.app.json b/gui/frontend/tsconfig.app.json
similarity index 100%
rename from wrapper-frontend/tsconfig.app.json
rename to gui/frontend/tsconfig.app.json
diff --git a/wrapper-frontend/tsconfig.json b/gui/frontend/tsconfig.json
similarity index 100%
rename from wrapper-frontend/tsconfig.json
rename to gui/frontend/tsconfig.json
diff --git a/wrapper-frontend/tsconfig.node.json b/gui/frontend/tsconfig.node.json
similarity index 100%
rename from wrapper-frontend/tsconfig.node.json
rename to gui/frontend/tsconfig.node.json
diff --git a/wrapper-frontend/vite.config.ts b/gui/frontend/vite.config.ts
similarity index 100%
rename from wrapper-frontend/vite.config.ts
rename to gui/frontend/vite.config.ts

From 8f1a8797350145d07a84e00d29e322061e9a5ad3 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Mon, 7 Sep 2026 21:18:12 -0400
Subject: [PATCH 03/23] add SPA routes, tests, and vscode tools

---
 .gitignore                                 |  3 +
 .vscode/extensions.json                    | 13 +++++
 .vscode/settings.json                      | 22 +++++++
 gui/Makefile                               | 42 ++++++++++++++
 gui/cmd/ssl-vision-processor-gui/routes.go |  3 +
 gui/frontend/.gitignore                    |  6 +-
 gui/frontend/.vscode/extensions.json       |  3 -
 gui/frontend/embed.go                      | 40 +++++++++++++
 gui/frontend/embed_test.go                 | 67 ++++++++++++++++++++++
 9 files changed, 195 insertions(+), 4 deletions(-)
 create mode 100644 .vscode/extensions.json
 create mode 100644 .vscode/settings.json
 create mode 100644 gui/Makefile
 delete mode 100644 gui/frontend/.vscode/extensions.json
 create mode 100644 gui/frontend/embed.go
 create mode 100644 gui/frontend/embed_test.go

diff --git a/.gitignore b/.gitignore
index add702a..ec838e8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -19,6 +19,9 @@ vision_processor
 blob_benchmark
 geometry_benchmark
 
+# Makefile sentinel for the frontend build
+/gui/.frontend
+
 #CMake files
 /build
 .cmake
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
new file mode 100644
index 0000000..19a0f58
--- /dev/null
+++ b/.vscode/extensions.json
@@ -0,0 +1,13 @@
+{
+  "recommendations": [
+    "golang.go",
+    "svelte.svelte-vscode",
+    "esbenp.prettier-vscode",
+    "ms-vscode.cpptools",
+    "ms-vscode.cmake-tools",
+    "ms-python.python",
+    "charliermarsh.ruff",
+    "jnoortheen.nix-ide",
+    "bufbuild.vscode-buf"
+  ]
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..7c4f443
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,22 @@
+{
+  "[go]": {
+    "editor.defaultFormatter": "golang.go",
+    "editor.formatOnSave": true,
+    "editor.codeActionsOnSave": {
+      "source.organizeImports": "explicit"
+    }
+  },
+  "[svelte]": {
+    "editor.defaultFormatter": "svelte.svelte-vscode",
+    "editor.formatOnSave": true
+  },
+  "[typescript]": {
+    "editor.defaultFormatter": "esbenp.prettier-vscode",
+    "editor.formatOnSave": true
+  },
+  "[javascript]": {
+    "editor.defaultFormatter": "esbenp.prettier-vscode",
+    "editor.formatOnSave": true
+  },
+  "go.vetOnSave": "package"
+}
diff --git a/gui/Makefile b/gui/Makefile
new file mode 100644
index 0000000..72ef5a9
--- /dev/null
+++ b/gui/Makefile
@@ -0,0 +1,42 @@
+BINARY = ssl-vision-processor-gui
+
+# ./... would also descend into frontend/node_modules, where npm packages ship
+# stray Go source (flatted/golang, for one). Enumerate our own trees instead.
+GO_PACKAGES = ./cmd/... ./internal/...
+
+FRONTEND_SOURCES = $(shell find frontend -type f \
+	-not -path "frontend/node_modules/*" \
+	-not -path "frontend/dist/*")
+
+.PHONY: all frontend install test run proto clean
+
+all: install
+
+# Sentinel file, so npm reruns only when a frontend source is newer than the
+# last build. //go:embed resolves at compile time, which is why every Go target
+# below depends on this.
+.frontend: $(FRONTEND_SOURCES)
+	cd frontend && npm ci && npm run build
+	touch .frontend
+
+frontend: .frontend
+
+install: frontend
+	go install -v $(GO_PACKAGES)
+
+test: frontend
+	cd frontend && npm run check && npm run lint && npm run format:check
+	go test $(GO_PACKAGES)
+
+run: frontend
+	go run ./cmd/$(BINARY)
+
+# Regenerates Go and TypeScript protobuf bindings. Needs network access for
+# buf's remote plugins, so it never runs as part of a build.
+proto:
+	buf generate
+
+clean:
+	rm -rf frontend/dist .frontend
+	mkdir -p frontend/dist
+	touch frontend/dist/.gitkeep
diff --git a/gui/cmd/ssl-vision-processor-gui/routes.go b/gui/cmd/ssl-vision-processor-gui/routes.go
index 95b237f..650beb3 100644
--- a/gui/cmd/ssl-vision-processor-gui/routes.go
+++ b/gui/cmd/ssl-vision-processor-gui/routes.go
@@ -2,8 +2,11 @@ package main
 
 import (
 	"net/http"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/frontend"
 )
 
 func (s *VisionServer) addRoutes(mux *http.ServeMux) {
 	mux.Handle("GET /api/health", s.handleHealth())
+	mux.Handle("/", frontend.HandleFrontend())
 }
\ No newline at end of file
diff --git a/gui/frontend/.gitignore b/gui/frontend/.gitignore
index a547bf3..63f51d6 100644
--- a/gui/frontend/.gitignore
+++ b/gui/frontend/.gitignore
@@ -8,7 +8,11 @@ pnpm-debug.log*
 lerna-debug.log*
 
 node_modules
-dist
+# dist is a build artefact, but the directory itself must exist: //go:embed
+# fails at compile time when it is missing, which would break `go test ./...`
+# on a fresh clone.
+dist/*
+!dist/.gitkeep
 dist-ssr
 *.local
 
diff --git a/gui/frontend/.vscode/extensions.json b/gui/frontend/.vscode/extensions.json
deleted file mode 100644
index bdef820..0000000
--- a/gui/frontend/.vscode/extensions.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-  "recommendations": ["svelte.svelte-vscode"]
-}
diff --git a/gui/frontend/embed.go b/gui/frontend/embed.go
new file mode 100644
index 0000000..612e39c
--- /dev/null
+++ b/gui/frontend/embed.go
@@ -0,0 +1,40 @@
+package frontend
+
+import (
+	"embed"
+	"errors"
+	"io/fs"
+	"log/slog"
+	"net/http"
+	"path"
+	"strings"
+)
+
+//go:embed all:dist
+var content embed.FS
+
+func HandleFrontend() http.Handler {
+	dist, err := fs.Sub(content, "dist")
+	if err != nil {
+		panic(err)
+	}
+
+	if _, err := fs.Stat(dist, "index.html"); err != nil {
+		slog.Warn("stat of index.html failed; frontend not built, UI will 404", "hint", "make frontend")
+	}
+
+	return serveSPA(dist, http.FileServerFS(dist))
+}
+
+func serveSPA(dist fs.FS, files http.Handler) http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		name := strings.TrimPrefix(r.URL.Path, "/")
+
+		if _, err := fs.Stat(dist, name); errors.Is(err, fs.ErrNotExist) && path.Ext(name) == "" {
+			r = r.Clone(r.Context())
+			r.URL.Path = "/"
+		}
+
+		files.ServeHTTP(w, r)
+	}
+}
\ No newline at end of file
diff --git a/gui/frontend/embed_test.go b/gui/frontend/embed_test.go
new file mode 100644
index 0000000..507ef48
--- /dev/null
+++ b/gui/frontend/embed_test.go
@@ -0,0 +1,67 @@
+package frontend
+
+import (
+	"net/http"
+	"net/http/httptest"
+	"strings"
+	"testing"
+	"testing/fstest"
+)
+
+// An in-memory stand-in for dist/, so these tests do not depend on whether
+// anyone has run `make frontend`.
+var testDist = fstest.MapFS{
+	"index.html":    {Data: []byte("<!doctype html>app")},
+	"assets/app.js": {Data: []byte("console.log(1)")},
+}
+
+func TestServeSPAStatus(t *testing.T) {
+	cases := map[string]int{
+		"/": http.StatusOK,
+		// FileServer canonicalises an explicit /index.html to ./
+		"/index.html":                 http.StatusMovedPermanently,
+		"/assets/app.js":              http.StatusOK,
+		"/instances/cam0/calibration": http.StatusOK,       // a route: falls back
+		"/assets/missing.js":          http.StatusNotFound, // an asset: must 404
+	}
+
+	handler := serveSPA(testDist, http.FileServerFS(testDist))
+
+	for path, want := range cases {
+		rec := httptest.NewRecorder()
+		handler.ServeHTTP(rec, httptest.NewRequest(http.MethodGet, path, nil))
+
+		if rec.Code != want {
+			t.Errorf("GET %s = %d, want %d", path, rec.Code, want)
+		}
+	}
+}
+
+// A 200 alone would not prove the fallback works: the body has to be the app.
+func TestServeSPAFallbackServesIndex(t *testing.T) {
+	handler := serveSPA(testDist, http.FileServerFS(testDist))
+
+	rec := httptest.NewRecorder()
+	handler.ServeHTTP(rec, httptest.NewRequest(http.MethodGet, "/instances/cam0/calibration", nil))
+
+	if got := rec.Body.String(); got != "<!doctype html>app" {
+		t.Errorf("body = %q, want the index.html contents", got)
+	}
+
+	if ct := rec.Header().Get("Content-Type"); !strings.HasPrefix(ct, "text/html") {
+		t.Errorf("Content-Type = %q, want text/html", ct)
+	}
+}
+
+// The asset guard is what keeps a stale bundle reference from being answered
+// with HTML, which surfaces in the browser as "Unexpected token '<'".
+func TestServeSPADoesNotFallBackForAssets(t *testing.T) {
+	handler := serveSPA(testDist, http.FileServerFS(testDist))
+
+	rec := httptest.NewRecorder()
+	handler.ServeHTTP(rec, httptest.NewRequest(http.MethodGet, "/assets/missing.js", nil))
+
+	if strings.Contains(rec.Body.String(), "doctype") {
+		t.Errorf("missing asset answered with HTML: %q", rec.Body.String())
+	}
+}

From d409a72bd60bb4483151616143de8b05ec5aeda2 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Mon, 7 Sep 2026 21:34:47 -0400
Subject: [PATCH 04/23] initial proto wiring

---
 gui/Makefile                                  |    2 +-
 gui/buf.gen.yaml                              |   36 +
 gui/cmd/ssl-vision-processor-gui/routes.go    |    2 +
 .../ssl-vision-processor-gui/server_test.go   |   37 +-
 gui/frontend/.prettierignore                  |    4 +
 gui/frontend/package-lock.json                |    9 +
 gui/frontend/package.json                     |    3 +
 .../proto/gamecontroller/ssl_gc_common_pb.ts  |  139 +
 .../gamecontroller/ssl_gc_game_event_pb.ts    | 3850 ++++++++++++++
 .../gamecontroller/ssl_gc_geometry_pb.ts      |  106 +
 .../gamecontroller/ssl_gc_rcon_autoref_pb.ts  |  157 +
 .../proto/gamecontroller/ssl_gc_rcon_pb.ts    |  208 +
 .../ssl_gc_rcon_remotecontrol_pb.ts           |  565 +++
 .../gamecontroller/ssl_gc_rcon_team_pb.ts     |  264 +
 .../ssl_gc_referee_message_pb.ts              | 1055 ++++
 .../proto/vision/ssl_vision_detection_pb.ts   |  403 ++
 .../vision/ssl_vision_detection_tracked_pb.ts |  448 ++
 .../proto/vision/ssl_vision_geometry_pb.ts    | 1031 ++++
 .../src/proto/vision/ssl_vision_wrapper_pb.ts |  123 +
 .../vision/ssl_vision_wrapper_tracked_pb.ts   |   83 +
 .../src/proto/vision/ssl_vp_config_pb.ts      |  951 ++++
 gui/go.mod                                    |    8 +-
 gui/go.sum                                    |    6 +-
 .../gamecontroller/ssl_gc_common.pb.go        |  271 +
 .../gamecontroller/ssl_gc_game_event.pb.go    | 4459 +++++++++++++++++
 .../gamecontroller/ssl_gc_geometry.pb.go      |  198 +
 gui/internal/gamecontroller/ssl_gc_rcon.pb.go |  352 ++
 .../gamecontroller/ssl_gc_rcon_autoref.pb.go  |  283 ++
 .../ssl_gc_rcon_remotecontrol.pb.go           |  718 +++
 .../gamecontroller/ssl_gc_rcon_team.pb.go     |  442 ++
 .../ssl_gc_referee_message.pb.go              | 1113 ++++
 .../vision/ssl_vision_detection.pb.go         |  439 ++
 .../vision/ssl_vision_detection_tracked.pb.go |  544 ++
 gui/internal/vision/ssl_vision_geometry.pb.go | 1135 +++++
 gui/internal/vision/ssl_vision_wrapper.pb.go  |  238 +
 .../vision/ssl_vision_wrapper_tracked.pb.go   |  150 +
 gui/internal/vision/ssl_vp_config.pb.go       | 1230 +++++
 37 files changed, 21044 insertions(+), 18 deletions(-)
 create mode 100644 gui/buf.gen.yaml
 create mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_common_pb.ts
 create mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_game_event_pb.ts
 create mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_geometry_pb.ts
 create mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_autoref_pb.ts
 create mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_pb.ts
 create mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_remotecontrol_pb.ts
 create mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_team_pb.ts
 create mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_referee_message_pb.ts
 create mode 100644 gui/frontend/src/proto/vision/ssl_vision_detection_pb.ts
 create mode 100644 gui/frontend/src/proto/vision/ssl_vision_detection_tracked_pb.ts
 create mode 100644 gui/frontend/src/proto/vision/ssl_vision_geometry_pb.ts
 create mode 100644 gui/frontend/src/proto/vision/ssl_vision_wrapper_pb.ts
 create mode 100644 gui/frontend/src/proto/vision/ssl_vision_wrapper_tracked_pb.ts
 create mode 100644 gui/frontend/src/proto/vision/ssl_vp_config_pb.ts
 create mode 100644 gui/internal/gamecontroller/ssl_gc_common.pb.go
 create mode 100644 gui/internal/gamecontroller/ssl_gc_game_event.pb.go
 create mode 100644 gui/internal/gamecontroller/ssl_gc_geometry.pb.go
 create mode 100644 gui/internal/gamecontroller/ssl_gc_rcon.pb.go
 create mode 100644 gui/internal/gamecontroller/ssl_gc_rcon_autoref.pb.go
 create mode 100644 gui/internal/gamecontroller/ssl_gc_rcon_remotecontrol.pb.go
 create mode 100644 gui/internal/gamecontroller/ssl_gc_rcon_team.pb.go
 create mode 100644 gui/internal/gamecontroller/ssl_gc_referee_message.pb.go
 create mode 100644 gui/internal/vision/ssl_vision_detection.pb.go
 create mode 100644 gui/internal/vision/ssl_vision_detection_tracked.pb.go
 create mode 100644 gui/internal/vision/ssl_vision_geometry.pb.go
 create mode 100644 gui/internal/vision/ssl_vision_wrapper.pb.go
 create mode 100644 gui/internal/vision/ssl_vision_wrapper_tracked.pb.go
 create mode 100644 gui/internal/vision/ssl_vp_config.pb.go

diff --git a/gui/Makefile b/gui/Makefile
index 72ef5a9..2546dff 100644
--- a/gui/Makefile
+++ b/gui/Makefile
@@ -2,7 +2,7 @@ BINARY = ssl-vision-processor-gui
 
 # ./... would also descend into frontend/node_modules, where npm packages ship
 # stray Go source (flatted/golang, for one). Enumerate our own trees instead.
-GO_PACKAGES = ./cmd/... ./internal/...
+GO_PACKAGES = ./cmd/... ./internal/... ./frontend
 
 FRONTEND_SOURCES = $(shell find frontend -type f \
 	-not -path "frontend/node_modules/*" \
diff --git a/gui/buf.gen.yaml b/gui/buf.gen.yaml
new file mode 100644
index 0000000..dac8bde
--- /dev/null
+++ b/gui/buf.gen.yaml
@@ -0,0 +1,36 @@
+version: v2
+
+# The .proto files live in the proto/ git submodule, shared with the C++ and
+# (for now) Python builds. buf reads them in place, so there is no vendored copy
+# to drift.
+inputs:
+  - directory: ../proto/proto
+    paths:
+      - ../proto/proto/vision
+      - ../proto/proto/gamecontroller
+    exclude_paths:
+      - ../proto/proto/vision/legacy
+
+# The SSL .proto files carry no go_package option, so managed mode has to supply
+# one. Combined with paths=source_relative below, proto/<dir> generates into
+# internal/<dir>: proto/vision/*.proto -> internal/vision/*.pb.go.
+managed:
+  enabled: true
+  override:
+    - file_option: go_package_prefix
+      value: github.com/RoboCup-SSL/ssl-vision-processor/gui/internal
+
+plugins:
+  - remote: buf.build/protocolbuffers/go:v1.36.6
+    out: internal
+    opt:
+      - paths=source_relative
+
+  # json_types emits the canonical protojson shape of each message, which is
+  # what the Go side sends over the wire. 64-bit fields come out as strings
+  # there, and these types say so.
+  - remote: buf.build/bufbuild/es:v2.2.5
+    out: frontend/src/proto
+    opt:
+      - target=ts
+      - json_types=true
diff --git a/gui/cmd/ssl-vision-processor-gui/routes.go b/gui/cmd/ssl-vision-processor-gui/routes.go
index 650beb3..a393c6e 100644
--- a/gui/cmd/ssl-vision-processor-gui/routes.go
+++ b/gui/cmd/ssl-vision-processor-gui/routes.go
@@ -8,5 +8,7 @@ import (
 
 func (s *VisionServer) addRoutes(mux *http.ServeMux) {
 	mux.Handle("GET /api/health", s.handleHealth())
+	mux.Handle("/api/", http.NotFoundHandler())
+	
 	mux.Handle("/", frontend.HandleFrontend())
 }
\ No newline at end of file
diff --git a/gui/cmd/ssl-vision-processor-gui/server_test.go b/gui/cmd/ssl-vision-processor-gui/server_test.go
index c41b14f..1a970c1 100644
--- a/gui/cmd/ssl-vision-processor-gui/server_test.go
+++ b/gui/cmd/ssl-vision-processor-gui/server_test.go
@@ -3,6 +3,7 @@ package main
 import (
 	"net/http"
 	"net/http/httptest"
+	"strings"
 	"testing"
 )
 
@@ -26,8 +27,10 @@ func TestHealthReturnsOK(t *testing.T) {
 	}
 }
 
-// The method prefix in the route pattern is what produces this, so it breaks if
-// someone registers the route without one.
+// A wrong method is a 404 rather than a 405: the "/" catch-all matches every
+// method, so ServeMux never reaches its method-not-allowed path. What matters is
+// that the "/api/" subtree answers, instead of the request falling through to
+// the frontend and returning HTML with status 200.
 func TestHealthRejectsNonGET(t *testing.T) {
 	for _, method := range []string{http.MethodPost, http.MethodPut, http.MethodDelete} {
 		req := httptest.NewRequest(method, "/api/health", nil)
@@ -35,16 +38,17 @@ func TestHealthRejectsNonGET(t *testing.T) {
 
 		NewVisionServer().ServeHTTP(rec, req)
 
-		if rec.Code != http.StatusMethodNotAllowed {
-			t.Errorf("%s /api/health = %d, want %d", method, rec.Code, http.StatusMethodNotAllowed)
+		if rec.Code != http.StatusNotFound {
+			t.Errorf("%s /api/health = %d, want %d", method, rec.Code, http.StatusNotFound)
 		}
 	}
 }
 
-// Until the frontend is embedded there is no catch-all route, so an unknown
-// path must 404 rather than being swallowed by something broader.
-func TestUnknownPathReturns404(t *testing.T) {
-	req := httptest.NewRequest(http.MethodGet, "/nope", nil)
+// An unrouted API path must not be answered by the SPA fallback. Returning
+// index.html here would give fetch() HTML where it expects JSON, surfacing as a
+// parse error rather than as the 404 it really is.
+func TestUnknownAPIPathReturns404(t *testing.T) {
+	req := httptest.NewRequest(http.MethodGet, "/api/does-not-exist", nil)
 	rec := httptest.NewRecorder()
 
 	NewVisionServer().ServeHTTP(rec, req)
@@ -52,4 +56,21 @@ func TestUnknownPathReturns404(t *testing.T) {
 	if rec.Code != http.StatusNotFound {
 		t.Errorf("status = %d, want %d", rec.Code, http.StatusNotFound)
 	}
+
+	if strings.Contains(rec.Body.String(), "doctype") {
+		t.Errorf("API 404 answered with HTML: %q", rec.Body.String())
+	}
+}
+
+// The counterpart: a path that looks like a client-side route does get the app,
+// so a deep link survives a reload.
+func TestUnknownPathServesApp(t *testing.T) {
+	req := httptest.NewRequest(http.MethodGet, "/instances/cam0/calibration", nil)
+	rec := httptest.NewRecorder()
+
+	NewVisionServer().ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusOK {
+		t.Errorf("status = %d, want %d", rec.Code, http.StatusOK)
+	}
 }
diff --git a/gui/frontend/.prettierignore b/gui/frontend/.prettierignore
index 1eae0cf..c9f9ba3 100644
--- a/gui/frontend/.prettierignore
+++ b/gui/frontend/.prettierignore
@@ -1,2 +1,6 @@
 dist/
 node_modules/
+
+# Generated by `buf generate` (see gui/buf.gen.yaml). Committed, never edited by
+# hand, and reformatting it would produce a diff on every regeneration.
+src/proto/
diff --git a/gui/frontend/package-lock.json b/gui/frontend/package-lock.json
index 03d6216..4d4b690 100644
--- a/gui/frontend/package-lock.json
+++ b/gui/frontend/package-lock.json
@@ -7,6 +7,9 @@
     "": {
       "name": "vision-processor-gui-frontend",
       "version": "0.0.0",
+      "dependencies": {
+        "@bufbuild/protobuf": "^2.14.1"
+      },
       "devDependencies": {
         "@eslint/js": "^10.0.1",
         "@sveltejs/vite-plugin-svelte": "^7.1.2",
@@ -26,6 +29,12 @@
         "vite": "^8.0.12"
       }
     },
+    "node_modules/@bufbuild/protobuf": {
+      "version": "2.14.1",
+      "resolved": "https://registry.npmjs.org/@bufbuild/protobuf/-/protobuf-2.14.1.tgz",
+      "integrity": "sha512-agRJn3+EJDUe8AvxTx/LnHA/GErvLE62pSaSk7+MwFOtOv8eWBu/qCq2qoZjBjVZ3C2aiFJCveuSs17KMkYGOw==",
+      "license": "(Apache-2.0 AND BSD-3-Clause)"
+    },
     "node_modules/@emnapi/core": {
       "version": "1.10.0",
       "resolved": "https://registry.npmjs.org/@emnapi/core/-/core-1.10.0.tgz",
diff --git a/gui/frontend/package.json b/gui/frontend/package.json
index dcd660c..57596b1 100644
--- a/gui/frontend/package.json
+++ b/gui/frontend/package.json
@@ -29,5 +29,8 @@
     "typescript": "~6.0.2",
     "typescript-eslint": "^8.59.3",
     "vite": "^8.0.12"
+  },
+  "dependencies": {
+    "@bufbuild/protobuf": "^2.14.1"
   }
 }
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_common_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_common_pb.ts
new file mode 100644
index 0000000..bb16105
--- /dev/null
+++ b/gui/frontend/src/proto/gamecontroller/ssl_gc_common_pb.ts
@@ -0,0 +1,139 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file gamecontroller/ssl_gc_common.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file gamecontroller/ssl_gc_common.proto.
+ */
+export const file_gamecontroller_ssl_gc_common: GenFile = /*@__PURE__*/
+  fileDesc("CiJnYW1lY29udHJvbGxlci9zc2xfZ2NfY29tbW9uLnByb3RvIioKB1JvYm90SWQSCgoCaWQYASABKA0SEwoEdGVhbRgCIAEoDjIFLlRlYW0qKQoEVGVhbRILCgdVTktOT1dOEAASCgoGWUVMTE9XEAESCAoEQkxVRRACKjEKCERpdmlzaW9uEg8KC0RJVl9VTktOT1dOEAASCQoFRElWX0EQARIJCgVESVZfQhACQl1CEFNzbEdjQ29tbW9uUHJvdG9QAVpHZ2l0aHViLmNvbS9Sb2JvQ3VwLVNTTC9zc2wtdmlzaW9uLXByb2Nlc3Nvci9ndWkvaW50ZXJuYWwvZ2FtZWNvbnRyb2xsZXI");
+
+/**
+ * RobotId is the combination of a team and a robot id
+ *
+ * @generated from message RobotId
+ */
+export type RobotId = Message<"RobotId"> & {
+  /**
+   * the robot number
+   *
+   * @generated from field: optional uint32 id = 1;
+   */
+  id: number;
+
+  /**
+   * the team that the robot belongs to
+   *
+   * @generated from field: optional Team team = 2;
+   */
+  team: Team;
+};
+
+/**
+ * RobotId is the combination of a team and a robot id
+ *
+ * @generated from message RobotId
+ */
+export type RobotIdJson = {
+  /**
+   * the robot number
+   *
+   * @generated from field: optional uint32 id = 1;
+   */
+  id?: number;
+
+  /**
+   * the team that the robot belongs to
+   *
+   * @generated from field: optional Team team = 2;
+   */
+  team?: TeamJson;
+};
+
+/**
+ * Describes the message RobotId.
+ * Use `create(RobotIdSchema)` to create a new message.
+ */
+export const RobotIdSchema: GenMessage<RobotId, RobotIdJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_common, 0);
+
+/**
+ * Team is either blue or yellow
+ *
+ * @generated from enum Team
+ */
+export enum Team {
+  /**
+   * team not set
+   *
+   * @generated from enum value: UNKNOWN = 0;
+   */
+  UNKNOWN = 0,
+
+  /**
+   * yellow team
+   *
+   * @generated from enum value: YELLOW = 1;
+   */
+  YELLOW = 1,
+
+  /**
+   * blue team
+   *
+   * @generated from enum value: BLUE = 2;
+   */
+  BLUE = 2,
+}
+
+/**
+ * Team is either blue or yellow
+ *
+ * @generated from enum Team
+ */
+export type TeamJson = "UNKNOWN" | "YELLOW" | "BLUE";
+
+/**
+ * Describes the enum Team.
+ */
+export const TeamSchema: GenEnum<Team, TeamJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_common, 0);
+
+/**
+ * Division denotes the current division, which influences some rules
+ *
+ * @generated from enum Division
+ */
+export enum Division {
+  /**
+   * @generated from enum value: DIV_UNKNOWN = 0;
+   */
+  DIV_UNKNOWN = 0,
+
+  /**
+   * @generated from enum value: DIV_A = 1;
+   */
+  DIV_A = 1,
+
+  /**
+   * @generated from enum value: DIV_B = 2;
+   */
+  DIV_B = 2,
+}
+
+/**
+ * Division denotes the current division, which influences some rules
+ *
+ * @generated from enum Division
+ */
+export type DivisionJson = "DIV_UNKNOWN" | "DIV_A" | "DIV_B";
+
+/**
+ * Describes the enum Division.
+ */
+export const DivisionSchema: GenEnum<Division, DivisionJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_common, 1);
+
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_game_event_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_game_event_pb.ts
new file mode 100644
index 0000000..4666b62
--- /dev/null
+++ b/gui/frontend/src/proto/gamecontroller/ssl_gc_game_event_pb.ts
@@ -0,0 +1,3850 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file gamecontroller/ssl_gc_game_event.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { Team, TeamJson } from "./ssl_gc_common_pb";
+import { file_gamecontroller_ssl_gc_common } from "./ssl_gc_common_pb";
+import type { Vector2, Vector2Json } from "./ssl_gc_geometry_pb";
+import { file_gamecontroller_ssl_gc_geometry } from "./ssl_gc_geometry_pb";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file gamecontroller/ssl_gc_game_event.proto.
+ */
+export const file_gamecontroller_ssl_gc_game_event: GenFile = /*@__PURE__*/
+  fileDesc("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", [file_gamecontroller_ssl_gc_common, file_gamecontroller_ssl_gc_geometry]);
+
+/**
+ * GameEvent contains exactly one game event
+ * Each game event has optional and required fields. The required fields are mandatory to process the event.
+ * Some optional fields are only used for visualization, others are required to determine the ball placement position.
+ * If fields are missing that are required for the ball placement position, no ball placement command will be issued.
+ * Fields are marked optional to make testing and extending of the protocol easier.
+ * An autoRef should ideally set all fields, except if there are good reasons to not do so.
+ *
+ * @generated from message GameEvent
+ */
+export type GameEvent = Message<"GameEvent"> & {
+  /**
+   * A globally unique id of the game event.
+   *
+   * @generated from field: optional string id = 50;
+   */
+  id: string;
+
+  /**
+   * The type of the game event.
+   *
+   * @generated from field: optional GameEvent.Type type = 40;
+   */
+  type: GameEvent_Type;
+
+  /**
+   * The origins of this game event.
+   * Empty, if it originates from game controller.
+   * Contains autoRef name(s), if it originates from one or more autoRefs.
+   * Ignored if sent by autoRef to game controller.
+   *
+   * @generated from field: repeated string origin = 41;
+   */
+  origin: string[];
+
+  /**
+   * Unix timestamp in microseconds when the event was created.
+   *
+   * @generated from field: optional uint64 created_timestamp = 49;
+   */
+  createdTimestamp: bigint;
+
+  /**
+   * the event that occurred
+   *
+   * @generated from oneof GameEvent.event
+   */
+  event: {
+    /**
+     * @generated from field: GameEvent.BallLeftField ball_left_field_touch_line = 6;
+     */
+    value: GameEvent_BallLeftField;
+    case: "ballLeftFieldTouchLine";
+  } | {
+    /**
+     * @generated from field: GameEvent.BallLeftField ball_left_field_goal_line = 7;
+     */
+    value: GameEvent_BallLeftField;
+    case: "ballLeftFieldGoalLine";
+  } | {
+    /**
+     * @generated from field: GameEvent.AimlessKick aimless_kick = 11;
+     */
+    value: GameEvent_AimlessKick;
+    case: "aimlessKick";
+  } | {
+    /**
+     * @generated from field: GameEvent.AttackerTooCloseToDefenseArea attacker_too_close_to_defense_area = 19;
+     */
+    value: GameEvent_AttackerTooCloseToDefenseArea;
+    case: "attackerTooCloseToDefenseArea";
+  } | {
+    /**
+     * @generated from field: GameEvent.DefenderInDefenseArea defender_in_defense_area = 31;
+     */
+    value: GameEvent_DefenderInDefenseArea;
+    case: "defenderInDefenseArea";
+  } | {
+    /**
+     * @generated from field: GameEvent.BoundaryCrossing boundary_crossing = 43;
+     */
+    value: GameEvent_BoundaryCrossing;
+    case: "boundaryCrossing";
+  } | {
+    /**
+     * @generated from field: GameEvent.KeeperHeldBall keeper_held_ball = 13;
+     */
+    value: GameEvent_KeeperHeldBall;
+    case: "keeperHeldBall";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotDribbledBallTooFar bot_dribbled_ball_too_far = 17;
+     */
+    value: GameEvent_BotDribbledBallTooFar;
+    case: "botDribbledBallTooFar";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotPushedBot bot_pushed_bot = 24;
+     */
+    value: GameEvent_BotPushedBot;
+    case: "botPushedBot";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotHeldBallDeliberately bot_held_ball_deliberately = 26;
+     */
+    value: GameEvent_BotHeldBallDeliberately;
+    case: "botHeldBallDeliberately";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotTippedOver bot_tipped_over = 27;
+     */
+    value: GameEvent_BotTippedOver;
+    case: "botTippedOver";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotDroppedParts bot_dropped_parts = 51;
+     */
+    value: GameEvent_BotDroppedParts;
+    case: "botDroppedParts";
+  } | {
+    /**
+     * @generated from field: GameEvent.AttackerTouchedBallInDefenseArea attacker_touched_ball_in_defense_area = 15;
+     */
+    value: GameEvent_AttackerTouchedBallInDefenseArea;
+    case: "attackerTouchedBallInDefenseArea";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotKickedBallTooFast bot_kicked_ball_too_fast = 18;
+     */
+    value: GameEvent_BotKickedBallTooFast;
+    case: "botKickedBallTooFast";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotCrashUnique bot_crash_unique = 22;
+     */
+    value: GameEvent_BotCrashUnique;
+    case: "botCrashUnique";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotCrashDrawn bot_crash_drawn = 21;
+     */
+    value: GameEvent_BotCrashDrawn;
+    case: "botCrashDrawn";
+  } | {
+    /**
+     * @generated from field: GameEvent.DefenderTooCloseToKickPoint defender_too_close_to_kick_point = 29;
+     */
+    value: GameEvent_DefenderTooCloseToKickPoint;
+    case: "defenderTooCloseToKickPoint";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotTooFastInStop bot_too_fast_in_stop = 28;
+     */
+    value: GameEvent_BotTooFastInStop;
+    case: "botTooFastInStop";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotInterferedPlacement bot_interfered_placement = 20;
+     */
+    value: GameEvent_BotInterferedPlacement;
+    case: "botInterferedPlacement";
+  } | {
+    /**
+     * @generated from field: GameEvent.Goal possible_goal = 39;
+     */
+    value: GameEvent_Goal;
+    case: "possibleGoal";
+  } | {
+    /**
+     * @generated from field: GameEvent.Goal goal = 8;
+     */
+    value: GameEvent_Goal;
+    case: "goal";
+  } | {
+    /**
+     * @generated from field: GameEvent.Goal invalid_goal = 44;
+     */
+    value: GameEvent_Goal;
+    case: "invalidGoal";
+  } | {
+    /**
+     * @generated from field: GameEvent.AttackerDoubleTouchedBall attacker_double_touched_ball = 14;
+     */
+    value: GameEvent_AttackerDoubleTouchedBall;
+    case: "attackerDoubleTouchedBall";
+  } | {
+    /**
+     * @generated from field: GameEvent.PlacementSucceeded placement_succeeded = 5;
+     */
+    value: GameEvent_PlacementSucceeded;
+    case: "placementSucceeded";
+  } | {
+    /**
+     * @generated from field: GameEvent.PenaltyKickFailed penalty_kick_failed = 45;
+     */
+    value: GameEvent_PenaltyKickFailed;
+    case: "penaltyKickFailed";
+  } | {
+    /**
+     * @generated from field: GameEvent.NoProgressInGame no_progress_in_game = 2;
+     */
+    value: GameEvent_NoProgressInGame;
+    case: "noProgressInGame";
+  } | {
+    /**
+     * @generated from field: GameEvent.PlacementFailed placement_failed = 3;
+     */
+    value: GameEvent_PlacementFailed;
+    case: "placementFailed";
+  } | {
+    /**
+     * @generated from field: GameEvent.MultipleCards multiple_cards = 32;
+     */
+    value: GameEvent_MultipleCards;
+    case: "multipleCards";
+  } | {
+    /**
+     * @generated from field: GameEvent.MultipleFouls multiple_fouls = 34;
+     */
+    value: GameEvent_MultipleFouls;
+    case: "multipleFouls";
+  } | {
+    /**
+     * @generated from field: GameEvent.BotSubstitution bot_substitution = 37;
+     */
+    value: GameEvent_BotSubstitution;
+    case: "botSubstitution";
+  } | {
+    /**
+     * @generated from field: GameEvent.ExcessiveBotSubstitution excessive_bot_substitution = 52;
+     */
+    value: GameEvent_ExcessiveBotSubstitution;
+    case: "excessiveBotSubstitution";
+  } | {
+    /**
+     * @generated from field: GameEvent.TooManyRobots too_many_robots = 38;
+     */
+    value: GameEvent_TooManyRobots;
+    case: "tooManyRobots";
+  } | {
+    /**
+     * @generated from field: GameEvent.ChallengeFlag challenge_flag = 46;
+     */
+    value: GameEvent_ChallengeFlag;
+    case: "challengeFlag";
+  } | {
+    /**
+     * @generated from field: GameEvent.ChallengeFlagHandled challenge_flag_handled = 48;
+     */
+    value: GameEvent_ChallengeFlagHandled;
+    case: "challengeFlagHandled";
+  } | {
+    /**
+     * @generated from field: GameEvent.EmergencyStop emergency_stop = 47;
+     */
+    value: GameEvent_EmergencyStop;
+    case: "emergencyStop";
+  } | {
+    /**
+     * @generated from field: GameEvent.UnsportingBehaviorMinor unsporting_behavior_minor = 35;
+     */
+    value: GameEvent_UnsportingBehaviorMinor;
+    case: "unsportingBehaviorMinor";
+  } | {
+    /**
+     * @generated from field: GameEvent.UnsportingBehaviorMajor unsporting_behavior_major = 36;
+     */
+    value: GameEvent_UnsportingBehaviorMajor;
+    case: "unsportingBehaviorMajor";
+  } | {
+    /**
+     * replaced by ready_to_continue flag
+     *
+     * @generated from field: GameEvent.Prepared prepared = 1 [deprecated = true];
+     * @deprecated
+     */
+    value: GameEvent_Prepared;
+    case: "prepared";
+  } | {
+    /**
+     * obsolete
+     *
+     * @generated from field: GameEvent.IndirectGoal indirect_goal = 9 [deprecated = true];
+     * @deprecated
+     */
+    value: GameEvent_IndirectGoal;
+    case: "indirectGoal";
+  } | {
+    /**
+     * replaced by the meta-information in the possible_goal event
+     *
+     * @generated from field: GameEvent.ChippedGoal chipped_goal = 10 [deprecated = true];
+     * @deprecated
+     */
+    value: GameEvent_ChippedGoal;
+    case: "chippedGoal";
+  } | {
+    /**
+     * obsolete
+     *
+     * @generated from field: GameEvent.KickTimeout kick_timeout = 12 [deprecated = true];
+     * @deprecated
+     */
+    value: GameEvent_KickTimeout;
+    case: "kickTimeout";
+  } | {
+    /**
+     * rule removed
+     *
+     * @generated from field: GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area = 16 [deprecated = true];
+     * @deprecated
+     */
+    value: GameEvent_AttackerTouchedOpponentInDefenseArea;
+    case: "attackerTouchedOpponentInDefenseArea";
+  } | {
+    /**
+     * obsolete
+     *
+     * @generated from field: GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area_skipped = 42 [deprecated = true];
+     * @deprecated
+     */
+    value: GameEvent_AttackerTouchedOpponentInDefenseArea;
+    case: "attackerTouchedOpponentInDefenseAreaSkipped";
+  } | {
+    /**
+     * obsolete
+     *
+     * @generated from field: GameEvent.BotCrashUnique bot_crash_unique_skipped = 23 [deprecated = true];
+     * @deprecated
+     */
+    value: GameEvent_BotCrashUnique;
+    case: "botCrashUniqueSkipped";
+  } | {
+    /**
+     * can not be used as long as autoRefs do not judge pushing
+     *
+     * @generated from field: GameEvent.BotPushedBot bot_pushed_bot_skipped = 25 [deprecated = true];
+     * @deprecated
+     */
+    value: GameEvent_BotPushedBot;
+    case: "botPushedBotSkipped";
+  } | {
+    /**
+     * rule removed
+     *
+     * @generated from field: GameEvent.DefenderInDefenseAreaPartially defender_in_defense_area_partially = 30 [deprecated = true];
+     * @deprecated
+     */
+    value: GameEvent_DefenderInDefenseAreaPartially;
+    case: "defenderInDefenseAreaPartially";
+  } | {
+    /**
+     * the referee msg already indicates this
+     *
+     * @generated from field: GameEvent.MultiplePlacementFailures multiple_placement_failures = 33 [deprecated = true];
+     * @deprecated
+     */
+    value: GameEvent_MultiplePlacementFailures;
+    case: "multiplePlacementFailures";
+  } | { case: undefined; value?: undefined };
+};
+
+/**
+ * GameEvent contains exactly one game event
+ * Each game event has optional and required fields. The required fields are mandatory to process the event.
+ * Some optional fields are only used for visualization, others are required to determine the ball placement position.
+ * If fields are missing that are required for the ball placement position, no ball placement command will be issued.
+ * Fields are marked optional to make testing and extending of the protocol easier.
+ * An autoRef should ideally set all fields, except if there are good reasons to not do so.
+ *
+ * @generated from message GameEvent
+ */
+export type GameEventJson = {
+  /**
+   * A globally unique id of the game event.
+   *
+   * @generated from field: optional string id = 50;
+   */
+  id?: string;
+
+  /**
+   * The type of the game event.
+   *
+   * @generated from field: optional GameEvent.Type type = 40;
+   */
+  type?: GameEvent_TypeJson;
+
+  /**
+   * The origins of this game event.
+   * Empty, if it originates from game controller.
+   * Contains autoRef name(s), if it originates from one or more autoRefs.
+   * Ignored if sent by autoRef to game controller.
+   *
+   * @generated from field: repeated string origin = 41;
+   */
+  origin?: string[];
+
+  /**
+   * Unix timestamp in microseconds when the event was created.
+   *
+   * @generated from field: optional uint64 created_timestamp = 49;
+   */
+  createdTimestamp?: string;
+
+  /**
+   * @generated from field: GameEvent.BallLeftField ball_left_field_touch_line = 6;
+   */
+  ballLeftFieldTouchLine?: GameEvent_BallLeftFieldJson;
+
+  /**
+   * @generated from field: GameEvent.BallLeftField ball_left_field_goal_line = 7;
+   */
+  ballLeftFieldGoalLine?: GameEvent_BallLeftFieldJson;
+
+  /**
+   * @generated from field: GameEvent.AimlessKick aimless_kick = 11;
+   */
+  aimlessKick?: GameEvent_AimlessKickJson;
+
+  /**
+   * @generated from field: GameEvent.AttackerTooCloseToDefenseArea attacker_too_close_to_defense_area = 19;
+   */
+  attackerTooCloseToDefenseArea?: GameEvent_AttackerTooCloseToDefenseAreaJson;
+
+  /**
+   * @generated from field: GameEvent.DefenderInDefenseArea defender_in_defense_area = 31;
+   */
+  defenderInDefenseArea?: GameEvent_DefenderInDefenseAreaJson;
+
+  /**
+   * @generated from field: GameEvent.BoundaryCrossing boundary_crossing = 43;
+   */
+  boundaryCrossing?: GameEvent_BoundaryCrossingJson;
+
+  /**
+   * @generated from field: GameEvent.KeeperHeldBall keeper_held_ball = 13;
+   */
+  keeperHeldBall?: GameEvent_KeeperHeldBallJson;
+
+  /**
+   * @generated from field: GameEvent.BotDribbledBallTooFar bot_dribbled_ball_too_far = 17;
+   */
+  botDribbledBallTooFar?: GameEvent_BotDribbledBallTooFarJson;
+
+  /**
+   * @generated from field: GameEvent.BotPushedBot bot_pushed_bot = 24;
+   */
+  botPushedBot?: GameEvent_BotPushedBotJson;
+
+  /**
+   * @generated from field: GameEvent.BotHeldBallDeliberately bot_held_ball_deliberately = 26;
+   */
+  botHeldBallDeliberately?: GameEvent_BotHeldBallDeliberatelyJson;
+
+  /**
+   * @generated from field: GameEvent.BotTippedOver bot_tipped_over = 27;
+   */
+  botTippedOver?: GameEvent_BotTippedOverJson;
+
+  /**
+   * @generated from field: GameEvent.BotDroppedParts bot_dropped_parts = 51;
+   */
+  botDroppedParts?: GameEvent_BotDroppedPartsJson;
+
+  /**
+   * @generated from field: GameEvent.AttackerTouchedBallInDefenseArea attacker_touched_ball_in_defense_area = 15;
+   */
+  attackerTouchedBallInDefenseArea?: GameEvent_AttackerTouchedBallInDefenseAreaJson;
+
+  /**
+   * @generated from field: GameEvent.BotKickedBallTooFast bot_kicked_ball_too_fast = 18;
+   */
+  botKickedBallTooFast?: GameEvent_BotKickedBallTooFastJson;
+
+  /**
+   * @generated from field: GameEvent.BotCrashUnique bot_crash_unique = 22;
+   */
+  botCrashUnique?: GameEvent_BotCrashUniqueJson;
+
+  /**
+   * @generated from field: GameEvent.BotCrashDrawn bot_crash_drawn = 21;
+   */
+  botCrashDrawn?: GameEvent_BotCrashDrawnJson;
+
+  /**
+   * @generated from field: GameEvent.DefenderTooCloseToKickPoint defender_too_close_to_kick_point = 29;
+   */
+  defenderTooCloseToKickPoint?: GameEvent_DefenderTooCloseToKickPointJson;
+
+  /**
+   * @generated from field: GameEvent.BotTooFastInStop bot_too_fast_in_stop = 28;
+   */
+  botTooFastInStop?: GameEvent_BotTooFastInStopJson;
+
+  /**
+   * @generated from field: GameEvent.BotInterferedPlacement bot_interfered_placement = 20;
+   */
+  botInterferedPlacement?: GameEvent_BotInterferedPlacementJson;
+
+  /**
+   * @generated from field: GameEvent.Goal possible_goal = 39;
+   */
+  possibleGoal?: GameEvent_GoalJson;
+
+  /**
+   * @generated from field: GameEvent.Goal goal = 8;
+   */
+  goal?: GameEvent_GoalJson;
+
+  /**
+   * @generated from field: GameEvent.Goal invalid_goal = 44;
+   */
+  invalidGoal?: GameEvent_GoalJson;
+
+  /**
+   * @generated from field: GameEvent.AttackerDoubleTouchedBall attacker_double_touched_ball = 14;
+   */
+  attackerDoubleTouchedBall?: GameEvent_AttackerDoubleTouchedBallJson;
+
+  /**
+   * @generated from field: GameEvent.PlacementSucceeded placement_succeeded = 5;
+   */
+  placementSucceeded?: GameEvent_PlacementSucceededJson;
+
+  /**
+   * @generated from field: GameEvent.PenaltyKickFailed penalty_kick_failed = 45;
+   */
+  penaltyKickFailed?: GameEvent_PenaltyKickFailedJson;
+
+  /**
+   * @generated from field: GameEvent.NoProgressInGame no_progress_in_game = 2;
+   */
+  noProgressInGame?: GameEvent_NoProgressInGameJson;
+
+  /**
+   * @generated from field: GameEvent.PlacementFailed placement_failed = 3;
+   */
+  placementFailed?: GameEvent_PlacementFailedJson;
+
+  /**
+   * @generated from field: GameEvent.MultipleCards multiple_cards = 32;
+   */
+  multipleCards?: GameEvent_MultipleCardsJson;
+
+  /**
+   * @generated from field: GameEvent.MultipleFouls multiple_fouls = 34;
+   */
+  multipleFouls?: GameEvent_MultipleFoulsJson;
+
+  /**
+   * @generated from field: GameEvent.BotSubstitution bot_substitution = 37;
+   */
+  botSubstitution?: GameEvent_BotSubstitutionJson;
+
+  /**
+   * @generated from field: GameEvent.ExcessiveBotSubstitution excessive_bot_substitution = 52;
+   */
+  excessiveBotSubstitution?: GameEvent_ExcessiveBotSubstitutionJson;
+
+  /**
+   * @generated from field: GameEvent.TooManyRobots too_many_robots = 38;
+   */
+  tooManyRobots?: GameEvent_TooManyRobotsJson;
+
+  /**
+   * @generated from field: GameEvent.ChallengeFlag challenge_flag = 46;
+   */
+  challengeFlag?: GameEvent_ChallengeFlagJson;
+
+  /**
+   * @generated from field: GameEvent.ChallengeFlagHandled challenge_flag_handled = 48;
+   */
+  challengeFlagHandled?: GameEvent_ChallengeFlagHandledJson;
+
+  /**
+   * @generated from field: GameEvent.EmergencyStop emergency_stop = 47;
+   */
+  emergencyStop?: GameEvent_EmergencyStopJson;
+
+  /**
+   * @generated from field: GameEvent.UnsportingBehaviorMinor unsporting_behavior_minor = 35;
+   */
+  unsportingBehaviorMinor?: GameEvent_UnsportingBehaviorMinorJson;
+
+  /**
+   * @generated from field: GameEvent.UnsportingBehaviorMajor unsporting_behavior_major = 36;
+   */
+  unsportingBehaviorMajor?: GameEvent_UnsportingBehaviorMajorJson;
+
+  /**
+   * replaced by ready_to_continue flag
+   *
+   * @generated from field: GameEvent.Prepared prepared = 1 [deprecated = true];
+   * @deprecated
+   */
+  prepared?: GameEvent_PreparedJson;
+
+  /**
+   * obsolete
+   *
+   * @generated from field: GameEvent.IndirectGoal indirect_goal = 9 [deprecated = true];
+   * @deprecated
+   */
+  indirectGoal?: GameEvent_IndirectGoalJson;
+
+  /**
+   * replaced by the meta-information in the possible_goal event
+   *
+   * @generated from field: GameEvent.ChippedGoal chipped_goal = 10 [deprecated = true];
+   * @deprecated
+   */
+  chippedGoal?: GameEvent_ChippedGoalJson;
+
+  /**
+   * obsolete
+   *
+   * @generated from field: GameEvent.KickTimeout kick_timeout = 12 [deprecated = true];
+   * @deprecated
+   */
+  kickTimeout?: GameEvent_KickTimeoutJson;
+
+  /**
+   * rule removed
+   *
+   * @generated from field: GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area = 16 [deprecated = true];
+   * @deprecated
+   */
+  attackerTouchedOpponentInDefenseArea?: GameEvent_AttackerTouchedOpponentInDefenseAreaJson;
+
+  /**
+   * obsolete
+   *
+   * @generated from field: GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area_skipped = 42 [deprecated = true];
+   * @deprecated
+   */
+  attackerTouchedOpponentInDefenseAreaSkipped?: GameEvent_AttackerTouchedOpponentInDefenseAreaJson;
+
+  /**
+   * obsolete
+   *
+   * @generated from field: GameEvent.BotCrashUnique bot_crash_unique_skipped = 23 [deprecated = true];
+   * @deprecated
+   */
+  botCrashUniqueSkipped?: GameEvent_BotCrashUniqueJson;
+
+  /**
+   * can not be used as long as autoRefs do not judge pushing
+   *
+   * @generated from field: GameEvent.BotPushedBot bot_pushed_bot_skipped = 25 [deprecated = true];
+   * @deprecated
+   */
+  botPushedBotSkipped?: GameEvent_BotPushedBotJson;
+
+  /**
+   * rule removed
+   *
+   * @generated from field: GameEvent.DefenderInDefenseAreaPartially defender_in_defense_area_partially = 30 [deprecated = true];
+   * @deprecated
+   */
+  defenderInDefenseAreaPartially?: GameEvent_DefenderInDefenseAreaPartiallyJson;
+
+  /**
+   * the referee msg already indicates this
+   *
+   * @generated from field: GameEvent.MultiplePlacementFailures multiple_placement_failures = 33 [deprecated = true];
+   * @deprecated
+   */
+  multiplePlacementFailures?: GameEvent_MultiplePlacementFailuresJson;
+};
+
+/**
+ * Describes the message GameEvent.
+ * Use `create(GameEventSchema)` to create a new message.
+ */
+export const GameEventSchema: GenMessage<GameEvent, GameEventJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0);
+
+/**
+ * the ball left the field normally
+ *
+ * @generated from message GameEvent.BallLeftField
+ */
+export type GameEvent_BallLeftField = Message<"GameEvent.BallLeftField"> & {
+  /**
+   * the team that last touched the ball
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that last touched the ball
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location where the ball left the field [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+};
+
+/**
+ * the ball left the field normally
+ *
+ * @generated from message GameEvent.BallLeftField
+ */
+export type GameEvent_BallLeftFieldJson = {
+  /**
+   * the team that last touched the ball
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that last touched the ball
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location where the ball left the field [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.BallLeftField.
+ * Use `create(GameEvent_BallLeftFieldSchema)` to create a new message.
+ */
+export const GameEvent_BallLeftFieldSchema: GenMessage<GameEvent_BallLeftField, GameEvent_BallLeftFieldJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 0);
+
+/**
+ * the ball left the field via goal line and a team committed an aimless kick
+ *
+ * @generated from message GameEvent.AimlessKick
+ */
+export type GameEvent_AimlessKick = Message<"GameEvent.AimlessKick"> & {
+  /**
+   * the team that last touched the ball
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that last touched the ball
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location where the ball left the field [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the location where the ball was last touched [m]
+   *
+   * @generated from field: optional Vector2 kick_location = 4;
+   */
+  kickLocation?: Vector2;
+};
+
+/**
+ * the ball left the field via goal line and a team committed an aimless kick
+ *
+ * @generated from message GameEvent.AimlessKick
+ */
+export type GameEvent_AimlessKickJson = {
+  /**
+   * the team that last touched the ball
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that last touched the ball
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location where the ball left the field [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the location where the ball was last touched [m]
+   *
+   * @generated from field: optional Vector2 kick_location = 4;
+   */
+  kickLocation?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.AimlessKick.
+ * Use `create(GameEvent_AimlessKickSchema)` to create a new message.
+ */
+export const GameEvent_AimlessKickSchema: GenMessage<GameEvent_AimlessKick, GameEvent_AimlessKickJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 1);
+
+/**
+ * a team shot a goal
+ *
+ * @generated from message GameEvent.Goal
+ */
+export type GameEvent_Goal = Message<"GameEvent.Goal"> & {
+  /**
+   * the team that scored the goal
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the team that shot the goal (different from by_team for own goals)
+   *
+   * @generated from field: optional Team kicking_team = 6;
+   */
+  kickingTeam: Team;
+
+  /**
+   * the bot that shot the goal
+   *
+   * @generated from field: optional uint32 kicking_bot = 2;
+   */
+  kickingBot: number;
+
+  /**
+   * the location where the ball entered the goal [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the location where the ball was kicked (for deciding if this was a valid goal) [m]
+   *
+   * @generated from field: optional Vector2 kick_location = 4;
+   */
+  kickLocation?: Vector2;
+
+  /**
+   * the maximum height the ball reached during the goal kick (for deciding if this was a valid goal) [m]
+   *
+   * @generated from field: optional float max_ball_height = 5;
+   */
+  maxBallHeight: number;
+
+  /**
+   * number of robots of scoring team when the ball entered the goal (for deciding if this was a valid goal)
+   *
+   * @generated from field: optional uint32 num_robots_by_team = 7;
+   */
+  numRobotsByTeam: number;
+
+  /**
+   * The UNIX timestamp [μs] when the scoring team last touched the ball
+   *
+   * @generated from field: optional uint64 last_touch_by_team = 8;
+   */
+  lastTouchByTeam: bigint;
+
+  /**
+   * An additional message with e.g. a reason for invalid goals
+   *
+   * @generated from field: optional string message = 9;
+   */
+  message: string;
+};
+
+/**
+ * a team shot a goal
+ *
+ * @generated from message GameEvent.Goal
+ */
+export type GameEvent_GoalJson = {
+  /**
+   * the team that scored the goal
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the team that shot the goal (different from by_team for own goals)
+   *
+   * @generated from field: optional Team kicking_team = 6;
+   */
+  kickingTeam?: TeamJson;
+
+  /**
+   * the bot that shot the goal
+   *
+   * @generated from field: optional uint32 kicking_bot = 2;
+   */
+  kickingBot?: number;
+
+  /**
+   * the location where the ball entered the goal [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the location where the ball was kicked (for deciding if this was a valid goal) [m]
+   *
+   * @generated from field: optional Vector2 kick_location = 4;
+   */
+  kickLocation?: Vector2Json;
+
+  /**
+   * the maximum height the ball reached during the goal kick (for deciding if this was a valid goal) [m]
+   *
+   * @generated from field: optional float max_ball_height = 5;
+   */
+  maxBallHeight?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * number of robots of scoring team when the ball entered the goal (for deciding if this was a valid goal)
+   *
+   * @generated from field: optional uint32 num_robots_by_team = 7;
+   */
+  numRobotsByTeam?: number;
+
+  /**
+   * The UNIX timestamp [μs] when the scoring team last touched the ball
+   *
+   * @generated from field: optional uint64 last_touch_by_team = 8;
+   */
+  lastTouchByTeam?: string;
+
+  /**
+   * An additional message with e.g. a reason for invalid goals
+   *
+   * @generated from field: optional string message = 9;
+   */
+  message?: string;
+};
+
+/**
+ * Describes the message GameEvent.Goal.
+ * Use `create(GameEvent_GoalSchema)` to create a new message.
+ */
+export const GameEvent_GoalSchema: GenMessage<GameEvent_Goal, GameEvent_GoalJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 2);
+
+/**
+ * the ball entered the goal directly during an indirect free kick
+ *
+ * @generated from message GameEvent.IndirectGoal
+ */
+export type GameEvent_IndirectGoal = Message<"GameEvent.IndirectGoal"> & {
+  /**
+   * the team that tried to shoot the goal
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that kicked the ball - at least the team must be set
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location where the ball entered the goal [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the location where the ball was kicked [m]
+   *
+   * @generated from field: optional Vector2 kick_location = 4;
+   */
+  kickLocation?: Vector2;
+};
+
+/**
+ * the ball entered the goal directly during an indirect free kick
+ *
+ * @generated from message GameEvent.IndirectGoal
+ */
+export type GameEvent_IndirectGoalJson = {
+  /**
+   * the team that tried to shoot the goal
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that kicked the ball - at least the team must be set
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location where the ball entered the goal [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the location where the ball was kicked [m]
+   *
+   * @generated from field: optional Vector2 kick_location = 4;
+   */
+  kickLocation?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.IndirectGoal.
+ * Use `create(GameEvent_IndirectGoalSchema)` to create a new message.
+ */
+export const GameEvent_IndirectGoalSchema: GenMessage<GameEvent_IndirectGoal, GameEvent_IndirectGoalJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 3);
+
+/**
+ * the ball entered the goal, but was initially chipped
+ *
+ * @generated from message GameEvent.ChippedGoal
+ */
+export type GameEvent_ChippedGoal = Message<"GameEvent.ChippedGoal"> & {
+  /**
+   * the team that tried to shoot the goal
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that kicked the ball
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location where the ball entered the goal [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the location where the ball was kicked [m]
+   *
+   * @generated from field: optional Vector2 kick_location = 4;
+   */
+  kickLocation?: Vector2;
+
+  /**
+   * the maximum height [m] of the ball, before it entered the goal and since the last kick [m]
+   *
+   * @generated from field: optional float max_ball_height = 5;
+   */
+  maxBallHeight: number;
+};
+
+/**
+ * the ball entered the goal, but was initially chipped
+ *
+ * @generated from message GameEvent.ChippedGoal
+ */
+export type GameEvent_ChippedGoalJson = {
+  /**
+   * the team that tried to shoot the goal
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that kicked the ball
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location where the ball entered the goal [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the location where the ball was kicked [m]
+   *
+   * @generated from field: optional Vector2 kick_location = 4;
+   */
+  kickLocation?: Vector2Json;
+
+  /**
+   * the maximum height [m] of the ball, before it entered the goal and since the last kick [m]
+   *
+   * @generated from field: optional float max_ball_height = 5;
+   */
+  maxBallHeight?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.ChippedGoal.
+ * Use `create(GameEvent_ChippedGoalSchema)` to create a new message.
+ */
+export const GameEvent_ChippedGoalSchema: GenMessage<GameEvent_ChippedGoal, GameEvent_ChippedGoalJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 4);
+
+/**
+ * a bot moved too fast while the game was stopped
+ *
+ * @generated from message GameEvent.BotTooFastInStop
+ */
+export type GameEvent_BotTooFastInStop = Message<"GameEvent.BotTooFastInStop"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that was too fast
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the bot speed [m/s]
+   *
+   * @generated from field: optional float speed = 4;
+   */
+  speed: number;
+};
+
+/**
+ * a bot moved too fast while the game was stopped
+ *
+ * @generated from message GameEvent.BotTooFastInStop
+ */
+export type GameEvent_BotTooFastInStopJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that was too fast
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the bot speed [m/s]
+   *
+   * @generated from field: optional float speed = 4;
+   */
+  speed?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.BotTooFastInStop.
+ * Use `create(GameEvent_BotTooFastInStopSchema)` to create a new message.
+ */
+export const GameEvent_BotTooFastInStopSchema: GenMessage<GameEvent_BotTooFastInStop, GameEvent_BotTooFastInStopJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 5);
+
+/**
+ * a bot of the defending team got too close to the kick point during a free kick
+ *
+ * @generated from message GameEvent.DefenderTooCloseToKickPoint
+ */
+export type GameEvent_DefenderTooCloseToKickPoint = Message<"GameEvent.DefenderTooCloseToKickPoint"> & {
+  /**
+   * the team that was found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that violates the distance to the kick point
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the distance [m] from bot to the kick point (including the minimum radius)
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance: number;
+};
+
+/**
+ * a bot of the defending team got too close to the kick point during a free kick
+ *
+ * @generated from message GameEvent.DefenderTooCloseToKickPoint
+ */
+export type GameEvent_DefenderTooCloseToKickPointJson = {
+  /**
+   * the team that was found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that violates the distance to the kick point
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the distance [m] from bot to the kick point (including the minimum radius)
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.DefenderTooCloseToKickPoint.
+ * Use `create(GameEvent_DefenderTooCloseToKickPointSchema)` to create a new message.
+ */
+export const GameEvent_DefenderTooCloseToKickPointSchema: GenMessage<GameEvent_DefenderTooCloseToKickPoint, GameEvent_DefenderTooCloseToKickPointJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 6);
+
+/**
+ * two robots crashed into each other with similar speeds
+ *
+ * @generated from message GameEvent.BotCrashDrawn
+ */
+export type GameEvent_BotCrashDrawn = Message<"GameEvent.BotCrashDrawn"> & {
+  /**
+   * the bot of the yellow team
+   *
+   * @generated from field: optional uint32 bot_yellow = 1;
+   */
+  botYellow: number;
+
+  /**
+   * the bot of the blue team
+   *
+   * @generated from field: optional uint32 bot_blue = 2;
+   */
+  botBlue: number;
+
+  /**
+   * the location of the crash (center between both bots) [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the calculated crash speed [m/s] of the two bots
+   *
+   * @generated from field: optional float crash_speed = 4;
+   */
+  crashSpeed: number;
+
+  /**
+   * the difference [m/s] of the velocity of the two bots
+   *
+   * @generated from field: optional float speed_diff = 5;
+   */
+  speedDiff: number;
+
+  /**
+   * the angle [rad] in the range [0, π] of the bot velocity vectors
+   * an angle of 0 rad (  0°) means, the bots barely touched each other
+   * an angle of π rad (180°) means, the bots crashed frontal into each other
+   *
+   * @generated from field: optional float crash_angle = 6;
+   */
+  crashAngle: number;
+};
+
+/**
+ * two robots crashed into each other with similar speeds
+ *
+ * @generated from message GameEvent.BotCrashDrawn
+ */
+export type GameEvent_BotCrashDrawnJson = {
+  /**
+   * the bot of the yellow team
+   *
+   * @generated from field: optional uint32 bot_yellow = 1;
+   */
+  botYellow?: number;
+
+  /**
+   * the bot of the blue team
+   *
+   * @generated from field: optional uint32 bot_blue = 2;
+   */
+  botBlue?: number;
+
+  /**
+   * the location of the crash (center between both bots) [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the calculated crash speed [m/s] of the two bots
+   *
+   * @generated from field: optional float crash_speed = 4;
+   */
+  crashSpeed?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * the difference [m/s] of the velocity of the two bots
+   *
+   * @generated from field: optional float speed_diff = 5;
+   */
+  speedDiff?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * the angle [rad] in the range [0, π] of the bot velocity vectors
+   * an angle of 0 rad (  0°) means, the bots barely touched each other
+   * an angle of π rad (180°) means, the bots crashed frontal into each other
+   *
+   * @generated from field: optional float crash_angle = 6;
+   */
+  crashAngle?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.BotCrashDrawn.
+ * Use `create(GameEvent_BotCrashDrawnSchema)` to create a new message.
+ */
+export const GameEvent_BotCrashDrawnSchema: GenMessage<GameEvent_BotCrashDrawn, GameEvent_BotCrashDrawnJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 7);
+
+/**
+ * two robots crashed into each other and one team was found guilty to due significant speed difference
+ *
+ * @generated from message GameEvent.BotCrashUnique
+ */
+export type GameEvent_BotCrashUnique = Message<"GameEvent.BotCrashUnique"> & {
+  /**
+   * the team that caused the crash
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that caused the crash
+   *
+   * @generated from field: optional uint32 violator = 2;
+   */
+  violator: number;
+
+  /**
+   * the bot of the opposite team that was involved in the crash
+   *
+   * @generated from field: optional uint32 victim = 3;
+   */
+  victim: number;
+
+  /**
+   * the location of the crash (center between both bots) [m]
+   *
+   * @generated from field: optional Vector2 location = 4;
+   */
+  location?: Vector2;
+
+  /**
+   * the calculated crash speed vector [m/s] of the two bots
+   *
+   * @generated from field: optional float crash_speed = 5;
+   */
+  crashSpeed: number;
+
+  /**
+   * the difference [m/s] of the velocity of the two bots
+   *
+   * @generated from field: optional float speed_diff = 6;
+   */
+  speedDiff: number;
+
+  /**
+   * the angle [rad] in the range [0, π] of the bot velocity vectors
+   * an angle of 0 rad (  0°) means, the bots barely touched each other
+   * an angle of π rad (180°) means, the bots crashed frontal into each other
+   *
+   * @generated from field: optional float crash_angle = 7;
+   */
+  crashAngle: number;
+};
+
+/**
+ * two robots crashed into each other and one team was found guilty to due significant speed difference
+ *
+ * @generated from message GameEvent.BotCrashUnique
+ */
+export type GameEvent_BotCrashUniqueJson = {
+  /**
+   * the team that caused the crash
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that caused the crash
+   *
+   * @generated from field: optional uint32 violator = 2;
+   */
+  violator?: number;
+
+  /**
+   * the bot of the opposite team that was involved in the crash
+   *
+   * @generated from field: optional uint32 victim = 3;
+   */
+  victim?: number;
+
+  /**
+   * the location of the crash (center between both bots) [m]
+   *
+   * @generated from field: optional Vector2 location = 4;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the calculated crash speed vector [m/s] of the two bots
+   *
+   * @generated from field: optional float crash_speed = 5;
+   */
+  crashSpeed?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * the difference [m/s] of the velocity of the two bots
+   *
+   * @generated from field: optional float speed_diff = 6;
+   */
+  speedDiff?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * the angle [rad] in the range [0, π] of the bot velocity vectors
+   * an angle of 0 rad (  0°) means, the bots barely touched each other
+   * an angle of π rad (180°) means, the bots crashed frontal into each other
+   *
+   * @generated from field: optional float crash_angle = 7;
+   */
+  crashAngle?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.BotCrashUnique.
+ * Use `create(GameEvent_BotCrashUniqueSchema)` to create a new message.
+ */
+export const GameEvent_BotCrashUniqueSchema: GenMessage<GameEvent_BotCrashUnique, GameEvent_BotCrashUniqueJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 8);
+
+/**
+ * a bot pushed another bot over a significant distance
+ *
+ * @generated from message GameEvent.BotPushedBot
+ */
+export type GameEvent_BotPushedBot = Message<"GameEvent.BotPushedBot"> & {
+  /**
+   * the team that pushed the other team
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that pushed the other bot
+   *
+   * @generated from field: optional uint32 violator = 2;
+   */
+  violator: number;
+
+  /**
+   * the bot of the opposite team that was pushed
+   *
+   * @generated from field: optional uint32 victim = 3;
+   */
+  victim: number;
+
+  /**
+   * the location of the push (center between both bots) [m]
+   *
+   * @generated from field: optional Vector2 location = 4;
+   */
+  location?: Vector2;
+
+  /**
+   * the pushed distance [m]
+   *
+   * @generated from field: optional float pushed_distance = 5;
+   */
+  pushedDistance: number;
+};
+
+/**
+ * a bot pushed another bot over a significant distance
+ *
+ * @generated from message GameEvent.BotPushedBot
+ */
+export type GameEvent_BotPushedBotJson = {
+  /**
+   * the team that pushed the other team
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that pushed the other bot
+   *
+   * @generated from field: optional uint32 violator = 2;
+   */
+  violator?: number;
+
+  /**
+   * the bot of the opposite team that was pushed
+   *
+   * @generated from field: optional uint32 victim = 3;
+   */
+  victim?: number;
+
+  /**
+   * the location of the push (center between both bots) [m]
+   *
+   * @generated from field: optional Vector2 location = 4;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the pushed distance [m]
+   *
+   * @generated from field: optional float pushed_distance = 5;
+   */
+  pushedDistance?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.BotPushedBot.
+ * Use `create(GameEvent_BotPushedBotSchema)` to create a new message.
+ */
+export const GameEvent_BotPushedBotSchema: GenMessage<GameEvent_BotPushedBot, GameEvent_BotPushedBotJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 9);
+
+/**
+ * a bot tipped over
+ *
+ * @generated from message GameEvent.BotTippedOver
+ */
+export type GameEvent_BotTippedOver = Message<"GameEvent.BotTippedOver"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that tipped over
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the location of the ball at the moment when this foul occurred [m]
+   *
+   * @generated from field: optional Vector2 ball_location = 4;
+   */
+  ballLocation?: Vector2;
+};
+
+/**
+ * a bot tipped over
+ *
+ * @generated from message GameEvent.BotTippedOver
+ */
+export type GameEvent_BotTippedOverJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that tipped over
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the location of the ball at the moment when this foul occurred [m]
+   *
+   * @generated from field: optional Vector2 ball_location = 4;
+   */
+  ballLocation?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.BotTippedOver.
+ * Use `create(GameEvent_BotTippedOverSchema)` to create a new message.
+ */
+export const GameEvent_BotTippedOverSchema: GenMessage<GameEvent_BotTippedOver, GameEvent_BotTippedOverJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 10);
+
+/**
+ * a bot dropped parts
+ *
+ * @generated from message GameEvent.BotDroppedParts
+ */
+export type GameEvent_BotDroppedParts = Message<"GameEvent.BotDroppedParts"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that dropped the parts
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location where the parts were dropped [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the location of the ball at the moment when this foul occurred [m]
+   *
+   * @generated from field: optional Vector2 ball_location = 4;
+   */
+  ballLocation?: Vector2;
+};
+
+/**
+ * a bot dropped parts
+ *
+ * @generated from message GameEvent.BotDroppedParts
+ */
+export type GameEvent_BotDroppedPartsJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that dropped the parts
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location where the parts were dropped [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the location of the ball at the moment when this foul occurred [m]
+   *
+   * @generated from field: optional Vector2 ball_location = 4;
+   */
+  ballLocation?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.BotDroppedParts.
+ * Use `create(GameEvent_BotDroppedPartsSchema)` to create a new message.
+ */
+export const GameEvent_BotDroppedPartsSchema: GenMessage<GameEvent_BotDroppedParts, GameEvent_BotDroppedPartsJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 11);
+
+/**
+ * a defender other than the keeper was fully located inside its own defense and touched the ball
+ *
+ * @generated from message GameEvent.DefenderInDefenseArea
+ */
+export type GameEvent_DefenderInDefenseArea = Message<"GameEvent.DefenderInDefenseArea"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that is inside the penalty area
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the distance [m] from bot case to the nearest point outside the defense area
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance: number;
+};
+
+/**
+ * a defender other than the keeper was fully located inside its own defense and touched the ball
+ *
+ * @generated from message GameEvent.DefenderInDefenseArea
+ */
+export type GameEvent_DefenderInDefenseAreaJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that is inside the penalty area
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the distance [m] from bot case to the nearest point outside the defense area
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.DefenderInDefenseArea.
+ * Use `create(GameEvent_DefenderInDefenseAreaSchema)` to create a new message.
+ */
+export const GameEvent_DefenderInDefenseAreaSchema: GenMessage<GameEvent_DefenderInDefenseArea, GameEvent_DefenderInDefenseAreaJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 12);
+
+/**
+ * a defender other than the keeper was partially located inside its own defense area and touched the ball
+ *
+ * @generated from message GameEvent.DefenderInDefenseAreaPartially
+ */
+export type GameEvent_DefenderInDefenseAreaPartially = Message<"GameEvent.DefenderInDefenseAreaPartially"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that is partially inside the penalty area
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the bot
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the distance [m] that the bot is inside the penalty area
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance: number;
+
+  /**
+   * the location of the ball at the moment when this foul occurred [m]
+   *
+   * @generated from field: optional Vector2 ball_location = 5;
+   */
+  ballLocation?: Vector2;
+};
+
+/**
+ * a defender other than the keeper was partially located inside its own defense area and touched the ball
+ *
+ * @generated from message GameEvent.DefenderInDefenseAreaPartially
+ */
+export type GameEvent_DefenderInDefenseAreaPartiallyJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that is partially inside the penalty area
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the bot
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the distance [m] that the bot is inside the penalty area
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * the location of the ball at the moment when this foul occurred [m]
+   *
+   * @generated from field: optional Vector2 ball_location = 5;
+   */
+  ballLocation?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.DefenderInDefenseAreaPartially.
+ * Use `create(GameEvent_DefenderInDefenseAreaPartiallySchema)` to create a new message.
+ */
+export const GameEvent_DefenderInDefenseAreaPartiallySchema: GenMessage<GameEvent_DefenderInDefenseAreaPartially, GameEvent_DefenderInDefenseAreaPartiallyJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 13);
+
+/**
+ * an attacker touched the ball inside the opponent defense area
+ *
+ * @generated from message GameEvent.AttackerTouchedBallInDefenseArea
+ */
+export type GameEvent_AttackerTouchedBallInDefenseArea = Message<"GameEvent.AttackerTouchedBallInDefenseArea"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that is inside the penalty area
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the distance [m] that the bot is inside the penalty area
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance: number;
+};
+
+/**
+ * an attacker touched the ball inside the opponent defense area
+ *
+ * @generated from message GameEvent.AttackerTouchedBallInDefenseArea
+ */
+export type GameEvent_AttackerTouchedBallInDefenseAreaJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that is inside the penalty area
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the distance [m] that the bot is inside the penalty area
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.AttackerTouchedBallInDefenseArea.
+ * Use `create(GameEvent_AttackerTouchedBallInDefenseAreaSchema)` to create a new message.
+ */
+export const GameEvent_AttackerTouchedBallInDefenseAreaSchema: GenMessage<GameEvent_AttackerTouchedBallInDefenseArea, GameEvent_AttackerTouchedBallInDefenseAreaJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 14);
+
+/**
+ * a bot kicked the ball too fast
+ *
+ * @generated from message GameEvent.BotKickedBallTooFast
+ */
+export type GameEvent_BotKickedBallTooFast = Message<"GameEvent.BotKickedBallTooFast"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that kicked too fast
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the ball at the time of the highest speed [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the absolute initial ball speed (kick speed) [m/s]
+   *
+   * @generated from field: optional float initial_ball_speed = 4;
+   */
+  initialBallSpeed: number;
+
+  /**
+   * was the ball chipped?
+   *
+   * @generated from field: optional bool chipped = 5;
+   */
+  chipped: boolean;
+};
+
+/**
+ * a bot kicked the ball too fast
+ *
+ * @generated from message GameEvent.BotKickedBallTooFast
+ */
+export type GameEvent_BotKickedBallTooFastJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that kicked too fast
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the ball at the time of the highest speed [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the absolute initial ball speed (kick speed) [m/s]
+   *
+   * @generated from field: optional float initial_ball_speed = 4;
+   */
+  initialBallSpeed?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * was the ball chipped?
+   *
+   * @generated from field: optional bool chipped = 5;
+   */
+  chipped?: boolean;
+};
+
+/**
+ * Describes the message GameEvent.BotKickedBallTooFast.
+ * Use `create(GameEvent_BotKickedBallTooFastSchema)` to create a new message.
+ */
+export const GameEvent_BotKickedBallTooFastSchema: GenMessage<GameEvent_BotKickedBallTooFast, GameEvent_BotKickedBallTooFastJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 15);
+
+/**
+ * a bot dribbled to ball too far
+ *
+ * @generated from message GameEvent.BotDribbledBallTooFar
+ */
+export type GameEvent_BotDribbledBallTooFar = Message<"GameEvent.BotDribbledBallTooFar"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that dribbled too far
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location where the dribbling started [m]
+   *
+   * @generated from field: optional Vector2 start = 3;
+   */
+  start?: Vector2;
+
+  /**
+   * the location where the maximum dribbling distance was reached [m]
+   *
+   * @generated from field: optional Vector2 end = 4;
+   */
+  end?: Vector2;
+};
+
+/**
+ * a bot dribbled to ball too far
+ *
+ * @generated from message GameEvent.BotDribbledBallTooFar
+ */
+export type GameEvent_BotDribbledBallTooFarJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that dribbled too far
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location where the dribbling started [m]
+   *
+   * @generated from field: optional Vector2 start = 3;
+   */
+  start?: Vector2Json;
+
+  /**
+   * the location where the maximum dribbling distance was reached [m]
+   *
+   * @generated from field: optional Vector2 end = 4;
+   */
+  end?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.BotDribbledBallTooFar.
+ * Use `create(GameEvent_BotDribbledBallTooFarSchema)` to create a new message.
+ */
+export const GameEvent_BotDribbledBallTooFarSchema: GenMessage<GameEvent_BotDribbledBallTooFar, GameEvent_BotDribbledBallTooFarJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 16);
+
+/**
+ * an attacker touched the opponent robot inside defense area
+ *
+ * @generated from message GameEvent.AttackerTouchedOpponentInDefenseArea
+ */
+export type GameEvent_AttackerTouchedOpponentInDefenseArea = Message<"GameEvent.AttackerTouchedOpponentInDefenseArea"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that touched the opponent robot
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the bot of the opposite team that was touched
+   *
+   * @generated from field: optional uint32 victim = 4;
+   */
+  victim: number;
+
+  /**
+   * the location of the contact point between both bots [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+};
+
+/**
+ * an attacker touched the opponent robot inside defense area
+ *
+ * @generated from message GameEvent.AttackerTouchedOpponentInDefenseArea
+ */
+export type GameEvent_AttackerTouchedOpponentInDefenseAreaJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that touched the opponent robot
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the bot of the opposite team that was touched
+   *
+   * @generated from field: optional uint32 victim = 4;
+   */
+  victim?: number;
+
+  /**
+   * the location of the contact point between both bots [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.AttackerTouchedOpponentInDefenseArea.
+ * Use `create(GameEvent_AttackerTouchedOpponentInDefenseAreaSchema)` to create a new message.
+ */
+export const GameEvent_AttackerTouchedOpponentInDefenseAreaSchema: GenMessage<GameEvent_AttackerTouchedOpponentInDefenseArea, GameEvent_AttackerTouchedOpponentInDefenseAreaJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 17);
+
+/**
+ * an attacker touched the ball multiple times when it was not allowed to
+ *
+ * @generated from message GameEvent.AttackerDoubleTouchedBall
+ */
+export type GameEvent_AttackerDoubleTouchedBall = Message<"GameEvent.AttackerDoubleTouchedBall"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that touched the ball twice
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the ball when it was first touched [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+};
+
+/**
+ * an attacker touched the ball multiple times when it was not allowed to
+ *
+ * @generated from message GameEvent.AttackerDoubleTouchedBall
+ */
+export type GameEvent_AttackerDoubleTouchedBallJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that touched the ball twice
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the ball when it was first touched [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.AttackerDoubleTouchedBall.
+ * Use `create(GameEvent_AttackerDoubleTouchedBallSchema)` to create a new message.
+ */
+export const GameEvent_AttackerDoubleTouchedBallSchema: GenMessage<GameEvent_AttackerDoubleTouchedBall, GameEvent_AttackerDoubleTouchedBallJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 18);
+
+/**
+ * an attacker was located too near to the opponent defense area during stop or free kick
+ *
+ * @generated from message GameEvent.AttackerTooCloseToDefenseArea
+ */
+export type GameEvent_AttackerTooCloseToDefenseArea = Message<"GameEvent.AttackerTooCloseToDefenseArea"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that is too close to the defense area
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the distance [m] of the bot to the penalty area
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance: number;
+
+  /**
+   * the location of the ball at the moment when this foul occurred [m]
+   *
+   * @generated from field: optional Vector2 ball_location = 5;
+   */
+  ballLocation?: Vector2;
+};
+
+/**
+ * an attacker was located too near to the opponent defense area during stop or free kick
+ *
+ * @generated from message GameEvent.AttackerTooCloseToDefenseArea
+ */
+export type GameEvent_AttackerTooCloseToDefenseAreaJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that is too close to the defense area
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the distance [m] of the bot to the penalty area
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * the location of the ball at the moment when this foul occurred [m]
+   *
+   * @generated from field: optional Vector2 ball_location = 5;
+   */
+  ballLocation?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.AttackerTooCloseToDefenseArea.
+ * Use `create(GameEvent_AttackerTooCloseToDefenseAreaSchema)` to create a new message.
+ */
+export const GameEvent_AttackerTooCloseToDefenseAreaSchema: GenMessage<GameEvent_AttackerTooCloseToDefenseArea, GameEvent_AttackerTooCloseToDefenseAreaJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 19);
+
+/**
+ * a bot held the ball for too long
+ *
+ * @generated from message GameEvent.BotHeldBallDeliberately
+ */
+export type GameEvent_BotHeldBallDeliberately = Message<"GameEvent.BotHeldBallDeliberately"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that holds the ball
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the ball [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+
+  /**
+   * the duration [s] that the bot hold the ball
+   *
+   * @generated from field: optional float duration = 4;
+   */
+  duration: number;
+};
+
+/**
+ * a bot held the ball for too long
+ *
+ * @generated from message GameEvent.BotHeldBallDeliberately
+ */
+export type GameEvent_BotHeldBallDeliberatelyJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that holds the ball
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the ball [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the duration [s] that the bot hold the ball
+   *
+   * @generated from field: optional float duration = 4;
+   */
+  duration?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.BotHeldBallDeliberately.
+ * Use `create(GameEvent_BotHeldBallDeliberatelySchema)` to create a new message.
+ */
+export const GameEvent_BotHeldBallDeliberatelySchema: GenMessage<GameEvent_BotHeldBallDeliberately, GameEvent_BotHeldBallDeliberatelyJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 20);
+
+/**
+ * a bot interfered the ball placement of the other team
+ *
+ * @generated from message GameEvent.BotInterferedPlacement
+ */
+export type GameEvent_BotInterferedPlacement = Message<"GameEvent.BotInterferedPlacement"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the bot that interfered the placement
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2;
+};
+
+/**
+ * a bot interfered the ball placement of the other team
+ *
+ * @generated from message GameEvent.BotInterferedPlacement
+ */
+export type GameEvent_BotInterferedPlacementJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the bot that interfered the placement
+   *
+   * @generated from field: optional uint32 by_bot = 2;
+   */
+  byBot?: number;
+
+  /**
+   * the location of the bot [m]
+   *
+   * @generated from field: optional Vector2 location = 3;
+   */
+  location?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.BotInterferedPlacement.
+ * Use `create(GameEvent_BotInterferedPlacementSchema)` to create a new message.
+ */
+export const GameEvent_BotInterferedPlacementSchema: GenMessage<GameEvent_BotInterferedPlacement, GameEvent_BotInterferedPlacementJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 21);
+
+/**
+ * a team collected multiple yellow cards
+ *
+ * @generated from message GameEvent.MultipleCards
+ */
+export type GameEvent_MultipleCards = Message<"GameEvent.MultipleCards"> & {
+  /**
+   * the team that received multiple yellow cards
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+};
+
+/**
+ * a team collected multiple yellow cards
+ *
+ * @generated from message GameEvent.MultipleCards
+ */
+export type GameEvent_MultipleCardsJson = {
+  /**
+   * the team that received multiple yellow cards
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+};
+
+/**
+ * Describes the message GameEvent.MultipleCards.
+ * Use `create(GameEvent_MultipleCardsSchema)` to create a new message.
+ */
+export const GameEvent_MultipleCardsSchema: GenMessage<GameEvent_MultipleCards, GameEvent_MultipleCardsJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 22);
+
+/**
+ * a team collected multiple fouls, which results in a yellow card
+ *
+ * @generated from message GameEvent.MultipleFouls
+ */
+export type GameEvent_MultipleFouls = Message<"GameEvent.MultipleFouls"> & {
+  /**
+   * the team that collected multiple fouls
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the list of game events that caused the multiple fouls
+   *
+   * @generated from field: repeated GameEvent caused_game_events = 2;
+   */
+  causedGameEvents: GameEvent[];
+};
+
+/**
+ * a team collected multiple fouls, which results in a yellow card
+ *
+ * @generated from message GameEvent.MultipleFouls
+ */
+export type GameEvent_MultipleFoulsJson = {
+  /**
+   * the team that collected multiple fouls
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the list of game events that caused the multiple fouls
+   *
+   * @generated from field: repeated GameEvent caused_game_events = 2;
+   */
+  causedGameEvents?: GameEventJson[];
+};
+
+/**
+ * Describes the message GameEvent.MultipleFouls.
+ * Use `create(GameEvent_MultipleFoulsSchema)` to create a new message.
+ */
+export const GameEvent_MultipleFoulsSchema: GenMessage<GameEvent_MultipleFouls, GameEvent_MultipleFoulsJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 23);
+
+/**
+ * a team failed to place the ball multiple times in a row
+ *
+ * @generated from message GameEvent.MultiplePlacementFailures
+ */
+export type GameEvent_MultiplePlacementFailures = Message<"GameEvent.MultiplePlacementFailures"> & {
+  /**
+   * the team that failed multiple times
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+};
+
+/**
+ * a team failed to place the ball multiple times in a row
+ *
+ * @generated from message GameEvent.MultiplePlacementFailures
+ */
+export type GameEvent_MultiplePlacementFailuresJson = {
+  /**
+   * the team that failed multiple times
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+};
+
+/**
+ * Describes the message GameEvent.MultiplePlacementFailures.
+ * Use `create(GameEvent_MultiplePlacementFailuresSchema)` to create a new message.
+ */
+export const GameEvent_MultiplePlacementFailuresSchema: GenMessage<GameEvent_MultiplePlacementFailures, GameEvent_MultiplePlacementFailuresJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 24);
+
+/**
+ * timeout waiting for the attacking team to perform the free kick
+ *
+ * @generated from message GameEvent.KickTimeout
+ */
+export type GameEvent_KickTimeout = Message<"GameEvent.KickTimeout"> & {
+  /**
+   * the team that that should have kicked
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the location of the ball [m]
+   *
+   * @generated from field: optional Vector2 location = 2;
+   */
+  location?: Vector2;
+
+  /**
+   * the time [s] that was waited
+   *
+   * @generated from field: optional float time = 3;
+   */
+  time: number;
+};
+
+/**
+ * timeout waiting for the attacking team to perform the free kick
+ *
+ * @generated from message GameEvent.KickTimeout
+ */
+export type GameEvent_KickTimeoutJson = {
+  /**
+   * the team that that should have kicked
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the location of the ball [m]
+   *
+   * @generated from field: optional Vector2 location = 2;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the time [s] that was waited
+   *
+   * @generated from field: optional float time = 3;
+   */
+  time?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.KickTimeout.
+ * Use `create(GameEvent_KickTimeoutSchema)` to create a new message.
+ */
+export const GameEvent_KickTimeoutSchema: GenMessage<GameEvent_KickTimeout, GameEvent_KickTimeoutJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 25);
+
+/**
+ * game was stuck
+ *
+ * @generated from message GameEvent.NoProgressInGame
+ */
+export type GameEvent_NoProgressInGame = Message<"GameEvent.NoProgressInGame"> & {
+  /**
+   * the location of the ball
+   *
+   * @generated from field: optional Vector2 location = 1;
+   */
+  location?: Vector2;
+
+  /**
+   * the time [s] that was waited
+   *
+   * @generated from field: optional float time = 2;
+   */
+  time: number;
+};
+
+/**
+ * game was stuck
+ *
+ * @generated from message GameEvent.NoProgressInGame
+ */
+export type GameEvent_NoProgressInGameJson = {
+  /**
+   * the location of the ball
+   *
+   * @generated from field: optional Vector2 location = 1;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the time [s] that was waited
+   *
+   * @generated from field: optional float time = 2;
+   */
+  time?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.NoProgressInGame.
+ * Use `create(GameEvent_NoProgressInGameSchema)` to create a new message.
+ */
+export const GameEvent_NoProgressInGameSchema: GenMessage<GameEvent_NoProgressInGame, GameEvent_NoProgressInGameJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 26);
+
+/**
+ * ball placement failed
+ *
+ * @generated from message GameEvent.PlacementFailed
+ */
+export type GameEvent_PlacementFailed = Message<"GameEvent.PlacementFailed"> & {
+  /**
+   * the team that failed
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the remaining distance [m] from ball to placement position
+   *
+   * @generated from field: optional float remaining_distance = 2;
+   */
+  remainingDistance: number;
+
+  /**
+   * the distance [m] of the nearest own robot to the ball
+   *
+   * @generated from field: optional float nearest_own_bot_distance = 3;
+   */
+  nearestOwnBotDistance: number;
+};
+
+/**
+ * ball placement failed
+ *
+ * @generated from message GameEvent.PlacementFailed
+ */
+export type GameEvent_PlacementFailedJson = {
+  /**
+   * the team that failed
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the remaining distance [m] from ball to placement position
+   *
+   * @generated from field: optional float remaining_distance = 2;
+   */
+  remainingDistance?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * the distance [m] of the nearest own robot to the ball
+   *
+   * @generated from field: optional float nearest_own_bot_distance = 3;
+   */
+  nearestOwnBotDistance?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.PlacementFailed.
+ * Use `create(GameEvent_PlacementFailedSchema)` to create a new message.
+ */
+export const GameEvent_PlacementFailedSchema: GenMessage<GameEvent_PlacementFailed, GameEvent_PlacementFailedJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 27);
+
+/**
+ * a team was found guilty for minor unsporting behavior
+ *
+ * @generated from message GameEvent.UnsportingBehaviorMinor
+ */
+export type GameEvent_UnsportingBehaviorMinor = Message<"GameEvent.UnsportingBehaviorMinor"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * an explanation of the situation and decision
+   *
+   * @generated from field: required string reason = 2;
+   */
+  reason: string;
+};
+
+/**
+ * a team was found guilty for minor unsporting behavior
+ *
+ * @generated from message GameEvent.UnsportingBehaviorMinor
+ */
+export type GameEvent_UnsportingBehaviorMinorJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * an explanation of the situation and decision
+   *
+   * @generated from field: required string reason = 2;
+   */
+  reason?: string;
+};
+
+/**
+ * Describes the message GameEvent.UnsportingBehaviorMinor.
+ * Use `create(GameEvent_UnsportingBehaviorMinorSchema)` to create a new message.
+ */
+export const GameEvent_UnsportingBehaviorMinorSchema: GenMessage<GameEvent_UnsportingBehaviorMinor, GameEvent_UnsportingBehaviorMinorJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 28);
+
+/**
+ * a team was found guilty for major unsporting behavior
+ *
+ * @generated from message GameEvent.UnsportingBehaviorMajor
+ */
+export type GameEvent_UnsportingBehaviorMajor = Message<"GameEvent.UnsportingBehaviorMajor"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * an explanation of the situation and decision
+   *
+   * @generated from field: required string reason = 2;
+   */
+  reason: string;
+};
+
+/**
+ * a team was found guilty for major unsporting behavior
+ *
+ * @generated from message GameEvent.UnsportingBehaviorMajor
+ */
+export type GameEvent_UnsportingBehaviorMajorJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * an explanation of the situation and decision
+   *
+   * @generated from field: required string reason = 2;
+   */
+  reason?: string;
+};
+
+/**
+ * Describes the message GameEvent.UnsportingBehaviorMajor.
+ * Use `create(GameEvent_UnsportingBehaviorMajorSchema)` to create a new message.
+ */
+export const GameEvent_UnsportingBehaviorMajorSchema: GenMessage<GameEvent_UnsportingBehaviorMajor, GameEvent_UnsportingBehaviorMajorJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 29);
+
+/**
+ * a keeper held the ball in its defense area for too long
+ *
+ * @generated from message GameEvent.KeeperHeldBall
+ */
+export type GameEvent_KeeperHeldBall = Message<"GameEvent.KeeperHeldBall"> & {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the location of the ball [m]
+   *
+   * @generated from field: optional Vector2 location = 2;
+   */
+  location?: Vector2;
+
+  /**
+   * the duration [s] that the keeper hold the ball
+   *
+   * @generated from field: optional float duration = 3;
+   */
+  duration: number;
+};
+
+/**
+ * a keeper held the ball in its defense area for too long
+ *
+ * @generated from message GameEvent.KeeperHeldBall
+ */
+export type GameEvent_KeeperHeldBallJson = {
+  /**
+   * the team that found guilty
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the location of the ball [m]
+   *
+   * @generated from field: optional Vector2 location = 2;
+   */
+  location?: Vector2Json;
+
+  /**
+   * the duration [s] that the keeper hold the ball
+   *
+   * @generated from field: optional float duration = 3;
+   */
+  duration?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.KeeperHeldBall.
+ * Use `create(GameEvent_KeeperHeldBallSchema)` to create a new message.
+ */
+export const GameEvent_KeeperHeldBallSchema: GenMessage<GameEvent_KeeperHeldBall, GameEvent_KeeperHeldBallJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 30);
+
+/**
+ * a team successfully placed the ball
+ *
+ * @generated from message GameEvent.PlacementSucceeded
+ */
+export type GameEvent_PlacementSucceeded = Message<"GameEvent.PlacementSucceeded"> & {
+  /**
+   * the team that did the placement
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the time [s] taken for placing the ball
+   *
+   * @generated from field: optional float time_taken = 2;
+   */
+  timeTaken: number;
+
+  /**
+   * the distance [m] between placement location and actual ball position
+   *
+   * @generated from field: optional float precision = 3;
+   */
+  precision: number;
+
+  /**
+   * the distance [m] between the initial ball location and the placement position
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance: number;
+};
+
+/**
+ * a team successfully placed the ball
+ *
+ * @generated from message GameEvent.PlacementSucceeded
+ */
+export type GameEvent_PlacementSucceededJson = {
+  /**
+   * the team that did the placement
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the time [s] taken for placing the ball
+   *
+   * @generated from field: optional float time_taken = 2;
+   */
+  timeTaken?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * the distance [m] between placement location and actual ball position
+   *
+   * @generated from field: optional float precision = 3;
+   */
+  precision?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * the distance [m] between the initial ball location and the placement position
+   *
+   * @generated from field: optional float distance = 4;
+   */
+  distance?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.PlacementSucceeded.
+ * Use `create(GameEvent_PlacementSucceededSchema)` to create a new message.
+ */
+export const GameEvent_PlacementSucceededSchema: GenMessage<GameEvent_PlacementSucceeded, GameEvent_PlacementSucceededJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 31);
+
+/**
+ * both teams are prepared - all conditions are met to continue (with kickoff or penalty kick)
+ *
+ * @generated from message GameEvent.Prepared
+ */
+export type GameEvent_Prepared = Message<"GameEvent.Prepared"> & {
+  /**
+   * the time [s] taken for preparing
+   *
+   * @generated from field: optional float time_taken = 1;
+   */
+  timeTaken: number;
+};
+
+/**
+ * both teams are prepared - all conditions are met to continue (with kickoff or penalty kick)
+ *
+ * @generated from message GameEvent.Prepared
+ */
+export type GameEvent_PreparedJson = {
+  /**
+   * the time [s] taken for preparing
+   *
+   * @generated from field: optional float time_taken = 1;
+   */
+  timeTaken?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message GameEvent.Prepared.
+ * Use `create(GameEvent_PreparedSchema)` to create a new message.
+ */
+export const GameEvent_PreparedSchema: GenMessage<GameEvent_Prepared, GameEvent_PreparedJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 32);
+
+/**
+ * bots are being substituted by a team
+ *
+ * @generated from message GameEvent.BotSubstitution
+ */
+export type GameEvent_BotSubstitution = Message<"GameEvent.BotSubstitution"> & {
+  /**
+   * the team that substitutes robots
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+};
+
+/**
+ * bots are being substituted by a team
+ *
+ * @generated from message GameEvent.BotSubstitution
+ */
+export type GameEvent_BotSubstitutionJson = {
+  /**
+   * the team that substitutes robots
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+};
+
+/**
+ * Describes the message GameEvent.BotSubstitution.
+ * Use `create(GameEvent_BotSubstitutionSchema)` to create a new message.
+ */
+export const GameEvent_BotSubstitutionSchema: GenMessage<GameEvent_BotSubstitution, GameEvent_BotSubstitutionJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 33);
+
+/**
+ * A foul for excessive bot substitutions
+ *
+ * @generated from message GameEvent.ExcessiveBotSubstitution
+ */
+export type GameEvent_ExcessiveBotSubstitution = Message<"GameEvent.ExcessiveBotSubstitution"> & {
+  /**
+   * the team that substitutes robots
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+};
+
+/**
+ * A foul for excessive bot substitutions
+ *
+ * @generated from message GameEvent.ExcessiveBotSubstitution
+ */
+export type GameEvent_ExcessiveBotSubstitutionJson = {
+  /**
+   * the team that substitutes robots
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+};
+
+/**
+ * Describes the message GameEvent.ExcessiveBotSubstitution.
+ * Use `create(GameEvent_ExcessiveBotSubstitutionSchema)` to create a new message.
+ */
+export const GameEvent_ExcessiveBotSubstitutionSchema: GenMessage<GameEvent_ExcessiveBotSubstitution, GameEvent_ExcessiveBotSubstitutionJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 34);
+
+/**
+ * A challenge flag, requested by a team previously, is flagged
+ *
+ * @generated from message GameEvent.ChallengeFlag
+ */
+export type GameEvent_ChallengeFlag = Message<"GameEvent.ChallengeFlag"> & {
+  /**
+   * the team that requested the challenge flag
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+};
+
+/**
+ * A challenge flag, requested by a team previously, is flagged
+ *
+ * @generated from message GameEvent.ChallengeFlag
+ */
+export type GameEvent_ChallengeFlagJson = {
+  /**
+   * the team that requested the challenge flag
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+};
+
+/**
+ * Describes the message GameEvent.ChallengeFlag.
+ * Use `create(GameEvent_ChallengeFlagSchema)` to create a new message.
+ */
+export const GameEvent_ChallengeFlagSchema: GenMessage<GameEvent_ChallengeFlag, GameEvent_ChallengeFlagJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 35);
+
+/**
+ * A challenge, flagged recently, has been handled by the referee
+ *
+ * @generated from message GameEvent.ChallengeFlagHandled
+ */
+export type GameEvent_ChallengeFlagHandled = Message<"GameEvent.ChallengeFlagHandled"> & {
+  /**
+   * the team that requested the challenge flag
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the challenge was accepted by the referee
+   *
+   * @generated from field: required bool accepted = 2;
+   */
+  accepted: boolean;
+};
+
+/**
+ * A challenge, flagged recently, has been handled by the referee
+ *
+ * @generated from message GameEvent.ChallengeFlagHandled
+ */
+export type GameEvent_ChallengeFlagHandledJson = {
+  /**
+   * the team that requested the challenge flag
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the challenge was accepted by the referee
+   *
+   * @generated from field: required bool accepted = 2;
+   */
+  accepted?: boolean;
+};
+
+/**
+ * Describes the message GameEvent.ChallengeFlagHandled.
+ * Use `create(GameEvent_ChallengeFlagHandledSchema)` to create a new message.
+ */
+export const GameEvent_ChallengeFlagHandledSchema: GenMessage<GameEvent_ChallengeFlagHandled, GameEvent_ChallengeFlagHandledJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 36);
+
+/**
+ * An emergency stop, requested by team previously, occurred
+ *
+ * @generated from message GameEvent.EmergencyStop
+ */
+export type GameEvent_EmergencyStop = Message<"GameEvent.EmergencyStop"> & {
+  /**
+   * the team that substitutes robots
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+};
+
+/**
+ * An emergency stop, requested by team previously, occurred
+ *
+ * @generated from message GameEvent.EmergencyStop
+ */
+export type GameEvent_EmergencyStopJson = {
+  /**
+   * the team that substitutes robots
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+};
+
+/**
+ * Describes the message GameEvent.EmergencyStop.
+ * Use `create(GameEvent_EmergencyStopSchema)` to create a new message.
+ */
+export const GameEvent_EmergencyStopSchema: GenMessage<GameEvent_EmergencyStop, GameEvent_EmergencyStopJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 37);
+
+/**
+ * a team has too many robots on the field
+ *
+ * @generated from message GameEvent.TooManyRobots
+ */
+export type GameEvent_TooManyRobots = Message<"GameEvent.TooManyRobots"> & {
+  /**
+   * the team that has too many robots
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * number of robots allowed at the moment
+   *
+   * @generated from field: optional int32 num_robots_allowed = 2;
+   */
+  numRobotsAllowed: number;
+
+  /**
+   * number of robots currently on the field
+   *
+   * @generated from field: optional int32 num_robots_on_field = 3;
+   */
+  numRobotsOnField: number;
+
+  /**
+   * the location of the ball at the moment when this foul occurred [m]
+   *
+   * @generated from field: optional Vector2 ball_location = 4;
+   */
+  ballLocation?: Vector2;
+};
+
+/**
+ * a team has too many robots on the field
+ *
+ * @generated from message GameEvent.TooManyRobots
+ */
+export type GameEvent_TooManyRobotsJson = {
+  /**
+   * the team that has too many robots
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * number of robots allowed at the moment
+   *
+   * @generated from field: optional int32 num_robots_allowed = 2;
+   */
+  numRobotsAllowed?: number;
+
+  /**
+   * number of robots currently on the field
+   *
+   * @generated from field: optional int32 num_robots_on_field = 3;
+   */
+  numRobotsOnField?: number;
+
+  /**
+   * the location of the ball at the moment when this foul occurred [m]
+   *
+   * @generated from field: optional Vector2 ball_location = 4;
+   */
+  ballLocation?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.TooManyRobots.
+ * Use `create(GameEvent_TooManyRobotsSchema)` to create a new message.
+ */
+export const GameEvent_TooManyRobotsSchema: GenMessage<GameEvent_TooManyRobots, GameEvent_TooManyRobotsJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 38);
+
+/**
+ * a robot chipped the ball over the field boundary out of the playing surface
+ *
+ * @generated from message GameEvent.BoundaryCrossing
+ */
+export type GameEvent_BoundaryCrossing = Message<"GameEvent.BoundaryCrossing"> & {
+  /**
+   * the team that has too many robots
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the location of the ball [m]
+   *
+   * @generated from field: optional Vector2 location = 2;
+   */
+  location?: Vector2;
+};
+
+/**
+ * a robot chipped the ball over the field boundary out of the playing surface
+ *
+ * @generated from message GameEvent.BoundaryCrossing
+ */
+export type GameEvent_BoundaryCrossingJson = {
+  /**
+   * the team that has too many robots
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the location of the ball [m]
+   *
+   * @generated from field: optional Vector2 location = 2;
+   */
+  location?: Vector2Json;
+};
+
+/**
+ * Describes the message GameEvent.BoundaryCrossing.
+ * Use `create(GameEvent_BoundaryCrossingSchema)` to create a new message.
+ */
+export const GameEvent_BoundaryCrossingSchema: GenMessage<GameEvent_BoundaryCrossing, GameEvent_BoundaryCrossingJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 39);
+
+/**
+ * the penalty kick failed (by time or by keeper)
+ *
+ * @generated from message GameEvent.PenaltyKickFailed
+ */
+export type GameEvent_PenaltyKickFailed = Message<"GameEvent.PenaltyKickFailed"> & {
+  /**
+   * the team that last touched the ball
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam: Team;
+
+  /**
+   * the location of the ball at the moment of this event [m]
+   *
+   * @generated from field: optional Vector2 location = 2;
+   */
+  location?: Vector2;
+
+  /**
+   * an explanation of the failure
+   *
+   * @generated from field: optional string reason = 3;
+   */
+  reason: string;
+};
+
+/**
+ * the penalty kick failed (by time or by keeper)
+ *
+ * @generated from message GameEvent.PenaltyKickFailed
+ */
+export type GameEvent_PenaltyKickFailedJson = {
+  /**
+   * the team that last touched the ball
+   *
+   * @generated from field: required Team by_team = 1;
+   */
+  byTeam?: TeamJson;
+
+  /**
+   * the location of the ball at the moment of this event [m]
+   *
+   * @generated from field: optional Vector2 location = 2;
+   */
+  location?: Vector2Json;
+
+  /**
+   * an explanation of the failure
+   *
+   * @generated from field: optional string reason = 3;
+   */
+  reason?: string;
+};
+
+/**
+ * Describes the message GameEvent.PenaltyKickFailed.
+ * Use `create(GameEvent_PenaltyKickFailedSchema)` to create a new message.
+ */
+export const GameEvent_PenaltyKickFailedSchema: GenMessage<GameEvent_PenaltyKickFailed, GameEvent_PenaltyKickFailedJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 40);
+
+/**
+ * @generated from enum GameEvent.Type
+ */
+export enum GameEvent_Type {
+  /**
+   * @generated from enum value: UNKNOWN_GAME_EVENT_TYPE = 0;
+   */
+  UNKNOWN_GAME_EVENT_TYPE = 0,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: BALL_LEFT_FIELD_TOUCH_LINE = 6;
+   */
+  BALL_LEFT_FIELD_TOUCH_LINE = 6,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: BALL_LEFT_FIELD_GOAL_LINE = 7;
+   */
+  BALL_LEFT_FIELD_GOAL_LINE = 7,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: AIMLESS_KICK = 11;
+   */
+  AIMLESS_KICK = 11,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA = 19;
+   */
+  ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA = 19,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: DEFENDER_IN_DEFENSE_AREA = 31;
+   */
+  DEFENDER_IN_DEFENSE_AREA = 31,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: BOUNDARY_CROSSING = 41;
+   */
+  BOUNDARY_CROSSING = 41,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: KEEPER_HELD_BALL = 13;
+   */
+  KEEPER_HELD_BALL = 13,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: BOT_DRIBBLED_BALL_TOO_FAR = 17;
+   */
+  BOT_DRIBBLED_BALL_TOO_FAR = 17,
+
+  /**
+   * triggered by human ref
+   *
+   * @generated from enum value: BOT_PUSHED_BOT = 24;
+   */
+  BOT_PUSHED_BOT = 24,
+
+  /**
+   * triggered by human ref
+   *
+   * @generated from enum value: BOT_HELD_BALL_DELIBERATELY = 26;
+   */
+  BOT_HELD_BALL_DELIBERATELY = 26,
+
+  /**
+   * triggered by human ref
+   *
+   * @generated from enum value: BOT_TIPPED_OVER = 27;
+   */
+  BOT_TIPPED_OVER = 27,
+
+  /**
+   * triggered by human ref
+   *
+   * @generated from enum value: BOT_DROPPED_PARTS = 47;
+   */
+  BOT_DROPPED_PARTS = 47,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA = 15;
+   */
+  ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA = 15,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: BOT_KICKED_BALL_TOO_FAST = 18;
+   */
+  BOT_KICKED_BALL_TOO_FAST = 18,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: BOT_CRASH_UNIQUE = 22;
+   */
+  BOT_CRASH_UNIQUE = 22,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: BOT_CRASH_DRAWN = 21;
+   */
+  BOT_CRASH_DRAWN = 21,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: DEFENDER_TOO_CLOSE_TO_KICK_POINT = 29;
+   */
+  DEFENDER_TOO_CLOSE_TO_KICK_POINT = 29,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: BOT_TOO_FAST_IN_STOP = 28;
+   */
+  BOT_TOO_FAST_IN_STOP = 28,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: BOT_INTERFERED_PLACEMENT = 20;
+   */
+  BOT_INTERFERED_PLACEMENT = 20,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: EXCESSIVE_BOT_SUBSTITUTION = 48;
+   */
+  EXCESSIVE_BOT_SUBSTITUTION = 48,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: POSSIBLE_GOAL = 39;
+   */
+  POSSIBLE_GOAL = 39,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: GOAL = 8;
+   */
+  GOAL = 8,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: INVALID_GOAL = 42;
+   */
+  INVALID_GOAL = 42,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: ATTACKER_DOUBLE_TOUCHED_BALL = 14;
+   */
+  ATTACKER_DOUBLE_TOUCHED_BALL = 14,
+
+  /**
+   * triggered by autoRef
+   *
+   * @generated from enum value: PLACEMENT_SUCCEEDED = 5;
+   */
+  PLACEMENT_SUCCEEDED = 5,
+
+  /**
+   * triggered by GC and autoRef
+   *
+   * @generated from enum value: PENALTY_KICK_FAILED = 43;
+   */
+  PENALTY_KICK_FAILED = 43,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: NO_PROGRESS_IN_GAME = 2;
+   */
+  NO_PROGRESS_IN_GAME = 2,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: PLACEMENT_FAILED = 3;
+   */
+  PLACEMENT_FAILED = 3,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: MULTIPLE_CARDS = 32;
+   */
+  MULTIPLE_CARDS = 32,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: MULTIPLE_FOULS = 34;
+   */
+  MULTIPLE_FOULS = 34,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: BOT_SUBSTITUTION = 37;
+   */
+  BOT_SUBSTITUTION = 37,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: TOO_MANY_ROBOTS = 38;
+   */
+  TOO_MANY_ROBOTS = 38,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: CHALLENGE_FLAG = 44;
+   */
+  CHALLENGE_FLAG = 44,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: CHALLENGE_FLAG_HANDLED = 46;
+   */
+  CHALLENGE_FLAG_HANDLED = 46,
+
+  /**
+   * triggered by GC
+   *
+   * @generated from enum value: EMERGENCY_STOP = 45;
+   */
+  EMERGENCY_STOP = 45,
+
+  /**
+   * triggered by human ref
+   *
+   * @generated from enum value: UNSPORTING_BEHAVIOR_MINOR = 35;
+   */
+  UNSPORTING_BEHAVIOR_MINOR = 35,
+
+  /**
+   * triggered by human ref
+   *
+   * @generated from enum value: UNSPORTING_BEHAVIOR_MAJOR = 36;
+   */
+  UNSPORTING_BEHAVIOR_MAJOR = 36,
+
+  /**
+   * @generated from enum value: PREPARED = 1 [deprecated = true];
+   * @deprecated
+   */
+  PREPARED = 1,
+
+  /**
+   * @generated from enum value: INDIRECT_GOAL = 9 [deprecated = true];
+   * @deprecated
+   */
+  INDIRECT_GOAL = 9,
+
+  /**
+   * @generated from enum value: CHIPPED_GOAL = 10 [deprecated = true];
+   * @deprecated
+   */
+  CHIPPED_GOAL = 10,
+
+  /**
+   * @generated from enum value: KICK_TIMEOUT = 12 [deprecated = true];
+   * @deprecated
+   */
+  KICK_TIMEOUT = 12,
+
+  /**
+   * @generated from enum value: ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA = 16 [deprecated = true];
+   * @deprecated
+   */
+  ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA = 16,
+
+  /**
+   * @generated from enum value: ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED = 40 [deprecated = true];
+   * @deprecated
+   */
+  ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED = 40,
+
+  /**
+   * @generated from enum value: BOT_CRASH_UNIQUE_SKIPPED = 23 [deprecated = true];
+   * @deprecated
+   */
+  BOT_CRASH_UNIQUE_SKIPPED = 23,
+
+  /**
+   * @generated from enum value: BOT_PUSHED_BOT_SKIPPED = 25 [deprecated = true];
+   * @deprecated
+   */
+  BOT_PUSHED_BOT_SKIPPED = 25,
+
+  /**
+   * @generated from enum value: DEFENDER_IN_DEFENSE_AREA_PARTIALLY = 30 [deprecated = true];
+   * @deprecated
+   */
+  DEFENDER_IN_DEFENSE_AREA_PARTIALLY = 30,
+
+  /**
+   * @generated from enum value: MULTIPLE_PLACEMENT_FAILURES = 33 [deprecated = true];
+   * @deprecated
+   */
+  MULTIPLE_PLACEMENT_FAILURES = 33,
+}
+
+/**
+ * @generated from enum GameEvent.Type
+ */
+export type GameEvent_TypeJson = "UNKNOWN_GAME_EVENT_TYPE" | "BALL_LEFT_FIELD_TOUCH_LINE" | "BALL_LEFT_FIELD_GOAL_LINE" | "AIMLESS_KICK" | "ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA" | "DEFENDER_IN_DEFENSE_AREA" | "BOUNDARY_CROSSING" | "KEEPER_HELD_BALL" | "BOT_DRIBBLED_BALL_TOO_FAR" | "BOT_PUSHED_BOT" | "BOT_HELD_BALL_DELIBERATELY" | "BOT_TIPPED_OVER" | "BOT_DROPPED_PARTS" | "ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA" | "BOT_KICKED_BALL_TOO_FAST" | "BOT_CRASH_UNIQUE" | "BOT_CRASH_DRAWN" | "DEFENDER_TOO_CLOSE_TO_KICK_POINT" | "BOT_TOO_FAST_IN_STOP" | "BOT_INTERFERED_PLACEMENT" | "EXCESSIVE_BOT_SUBSTITUTION" | "POSSIBLE_GOAL" | "GOAL" | "INVALID_GOAL" | "ATTACKER_DOUBLE_TOUCHED_BALL" | "PLACEMENT_SUCCEEDED" | "PENALTY_KICK_FAILED" | "NO_PROGRESS_IN_GAME" | "PLACEMENT_FAILED" | "MULTIPLE_CARDS" | "MULTIPLE_FOULS" | "BOT_SUBSTITUTION" | "TOO_MANY_ROBOTS" | "CHALLENGE_FLAG" | "CHALLENGE_FLAG_HANDLED" | "EMERGENCY_STOP" | "UNSPORTING_BEHAVIOR_MINOR" | "UNSPORTING_BEHAVIOR_MAJOR" | "PREPARED" | "INDIRECT_GOAL" | "CHIPPED_GOAL" | "KICK_TIMEOUT" | "ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA" | "ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED" | "BOT_CRASH_UNIQUE_SKIPPED" | "BOT_PUSHED_BOT_SKIPPED" | "DEFENDER_IN_DEFENSE_AREA_PARTIALLY" | "MULTIPLE_PLACEMENT_FAILURES";
+
+/**
+ * Describes the enum GameEvent.Type.
+ */
+export const GameEvent_TypeSchema: GenEnum<GameEvent_Type, GameEvent_TypeJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_game_event, 0, 0);
+
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_geometry_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_geometry_pb.ts
new file mode 100644
index 0000000..3b4c243
--- /dev/null
+++ b/gui/frontend/src/proto/gamecontroller/ssl_gc_geometry_pb.ts
@@ -0,0 +1,106 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file gamecontroller/ssl_gc_geometry.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file gamecontroller/ssl_gc_geometry.proto.
+ */
+export const file_gamecontroller_ssl_gc_geometry: GenFile = /*@__PURE__*/
+  fileDesc("CiRnYW1lY29udHJvbGxlci9zc2xfZ2NfZ2VvbWV0cnkucHJvdG8iHwoHVmVjdG9yMhIJCgF4GAEgAigCEgkKAXkYAiACKAIiKgoHVmVjdG9yMxIJCgF4GAEgAigCEgkKAXkYAiACKAISCQoBehgDIAIoAkJfQhJTc2xHY0dlb21ldHJ5UHJvdG9QAVpHZ2l0aHViLmNvbS9Sb2JvQ3VwLVNTTC9zc2wtdmlzaW9uLXByb2Nlc3Nvci9ndWkvaW50ZXJuYWwvZ2FtZWNvbnRyb2xsZXI");
+
+/**
+ * A vector with two dimensions
+ *
+ * @generated from message Vector2
+ */
+export type Vector2 = Message<"Vector2"> & {
+  /**
+   * @generated from field: required float x = 1;
+   */
+  x: number;
+
+  /**
+   * @generated from field: required float y = 2;
+   */
+  y: number;
+};
+
+/**
+ * A vector with two dimensions
+ *
+ * @generated from message Vector2
+ */
+export type Vector2Json = {
+  /**
+   * @generated from field: required float x = 1;
+   */
+  x?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float y = 2;
+   */
+  y?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message Vector2.
+ * Use `create(Vector2Schema)` to create a new message.
+ */
+export const Vector2Schema: GenMessage<Vector2, Vector2Json> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_geometry, 0);
+
+/**
+ * A vector with three dimensions
+ *
+ * @generated from message Vector3
+ */
+export type Vector3 = Message<"Vector3"> & {
+  /**
+   * @generated from field: required float x = 1;
+   */
+  x: number;
+
+  /**
+   * @generated from field: required float y = 2;
+   */
+  y: number;
+
+  /**
+   * @generated from field: required float z = 3;
+   */
+  z: number;
+};
+
+/**
+ * A vector with three dimensions
+ *
+ * @generated from message Vector3
+ */
+export type Vector3Json = {
+  /**
+   * @generated from field: required float x = 1;
+   */
+  x?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float y = 2;
+   */
+  y?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float z = 3;
+   */
+  z?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message Vector3.
+ * Use `create(Vector3Schema)` to create a new message.
+ */
+export const Vector3Schema: GenMessage<Vector3, Vector3Json> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_geometry, 1);
+
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_autoref_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_autoref_pb.ts
new file mode 100644
index 0000000..b347533
--- /dev/null
+++ b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_autoref_pb.ts
@@ -0,0 +1,157 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file gamecontroller/ssl_gc_rcon_autoref.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { GameEvent, GameEventJson } from "./ssl_gc_game_event_pb";
+import { file_gamecontroller_ssl_gc_game_event } from "./ssl_gc_game_event_pb";
+import type { ControllerReply, ControllerReplyJson, Signature, SignatureJson } from "./ssl_gc_rcon_pb";
+import { file_gamecontroller_ssl_gc_rcon } from "./ssl_gc_rcon_pb";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file gamecontroller/ssl_gc_rcon_autoref.proto.
+ */
+export const file_gamecontroller_ssl_gc_rcon_autoref: GenFile = /*@__PURE__*/
+  fileDesc("CihnYW1lY29udHJvbGxlci9zc2xfZ2NfcmNvbl9hdXRvcmVmLnByb3RvIkgKE0F1dG9SZWZSZWdpc3RyYXRpb24SEgoKaWRlbnRpZmllchgBIAIoCRIdCglzaWduYXR1cmUYAiABKAsyCi5TaWduYXR1cmUiYAoTQXV0b1JlZlRvQ29udHJvbGxlchIdCglzaWduYXR1cmUYASABKAsyCi5TaWduYXR1cmUSHgoKZ2FtZV9ldmVudBgCIAEoCzIKLkdhbWVFdmVudEoECAMQBEoECAQQBSJKChNDb250cm9sbGVyVG9BdXRvUmVmEiwKEGNvbnRyb2xsZXJfcmVwbHkYASABKAsyEC5Db250cm9sbGVyUmVwbHlIAEIFCgNtc2dCYkIVU3NsR2NSY29uQXV0b3JlZlByb3RvUAFaR2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL2dhbWVjb250cm9sbGVy", [file_gamecontroller_ssl_gc_game_event, file_gamecontroller_ssl_gc_rcon]);
+
+/**
+ * AutoRefRegistration is the first message that a client must send to the controller to identify itself
+ *
+ * @generated from message AutoRefRegistration
+ */
+export type AutoRefRegistration = Message<"AutoRefRegistration"> & {
+  /**
+   * identifier is a unique name of the client
+   *
+   * @generated from field: required string identifier = 1;
+   */
+  identifier: string;
+
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 2;
+   */
+  signature?: Signature;
+};
+
+/**
+ * AutoRefRegistration is the first message that a client must send to the controller to identify itself
+ *
+ * @generated from message AutoRefRegistration
+ */
+export type AutoRefRegistrationJson = {
+  /**
+   * identifier is a unique name of the client
+   *
+   * @generated from field: required string identifier = 1;
+   */
+  identifier?: string;
+
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 2;
+   */
+  signature?: SignatureJson;
+};
+
+/**
+ * Describes the message AutoRefRegistration.
+ * Use `create(AutoRefRegistrationSchema)` to create a new message.
+ */
+export const AutoRefRegistrationSchema: GenMessage<AutoRefRegistration, AutoRefRegistrationJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon_autoref, 0);
+
+/**
+ * AutoRefToController is the wrapper message for all subsequent messages from the autoRef to the controller
+ *
+ * @generated from message AutoRefToController
+ */
+export type AutoRefToController = Message<"AutoRefToController"> & {
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 1;
+   */
+  signature?: Signature;
+
+  /**
+   * game_event is an optional event that the autoRef detected during the game
+   *
+   * @generated from field: optional GameEvent game_event = 2;
+   */
+  gameEvent?: GameEvent;
+};
+
+/**
+ * AutoRefToController is the wrapper message for all subsequent messages from the autoRef to the controller
+ *
+ * @generated from message AutoRefToController
+ */
+export type AutoRefToControllerJson = {
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 1;
+   */
+  signature?: SignatureJson;
+
+  /**
+   * game_event is an optional event that the autoRef detected during the game
+   *
+   * @generated from field: optional GameEvent game_event = 2;
+   */
+  gameEvent?: GameEventJson;
+};
+
+/**
+ * Describes the message AutoRefToController.
+ * Use `create(AutoRefToControllerSchema)` to create a new message.
+ */
+export const AutoRefToControllerSchema: GenMessage<AutoRefToController, AutoRefToControllerJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon_autoref, 1);
+
+/**
+ * ControllerToAutoRef is the wrapper message for all messages from controller to autoRef
+ *
+ * @generated from message ControllerToAutoRef
+ */
+export type ControllerToAutoRef = Message<"ControllerToAutoRef"> & {
+  /**
+   * @generated from oneof ControllerToAutoRef.msg
+   */
+  msg: {
+    /**
+     * a reply from the controller
+     *
+     * @generated from field: ControllerReply controller_reply = 1;
+     */
+    value: ControllerReply;
+    case: "controllerReply";
+  } | { case: undefined; value?: undefined };
+};
+
+/**
+ * ControllerToAutoRef is the wrapper message for all messages from controller to autoRef
+ *
+ * @generated from message ControllerToAutoRef
+ */
+export type ControllerToAutoRefJson = {
+  /**
+   * a reply from the controller
+   *
+   * @generated from field: ControllerReply controller_reply = 1;
+   */
+  controllerReply?: ControllerReplyJson;
+};
+
+/**
+ * Describes the message ControllerToAutoRef.
+ * Use `create(ControllerToAutoRefSchema)` to create a new message.
+ */
+export const ControllerToAutoRefSchema: GenMessage<ControllerToAutoRef, ControllerToAutoRefJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon_autoref, 2);
+
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_pb.ts
new file mode 100644
index 0000000..145c781
--- /dev/null
+++ b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_pb.ts
@@ -0,0 +1,208 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file gamecontroller/ssl_gc_rcon.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file gamecontroller/ssl_gc_rcon.proto.
+ */
+export const file_gamecontroller_ssl_gc_rcon: GenFile = /*@__PURE__*/
+  fileDesc("CiBnYW1lY29udHJvbGxlci9zc2xfZ2NfcmNvbi5wcm90byKhAgoPQ29udHJvbGxlclJlcGx5EjAKC3N0YXR1c19jb2RlGAEgASgOMhsuQ29udHJvbGxlclJlcGx5LlN0YXR1c0NvZGUSDgoGcmVhc29uGAIgASgJEhIKCm5leHRfdG9rZW4YAyABKAkSMwoMdmVyaWZpY2F0aW9uGAQgASgOMh0uQ29udHJvbGxlclJlcGx5LlZlcmlmaWNhdGlvbiI7CgpTdGF0dXNDb2RlEhcKE1VOS05PV05fU1RBVFVTX0NPREUQABIGCgJPSxABEgwKCFJFSkVDVEVEEAIiRgoMVmVyaWZpY2F0aW9uEhgKFFVOS05PV05fVkVSSUZJQ0FUSU9OEAASDAoIVkVSSUZJRUQQARIOCgpVTlZFUklGSUVEEAIiLAoJU2lnbmF0dXJlEg0KBXRva2VuGAEgAigJEhAKCHBrY3MxdjE1GAIgAigMQltCDlNzbEdjUmNvblByb3RvUAFaR2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL2dhbWVjb250cm9sbGVy");
+
+/**
+ * a reply that is sent by the controller for each request from teams or autoRefs
+ *
+ * @generated from message ControllerReply
+ */
+export type ControllerReply = Message<"ControllerReply"> & {
+  /**
+   * status_code is an optional code that indicates the result of the last request
+   *
+   * @generated from field: optional ControllerReply.StatusCode status_code = 1;
+   */
+  statusCode: ControllerReply_StatusCode;
+
+  /**
+   * reason is an optional explanation of the status code
+   *
+   * @generated from field: optional string reason = 2;
+   */
+  reason: string;
+
+  /**
+   * next_token must be send with the next request, if secure communication is used
+   * the token is used to avoid replay attacks
+   * the token is always present in the very first message before the registration starts
+   * the token is not present, if secure communication is not used
+   *
+   * @generated from field: optional string next_token = 3;
+   */
+  nextToken: string;
+
+  /**
+   * verification indicates if the last request could be verified (secure communication)
+   *
+   * @generated from field: optional ControllerReply.Verification verification = 4;
+   */
+  verification: ControllerReply_Verification;
+};
+
+/**
+ * a reply that is sent by the controller for each request from teams or autoRefs
+ *
+ * @generated from message ControllerReply
+ */
+export type ControllerReplyJson = {
+  /**
+   * status_code is an optional code that indicates the result of the last request
+   *
+   * @generated from field: optional ControllerReply.StatusCode status_code = 1;
+   */
+  statusCode?: ControllerReply_StatusCodeJson;
+
+  /**
+   * reason is an optional explanation of the status code
+   *
+   * @generated from field: optional string reason = 2;
+   */
+  reason?: string;
+
+  /**
+   * next_token must be send with the next request, if secure communication is used
+   * the token is used to avoid replay attacks
+   * the token is always present in the very first message before the registration starts
+   * the token is not present, if secure communication is not used
+   *
+   * @generated from field: optional string next_token = 3;
+   */
+  nextToken?: string;
+
+  /**
+   * verification indicates if the last request could be verified (secure communication)
+   *
+   * @generated from field: optional ControllerReply.Verification verification = 4;
+   */
+  verification?: ControllerReply_VerificationJson;
+};
+
+/**
+ * Describes the message ControllerReply.
+ * Use `create(ControllerReplySchema)` to create a new message.
+ */
+export const ControllerReplySchema: GenMessage<ControllerReply, ControllerReplyJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon, 0);
+
+/**
+ * @generated from enum ControllerReply.StatusCode
+ */
+export enum ControllerReply_StatusCode {
+  /**
+   * @generated from enum value: UNKNOWN_STATUS_CODE = 0;
+   */
+  UNKNOWN_STATUS_CODE = 0,
+
+  /**
+   * @generated from enum value: OK = 1;
+   */
+  OK = 1,
+
+  /**
+   * @generated from enum value: REJECTED = 2;
+   */
+  REJECTED = 2,
+}
+
+/**
+ * @generated from enum ControllerReply.StatusCode
+ */
+export type ControllerReply_StatusCodeJson = "UNKNOWN_STATUS_CODE" | "OK" | "REJECTED";
+
+/**
+ * Describes the enum ControllerReply.StatusCode.
+ */
+export const ControllerReply_StatusCodeSchema: GenEnum<ControllerReply_StatusCode, ControllerReply_StatusCodeJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_rcon, 0, 0);
+
+/**
+ * @generated from enum ControllerReply.Verification
+ */
+export enum ControllerReply_Verification {
+  /**
+   * @generated from enum value: UNKNOWN_VERIFICATION = 0;
+   */
+  UNKNOWN_VERIFICATION = 0,
+
+  /**
+   * @generated from enum value: VERIFIED = 1;
+   */
+  VERIFIED = 1,
+
+  /**
+   * @generated from enum value: UNVERIFIED = 2;
+   */
+  UNVERIFIED = 2,
+}
+
+/**
+ * @generated from enum ControllerReply.Verification
+ */
+export type ControllerReply_VerificationJson = "UNKNOWN_VERIFICATION" | "VERIFIED" | "UNVERIFIED";
+
+/**
+ * Describes the enum ControllerReply.Verification.
+ */
+export const ControllerReply_VerificationSchema: GenEnum<ControllerReply_Verification, ControllerReply_VerificationJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_rcon, 0, 1);
+
+/**
+ * Signature can be added to a request to let it be verfied by the controller
+ *
+ * @generated from message Signature
+ */
+export type Signature = Message<"Signature"> & {
+  /**
+   * the token that was received with the last controller reply
+   *
+   * @generated from field: required string token = 1;
+   */
+  token: string;
+
+  /**
+   * the PKCS1v15 signature of this message
+   *
+   * @generated from field: required bytes pkcs1v15 = 2;
+   */
+  pkcs1v15: Uint8Array;
+};
+
+/**
+ * Signature can be added to a request to let it be verfied by the controller
+ *
+ * @generated from message Signature
+ */
+export type SignatureJson = {
+  /**
+   * the token that was received with the last controller reply
+   *
+   * @generated from field: required string token = 1;
+   */
+  token?: string;
+
+  /**
+   * the PKCS1v15 signature of this message
+   *
+   * @generated from field: required bytes pkcs1v15 = 2;
+   */
+  pkcs1v15?: string;
+};
+
+/**
+ * Describes the message Signature.
+ * Use `create(SignatureSchema)` to create a new message.
+ */
+export const SignatureSchema: GenMessage<Signature, SignatureJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon, 1);
+
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_remotecontrol_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_remotecontrol_pb.ts
new file mode 100644
index 0000000..b6edcf4
--- /dev/null
+++ b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_remotecontrol_pb.ts
@@ -0,0 +1,565 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file gamecontroller/ssl_gc_rcon_remotecontrol.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { Team, TeamJson } from "./ssl_gc_common_pb";
+import { file_gamecontroller_ssl_gc_common } from "./ssl_gc_common_pb";
+import type { ControllerReply, ControllerReplyJson, Signature, SignatureJson } from "./ssl_gc_rcon_pb";
+import { file_gamecontroller_ssl_gc_rcon } from "./ssl_gc_rcon_pb";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file gamecontroller/ssl_gc_rcon_remotecontrol.proto.
+ */
+export const file_gamecontroller_ssl_gc_rcon_remotecontrol: GenFile = /*@__PURE__*/
+  fileDesc("Ci5nYW1lY29udHJvbGxlci9zc2xfZ2NfcmNvbl9yZW1vdGVjb250cm9sLnByb3RvIk8KGVJlbW90ZUNvbnRyb2xSZWdpc3RyYXRpb24SEwoEdGVhbRgBIAIoDjIFLlRlYW0SHQoJc2lnbmF0dXJlGAIgASgLMgouU2lnbmF0dXJlItUCChlSZW1vdGVDb250cm9sVG9Db250cm9sbGVyEh0KCXNpZ25hdHVyZRgBIAEoCzIKLlNpZ25hdHVyZRI1CgdyZXF1ZXN0GAIgASgOMiIuUmVtb3RlQ29udHJvbFRvQ29udHJvbGxlci5SZXF1ZXN0SAASGAoOZGVzaXJlZF9rZWVwZXIYAyABKAVIABIkChpyZXF1ZXN0X3JvYm90X3N1YnN0aXR1dGlvbhgEIAEoCEgAEhkKD3JlcXVlc3RfdGltZW91dBgFIAEoCEgAEiAKFnJlcXVlc3RfZW1lcmdlbmN5X3N0b3AYBiABKAhIACJeCgdSZXF1ZXN0EgsKB1VOS05PV04QABIICgRQSU5HEAESEgoOQ0hBTExFTkdFX0ZMQUcQAhIQCgxTVE9QX1RJTUVPVVQQAxIWChJGQUlMX0JBTExQTEFDRU1FTlQQBEIFCgNtc2cibwoZQ29udHJvbGxlclRvUmVtb3RlQ29udHJvbBIqChBjb250cm9sbGVyX3JlcGx5GAEgASgLMhAuQ29udHJvbGxlclJlcGx5EiYKBXN0YXRlGAIgASgLMhcuUmVtb3RlQ29udHJvbFRlYW1TdGF0ZSK/AwoWUmVtb3RlQ29udHJvbFRlYW1TdGF0ZRITCgR0ZWFtGAwgASgOMgUuVGVhbRI1ChJhdmFpbGFibGVfcmVxdWVzdHMYASADKA4yGS5SZW1vdGVDb250cm9sUmVxdWVzdFR5cGUSMgoPYWN0aXZlX3JlcXVlc3RzGAIgAygOMhkuUmVtb3RlQ29udHJvbFJlcXVlc3RUeXBlEhEKCWtlZXBlcl9pZBgDIAEoBRIZChFlbWVyZ2VuY3lfc3RvcF9pbhgEIAEoAhIVCg10aW1lb3V0c19sZWZ0GAUgASgFEhkKEXRpbWVvdXRfdGltZV9sZWZ0GAogASgCEhwKFGNoYWxsZW5nZV9mbGFnc19sZWZ0GAYgASgFEhIKCm1heF9yb2JvdHMYByABKAUSFwoPcm9ib3RzX29uX2ZpZWxkGAkgASgFEhgKEHllbGxvd19jYXJkc19kdWUYCCADKAISHAoUY2FuX3N1YnN0aXR1dGVfcm9ib3QYCyABKAgSHgoWYm90X3N1YnN0aXR1dGlvbnNfbGVmdBgNIAEoDRIiChpib3Rfc3Vic3RpdHV0aW9uX3RpbWVfbGVmdBgOIAEoAirBAQoYUmVtb3RlQ29udHJvbFJlcXVlc3RUeXBlEhgKFFVOS05PV05fUkVRVUVTVF9UWVBFEAASEgoORU1FUkdFTkNZX1NUT1AQARIWChJST0JPVF9TVUJTVElUVVRJT04QAhILCgdUSU1FT1VUEAMSEgoOQ0hBTExFTkdFX0ZMQUcQBBIUChBDSEFOR0VfS0VFUEVSX0lEEAUSEAoMU1RPUF9USU1FT1VUEAYSFgoSRkFJTF9CQUxMUExBQ0VNRU5UEAdCaEIbU3NsR2NSY29uUmVtb3RlY29udHJvbFByb3RvUAFaR2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL2dhbWVjb250cm9sbGVy", [file_gamecontroller_ssl_gc_common, file_gamecontroller_ssl_gc_rcon]);
+
+/**
+ * a registration that must be send by the remote control to the controller as the very first message
+ *
+ * @generated from message RemoteControlRegistration
+ */
+export type RemoteControlRegistration = Message<"RemoteControlRegistration"> & {
+  /**
+   * the team to be controlled
+   *
+   * @generated from field: required Team team = 1;
+   */
+  team: Team;
+
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 2;
+   */
+  signature?: Signature;
+};
+
+/**
+ * a registration that must be send by the remote control to the controller as the very first message
+ *
+ * @generated from message RemoteControlRegistration
+ */
+export type RemoteControlRegistrationJson = {
+  /**
+   * the team to be controlled
+   *
+   * @generated from field: required Team team = 1;
+   */
+  team?: TeamJson;
+
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 2;
+   */
+  signature?: SignatureJson;
+};
+
+/**
+ * Describes the message RemoteControlRegistration.
+ * Use `create(RemoteControlRegistrationSchema)` to create a new message.
+ */
+export const RemoteControlRegistrationSchema: GenMessage<RemoteControlRegistration, RemoteControlRegistrationJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 0);
+
+/**
+ * wrapper for all messages from the remote control to the controller
+ *
+ * @generated from message RemoteControlToController
+ */
+export type RemoteControlToController = Message<"RemoteControlToController"> & {
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 1;
+   */
+  signature?: Signature;
+
+  /**
+   * @generated from oneof RemoteControlToController.msg
+   */
+  msg: {
+    /**
+     * send a request to the GC
+     *
+     * @generated from field: RemoteControlToController.Request request = 2;
+     */
+    value: RemoteControlToController_Request;
+    case: "request";
+  } | {
+    /**
+     * request a new desired keeper id
+     *
+     * @generated from field: int32 desired_keeper = 3;
+     */
+    value: number;
+    case: "desiredKeeper";
+  } | {
+    /**
+     * true: request to substitute a robot at the next possibility
+     * false: cancel request
+     *
+     * @generated from field: bool request_robot_substitution = 4;
+     */
+    value: boolean;
+    case: "requestRobotSubstitution";
+  } | {
+    /**
+     * true: request a timeout with the next stoppage
+     * false: cancel the request
+     *
+     * @generated from field: bool request_timeout = 5;
+     */
+    value: boolean;
+    case: "requestTimeout";
+  } | {
+    /**
+     * true: initiate an emergency stop
+     * false: cancel the request
+     *
+     * @generated from field: bool request_emergency_stop = 6;
+     */
+    value: boolean;
+    case: "requestEmergencyStop";
+  } | { case: undefined; value?: undefined };
+};
+
+/**
+ * wrapper for all messages from the remote control to the controller
+ *
+ * @generated from message RemoteControlToController
+ */
+export type RemoteControlToControllerJson = {
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 1;
+   */
+  signature?: SignatureJson;
+
+  /**
+   * send a request to the GC
+   *
+   * @generated from field: RemoteControlToController.Request request = 2;
+   */
+  request?: RemoteControlToController_RequestJson;
+
+  /**
+   * request a new desired keeper id
+   *
+   * @generated from field: int32 desired_keeper = 3;
+   */
+  desiredKeeper?: number;
+
+  /**
+   * true: request to substitute a robot at the next possibility
+   * false: cancel request
+   *
+   * @generated from field: bool request_robot_substitution = 4;
+   */
+  requestRobotSubstitution?: boolean;
+
+  /**
+   * true: request a timeout with the next stoppage
+   * false: cancel the request
+   *
+   * @generated from field: bool request_timeout = 5;
+   */
+  requestTimeout?: boolean;
+
+  /**
+   * true: initiate an emergency stop
+   * false: cancel the request
+   *
+   * @generated from field: bool request_emergency_stop = 6;
+   */
+  requestEmergencyStop?: boolean;
+};
+
+/**
+ * Describes the message RemoteControlToController.
+ * Use `create(RemoteControlToControllerSchema)` to create a new message.
+ */
+export const RemoteControlToControllerSchema: GenMessage<RemoteControlToController, RemoteControlToControllerJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 1);
+
+/**
+ * @generated from enum RemoteControlToController.Request
+ */
+export enum RemoteControlToController_Request {
+  /**
+   * @generated from enum value: UNKNOWN = 0;
+   */
+  UNKNOWN = 0,
+
+  /**
+   * Ping the GC to test the connection. The GC will respond with OK and the current team state
+   *
+   * @generated from enum value: PING = 1;
+   */
+  PING = 1,
+
+  /**
+   * Raise a challenge flag (this is not revocable)
+   *
+   * @generated from enum value: CHALLENGE_FLAG = 2;
+   */
+  CHALLENGE_FLAG = 2,
+
+  /**
+   * Stop an ongoing timeout
+   *
+   * @generated from enum value: STOP_TIMEOUT = 3;
+   */
+  STOP_TIMEOUT = 3,
+
+  /**
+   * Fail a ball placement
+   *
+   * @generated from enum value: FAIL_BALLPLACEMENT = 4;
+   */
+  FAIL_BALLPLACEMENT = 4,
+}
+
+/**
+ * @generated from enum RemoteControlToController.Request
+ */
+export type RemoteControlToController_RequestJson = "UNKNOWN" | "PING" | "CHALLENGE_FLAG" | "STOP_TIMEOUT" | "FAIL_BALLPLACEMENT";
+
+/**
+ * Describes the enum RemoteControlToController.Request.
+ */
+export const RemoteControlToController_RequestSchema: GenEnum<RemoteControlToController_Request, RemoteControlToController_RequestJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 1, 0);
+
+/**
+ * wrapper for all messages from controller to a team's computer
+ *
+ * @generated from message ControllerToRemoteControl
+ */
+export type ControllerToRemoteControl = Message<"ControllerToRemoteControl"> & {
+  /**
+   * a reply from the controller
+   *
+   * @generated from field: optional ControllerReply controller_reply = 1;
+   */
+  controllerReply?: ControllerReply;
+
+  /**
+   * current team state
+   *
+   * @generated from field: optional RemoteControlTeamState state = 2;
+   */
+  state?: RemoteControlTeamState;
+};
+
+/**
+ * wrapper for all messages from controller to a team's computer
+ *
+ * @generated from message ControllerToRemoteControl
+ */
+export type ControllerToRemoteControlJson = {
+  /**
+   * a reply from the controller
+   *
+   * @generated from field: optional ControllerReply controller_reply = 1;
+   */
+  controllerReply?: ControllerReplyJson;
+
+  /**
+   * current team state
+   *
+   * @generated from field: optional RemoteControlTeamState state = 2;
+   */
+  state?: RemoteControlTeamStateJson;
+};
+
+/**
+ * Describes the message ControllerToRemoteControl.
+ * Use `create(ControllerToRemoteControlSchema)` to create a new message.
+ */
+export const ControllerToRemoteControlSchema: GenMessage<ControllerToRemoteControl, ControllerToRemoteControlJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 2);
+
+/**
+ * Current team state from Controller for remote control
+ *
+ * @generated from message RemoteControlTeamState
+ */
+export type RemoteControlTeamState = Message<"RemoteControlTeamState"> & {
+  /**
+   * the team that is controlled
+   *
+   * @generated from field: optional Team team = 12;
+   */
+  team: Team;
+
+  /**
+   * list of all currently available request types that can be made
+   *
+   * @generated from field: repeated RemoteControlRequestType available_requests = 1;
+   */
+  availableRequests: RemoteControlRequestType[];
+
+  /**
+   * list of all currently active request types that are pending
+   *
+   * @generated from field: repeated RemoteControlRequestType active_requests = 2;
+   */
+  activeRequests: RemoteControlRequestType[];
+
+  /**
+   * currently set keeper id
+   *
+   * @generated from field: optional int32 keeper_id = 3;
+   */
+  keeperId: number;
+
+  /**
+   * number of seconds till emergency stop is executed
+   * zero, if no emergency stop requested
+   *
+   * @generated from field: optional float emergency_stop_in = 4;
+   */
+  emergencyStopIn: number;
+
+  /**
+   * number of timeouts left for the team
+   *
+   * @generated from field: optional int32 timeouts_left = 5;
+   */
+  timeoutsLeft: number;
+
+  /**
+   * number of seconds left for timeout for the team
+   *
+   * @generated from field: optional float timeout_time_left = 10;
+   */
+  timeoutTimeLeft: number;
+
+  /**
+   * number of challenge flags left for the team
+   *
+   * @generated from field: optional int32 challenge_flags_left = 6;
+   */
+  challengeFlagsLeft: number;
+
+  /**
+   * max number of robots currently allowed
+   *
+   * @generated from field: optional int32 max_robots = 7;
+   */
+  maxRobots: number;
+
+  /**
+   * current number of robots visible on field
+   *
+   * @generated from field: optional int32 robots_on_field = 9;
+   */
+  robotsOnField: number;
+
+  /**
+   * list of due times for each active yellow card (in seconds)
+   *
+   * @generated from field: repeated float yellow_cards_due = 8;
+   */
+  yellowCardsDue: number[];
+
+  /**
+   * if true, team is allowed to substitute robots
+   *
+   * @generated from field: optional bool can_substitute_robot = 11;
+   */
+  canSubstituteRobot: boolean;
+
+  /**
+   * number of bot substitutions left by the team in this halftime
+   *
+   * @generated from field: optional uint32 bot_substitutions_left = 13;
+   */
+  botSubstitutionsLeft: number;
+
+  /**
+   * number of seconds left for current bot substitution
+   *
+   * @generated from field: optional float bot_substitution_time_left = 14;
+   */
+  botSubstitutionTimeLeft: number;
+};
+
+/**
+ * Current team state from Controller for remote control
+ *
+ * @generated from message RemoteControlTeamState
+ */
+export type RemoteControlTeamStateJson = {
+  /**
+   * the team that is controlled
+   *
+   * @generated from field: optional Team team = 12;
+   */
+  team?: TeamJson;
+
+  /**
+   * list of all currently available request types that can be made
+   *
+   * @generated from field: repeated RemoteControlRequestType available_requests = 1;
+   */
+  availableRequests?: RemoteControlRequestTypeJson[];
+
+  /**
+   * list of all currently active request types that are pending
+   *
+   * @generated from field: repeated RemoteControlRequestType active_requests = 2;
+   */
+  activeRequests?: RemoteControlRequestTypeJson[];
+
+  /**
+   * currently set keeper id
+   *
+   * @generated from field: optional int32 keeper_id = 3;
+   */
+  keeperId?: number;
+
+  /**
+   * number of seconds till emergency stop is executed
+   * zero, if no emergency stop requested
+   *
+   * @generated from field: optional float emergency_stop_in = 4;
+   */
+  emergencyStopIn?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * number of timeouts left for the team
+   *
+   * @generated from field: optional int32 timeouts_left = 5;
+   */
+  timeoutsLeft?: number;
+
+  /**
+   * number of seconds left for timeout for the team
+   *
+   * @generated from field: optional float timeout_time_left = 10;
+   */
+  timeoutTimeLeft?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * number of challenge flags left for the team
+   *
+   * @generated from field: optional int32 challenge_flags_left = 6;
+   */
+  challengeFlagsLeft?: number;
+
+  /**
+   * max number of robots currently allowed
+   *
+   * @generated from field: optional int32 max_robots = 7;
+   */
+  maxRobots?: number;
+
+  /**
+   * current number of robots visible on field
+   *
+   * @generated from field: optional int32 robots_on_field = 9;
+   */
+  robotsOnField?: number;
+
+  /**
+   * list of due times for each active yellow card (in seconds)
+   *
+   * @generated from field: repeated float yellow_cards_due = 8;
+   */
+  yellowCardsDue?: (number | "NaN" | "Infinity" | "-Infinity")[];
+
+  /**
+   * if true, team is allowed to substitute robots
+   *
+   * @generated from field: optional bool can_substitute_robot = 11;
+   */
+  canSubstituteRobot?: boolean;
+
+  /**
+   * number of bot substitutions left by the team in this halftime
+   *
+   * @generated from field: optional uint32 bot_substitutions_left = 13;
+   */
+  botSubstitutionsLeft?: number;
+
+  /**
+   * number of seconds left for current bot substitution
+   *
+   * @generated from field: optional float bot_substitution_time_left = 14;
+   */
+  botSubstitutionTimeLeft?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message RemoteControlTeamState.
+ * Use `create(RemoteControlTeamStateSchema)` to create a new message.
+ */
+export const RemoteControlTeamStateSchema: GenMessage<RemoteControlTeamState, RemoteControlTeamStateJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 3);
+
+/**
+ * All possible request types that the remote control can make
+ *
+ * @generated from enum RemoteControlRequestType
+ */
+export enum RemoteControlRequestType {
+  /**
+   * @generated from enum value: UNKNOWN_REQUEST_TYPE = 0;
+   */
+  UNKNOWN_REQUEST_TYPE = 0,
+
+  /**
+   * @generated from enum value: EMERGENCY_STOP = 1;
+   */
+  EMERGENCY_STOP = 1,
+
+  /**
+   * @generated from enum value: ROBOT_SUBSTITUTION = 2;
+   */
+  ROBOT_SUBSTITUTION = 2,
+
+  /**
+   * @generated from enum value: TIMEOUT = 3;
+   */
+  TIMEOUT = 3,
+
+  /**
+   * @generated from enum value: CHALLENGE_FLAG = 4;
+   */
+  CHALLENGE_FLAG = 4,
+
+  /**
+   * @generated from enum value: CHANGE_KEEPER_ID = 5;
+   */
+  CHANGE_KEEPER_ID = 5,
+
+  /**
+   * @generated from enum value: STOP_TIMEOUT = 6;
+   */
+  STOP_TIMEOUT = 6,
+
+  /**
+   * @generated from enum value: FAIL_BALLPLACEMENT = 7;
+   */
+  FAIL_BALLPLACEMENT = 7,
+}
+
+/**
+ * All possible request types that the remote control can make
+ *
+ * @generated from enum RemoteControlRequestType
+ */
+export type RemoteControlRequestTypeJson = "UNKNOWN_REQUEST_TYPE" | "EMERGENCY_STOP" | "ROBOT_SUBSTITUTION" | "TIMEOUT" | "CHALLENGE_FLAG" | "CHANGE_KEEPER_ID" | "STOP_TIMEOUT" | "FAIL_BALLPLACEMENT";
+
+/**
+ * Describes the enum RemoteControlRequestType.
+ */
+export const RemoteControlRequestTypeSchema: GenEnum<RemoteControlRequestType, RemoteControlRequestTypeJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 0);
+
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_team_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_team_pb.ts
new file mode 100644
index 0000000..ad0578f
--- /dev/null
+++ b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_team_pb.ts
@@ -0,0 +1,264 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file gamecontroller/ssl_gc_rcon_team.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { Team, TeamJson } from "./ssl_gc_common_pb";
+import { file_gamecontroller_ssl_gc_common } from "./ssl_gc_common_pb";
+import type { ControllerReply, ControllerReplyJson, Signature, SignatureJson } from "./ssl_gc_rcon_pb";
+import { file_gamecontroller_ssl_gc_rcon } from "./ssl_gc_rcon_pb";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file gamecontroller/ssl_gc_rcon_team.proto.
+ */
+export const file_gamecontroller_ssl_gc_rcon_team: GenFile = /*@__PURE__*/
+  fileDesc("CiVnYW1lY29udHJvbGxlci9zc2xfZ2NfcmNvbl90ZWFtLnByb3RvIlkKEFRlYW1SZWdpc3RyYXRpb24SEQoJdGVhbV9uYW1lGAEgAigJEh0KCXNpZ25hdHVyZRgCIAEoCzIKLlNpZ25hdHVyZRITCgR0ZWFtGAMgASgOMgUuVGVhbSKqAQoQVGVhbVRvQ29udHJvbGxlchIdCglzaWduYXR1cmUYASABKAsyCi5TaWduYXR1cmUSGAoOZGVzaXJlZF9rZWVwZXIYAiABKAVIABIsChBhZHZhbnRhZ2VfY2hvaWNlGAMgASgOMhAuQWR2YW50YWdlQ2hvaWNlSAASGAoOc3Vic3RpdHV0ZV9ib3QYBCABKAhIABIOCgRwaW5nGAUgASgISABCBQoDbXNnIk0KEENvbnRyb2xsZXJUb1RlYW0SLAoQY29udHJvbGxlcl9yZXBseRgBIAEoCzIQLkNvbnRyb2xsZXJSZXBseUgAQgUKA21zZ0oECAIQAyopCg9BZHZhbnRhZ2VDaG9pY2USCAoEU1RPUBAAEgwKCENPTlRJTlVFEAFCX0ISU3NsR2NSY29uVGVhbVByb3RvUAFaR2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL2dhbWVjb250cm9sbGVy", [file_gamecontroller_ssl_gc_common, file_gamecontroller_ssl_gc_rcon]);
+
+/**
+ * a registration that must be send by teams to the controller as the very first message
+ *
+ * @generated from message TeamRegistration
+ */
+export type TeamRegistration = Message<"TeamRegistration"> & {
+  /**
+   * the exact team name as published by the game-controller
+   *
+   * @generated from field: required string team_name = 1;
+   */
+  teamName: string;
+
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 2;
+   */
+  signature?: Signature;
+
+  /**
+   * the team (relevant only if a team plays against itself)
+   *
+   * @generated from field: optional Team team = 3;
+   */
+  team: Team;
+};
+
+/**
+ * a registration that must be send by teams to the controller as the very first message
+ *
+ * @generated from message TeamRegistration
+ */
+export type TeamRegistrationJson = {
+  /**
+   * the exact team name as published by the game-controller
+   *
+   * @generated from field: required string team_name = 1;
+   */
+  teamName?: string;
+
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 2;
+   */
+  signature?: SignatureJson;
+
+  /**
+   * the team (relevant only if a team plays against itself)
+   *
+   * @generated from field: optional Team team = 3;
+   */
+  team?: TeamJson;
+};
+
+/**
+ * Describes the message TeamRegistration.
+ * Use `create(TeamRegistrationSchema)` to create a new message.
+ */
+export const TeamRegistrationSchema: GenMessage<TeamRegistration, TeamRegistrationJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon_team, 0);
+
+/**
+ * wrapper for all messages from a team's computer to the controller
+ *
+ * @generated from message TeamToController
+ */
+export type TeamToController = Message<"TeamToController"> & {
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 1;
+   */
+  signature?: Signature;
+
+  /**
+   * @generated from oneof TeamToController.msg
+   */
+  msg: {
+    /**
+     * request a new desired keeper id
+     *
+     * @generated from field: int32 desired_keeper = 2;
+     */
+    value: number;
+    case: "desiredKeeper";
+  } | {
+    /**
+     * response to an advantage choice request
+     *
+     * @generated from field: AdvantageChoice advantage_choice = 3;
+     */
+    value: AdvantageChoice;
+    case: "advantageChoice";
+  } | {
+    /**
+     * request to substitute a robot at the next possibility
+     *
+     * @generated from field: bool substitute_bot = 4;
+     */
+    value: boolean;
+    case: "substituteBot";
+  } | {
+    /**
+     * send a ping to the GC to test if the connection is still open.
+     * the value is ignored and a reply is sent back
+     *
+     * @generated from field: bool ping = 5;
+     */
+    value: boolean;
+    case: "ping";
+  } | { case: undefined; value?: undefined };
+};
+
+/**
+ * wrapper for all messages from a team's computer to the controller
+ *
+ * @generated from message TeamToController
+ */
+export type TeamToControllerJson = {
+  /**
+   * signature can optionally be specified to enable secure communication
+   *
+   * @generated from field: optional Signature signature = 1;
+   */
+  signature?: SignatureJson;
+
+  /**
+   * request a new desired keeper id
+   *
+   * @generated from field: int32 desired_keeper = 2;
+   */
+  desiredKeeper?: number;
+
+  /**
+   * response to an advantage choice request
+   *
+   * @generated from field: AdvantageChoice advantage_choice = 3;
+   */
+  advantageChoice?: AdvantageChoiceJson;
+
+  /**
+   * request to substitute a robot at the next possibility
+   *
+   * @generated from field: bool substitute_bot = 4;
+   */
+  substituteBot?: boolean;
+
+  /**
+   * send a ping to the GC to test if the connection is still open.
+   * the value is ignored and a reply is sent back
+   *
+   * @generated from field: bool ping = 5;
+   */
+  ping?: boolean;
+};
+
+/**
+ * Describes the message TeamToController.
+ * Use `create(TeamToControllerSchema)` to create a new message.
+ */
+export const TeamToControllerSchema: GenMessage<TeamToController, TeamToControllerJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon_team, 1);
+
+/**
+ * wrapper for all messages from controller to a team's computer
+ *
+ * @generated from message ControllerToTeam
+ */
+export type ControllerToTeam = Message<"ControllerToTeam"> & {
+  /**
+   * @generated from oneof ControllerToTeam.msg
+   */
+  msg: {
+    /**
+     * a reply from the controller
+     *
+     * @generated from field: ControllerReply controller_reply = 1;
+     */
+    value: ControllerReply;
+    case: "controllerReply";
+  } | { case: undefined; value?: undefined };
+};
+
+/**
+ * wrapper for all messages from controller to a team's computer
+ *
+ * @generated from message ControllerToTeam
+ */
+export type ControllerToTeamJson = {
+  /**
+   * a reply from the controller
+   *
+   * @generated from field: ControllerReply controller_reply = 1;
+   */
+  controllerReply?: ControllerReplyJson;
+};
+
+/**
+ * Describes the message ControllerToTeam.
+ * Use `create(ControllerToTeamSchema)` to create a new message.
+ */
+export const ControllerToTeamSchema: GenMessage<ControllerToTeam, ControllerToTeamJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_rcon_team, 2);
+
+/**
+ * the current advantage choice of the team
+ * the choice is valid until another choice is received
+ * if the team disconnects, the choice is reset to its default (STOP)
+ * teams may either send their current choice continuously or only on change
+ *
+ * @generated from enum AdvantageChoice
+ */
+export enum AdvantageChoice {
+  /**
+   * stop the game
+   *
+   * @generated from enum value: STOP = 0;
+   */
+  STOP = 0,
+
+  /**
+   * keep the game running
+   *
+   * @generated from enum value: CONTINUE = 1;
+   */
+  CONTINUE = 1,
+}
+
+/**
+ * the current advantage choice of the team
+ * the choice is valid until another choice is received
+ * if the team disconnects, the choice is reset to its default (STOP)
+ * teams may either send their current choice continuously or only on change
+ *
+ * @generated from enum AdvantageChoice
+ */
+export type AdvantageChoiceJson = "STOP" | "CONTINUE";
+
+/**
+ * Describes the enum AdvantageChoice.
+ */
+export const AdvantageChoiceSchema: GenEnum<AdvantageChoice, AdvantageChoiceJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_rcon_team, 0);
+
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_referee_message_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_referee_message_pb.ts
new file mode 100644
index 0000000..3c96c03
--- /dev/null
+++ b/gui/frontend/src/proto/gamecontroller/ssl_gc_referee_message_pb.ts
@@ -0,0 +1,1055 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file gamecontroller/ssl_gc_referee_message.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { GameEvent, GameEventJson } from "./ssl_gc_game_event_pb";
+import { file_gamecontroller_ssl_gc_game_event } from "./ssl_gc_game_event_pb";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file gamecontroller/ssl_gc_referee_message.proto.
+ */
+export const file_gamecontroller_ssl_gc_referee_message: GenFile = /*@__PURE__*/
+  fileDesc("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", [file_gamecontroller_ssl_gc_game_event]);
+
+/**
+ * Each UDP packet contains one of these messages.
+ *
+ * @generated from message Referee
+ */
+export type Referee = Message<"Referee"> & {
+  /**
+   * A random UUID of the source that is kept constant at the source while running
+   * If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
+   *
+   * @generated from field: optional string source_identifier = 18;
+   */
+  sourceIdentifier: string;
+
+  /**
+   * The match type is a meta information about the current match that helps to process the logs after a competition
+   *
+   * @generated from field: optional MatchType match_type = 19 [default = UNKNOWN_MATCH];
+   */
+  matchType: MatchType;
+
+  /**
+   * The UNIX timestamp when the packet was sent, in microseconds.
+   * Divide by 1,000,000 to get a time_t.
+   *
+   * @generated from field: required uint64 packet_timestamp = 1;
+   */
+  packetTimestamp: bigint;
+
+  /**
+   * @generated from field: required Referee.Stage stage = 2;
+   */
+  stage: Referee_Stage;
+
+  /**
+   * The number of microseconds 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.
+   *
+   * @generated from field: optional sint64 stage_time_left = 3;
+   */
+  stageTimeLeft: bigint;
+
+  /**
+   * @generated from field: required Referee.Command command = 4;
+   */
+  command: Referee_Command;
+
+  /**
+   * The number of commands issued since startup (mod 2^32).
+   *
+   * @generated from field: required uint32 command_counter = 5;
+   */
+  commandCounter: number;
+
+  /**
+   * The UNIX timestamp when the command was issued, in microseconds.
+   * This value changes only when a new command is issued, not on each packet.
+   *
+   * @generated from field: required uint64 command_timestamp = 6;
+   */
+  commandTimestamp: bigint;
+
+  /**
+   * Information about the two teams.
+   *
+   * @generated from field: required Referee.TeamInfo yellow = 7;
+   */
+  yellow?: Referee_TeamInfo;
+
+  /**
+   * @generated from field: required Referee.TeamInfo blue = 8;
+   */
+  blue?: Referee_TeamInfo;
+
+  /**
+   * @generated from field: optional Referee.Point designated_position = 9;
+   */
+  designatedPosition?: Referee_Point;
+
+  /**
+   * Information about the direction of play.
+   * True, if the blue team will have it's goal on the positive x-axis of the ssl-vision coordinate system.
+   * Obviously, the yellow team will play on the opposite half.
+   *
+   * @generated from field: optional bool blue_team_on_positive_half = 10;
+   */
+  blueTeamOnPositiveHalf: boolean;
+
+  /**
+   * The command that will be issued after the current stoppage and ball placement to continue the game.
+   *
+   * @generated from field: optional Referee.Command next_command = 12;
+   */
+  nextCommand: Referee_Command;
+
+  /**
+   * @generated from field: repeated GameEvent game_events = 16;
+   */
+  gameEvents: GameEvent[];
+
+  /**
+   * @generated from field: repeated GameEventProposalGroup game_event_proposals = 17;
+   */
+  gameEventProposals: GameEventProposalGroup[];
+
+  /**
+   * The time in microseconds that is remaining until the current action times out
+   * The time will not be reset. It can get negative.
+   * An autoRef would raise an appropriate event, if the time gets negative.
+   * Possible actions where this time is relevant:
+   *  * free kicks
+   *  * kickoff, penalty kick, force start
+   *  * ball placement
+   *
+   * @generated from field: optional int64 current_action_time_remaining = 15;
+   */
+  currentActionTimeRemaining: bigint;
+
+  /**
+   * A message that can be displayed to the spectators, like a reason for a stoppage.
+   *
+   * @generated from field: optional string status_message = 20;
+   */
+  statusMessage: string;
+};
+
+/**
+ * Each UDP packet contains one of these messages.
+ *
+ * @generated from message Referee
+ */
+export type RefereeJson = {
+  /**
+   * A random UUID of the source that is kept constant at the source while running
+   * If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
+   *
+   * @generated from field: optional string source_identifier = 18;
+   */
+  sourceIdentifier?: string;
+
+  /**
+   * The match type is a meta information about the current match that helps to process the logs after a competition
+   *
+   * @generated from field: optional MatchType match_type = 19 [default = UNKNOWN_MATCH];
+   */
+  matchType?: MatchTypeJson;
+
+  /**
+   * The UNIX timestamp when the packet was sent, in microseconds.
+   * Divide by 1,000,000 to get a time_t.
+   *
+   * @generated from field: required uint64 packet_timestamp = 1;
+   */
+  packetTimestamp?: string;
+
+  /**
+   * @generated from field: required Referee.Stage stage = 2;
+   */
+  stage?: Referee_StageJson;
+
+  /**
+   * The number of microseconds 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.
+   *
+   * @generated from field: optional sint64 stage_time_left = 3;
+   */
+  stageTimeLeft?: string;
+
+  /**
+   * @generated from field: required Referee.Command command = 4;
+   */
+  command?: Referee_CommandJson;
+
+  /**
+   * The number of commands issued since startup (mod 2^32).
+   *
+   * @generated from field: required uint32 command_counter = 5;
+   */
+  commandCounter?: number;
+
+  /**
+   * The UNIX timestamp when the command was issued, in microseconds.
+   * This value changes only when a new command is issued, not on each packet.
+   *
+   * @generated from field: required uint64 command_timestamp = 6;
+   */
+  commandTimestamp?: string;
+
+  /**
+   * Information about the two teams.
+   *
+   * @generated from field: required Referee.TeamInfo yellow = 7;
+   */
+  yellow?: Referee_TeamInfoJson;
+
+  /**
+   * @generated from field: required Referee.TeamInfo blue = 8;
+   */
+  blue?: Referee_TeamInfoJson;
+
+  /**
+   * @generated from field: optional Referee.Point designated_position = 9;
+   */
+  designatedPosition?: Referee_PointJson;
+
+  /**
+   * Information about the direction of play.
+   * True, if the blue team will have it's goal on the positive x-axis of the ssl-vision coordinate system.
+   * Obviously, the yellow team will play on the opposite half.
+   *
+   * @generated from field: optional bool blue_team_on_positive_half = 10;
+   */
+  blueTeamOnPositiveHalf?: boolean;
+
+  /**
+   * The command that will be issued after the current stoppage and ball placement to continue the game.
+   *
+   * @generated from field: optional Referee.Command next_command = 12;
+   */
+  nextCommand?: Referee_CommandJson;
+
+  /**
+   * @generated from field: repeated GameEvent game_events = 16;
+   */
+  gameEvents?: GameEventJson[];
+
+  /**
+   * @generated from field: repeated GameEventProposalGroup game_event_proposals = 17;
+   */
+  gameEventProposals?: GameEventProposalGroupJson[];
+
+  /**
+   * The time in microseconds that is remaining until the current action times out
+   * The time will not be reset. It can get negative.
+   * An autoRef would raise an appropriate event, if the time gets negative.
+   * Possible actions where this time is relevant:
+   *  * free kicks
+   *  * kickoff, penalty kick, force start
+   *  * ball placement
+   *
+   * @generated from field: optional int64 current_action_time_remaining = 15;
+   */
+  currentActionTimeRemaining?: string;
+
+  /**
+   * A message that can be displayed to the spectators, like a reason for a stoppage.
+   *
+   * @generated from field: optional string status_message = 20;
+   */
+  statusMessage?: string;
+};
+
+/**
+ * Describes the message Referee.
+ * Use `create(RefereeSchema)` to create a new message.
+ */
+export const RefereeSchema: GenMessage<Referee, RefereeJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_referee_message, 0);
+
+/**
+ * Information about a single team.
+ *
+ * @generated from message Referee.TeamInfo
+ */
+export type Referee_TeamInfo = Message<"Referee.TeamInfo"> & {
+  /**
+   * The team's name (empty string if operator has not typed anything).
+   *
+   * @generated from field: required string name = 1;
+   */
+  name: string;
+
+  /**
+   * The number of goals scored by the team during normal play and overtime.
+   *
+   * @generated from field: required uint32 score = 2;
+   */
+  score: number;
+
+  /**
+   * The number of red cards issued to the team since the beginning of the game.
+   *
+   * @generated from field: required uint32 red_cards = 3;
+   */
+  redCards: number;
+
+  /**
+   * The amount of time (in microseconds) left on each yellow card issued to the team.
+   * If no yellow cards are issued, this array has no elements.
+   * Otherwise, times are ordered from smallest to largest.
+   *
+   * @generated from field: repeated uint32 yellow_card_times = 4 [packed = true];
+   */
+  yellowCardTimes: number[];
+
+  /**
+   * The total number of yellow cards ever issued to the team.
+   *
+   * @generated from field: required uint32 yellow_cards = 5;
+   */
+  yellowCards: number;
+
+  /**
+   * The number of timeouts this team can still call.
+   * If in a timeout right now, that timeout is excluded.
+   *
+   * @generated from field: required uint32 timeouts = 6;
+   */
+  timeouts: number;
+
+  /**
+   * The number of microseconds of timeout this team can use.
+   *
+   * @generated from field: required uint32 timeout_time = 7;
+   */
+  timeoutTime: number;
+
+  /**
+   * The pattern number of this team's goalkeeper.
+   *
+   * @generated from field: required uint32 goalkeeper = 8;
+   */
+  goalkeeper: number;
+
+  /**
+   * The total number of countable fouls that act towards yellow cards
+   *
+   * @generated from field: optional uint32 foul_counter = 9;
+   */
+  foulCounter: number;
+
+  /**
+   * The number of consecutive ball placement failures of this team
+   *
+   * @generated from field: optional uint32 ball_placement_failures = 10;
+   */
+  ballPlacementFailures: number;
+
+  /**
+   * Indicate if the team is able and allowed to place the ball
+   *
+   * @generated from field: optional bool can_place_ball = 12;
+   */
+  canPlaceBall: boolean;
+
+  /**
+   * The maximum number of bots allowed on the field based on division and cards
+   *
+   * @generated from field: optional uint32 max_allowed_bots = 13;
+   */
+  maxAllowedBots: number;
+
+  /**
+   * The team has submitted an intent to substitute one or more robots at the next chance
+   *
+   * @generated from field: optional bool bot_substitution_intent = 14;
+   */
+  botSubstitutionIntent: boolean;
+
+  /**
+   * Indicate if the team reached the maximum allowed ball placement failures and is thus not allowed to place the ball anymore
+   *
+   * @generated from field: optional bool ball_placement_failures_reached = 15;
+   */
+  ballPlacementFailuresReached: boolean;
+
+  /**
+   * The team is allowed to substitute one or more robots currently
+   *
+   * @generated from field: optional bool bot_substitution_allowed = 16;
+   */
+  botSubstitutionAllowed: boolean;
+
+  /**
+   * The number of bot substitutions left by the team in this halftime
+   *
+   * @generated from field: optional uint32 bot_substitutions_left = 17;
+   */
+  botSubstitutionsLeft: number;
+
+  /**
+   * The number of microseconds left for current bot substitution
+   *
+   * @generated from field: optional uint32 bot_substitution_time_left = 18;
+   */
+  botSubstitutionTimeLeft: number;
+
+  /**
+   * The color of the hull of the robots of this team
+   *
+   * @generated from field: optional HullColor hull_color = 19;
+   */
+  hullColor: HullColor;
+};
+
+/**
+ * Information about a single team.
+ *
+ * @generated from message Referee.TeamInfo
+ */
+export type Referee_TeamInfoJson = {
+  /**
+   * The team's name (empty string if operator has not typed anything).
+   *
+   * @generated from field: required string name = 1;
+   */
+  name?: string;
+
+  /**
+   * The number of goals scored by the team during normal play and overtime.
+   *
+   * @generated from field: required uint32 score = 2;
+   */
+  score?: number;
+
+  /**
+   * The number of red cards issued to the team since the beginning of the game.
+   *
+   * @generated from field: required uint32 red_cards = 3;
+   */
+  redCards?: number;
+
+  /**
+   * The amount of time (in microseconds) left on each yellow card issued to the team.
+   * If no yellow cards are issued, this array has no elements.
+   * Otherwise, times are ordered from smallest to largest.
+   *
+   * @generated from field: repeated uint32 yellow_card_times = 4 [packed = true];
+   */
+  yellowCardTimes?: number[];
+
+  /**
+   * The total number of yellow cards ever issued to the team.
+   *
+   * @generated from field: required uint32 yellow_cards = 5;
+   */
+  yellowCards?: number;
+
+  /**
+   * The number of timeouts this team can still call.
+   * If in a timeout right now, that timeout is excluded.
+   *
+   * @generated from field: required uint32 timeouts = 6;
+   */
+  timeouts?: number;
+
+  /**
+   * The number of microseconds of timeout this team can use.
+   *
+   * @generated from field: required uint32 timeout_time = 7;
+   */
+  timeoutTime?: number;
+
+  /**
+   * The pattern number of this team's goalkeeper.
+   *
+   * @generated from field: required uint32 goalkeeper = 8;
+   */
+  goalkeeper?: number;
+
+  /**
+   * The total number of countable fouls that act towards yellow cards
+   *
+   * @generated from field: optional uint32 foul_counter = 9;
+   */
+  foulCounter?: number;
+
+  /**
+   * The number of consecutive ball placement failures of this team
+   *
+   * @generated from field: optional uint32 ball_placement_failures = 10;
+   */
+  ballPlacementFailures?: number;
+
+  /**
+   * Indicate if the team is able and allowed to place the ball
+   *
+   * @generated from field: optional bool can_place_ball = 12;
+   */
+  canPlaceBall?: boolean;
+
+  /**
+   * The maximum number of bots allowed on the field based on division and cards
+   *
+   * @generated from field: optional uint32 max_allowed_bots = 13;
+   */
+  maxAllowedBots?: number;
+
+  /**
+   * The team has submitted an intent to substitute one or more robots at the next chance
+   *
+   * @generated from field: optional bool bot_substitution_intent = 14;
+   */
+  botSubstitutionIntent?: boolean;
+
+  /**
+   * Indicate if the team reached the maximum allowed ball placement failures and is thus not allowed to place the ball anymore
+   *
+   * @generated from field: optional bool ball_placement_failures_reached = 15;
+   */
+  ballPlacementFailuresReached?: boolean;
+
+  /**
+   * The team is allowed to substitute one or more robots currently
+   *
+   * @generated from field: optional bool bot_substitution_allowed = 16;
+   */
+  botSubstitutionAllowed?: boolean;
+
+  /**
+   * The number of bot substitutions left by the team in this halftime
+   *
+   * @generated from field: optional uint32 bot_substitutions_left = 17;
+   */
+  botSubstitutionsLeft?: number;
+
+  /**
+   * The number of microseconds left for current bot substitution
+   *
+   * @generated from field: optional uint32 bot_substitution_time_left = 18;
+   */
+  botSubstitutionTimeLeft?: number;
+
+  /**
+   * The color of the hull of the robots of this team
+   *
+   * @generated from field: optional HullColor hull_color = 19;
+   */
+  hullColor?: HullColorJson;
+};
+
+/**
+ * Describes the message Referee.TeamInfo.
+ * Use `create(Referee_TeamInfoSchema)` to create a new message.
+ */
+export const Referee_TeamInfoSchema: GenMessage<Referee_TeamInfo, Referee_TeamInfoJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_referee_message, 0, 0);
+
+/**
+ * The coordinates of the Designated Position. These are measured in
+ * millimetres and correspond to SSL-Vision coordinates. These fields are
+ * always either both present (in the case of a ball placement command) or
+ * both absent (in the case of any other command).
+ *
+ * @generated from message Referee.Point
+ */
+export type Referee_Point = Message<"Referee.Point"> & {
+  /**
+   * @generated from field: required float x = 1;
+   */
+  x: number;
+
+  /**
+   * @generated from field: required float y = 2;
+   */
+  y: number;
+};
+
+/**
+ * The coordinates of the Designated Position. These are measured in
+ * millimetres and correspond to SSL-Vision coordinates. These fields are
+ * always either both present (in the case of a ball placement command) or
+ * both absent (in the case of any other command).
+ *
+ * @generated from message Referee.Point
+ */
+export type Referee_PointJson = {
+  /**
+   * @generated from field: required float x = 1;
+   */
+  x?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float y = 2;
+   */
+  y?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message Referee.Point.
+ * Use `create(Referee_PointSchema)` to create a new message.
+ */
+export const Referee_PointSchema: GenMessage<Referee_Point, Referee_PointJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_referee_message, 0, 1);
+
+/**
+ * These are the "coarse" stages of the game.
+ *
+ * @generated from enum Referee.Stage
+ */
+export enum Referee_Stage {
+  /**
+   * The first half is about to start.
+   * A kickoff is called within this stage.
+   * This stage ends with the NORMAL_START.
+   *
+   * @generated from enum value: NORMAL_FIRST_HALF_PRE = 0;
+   */
+  NORMAL_FIRST_HALF_PRE = 0,
+
+  /**
+   * The first half of the normal game, before half time.
+   *
+   * @generated from enum value: NORMAL_FIRST_HALF = 1;
+   */
+  NORMAL_FIRST_HALF = 1,
+
+  /**
+   * Half time between first and second halves.
+   *
+   * @generated from enum value: NORMAL_HALF_TIME = 2;
+   */
+  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.
+   *
+   * @generated from enum value: NORMAL_SECOND_HALF_PRE = 3;
+   */
+  NORMAL_SECOND_HALF_PRE = 3,
+
+  /**
+   * The second half of the normal game, after half time.
+   *
+   * @generated from enum value: NORMAL_SECOND_HALF = 4;
+   */
+  NORMAL_SECOND_HALF = 4,
+
+  /**
+   * The break before extra time.
+   *
+   * @generated from enum value: EXTRA_TIME_BREAK = 5;
+   */
+  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.
+   *
+   * @generated from enum value: EXTRA_FIRST_HALF_PRE = 6;
+   */
+  EXTRA_FIRST_HALF_PRE = 6,
+
+  /**
+   * The first half of extra time.
+   *
+   * @generated from enum value: EXTRA_FIRST_HALF = 7;
+   */
+  EXTRA_FIRST_HALF = 7,
+
+  /**
+   * Half time between first and second extra halves.
+   *
+   * @generated from enum value: EXTRA_HALF_TIME = 8;
+   */
+  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.
+   *
+   * @generated from enum value: EXTRA_SECOND_HALF_PRE = 9;
+   */
+  EXTRA_SECOND_HALF_PRE = 9,
+
+  /**
+   * The second half of extra time.
+   *
+   * @generated from enum value: EXTRA_SECOND_HALF = 10;
+   */
+  EXTRA_SECOND_HALF = 10,
+
+  /**
+   * The break before penalty shootout.
+   *
+   * @generated from enum value: PENALTY_SHOOTOUT_BREAK = 11;
+   */
+  PENALTY_SHOOTOUT_BREAK = 11,
+
+  /**
+   * The penalty shootout.
+   *
+   * @generated from enum value: PENALTY_SHOOTOUT = 12;
+   */
+  PENALTY_SHOOTOUT = 12,
+
+  /**
+   * The game is over.
+   *
+   * @generated from enum value: POST_GAME = 13;
+   */
+  POST_GAME = 13,
+}
+
+/**
+ * These are the "coarse" stages of the game.
+ *
+ * @generated from enum Referee.Stage
+ */
+export type Referee_StageJson = "NORMAL_FIRST_HALF_PRE" | "NORMAL_FIRST_HALF" | "NORMAL_HALF_TIME" | "NORMAL_SECOND_HALF_PRE" | "NORMAL_SECOND_HALF" | "EXTRA_TIME_BREAK" | "EXTRA_FIRST_HALF_PRE" | "EXTRA_FIRST_HALF" | "EXTRA_HALF_TIME" | "EXTRA_SECOND_HALF_PRE" | "EXTRA_SECOND_HALF" | "PENALTY_SHOOTOUT_BREAK" | "PENALTY_SHOOTOUT" | "POST_GAME";
+
+/**
+ * Describes the enum Referee.Stage.
+ */
+export const Referee_StageSchema: GenEnum<Referee_Stage, Referee_StageJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_referee_message, 0, 0);
+
+/**
+ * These are the "fine" states of play on the field.
+ *
+ * @generated from enum Referee.Command
+ */
+export enum Referee_Command {
+  /**
+   * All robots should completely stop moving.
+   *
+   * @generated from enum value: HALT = 0;
+   */
+  HALT = 0,
+
+  /**
+   * Robots must keep 50 cm from the ball.
+   *
+   * @generated from enum value: STOP = 1;
+   */
+  STOP = 1,
+
+  /**
+   * A prepared kickoff or penalty may now be taken.
+   *
+   * @generated from enum value: NORMAL_START = 2;
+   */
+  NORMAL_START = 2,
+
+  /**
+   * The ball is dropped and free for either team.
+   *
+   * @generated from enum value: FORCE_START = 3;
+   */
+  FORCE_START = 3,
+
+  /**
+   * The yellow team may move into kickoff position.
+   *
+   * @generated from enum value: PREPARE_KICKOFF_YELLOW = 4;
+   */
+  PREPARE_KICKOFF_YELLOW = 4,
+
+  /**
+   * The blue team may move into kickoff position.
+   *
+   * @generated from enum value: PREPARE_KICKOFF_BLUE = 5;
+   */
+  PREPARE_KICKOFF_BLUE = 5,
+
+  /**
+   * The yellow team may move into penalty position.
+   *
+   * @generated from enum value: PREPARE_PENALTY_YELLOW = 6;
+   */
+  PREPARE_PENALTY_YELLOW = 6,
+
+  /**
+   * The blue team may move into penalty position.
+   *
+   * @generated from enum value: PREPARE_PENALTY_BLUE = 7;
+   */
+  PREPARE_PENALTY_BLUE = 7,
+
+  /**
+   * The yellow team may take a direct free kick.
+   *
+   * @generated from enum value: DIRECT_FREE_YELLOW = 8;
+   */
+  DIRECT_FREE_YELLOW = 8,
+
+  /**
+   * The blue team may take a direct free kick.
+   *
+   * @generated from enum value: DIRECT_FREE_BLUE = 9;
+   */
+  DIRECT_FREE_BLUE = 9,
+
+  /**
+   * The yellow team may take an indirect free kick.
+   *
+   * @generated from enum value: INDIRECT_FREE_YELLOW = 10 [deprecated = true];
+   * @deprecated
+   */
+  INDIRECT_FREE_YELLOW = 10,
+
+  /**
+   * The blue team may take an indirect free kick.
+   *
+   * @generated from enum value: INDIRECT_FREE_BLUE = 11 [deprecated = true];
+   * @deprecated
+   */
+  INDIRECT_FREE_BLUE = 11,
+
+  /**
+   * The yellow team is currently in a timeout.
+   *
+   * @generated from enum value: TIMEOUT_YELLOW = 12;
+   */
+  TIMEOUT_YELLOW = 12,
+
+  /**
+   * The blue team is currently in a timeout.
+   *
+   * @generated from enum value: TIMEOUT_BLUE = 13;
+   */
+  TIMEOUT_BLUE = 13,
+
+  /**
+   * The yellow team just scored a goal.
+   * For information only.
+   * Deprecated: Use the score field from the team infos instead. That way, you can also detect revoked goals.
+   *
+   * @generated from enum value: GOAL_YELLOW = 14 [deprecated = true];
+   * @deprecated
+   */
+  GOAL_YELLOW = 14,
+
+  /**
+   * The blue team just scored a goal. See also GOAL_YELLOW.
+   *
+   * @generated from enum value: GOAL_BLUE = 15 [deprecated = true];
+   * @deprecated
+   */
+  GOAL_BLUE = 15,
+
+  /**
+   * Equivalent to STOP, but the yellow team must pick up the ball and
+   * drop it in the Designated Position.
+   *
+   * @generated from enum value: BALL_PLACEMENT_YELLOW = 16;
+   */
+  BALL_PLACEMENT_YELLOW = 16,
+
+  /**
+   * Equivalent to STOP, but the blue team must pick up the ball and drop
+   * it in the Designated Position.
+   *
+   * @generated from enum value: BALL_PLACEMENT_BLUE = 17;
+   */
+  BALL_PLACEMENT_BLUE = 17,
+}
+
+/**
+ * These are the "fine" states of play on the field.
+ *
+ * @generated from enum Referee.Command
+ */
+export type Referee_CommandJson = "HALT" | "STOP" | "NORMAL_START" | "FORCE_START" | "PREPARE_KICKOFF_YELLOW" | "PREPARE_KICKOFF_BLUE" | "PREPARE_PENALTY_YELLOW" | "PREPARE_PENALTY_BLUE" | "DIRECT_FREE_YELLOW" | "DIRECT_FREE_BLUE" | "INDIRECT_FREE_YELLOW" | "INDIRECT_FREE_BLUE" | "TIMEOUT_YELLOW" | "TIMEOUT_BLUE" | "GOAL_YELLOW" | "GOAL_BLUE" | "BALL_PLACEMENT_YELLOW" | "BALL_PLACEMENT_BLUE";
+
+/**
+ * Describes the enum Referee.Command.
+ */
+export const Referee_CommandSchema: GenEnum<Referee_Command, Referee_CommandJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_referee_message, 0, 1);
+
+/**
+ * List of matching proposals
+ *
+ * @generated from message GameEventProposalGroup
+ */
+export type GameEventProposalGroup = Message<"GameEventProposalGroup"> & {
+  /**
+   * Unique ID of this group
+   *
+   * @generated from field: optional string id = 3;
+   */
+  id: string;
+
+  /**
+   * The proposed game events
+   *
+   * @generated from field: repeated GameEvent game_events = 1;
+   */
+  gameEvents: GameEvent[];
+
+  /**
+   * Whether the proposal group was accepted
+   *
+   * @generated from field: optional bool accepted = 2;
+   */
+  accepted: boolean;
+};
+
+/**
+ * List of matching proposals
+ *
+ * @generated from message GameEventProposalGroup
+ */
+export type GameEventProposalGroupJson = {
+  /**
+   * Unique ID of this group
+   *
+   * @generated from field: optional string id = 3;
+   */
+  id?: string;
+
+  /**
+   * The proposed game events
+   *
+   * @generated from field: repeated GameEvent game_events = 1;
+   */
+  gameEvents?: GameEventJson[];
+
+  /**
+   * Whether the proposal group was accepted
+   *
+   * @generated from field: optional bool accepted = 2;
+   */
+  accepted?: boolean;
+};
+
+/**
+ * Describes the message GameEventProposalGroup.
+ * Use `create(GameEventProposalGroupSchema)` to create a new message.
+ */
+export const GameEventProposalGroupSchema: GenMessage<GameEventProposalGroup, GameEventProposalGroupJson> = /*@__PURE__*/
+  messageDesc(file_gamecontroller_ssl_gc_referee_message, 1);
+
+/**
+ * MatchType is a meta information about the current match for easier log processing
+ *
+ * @generated from enum MatchType
+ */
+export enum MatchType {
+  /**
+   * not set
+   *
+   * @generated from enum value: UNKNOWN_MATCH = 0;
+   */
+  UNKNOWN_MATCH = 0,
+
+  /**
+   * match is part of the group phase
+   *
+   * @generated from enum value: GROUP_PHASE = 1;
+   */
+  GROUP_PHASE = 1,
+
+  /**
+   * match is part of the elimination phase
+   *
+   * @generated from enum value: ELIMINATION_PHASE = 2;
+   */
+  ELIMINATION_PHASE = 2,
+
+  /**
+   * a friendly match, not part of a tournament
+   *
+   * @generated from enum value: FRIENDLY = 3;
+   */
+  FRIENDLY = 3,
+}
+
+/**
+ * MatchType is a meta information about the current match for easier log processing
+ *
+ * @generated from enum MatchType
+ */
+export type MatchTypeJson = "UNKNOWN_MATCH" | "GROUP_PHASE" | "ELIMINATION_PHASE" | "FRIENDLY";
+
+/**
+ * Describes the enum MatchType.
+ */
+export const MatchTypeSchema: GenEnum<MatchType, MatchTypeJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_referee_message, 0);
+
+/**
+ * HullColor is the color of the hull of the robots of a team
+ *
+ * @generated from enum HullColor
+ */
+export enum HullColor {
+  /**
+   * not set
+   *
+   * @generated from enum value: HULL_COLOR_UNKNOWN = 0;
+   */
+  UNKNOWN = 0,
+
+  /**
+   * dark hull color
+   *
+   * @generated from enum value: HULL_COLOR_DARK = 1;
+   */
+  DARK = 1,
+
+  /**
+   * light hull color
+   *
+   * @generated from enum value: HULL_COLOR_LIGHT = 2;
+   */
+  LIGHT = 2,
+}
+
+/**
+ * HullColor is the color of the hull of the robots of a team
+ *
+ * @generated from enum HullColor
+ */
+export type HullColorJson = "HULL_COLOR_UNKNOWN" | "HULL_COLOR_DARK" | "HULL_COLOR_LIGHT";
+
+/**
+ * Describes the enum HullColor.
+ */
+export const HullColorSchema: GenEnum<HullColor, HullColorJson> = /*@__PURE__*/
+  enumDesc(file_gamecontroller_ssl_gc_referee_message, 1);
+
diff --git a/gui/frontend/src/proto/vision/ssl_vision_detection_pb.ts b/gui/frontend/src/proto/vision/ssl_vision_detection_pb.ts
new file mode 100644
index 0000000..899f846
--- /dev/null
+++ b/gui/frontend/src/proto/vision/ssl_vision_detection_pb.ts
@@ -0,0 +1,403 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file vision/ssl_vision_detection.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file vision/ssl_vision_detection.proto.
+ */
+export const file_vision_ssl_vision_detection: GenFile = /*@__PURE__*/
+  fileDesc("CiF2aXNpb24vc3NsX3Zpc2lvbl9kZXRlY3Rpb24ucHJvdG8ieAoRU1NMX0RldGVjdGlvbkJhbGwSEgoKY29uZmlkZW5jZRgBIAIoAhIMCgRhcmVhGAIgASgNEgkKAXgYAyACKAISCQoBeRgEIAIoAhIJCgF6GAUgASgCEg8KB3BpeGVsX3gYBiACKAISDwoHcGl4ZWxfeRgHIAIoAiKXAQoSU1NMX0RldGVjdGlvblJvYm90EhIKCmNvbmZpZGVuY2UYASACKAISEAoIcm9ib3RfaWQYAiABKA0SCQoBeBgDIAIoAhIJCgF5GAQgAigCEhMKC29yaWVudGF0aW9uGAUgASgCEg8KB3BpeGVsX3gYBiACKAISDwoHcGl4ZWxfeRgHIAIoAhIOCgZoZWlnaHQYCCABKAIihgIKElNTTF9EZXRlY3Rpb25GcmFtZRIUCgxmcmFtZV9udW1iZXIYASACKA0SEQoJdF9jYXB0dXJlGAIgAigBEg4KBnRfc2VudBgDIAIoARIYChB0X2NhcHR1cmVfY2FtZXJhGAggASgBEhEKCXRfb2Zmc2V0cxgJIAMoAhIRCgljYW1lcmFfaWQYBCACKA0SIQoFYmFsbHMYBSADKAsyEi5TU0xfRGV0ZWN0aW9uQmFsbBIqCg1yb2JvdHNfeWVsbG93GAYgAygLMhMuU1NMX0RldGVjdGlvblJvYm90EigKC3JvYm90c19ibHVlGAcgAygLMhMuU1NMX0RldGVjdGlvblJvYm90QlxCF1NzbFZpc2lvbkRldGVjdGlvblByb3RvUAFaP2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL3Zpc2lvbg");
+
+/**
+ * @generated from message SSL_DetectionBall
+ */
+export type SSL_DetectionBall = Message<"SSL_DetectionBall"> & {
+  /**
+   * Confidence in [0-1] of the detection
+   *
+   * @generated from field: required float confidence = 1;
+   */
+  confidence: number;
+
+  /**
+   * @generated from field: optional uint32 area = 2;
+   */
+  area: number;
+
+  /**
+   * X-coordinate in [mm] in global ssl-vision coordinate system
+   *
+   * @generated from field: required float x = 3;
+   */
+  x: number;
+
+  /**
+   * Y-coordinate in [mm] in global ssl-vision coordinate system
+   *
+   * @generated from field: required float y = 4;
+   */
+  y: number;
+
+  /**
+   * Z-coordinate in [mm] in global ssl-vision coordinate system
+   * Not supported by ssl-vision, but might be set by simulators
+   *
+   * @generated from field: optional float z = 5;
+   */
+  z: number;
+
+  /**
+   * X-coordinate in [pixel] in the image
+   *
+   * @generated from field: required float pixel_x = 6;
+   */
+  pixelX: number;
+
+  /**
+   * Y-coordinate in [pixel] in the image
+   *
+   * @generated from field: required float pixel_y = 7;
+   */
+  pixelY: number;
+};
+
+/**
+ * @generated from message SSL_DetectionBall
+ */
+export type SSL_DetectionBallJson = {
+  /**
+   * Confidence in [0-1] of the detection
+   *
+   * @generated from field: required float confidence = 1;
+   */
+  confidence?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: optional uint32 area = 2;
+   */
+  area?: number;
+
+  /**
+   * X-coordinate in [mm] in global ssl-vision coordinate system
+   *
+   * @generated from field: required float x = 3;
+   */
+  x?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Y-coordinate in [mm] in global ssl-vision coordinate system
+   *
+   * @generated from field: required float y = 4;
+   */
+  y?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Z-coordinate in [mm] in global ssl-vision coordinate system
+   * Not supported by ssl-vision, but might be set by simulators
+   *
+   * @generated from field: optional float z = 5;
+   */
+  z?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * X-coordinate in [pixel] in the image
+   *
+   * @generated from field: required float pixel_x = 6;
+   */
+  pixelX?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Y-coordinate in [pixel] in the image
+   *
+   * @generated from field: required float pixel_y = 7;
+   */
+  pixelY?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message SSL_DetectionBall.
+ * Use `create(SSL_DetectionBallSchema)` to create a new message.
+ */
+export const SSL_DetectionBallSchema: GenMessage<SSL_DetectionBall, SSL_DetectionBallJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_detection, 0);
+
+/**
+ * @generated from message SSL_DetectionRobot
+ */
+export type SSL_DetectionRobot = Message<"SSL_DetectionRobot"> & {
+  /**
+   * Confidence in [0-1] of the detection
+   *
+   * @generated from field: required float confidence = 1;
+   */
+  confidence: number;
+
+  /**
+   * Id of the robot
+   *
+   * @generated from field: optional uint32 robot_id = 2;
+   */
+  robotId: number;
+
+  /**
+   * X-coordinate in [mm] in global ssl-vision coordinate system
+   *
+   * @generated from field: required float x = 3;
+   */
+  x: number;
+
+  /**
+   * Y-coordinate in [mm] in global ssl-vision coordinate system
+   *
+   * @generated from field: required float y = 4;
+   */
+  y: number;
+
+  /**
+   * Orientation in [rad]
+   *
+   * @generated from field: optional float orientation = 5;
+   */
+  orientation: number;
+
+  /**
+   * X-coordinate in [pixel] in the image
+   *
+   * @generated from field: required float pixel_x = 6;
+   */
+  pixelX: number;
+
+  /**
+   * Y-coordinate in [pixel] in the image
+   *
+   * @generated from field: required float pixel_y = 7;
+   */
+  pixelY: number;
+
+  /**
+   * Height, as configured in ssl-vision for the respective team
+   *
+   * @generated from field: optional float height = 8;
+   */
+  height: number;
+};
+
+/**
+ * @generated from message SSL_DetectionRobot
+ */
+export type SSL_DetectionRobotJson = {
+  /**
+   * Confidence in [0-1] of the detection
+   *
+   * @generated from field: required float confidence = 1;
+   */
+  confidence?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Id of the robot
+   *
+   * @generated from field: optional uint32 robot_id = 2;
+   */
+  robotId?: number;
+
+  /**
+   * X-coordinate in [mm] in global ssl-vision coordinate system
+   *
+   * @generated from field: required float x = 3;
+   */
+  x?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Y-coordinate in [mm] in global ssl-vision coordinate system
+   *
+   * @generated from field: required float y = 4;
+   */
+  y?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Orientation in [rad]
+   *
+   * @generated from field: optional float orientation = 5;
+   */
+  orientation?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * X-coordinate in [pixel] in the image
+   *
+   * @generated from field: required float pixel_x = 6;
+   */
+  pixelX?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Y-coordinate in [pixel] in the image
+   *
+   * @generated from field: required float pixel_y = 7;
+   */
+  pixelY?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Height, as configured in ssl-vision for the respective team
+   *
+   * @generated from field: optional float height = 8;
+   */
+  height?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message SSL_DetectionRobot.
+ * Use `create(SSL_DetectionRobotSchema)` to create a new message.
+ */
+export const SSL_DetectionRobotSchema: GenMessage<SSL_DetectionRobot, SSL_DetectionRobotJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_detection, 1);
+
+/**
+ * @generated from message SSL_DetectionFrame
+ */
+export type SSL_DetectionFrame = Message<"SSL_DetectionFrame"> & {
+  /**
+   * monotonously increasing frame number
+   *
+   * @generated from field: required uint32 frame_number = 1;
+   */
+  frameNumber: number;
+
+  /**
+   * Unix timestamp in [seconds] at which the image has been received by ssl-vision
+   *
+   * @generated from field: required double t_capture = 2;
+   */
+  tCapture: number;
+
+  /**
+   * Unix timestamp in [seconds] at which this message has been sent to the network
+   *
+   * @generated from field: required double t_sent = 3;
+   */
+  tSent: number;
+
+  /**
+   * Camera timestamp in [seconds] as reported by the camera, if supported
+   * This is not necessarily a unix timestamp
+   *
+   * @generated from field: optional double t_capture_camera = 8;
+   */
+  tCaptureCamera: number;
+
+  /**
+   * Internal VisionProcessor field for clock synchronization,
+   * containing the time offset of received packets for each cam relative to the local clock.
+   *
+   * @generated from field: repeated float t_offsets = 9;
+   */
+  tOffsets: number[];
+
+  /**
+   * Identifier of the camera
+   *
+   * @generated from field: required uint32 camera_id = 4;
+   */
+  cameraId: number;
+
+  /**
+   * Detected balls
+   *
+   * @generated from field: repeated SSL_DetectionBall balls = 5;
+   */
+  balls: SSL_DetectionBall[];
+
+  /**
+   * Detected yellow robots
+   *
+   * @generated from field: repeated SSL_DetectionRobot robots_yellow = 6;
+   */
+  robotsYellow: SSL_DetectionRobot[];
+
+  /**
+   * Detected blue robots
+   *
+   * @generated from field: repeated SSL_DetectionRobot robots_blue = 7;
+   */
+  robotsBlue: SSL_DetectionRobot[];
+};
+
+/**
+ * @generated from message SSL_DetectionFrame
+ */
+export type SSL_DetectionFrameJson = {
+  /**
+   * monotonously increasing frame number
+   *
+   * @generated from field: required uint32 frame_number = 1;
+   */
+  frameNumber?: number;
+
+  /**
+   * Unix timestamp in [seconds] at which the image has been received by ssl-vision
+   *
+   * @generated from field: required double t_capture = 2;
+   */
+  tCapture?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Unix timestamp in [seconds] at which this message has been sent to the network
+   *
+   * @generated from field: required double t_sent = 3;
+   */
+  tSent?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Camera timestamp in [seconds] as reported by the camera, if supported
+   * This is not necessarily a unix timestamp
+   *
+   * @generated from field: optional double t_capture_camera = 8;
+   */
+  tCaptureCamera?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Internal VisionProcessor field for clock synchronization,
+   * containing the time offset of received packets for each cam relative to the local clock.
+   *
+   * @generated from field: repeated float t_offsets = 9;
+   */
+  tOffsets?: (number | "NaN" | "Infinity" | "-Infinity")[];
+
+  /**
+   * Identifier of the camera
+   *
+   * @generated from field: required uint32 camera_id = 4;
+   */
+  cameraId?: number;
+
+  /**
+   * Detected balls
+   *
+   * @generated from field: repeated SSL_DetectionBall balls = 5;
+   */
+  balls?: SSL_DetectionBallJson[];
+
+  /**
+   * Detected yellow robots
+   *
+   * @generated from field: repeated SSL_DetectionRobot robots_yellow = 6;
+   */
+  robotsYellow?: SSL_DetectionRobotJson[];
+
+  /**
+   * Detected blue robots
+   *
+   * @generated from field: repeated SSL_DetectionRobot robots_blue = 7;
+   */
+  robotsBlue?: SSL_DetectionRobotJson[];
+};
+
+/**
+ * Describes the message SSL_DetectionFrame.
+ * Use `create(SSL_DetectionFrameSchema)` to create a new message.
+ */
+export const SSL_DetectionFrameSchema: GenMessage<SSL_DetectionFrame, SSL_DetectionFrameJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_detection, 2);
+
diff --git a/gui/frontend/src/proto/vision/ssl_vision_detection_tracked_pb.ts b/gui/frontend/src/proto/vision/ssl_vision_detection_tracked_pb.ts
new file mode 100644
index 0000000..9dedf77
--- /dev/null
+++ b/gui/frontend/src/proto/vision/ssl_vision_detection_tracked_pb.ts
@@ -0,0 +1,448 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file vision/ssl_vision_detection_tracked.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { RobotId, RobotIdJson } from "../gamecontroller/ssl_gc_common_pb";
+import { file_gamecontroller_ssl_gc_common } from "../gamecontroller/ssl_gc_common_pb";
+import type { Vector2, Vector2Json, Vector3, Vector3Json } from "../gamecontroller/ssl_gc_geometry_pb";
+import { file_gamecontroller_ssl_gc_geometry } from "../gamecontroller/ssl_gc_geometry_pb";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file vision/ssl_vision_detection_tracked.proto.
+ */
+export const file_vision_ssl_vision_detection_tracked: GenFile = /*@__PURE__*/
+  fileDesc("Cil2aXNpb24vc3NsX3Zpc2lvbl9kZXRlY3Rpb25fdHJhY2tlZC5wcm90byJPCgtUcmFja2VkQmFsbBIVCgNwb3MYASACKAsyCC5WZWN0b3IzEhUKA3ZlbBgCIAEoCzIILlZlY3RvcjMSEgoKdmlzaWJpbGl0eRgDIAEoAiKjAQoKS2lja2VkQmFsbBIVCgNwb3MYASACKAsyCC5WZWN0b3IyEhUKA3ZlbBgCIAIoCzIILlZlY3RvcjMSFwoPc3RhcnRfdGltZXN0YW1wGAMgAigBEhYKDnN0b3BfdGltZXN0YW1wGAQgASgBEhoKCHN0b3BfcG9zGAUgASgLMgguVmVjdG9yMhIaCghyb2JvdF9pZBgGIAEoCzIILlJvYm90SWQilgEKDFRyYWNrZWRSb2JvdBIaCghyb2JvdF9pZBgBIAIoCzIILlJvYm90SWQSFQoDcG9zGAIgAigLMgguVmVjdG9yMhITCgtvcmllbnRhdGlvbhgDIAIoAhIVCgN2ZWwYBCABKAsyCC5WZWN0b3IyEhMKC3ZlbF9hbmd1bGFyGAUgASgCEhIKCnZpc2liaWxpdHkYBiABKAIiuAEKDFRyYWNrZWRGcmFtZRIUCgxmcmFtZV9udW1iZXIYASACKA0SEQoJdGltZXN0YW1wGAIgAigBEhsKBWJhbGxzGAMgAygLMgwuVHJhY2tlZEJhbGwSHQoGcm9ib3RzGAQgAygLMg0uVHJhY2tlZFJvYm90EiAKC2tpY2tlZF9iYWxsGAUgASgLMgsuS2lja2VkQmFsbBIhCgxjYXBhYmlsaXRpZXMYBiADKA4yCy5DYXBhYmlsaXR5KpIBCgpDYXBhYmlsaXR5EhYKEkNBUEFCSUxJVFlfVU5LTk9XThAAEiIKHkNBUEFCSUxJVFlfREVURUNUX0ZMWUlOR19CQUxMUxABEiQKIENBUEFCSUxJVFlfREVURUNUX01VTFRJUExFX0JBTExTEAISIgoeQ0FQQUJJTElUWV9ERVRFQ1RfS0lDS0VEX0JBTExTEANCY0IeU3NsVmlzaW9uRGV0ZWN0aW9uVHJhY2tlZFByb3RvUAFaP2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL3Zpc2lvbg", [file_gamecontroller_ssl_gc_common, file_gamecontroller_ssl_gc_geometry]);
+
+/**
+ * A single tracked ball
+ *
+ * @generated from message TrackedBall
+ */
+export type TrackedBall = Message<"TrackedBall"> & {
+  /**
+   * The position (x, y, height) [m] in the ssl-vision coordinate system
+   *
+   * @generated from field: required Vector3 pos = 1;
+   */
+  pos?: Vector3;
+
+  /**
+   * The velocity [m/s] in the ssl-vision coordinate system
+   *
+   * @generated from field: optional Vector3 vel = 2;
+   */
+  vel?: Vector3;
+
+  /**
+   * The visibility of the ball
+   * A value between 0 (not visible) and 1 (visible)
+   * The exact implementation depends on the source software
+   *
+   * @generated from field: optional float visibility = 3;
+   */
+  visibility: number;
+};
+
+/**
+ * A single tracked ball
+ *
+ * @generated from message TrackedBall
+ */
+export type TrackedBallJson = {
+  /**
+   * The position (x, y, height) [m] in the ssl-vision coordinate system
+   *
+   * @generated from field: required Vector3 pos = 1;
+   */
+  pos?: Vector3Json;
+
+  /**
+   * The velocity [m/s] in the ssl-vision coordinate system
+   *
+   * @generated from field: optional Vector3 vel = 2;
+   */
+  vel?: Vector3Json;
+
+  /**
+   * The visibility of the ball
+   * A value between 0 (not visible) and 1 (visible)
+   * The exact implementation depends on the source software
+   *
+   * @generated from field: optional float visibility = 3;
+   */
+  visibility?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message TrackedBall.
+ * Use `create(TrackedBallSchema)` to create a new message.
+ */
+export const TrackedBallSchema: GenMessage<TrackedBall, TrackedBallJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_detection_tracked, 0);
+
+/**
+ * A ball kicked by a robot, including predictions when the ball will come to a stop
+ *
+ * @generated from message KickedBall
+ */
+export type KickedBall = Message<"KickedBall"> & {
+  /**
+   * The initial position [m] from which the ball was kicked
+   *
+   * @generated from field: required Vector2 pos = 1;
+   */
+  pos?: Vector2;
+
+  /**
+   * The initial velocity [m/s] with which the ball was kicked
+   *
+   * @generated from field: required Vector3 vel = 2;
+   */
+  vel?: Vector3;
+
+  /**
+   * The unix timestamp [s] when the kick was performed
+   *
+   * @generated from field: required double start_timestamp = 3;
+   */
+  startTimestamp: number;
+
+  /**
+   * The predicted unix timestamp [s] when the ball comes to a stop
+   *
+   * @generated from field: optional double stop_timestamp = 4;
+   */
+  stopTimestamp: number;
+
+  /**
+   * The predicted position [m] at which the ball will come to a stop
+   *
+   * @generated from field: optional Vector2 stop_pos = 5;
+   */
+  stopPos?: Vector2;
+
+  /**
+   * The robot that kicked the ball
+   *
+   * @generated from field: optional RobotId robot_id = 6;
+   */
+  robotId?: RobotId;
+};
+
+/**
+ * A ball kicked by a robot, including predictions when the ball will come to a stop
+ *
+ * @generated from message KickedBall
+ */
+export type KickedBallJson = {
+  /**
+   * The initial position [m] from which the ball was kicked
+   *
+   * @generated from field: required Vector2 pos = 1;
+   */
+  pos?: Vector2Json;
+
+  /**
+   * The initial velocity [m/s] with which the ball was kicked
+   *
+   * @generated from field: required Vector3 vel = 2;
+   */
+  vel?: Vector3Json;
+
+  /**
+   * The unix timestamp [s] when the kick was performed
+   *
+   * @generated from field: required double start_timestamp = 3;
+   */
+  startTimestamp?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * The predicted unix timestamp [s] when the ball comes to a stop
+   *
+   * @generated from field: optional double stop_timestamp = 4;
+   */
+  stopTimestamp?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * The predicted position [m] at which the ball will come to a stop
+   *
+   * @generated from field: optional Vector2 stop_pos = 5;
+   */
+  stopPos?: Vector2Json;
+
+  /**
+   * The robot that kicked the ball
+   *
+   * @generated from field: optional RobotId robot_id = 6;
+   */
+  robotId?: RobotIdJson;
+};
+
+/**
+ * Describes the message KickedBall.
+ * Use `create(KickedBallSchema)` to create a new message.
+ */
+export const KickedBallSchema: GenMessage<KickedBall, KickedBallJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_detection_tracked, 1);
+
+/**
+ * A single tracked robot
+ *
+ * @generated from message TrackedRobot
+ */
+export type TrackedRobot = Message<"TrackedRobot"> & {
+  /**
+   * @generated from field: required RobotId robot_id = 1;
+   */
+  robotId?: RobotId;
+
+  /**
+   * The position [m] in the ssl-vision coordinate system
+   *
+   * @generated from field: required Vector2 pos = 2;
+   */
+  pos?: Vector2;
+
+  /**
+   * The orientation [rad] in the ssl-vision coordinate system
+   *
+   * @generated from field: required float orientation = 3;
+   */
+  orientation: number;
+
+  /**
+   * The velocity [m/s] in the ssl-vision coordinate system
+   *
+   * @generated from field: optional Vector2 vel = 4;
+   */
+  vel?: Vector2;
+
+  /**
+   * The angular velocity [rad/s] in the ssl-vision coordinate system
+   *
+   * @generated from field: optional float vel_angular = 5;
+   */
+  velAngular: number;
+
+  /**
+   * The visibility of the robot
+   * A value between 0 (not visible) and 1 (visible)
+   * The exact implementation depends on the source software
+   *
+   * @generated from field: optional float visibility = 6;
+   */
+  visibility: number;
+};
+
+/**
+ * A single tracked robot
+ *
+ * @generated from message TrackedRobot
+ */
+export type TrackedRobotJson = {
+  /**
+   * @generated from field: required RobotId robot_id = 1;
+   */
+  robotId?: RobotIdJson;
+
+  /**
+   * The position [m] in the ssl-vision coordinate system
+   *
+   * @generated from field: required Vector2 pos = 2;
+   */
+  pos?: Vector2Json;
+
+  /**
+   * The orientation [rad] in the ssl-vision coordinate system
+   *
+   * @generated from field: required float orientation = 3;
+   */
+  orientation?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * The velocity [m/s] in the ssl-vision coordinate system
+   *
+   * @generated from field: optional Vector2 vel = 4;
+   */
+  vel?: Vector2Json;
+
+  /**
+   * The angular velocity [rad/s] in the ssl-vision coordinate system
+   *
+   * @generated from field: optional float vel_angular = 5;
+   */
+  velAngular?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * The visibility of the robot
+   * A value between 0 (not visible) and 1 (visible)
+   * The exact implementation depends on the source software
+   *
+   * @generated from field: optional float visibility = 6;
+   */
+  visibility?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message TrackedRobot.
+ * Use `create(TrackedRobotSchema)` to create a new message.
+ */
+export const TrackedRobotSchema: GenMessage<TrackedRobot, TrackedRobotJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_detection_tracked, 2);
+
+/**
+ * A frame that contains all currently tracked objects on the field on all cameras
+ *
+ * @generated from message TrackedFrame
+ */
+export type TrackedFrame = Message<"TrackedFrame"> & {
+  /**
+   * A monotonous increasing frame counter
+   *
+   * @generated from field: required uint32 frame_number = 1;
+   */
+  frameNumber: number;
+
+  /**
+   * The unix timestamp in [s] of the data
+   * If timestamp is larger than timestamp_captured, the source has applied a prediction already
+   *
+   * @generated from field: required double timestamp = 2;
+   */
+  timestamp: number;
+
+  /**
+   * The list of detected balls
+   * The first ball is the primary one
+   * Sources may add additional balls based on their capabilities
+   *
+   * @generated from field: repeated TrackedBall balls = 3;
+   */
+  balls: TrackedBall[];
+
+  /**
+   * The list of detected robots of both teams
+   *
+   * @generated from field: repeated TrackedRobot robots = 4;
+   */
+  robots: TrackedRobot[];
+
+  /**
+   * Information about a kicked ball, if the ball was kicked by a robot and is still moving
+   * Note: This field is optional. Some source implementations might not set this at any time
+   *
+   * @generated from field: optional KickedBall kicked_ball = 5;
+   */
+  kickedBall?: KickedBall;
+
+  /**
+   * List of capabilities of the source implementation
+   *
+   * @generated from field: repeated Capability capabilities = 6;
+   */
+  capabilities: Capability[];
+};
+
+/**
+ * A frame that contains all currently tracked objects on the field on all cameras
+ *
+ * @generated from message TrackedFrame
+ */
+export type TrackedFrameJson = {
+  /**
+   * A monotonous increasing frame counter
+   *
+   * @generated from field: required uint32 frame_number = 1;
+   */
+  frameNumber?: number;
+
+  /**
+   * The unix timestamp in [s] of the data
+   * If timestamp is larger than timestamp_captured, the source has applied a prediction already
+   *
+   * @generated from field: required double timestamp = 2;
+   */
+  timestamp?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * The list of detected balls
+   * The first ball is the primary one
+   * Sources may add additional balls based on their capabilities
+   *
+   * @generated from field: repeated TrackedBall balls = 3;
+   */
+  balls?: TrackedBallJson[];
+
+  /**
+   * The list of detected robots of both teams
+   *
+   * @generated from field: repeated TrackedRobot robots = 4;
+   */
+  robots?: TrackedRobotJson[];
+
+  /**
+   * Information about a kicked ball, if the ball was kicked by a robot and is still moving
+   * Note: This field is optional. Some source implementations might not set this at any time
+   *
+   * @generated from field: optional KickedBall kicked_ball = 5;
+   */
+  kickedBall?: KickedBallJson;
+
+  /**
+   * List of capabilities of the source implementation
+   *
+   * @generated from field: repeated Capability capabilities = 6;
+   */
+  capabilities?: CapabilityJson[];
+};
+
+/**
+ * Describes the message TrackedFrame.
+ * Use `create(TrackedFrameSchema)` to create a new message.
+ */
+export const TrackedFrameSchema: GenMessage<TrackedFrame, TrackedFrameJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_detection_tracked, 3);
+
+/**
+ * Capabilities that a source implementation can have
+ *
+ * @generated from enum Capability
+ */
+export enum Capability {
+  /**
+   * @generated from enum value: CAPABILITY_UNKNOWN = 0;
+   */
+  UNKNOWN = 0,
+
+  /**
+   * @generated from enum value: CAPABILITY_DETECT_FLYING_BALLS = 1;
+   */
+  DETECT_FLYING_BALLS = 1,
+
+  /**
+   * @generated from enum value: CAPABILITY_DETECT_MULTIPLE_BALLS = 2;
+   */
+  DETECT_MULTIPLE_BALLS = 2,
+
+  /**
+   * @generated from enum value: CAPABILITY_DETECT_KICKED_BALLS = 3;
+   */
+  DETECT_KICKED_BALLS = 3,
+}
+
+/**
+ * Capabilities that a source implementation can have
+ *
+ * @generated from enum Capability
+ */
+export type CapabilityJson = "CAPABILITY_UNKNOWN" | "CAPABILITY_DETECT_FLYING_BALLS" | "CAPABILITY_DETECT_MULTIPLE_BALLS" | "CAPABILITY_DETECT_KICKED_BALLS";
+
+/**
+ * Describes the enum Capability.
+ */
+export const CapabilitySchema: GenEnum<Capability, CapabilityJson> = /*@__PURE__*/
+  enumDesc(file_vision_ssl_vision_detection_tracked, 0);
+
diff --git a/gui/frontend/src/proto/vision/ssl_vision_geometry_pb.ts b/gui/frontend/src/proto/vision/ssl_vision_geometry_pb.ts
new file mode 100644
index 0000000..08bc7db
--- /dev/null
+++ b/gui/frontend/src/proto/vision/ssl_vision_geometry_pb.ts
@@ -0,0 +1,1031 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file vision/ssl_vision_geometry.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file vision/ssl_vision_geometry.proto.
+ */
+export const file_vision_ssl_vision_geometry: GenFile = /*@__PURE__*/
+  fileDesc("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");
+
+/**
+ * A 2D float vector.
+ *
+ * @generated from message Vector2f
+ */
+export type Vector2f = Message<"Vector2f"> & {
+  /**
+   * X-coordinate in mm
+   *
+   * @generated from field: required float x = 1;
+   */
+  x: number;
+
+  /**
+   * Y-coordinate in mm
+   *
+   * @generated from field: required float y = 2;
+   */
+  y: number;
+};
+
+/**
+ * A 2D float vector.
+ *
+ * @generated from message Vector2f
+ */
+export type Vector2fJson = {
+  /**
+   * X-coordinate in mm
+   *
+   * @generated from field: required float x = 1;
+   */
+  x?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Y-coordinate in mm
+   *
+   * @generated from field: required float y = 2;
+   */
+  y?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message Vector2f.
+ * Use `create(Vector2fSchema)` to create a new message.
+ */
+export const Vector2fSchema: GenMessage<Vector2f, Vector2fJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_geometry, 0);
+
+/**
+ * Represents a field marking as a line segment represented by a start point p1,
+ * and end point p2, and a line thickness. The start and end points are along
+ * the center of the line, so the thickness of the line extends by thickness / 2
+ * on either side of the line.
+ *
+ * @generated from message SSL_FieldLineSegment
+ */
+export type SSL_FieldLineSegment = Message<"SSL_FieldLineSegment"> & {
+  /**
+   * Name of this field marking.
+   *
+   * @generated from field: required string name = 1;
+   */
+  name: string;
+
+  /**
+   * Start point of the line segment.
+   *
+   * @generated from field: required Vector2f p1 = 2;
+   */
+  p1?: Vector2f;
+
+  /**
+   * End point of the line segment.
+   *
+   * @generated from field: required Vector2f p2 = 3;
+   */
+  p2?: Vector2f;
+
+  /**
+   * Thickness of the line segment.
+   *
+   * @generated from field: required float thickness = 4;
+   */
+  thickness: number;
+
+  /**
+   * The type of this shape
+   *
+   * @generated from field: optional SSL_FieldShapeType type = 5;
+   */
+  type: SSL_FieldShapeType;
+};
+
+/**
+ * Represents a field marking as a line segment represented by a start point p1,
+ * and end point p2, and a line thickness. The start and end points are along
+ * the center of the line, so the thickness of the line extends by thickness / 2
+ * on either side of the line.
+ *
+ * @generated from message SSL_FieldLineSegment
+ */
+export type SSL_FieldLineSegmentJson = {
+  /**
+   * Name of this field marking.
+   *
+   * @generated from field: required string name = 1;
+   */
+  name?: string;
+
+  /**
+   * Start point of the line segment.
+   *
+   * @generated from field: required Vector2f p1 = 2;
+   */
+  p1?: Vector2fJson;
+
+  /**
+   * End point of the line segment.
+   *
+   * @generated from field: required Vector2f p2 = 3;
+   */
+  p2?: Vector2fJson;
+
+  /**
+   * Thickness of the line segment.
+   *
+   * @generated from field: required float thickness = 4;
+   */
+  thickness?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * The type of this shape
+   *
+   * @generated from field: optional SSL_FieldShapeType type = 5;
+   */
+  type?: SSL_FieldShapeTypeJson;
+};
+
+/**
+ * Describes the message SSL_FieldLineSegment.
+ * Use `create(SSL_FieldLineSegmentSchema)` to create a new message.
+ */
+export const SSL_FieldLineSegmentSchema: GenMessage<SSL_FieldLineSegment, SSL_FieldLineSegmentJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_geometry, 1);
+
+/**
+ * Represents a field marking as a circular arc segment represented by center point, a
+ * start angle, an end angle, and an arc thickness.
+ *
+ * @generated from message SSL_FieldCircularArc
+ */
+export type SSL_FieldCircularArc = Message<"SSL_FieldCircularArc"> & {
+  /**
+   * Name of this field marking.
+   *
+   * @generated from field: required string name = 1;
+   */
+  name: string;
+
+  /**
+   * Center point of the circular arc.
+   *
+   * @generated from field: required Vector2f center = 2;
+   */
+  center?: Vector2f;
+
+  /**
+   * Radius of the arc.
+   *
+   * @generated from field: required float radius = 3;
+   */
+  radius: number;
+
+  /**
+   * Start angle in counter-clockwise order.
+   *
+   * @generated from field: required float a1 = 4;
+   */
+  a1: number;
+
+  /**
+   * End angle in counter-clockwise order.
+   *
+   * @generated from field: required float a2 = 5;
+   */
+  a2: number;
+
+  /**
+   * Thickness of the arc.
+   *
+   * @generated from field: required float thickness = 6;
+   */
+  thickness: number;
+
+  /**
+   * The type of this shape
+   *
+   * @generated from field: optional SSL_FieldShapeType type = 7;
+   */
+  type: SSL_FieldShapeType;
+};
+
+/**
+ * Represents a field marking as a circular arc segment represented by center point, a
+ * start angle, an end angle, and an arc thickness.
+ *
+ * @generated from message SSL_FieldCircularArc
+ */
+export type SSL_FieldCircularArcJson = {
+  /**
+   * Name of this field marking.
+   *
+   * @generated from field: required string name = 1;
+   */
+  name?: string;
+
+  /**
+   * Center point of the circular arc.
+   *
+   * @generated from field: required Vector2f center = 2;
+   */
+  center?: Vector2fJson;
+
+  /**
+   * Radius of the arc.
+   *
+   * @generated from field: required float radius = 3;
+   */
+  radius?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Start angle in counter-clockwise order.
+   *
+   * @generated from field: required float a1 = 4;
+   */
+  a1?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * End angle in counter-clockwise order.
+   *
+   * @generated from field: required float a2 = 5;
+   */
+  a2?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Thickness of the arc.
+   *
+   * @generated from field: required float thickness = 6;
+   */
+  thickness?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * The type of this shape
+   *
+   * @generated from field: optional SSL_FieldShapeType type = 7;
+   */
+  type?: SSL_FieldShapeTypeJson;
+};
+
+/**
+ * Describes the message SSL_FieldCircularArc.
+ * Use `create(SSL_FieldCircularArcSchema)` to create a new message.
+ */
+export const SSL_FieldCircularArcSchema: GenMessage<SSL_FieldCircularArc, SSL_FieldCircularArcJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_geometry, 2);
+
+/**
+ * @generated from message SSL_GeometryFieldSize
+ */
+export type SSL_GeometryFieldSize = Message<"SSL_GeometryFieldSize"> & {
+  /**
+   * Field length (distance between goal lines) in mm
+   *
+   * @generated from field: required int32 field_length = 1;
+   */
+  fieldLength: number;
+
+  /**
+   * Field width (distance between touch lines) in mm
+   *
+   * @generated from field: required int32 field_width = 2;
+   */
+  fieldWidth: number;
+
+  /**
+   * Goal width (distance between inner edges of goal posts) in mm
+   *
+   * @generated from field: required int32 goal_width = 3;
+   */
+  goalWidth: number;
+
+  /**
+   * Goal depth (distance from outer goal line edge to inner goal back) in mm
+   *
+   * @generated from field: required int32 goal_depth = 4;
+   */
+  goalDepth: number;
+
+  /**
+   * Boundary width (distance from touch line centers to boundary walls) in mm
+   *
+   * @generated from field: required int32 boundary_width = 5;
+   */
+  boundaryWidth: number;
+
+  /**
+   * Boundary width at the goal lines (distance from goal line centers to boundary walls) in mm
+   *
+   * @generated from field: optional int32 boundary_width_goal_line = 16;
+   */
+  boundaryWidthGoalLine: number;
+
+  /**
+   * Generated line segments based on the other parameters
+   *
+   * @generated from field: repeated SSL_FieldLineSegment field_lines = 6;
+   */
+  fieldLines: SSL_FieldLineSegment[];
+
+  /**
+   * Generated circular arcs based on the other parameters
+   *
+   * @generated from field: repeated SSL_FieldCircularArc field_arcs = 7;
+   */
+  fieldArcs: SSL_FieldCircularArc[];
+
+  /**
+   * Depth of the penalty/defense area (measured between line centers) in mm
+   *
+   * @generated from field: optional int32 penalty_area_depth = 8;
+   */
+  penaltyAreaDepth: number;
+
+  /**
+   * Width of the penalty/defense area (measured between line centers) in mm
+   *
+   * @generated from field: optional int32 penalty_area_width = 9;
+   */
+  penaltyAreaWidth: number;
+
+  /**
+   * Radius of the center circle (measured between line centers) in mm
+   *
+   * @generated from field: optional int32 center_circle_radius = 10;
+   */
+  centerCircleRadius: number;
+
+  /**
+   * Thickness/width of the lines on the field in mm
+   *
+   * @generated from field: optional int32 line_thickness = 11;
+   */
+  lineThickness: number;
+
+  /**
+   * Distance between the goal center and the center of the penalty mark in mm
+   *
+   * @generated from field: optional int32 goal_center_to_penalty_mark = 12;
+   */
+  goalCenterToPenaltyMark: number;
+
+  /**
+   * Goal height in mm
+   *
+   * @generated from field: optional int32 goal_height = 13;
+   */
+  goalHeight: number;
+
+  /**
+   * Ball radius in mm (note that this is a float type to represent sub-mm precision)
+   *
+   * @generated from field: optional float ball_radius = 14;
+   */
+  ballRadius: number;
+
+  /**
+   * Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)
+   *
+   * @generated from field: optional float max_robot_radius = 15;
+   */
+  maxRobotRadius: number;
+
+  /**
+   * Width of the goal substitution area (distance from goal line center plus boundary width to boundary walls) in mm
+   *
+   * @generated from field: optional int32 goal_substitution_area_width = 17;
+   */
+  goalSubstitutionAreaWidth: number;
+};
+
+/**
+ * @generated from message SSL_GeometryFieldSize
+ */
+export type SSL_GeometryFieldSizeJson = {
+  /**
+   * Field length (distance between goal lines) in mm
+   *
+   * @generated from field: required int32 field_length = 1;
+   */
+  fieldLength?: number;
+
+  /**
+   * Field width (distance between touch lines) in mm
+   *
+   * @generated from field: required int32 field_width = 2;
+   */
+  fieldWidth?: number;
+
+  /**
+   * Goal width (distance between inner edges of goal posts) in mm
+   *
+   * @generated from field: required int32 goal_width = 3;
+   */
+  goalWidth?: number;
+
+  /**
+   * Goal depth (distance from outer goal line edge to inner goal back) in mm
+   *
+   * @generated from field: required int32 goal_depth = 4;
+   */
+  goalDepth?: number;
+
+  /**
+   * Boundary width (distance from touch line centers to boundary walls) in mm
+   *
+   * @generated from field: required int32 boundary_width = 5;
+   */
+  boundaryWidth?: number;
+
+  /**
+   * Boundary width at the goal lines (distance from goal line centers to boundary walls) in mm
+   *
+   * @generated from field: optional int32 boundary_width_goal_line = 16;
+   */
+  boundaryWidthGoalLine?: number;
+
+  /**
+   * Generated line segments based on the other parameters
+   *
+   * @generated from field: repeated SSL_FieldLineSegment field_lines = 6;
+   */
+  fieldLines?: SSL_FieldLineSegmentJson[];
+
+  /**
+   * Generated circular arcs based on the other parameters
+   *
+   * @generated from field: repeated SSL_FieldCircularArc field_arcs = 7;
+   */
+  fieldArcs?: SSL_FieldCircularArcJson[];
+
+  /**
+   * Depth of the penalty/defense area (measured between line centers) in mm
+   *
+   * @generated from field: optional int32 penalty_area_depth = 8;
+   */
+  penaltyAreaDepth?: number;
+
+  /**
+   * Width of the penalty/defense area (measured between line centers) in mm
+   *
+   * @generated from field: optional int32 penalty_area_width = 9;
+   */
+  penaltyAreaWidth?: number;
+
+  /**
+   * Radius of the center circle (measured between line centers) in mm
+   *
+   * @generated from field: optional int32 center_circle_radius = 10;
+   */
+  centerCircleRadius?: number;
+
+  /**
+   * Thickness/width of the lines on the field in mm
+   *
+   * @generated from field: optional int32 line_thickness = 11;
+   */
+  lineThickness?: number;
+
+  /**
+   * Distance between the goal center and the center of the penalty mark in mm
+   *
+   * @generated from field: optional int32 goal_center_to_penalty_mark = 12;
+   */
+  goalCenterToPenaltyMark?: number;
+
+  /**
+   * Goal height in mm
+   *
+   * @generated from field: optional int32 goal_height = 13;
+   */
+  goalHeight?: number;
+
+  /**
+   * Ball radius in mm (note that this is a float type to represent sub-mm precision)
+   *
+   * @generated from field: optional float ball_radius = 14;
+   */
+  ballRadius?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)
+   *
+   * @generated from field: optional float max_robot_radius = 15;
+   */
+  maxRobotRadius?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Width of the goal substitution area (distance from goal line center plus boundary width to boundary walls) in mm
+   *
+   * @generated from field: optional int32 goal_substitution_area_width = 17;
+   */
+  goalSubstitutionAreaWidth?: number;
+};
+
+/**
+ * Describes the message SSL_GeometryFieldSize.
+ * Use `create(SSL_GeometryFieldSizeSchema)` to create a new message.
+ */
+export const SSL_GeometryFieldSizeSchema: GenMessage<SSL_GeometryFieldSize, SSL_GeometryFieldSizeJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_geometry, 3);
+
+/**
+ * @generated from message SSL_GeometryCameraCalibration
+ */
+export type SSL_GeometryCameraCalibration = Message<"SSL_GeometryCameraCalibration"> & {
+  /**
+   * @generated from field: required uint32 camera_id = 1;
+   */
+  cameraId: number;
+
+  /**
+   * @generated from field: required float focal_length = 2;
+   */
+  focalLength: number;
+
+  /**
+   * @generated from field: required float principal_point_x = 3;
+   */
+  principalPointX: number;
+
+  /**
+   * @generated from field: required float principal_point_y = 4;
+   */
+  principalPointY: number;
+
+  /**
+   * @generated from field: required float distortion = 5;
+   */
+  distortion: number;
+
+  /**
+   * @generated from field: required float q0 = 6;
+   */
+  q0: number;
+
+  /**
+   * @generated from field: required float q1 = 7;
+   */
+  q1: number;
+
+  /**
+   * @generated from field: required float q2 = 8;
+   */
+  q2: number;
+
+  /**
+   * @generated from field: required float q3 = 9;
+   */
+  q3: number;
+
+  /**
+   * @generated from field: required float tx = 10;
+   */
+  tx: number;
+
+  /**
+   * @generated from field: required float ty = 11;
+   */
+  ty: number;
+
+  /**
+   * @generated from field: required float tz = 12;
+   */
+  tz: number;
+
+  /**
+   * @generated from field: optional float derived_camera_world_tx = 13;
+   */
+  derivedCameraWorldTx: number;
+
+  /**
+   * @generated from field: optional float derived_camera_world_ty = 14;
+   */
+  derivedCameraWorldTy: number;
+
+  /**
+   * @generated from field: optional float derived_camera_world_tz = 15;
+   */
+  derivedCameraWorldTz: number;
+
+  /**
+   * @generated from field: optional uint32 pixel_image_width = 16;
+   */
+  pixelImageWidth: number;
+
+  /**
+   * @generated from field: optional uint32 pixel_image_height = 17;
+   */
+  pixelImageHeight: number;
+};
+
+/**
+ * @generated from message SSL_GeometryCameraCalibration
+ */
+export type SSL_GeometryCameraCalibrationJson = {
+  /**
+   * @generated from field: required uint32 camera_id = 1;
+   */
+  cameraId?: number;
+
+  /**
+   * @generated from field: required float focal_length = 2;
+   */
+  focalLength?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float principal_point_x = 3;
+   */
+  principalPointX?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float principal_point_y = 4;
+   */
+  principalPointY?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float distortion = 5;
+   */
+  distortion?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float q0 = 6;
+   */
+  q0?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float q1 = 7;
+   */
+  q1?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float q2 = 8;
+   */
+  q2?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float q3 = 9;
+   */
+  q3?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float tx = 10;
+   */
+  tx?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float ty = 11;
+   */
+  ty?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: required float tz = 12;
+   */
+  tz?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: optional float derived_camera_world_tx = 13;
+   */
+  derivedCameraWorldTx?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: optional float derived_camera_world_ty = 14;
+   */
+  derivedCameraWorldTy?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: optional float derived_camera_world_tz = 15;
+   */
+  derivedCameraWorldTz?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: optional uint32 pixel_image_width = 16;
+   */
+  pixelImageWidth?: number;
+
+  /**
+   * @generated from field: optional uint32 pixel_image_height = 17;
+   */
+  pixelImageHeight?: number;
+};
+
+/**
+ * Describes the message SSL_GeometryCameraCalibration.
+ * Use `create(SSL_GeometryCameraCalibrationSchema)` to create a new message.
+ */
+export const SSL_GeometryCameraCalibrationSchema: GenMessage<SSL_GeometryCameraCalibration, SSL_GeometryCameraCalibrationJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_geometry, 4);
+
+/**
+ * Two-Phase model for straight-kicked balls.
+ * There are two phases with different accelerations during the ball kicks:
+ * 1. Sliding
+ * 2. Rolling
+ * The full model is described in the TDP of ER-Force from 2016, which can be found here:
+ * https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf
+ *
+ * @generated from message SSL_BallModelStraightTwoPhase
+ */
+export type SSL_BallModelStraightTwoPhase = Message<"SSL_BallModelStraightTwoPhase"> & {
+  /**
+   * Ball sliding acceleration [m/s^2] (should be negative)
+   *
+   * @generated from field: required double acc_slide = 1;
+   */
+  accSlide: number;
+
+  /**
+   * Ball rolling acceleration [m/s^2] (should be negative)
+   *
+   * @generated from field: required double acc_roll = 2;
+   */
+  accRoll: number;
+
+  /**
+   * Fraction of the initial velocity where the ball starts to roll
+   *
+   * @generated from field: required double k_switch = 3;
+   */
+  kSwitch: number;
+};
+
+/**
+ * Two-Phase model for straight-kicked balls.
+ * There are two phases with different accelerations during the ball kicks:
+ * 1. Sliding
+ * 2. Rolling
+ * The full model is described in the TDP of ER-Force from 2016, which can be found here:
+ * https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf
+ *
+ * @generated from message SSL_BallModelStraightTwoPhase
+ */
+export type SSL_BallModelStraightTwoPhaseJson = {
+  /**
+   * Ball sliding acceleration [m/s^2] (should be negative)
+   *
+   * @generated from field: required double acc_slide = 1;
+   */
+  accSlide?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Ball rolling acceleration [m/s^2] (should be negative)
+   *
+   * @generated from field: required double acc_roll = 2;
+   */
+  accRoll?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Fraction of the initial velocity where the ball starts to roll
+   *
+   * @generated from field: required double k_switch = 3;
+   */
+  kSwitch?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message SSL_BallModelStraightTwoPhase.
+ * Use `create(SSL_BallModelStraightTwoPhaseSchema)` to create a new message.
+ */
+export const SSL_BallModelStraightTwoPhaseSchema: GenMessage<SSL_BallModelStraightTwoPhase, SSL_BallModelStraightTwoPhaseJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_geometry, 5);
+
+/**
+ * Fixed-Loss model for chipped balls.
+ * Uses fixed damping factors for xy and z direction per hop.
+ *
+ * @generated from message SSL_BallModelChipFixedLoss
+ */
+export type SSL_BallModelChipFixedLoss = Message<"SSL_BallModelChipFixedLoss"> & {
+  /**
+   * Chip kick velocity damping factor in XY direction for the first hop
+   *
+   * @generated from field: required double damping_xy_first_hop = 1;
+   */
+  dampingXyFirstHop: number;
+
+  /**
+   * Chip kick velocity damping factor in XY direction for all following hops
+   *
+   * @generated from field: required double damping_xy_other_hops = 2;
+   */
+  dampingXyOtherHops: number;
+
+  /**
+   * Chip kick velocity damping factor in Z direction for all hops
+   *
+   * @generated from field: required double damping_z = 3;
+   */
+  dampingZ: number;
+};
+
+/**
+ * Fixed-Loss model for chipped balls.
+ * Uses fixed damping factors for xy and z direction per hop.
+ *
+ * @generated from message SSL_BallModelChipFixedLoss
+ */
+export type SSL_BallModelChipFixedLossJson = {
+  /**
+   * Chip kick velocity damping factor in XY direction for the first hop
+   *
+   * @generated from field: required double damping_xy_first_hop = 1;
+   */
+  dampingXyFirstHop?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Chip kick velocity damping factor in XY direction for all following hops
+   *
+   * @generated from field: required double damping_xy_other_hops = 2;
+   */
+  dampingXyOtherHops?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Chip kick velocity damping factor in Z direction for all hops
+   *
+   * @generated from field: required double damping_z = 3;
+   */
+  dampingZ?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message SSL_BallModelChipFixedLoss.
+ * Use `create(SSL_BallModelChipFixedLossSchema)` to create a new message.
+ */
+export const SSL_BallModelChipFixedLossSchema: GenMessage<SSL_BallModelChipFixedLoss, SSL_BallModelChipFixedLossJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_geometry, 6);
+
+/**
+ * @generated from message SSL_GeometryModels
+ */
+export type SSL_GeometryModels = Message<"SSL_GeometryModels"> & {
+  /**
+   * @generated from field: optional SSL_BallModelStraightTwoPhase straight_two_phase = 1;
+   */
+  straightTwoPhase?: SSL_BallModelStraightTwoPhase;
+
+  /**
+   * @generated from field: optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2;
+   */
+  chipFixedLoss?: SSL_BallModelChipFixedLoss;
+};
+
+/**
+ * @generated from message SSL_GeometryModels
+ */
+export type SSL_GeometryModelsJson = {
+  /**
+   * @generated from field: optional SSL_BallModelStraightTwoPhase straight_two_phase = 1;
+   */
+  straightTwoPhase?: SSL_BallModelStraightTwoPhaseJson;
+
+  /**
+   * @generated from field: optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2;
+   */
+  chipFixedLoss?: SSL_BallModelChipFixedLossJson;
+};
+
+/**
+ * Describes the message SSL_GeometryModels.
+ * Use `create(SSL_GeometryModelsSchema)` to create a new message.
+ */
+export const SSL_GeometryModelsSchema: GenMessage<SSL_GeometryModels, SSL_GeometryModelsJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_geometry, 7);
+
+/**
+ * @generated from message SSL_GeometryData
+ */
+export type SSL_GeometryData = Message<"SSL_GeometryData"> & {
+  /**
+   * @generated from field: required SSL_GeometryFieldSize field = 1;
+   */
+  field?: SSL_GeometryFieldSize;
+
+  /**
+   * @generated from field: repeated SSL_GeometryCameraCalibration calib = 2;
+   */
+  calib: SSL_GeometryCameraCalibration[];
+
+  /**
+   * @generated from field: optional SSL_GeometryModels models = 3;
+   */
+  models?: SSL_GeometryModels;
+};
+
+/**
+ * @generated from message SSL_GeometryData
+ */
+export type SSL_GeometryDataJson = {
+  /**
+   * @generated from field: required SSL_GeometryFieldSize field = 1;
+   */
+  field?: SSL_GeometryFieldSizeJson;
+
+  /**
+   * @generated from field: repeated SSL_GeometryCameraCalibration calib = 2;
+   */
+  calib?: SSL_GeometryCameraCalibrationJson[];
+
+  /**
+   * @generated from field: optional SSL_GeometryModels models = 3;
+   */
+  models?: SSL_GeometryModelsJson;
+};
+
+/**
+ * Describes the message SSL_GeometryData.
+ * Use `create(SSL_GeometryDataSchema)` to create a new message.
+ */
+export const SSL_GeometryDataSchema: GenMessage<SSL_GeometryData, SSL_GeometryDataJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_geometry, 8);
+
+/**
+ * @generated from enum SSL_FieldShapeType
+ */
+export enum SSL_FieldShapeType {
+  /**
+   * @generated from enum value: Undefined = 0;
+   */
+  Undefined = 0,
+
+  /**
+   * @generated from enum value: CenterCircle = 1;
+   */
+  CenterCircle = 1,
+
+  /**
+   * @generated from enum value: TopTouchLine = 2;
+   */
+  TopTouchLine = 2,
+
+  /**
+   * @generated from enum value: BottomTouchLine = 3;
+   */
+  BottomTouchLine = 3,
+
+  /**
+   * @generated from enum value: LeftGoalLine = 4;
+   */
+  LeftGoalLine = 4,
+
+  /**
+   * @generated from enum value: RightGoalLine = 5;
+   */
+  RightGoalLine = 5,
+
+  /**
+   * @generated from enum value: HalfwayLine = 6;
+   */
+  HalfwayLine = 6,
+
+  /**
+   * @generated from enum value: CenterLine = 7;
+   */
+  CenterLine = 7,
+
+  /**
+   * @generated from enum value: LeftPenaltyStretch = 8;
+   */
+  LeftPenaltyStretch = 8,
+
+  /**
+   * @generated from enum value: RightPenaltyStretch = 9;
+   */
+  RightPenaltyStretch = 9,
+
+  /**
+   * @generated from enum value: LeftFieldLeftPenaltyStretch = 10;
+   */
+  LeftFieldLeftPenaltyStretch = 10,
+
+  /**
+   * @generated from enum value: LeftFieldRightPenaltyStretch = 11;
+   */
+  LeftFieldRightPenaltyStretch = 11,
+
+  /**
+   * @generated from enum value: RightFieldLeftPenaltyStretch = 12;
+   */
+  RightFieldLeftPenaltyStretch = 12,
+
+  /**
+   * @generated from enum value: RightFieldRightPenaltyStretch = 13;
+   */
+  RightFieldRightPenaltyStretch = 13,
+}
+
+/**
+ * @generated from enum SSL_FieldShapeType
+ */
+export type SSL_FieldShapeTypeJson = "Undefined" | "CenterCircle" | "TopTouchLine" | "BottomTouchLine" | "LeftGoalLine" | "RightGoalLine" | "HalfwayLine" | "CenterLine" | "LeftPenaltyStretch" | "RightPenaltyStretch" | "LeftFieldLeftPenaltyStretch" | "LeftFieldRightPenaltyStretch" | "RightFieldLeftPenaltyStretch" | "RightFieldRightPenaltyStretch";
+
+/**
+ * Describes the enum SSL_FieldShapeType.
+ */
+export const SSL_FieldShapeTypeSchema: GenEnum<SSL_FieldShapeType, SSL_FieldShapeTypeJson> = /*@__PURE__*/
+  enumDesc(file_vision_ssl_vision_geometry, 0);
+
diff --git a/gui/frontend/src/proto/vision/ssl_vision_wrapper_pb.ts b/gui/frontend/src/proto/vision/ssl_vision_wrapper_pb.ts
new file mode 100644
index 0000000..441bf5f
--- /dev/null
+++ b/gui/frontend/src/proto/vision/ssl_vision_wrapper_pb.ts
@@ -0,0 +1,123 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file vision/ssl_vision_wrapper.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { SSL_DetectionFrame, SSL_DetectionFrameJson } from "./ssl_vision_detection_pb";
+import { file_vision_ssl_vision_detection } from "./ssl_vision_detection_pb";
+import type { SSL_GeometryData, SSL_GeometryDataJson } from "./ssl_vision_geometry_pb";
+import { file_vision_ssl_vision_geometry } from "./ssl_vision_geometry_pb";
+import type { SSL_VPConfig, SSL_VPConfigJson } from "./ssl_vp_config_pb";
+import { file_vision_ssl_vp_config } from "./ssl_vp_config_pb";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file vision/ssl_vision_wrapper.proto.
+ */
+export const file_vision_ssl_vision_wrapper: GenFile = /*@__PURE__*/
+  fileDesc("Ch92aXNpb24vc3NsX3Zpc2lvbl93cmFwcGVyLnByb3RvIpwBChFTU0xfV3JhcHBlclBhY2tldBImCglkZXRlY3Rpb24YASABKAsyEy5TU0xfRGV0ZWN0aW9uRnJhbWUSIwoIZ2VvbWV0cnkYAiABKAsyES5TU0xfR2VvbWV0cnlEYXRhEhsKBnNvdXJjZRgDIAEoDjILLlNTTF9Tb3VyY2USHQoGY29uZmlnGAQgASgLMg0uU1NMX1ZQQ29uZmlnKqgBCgpTU0xfU291cmNlEhYKElNTTF9TT1VSQ0VfVU5LTk9XThAAEhQKEFNTTF9TT1VSQ0VfT1RIRVIQARIZChVTU0xfU09VUkNFX1NTTF9WSVNJT04QAhIfChtTU0xfU09VUkNFX1ZJU0lPTl9QUk9DRVNTT1IQAxIUChBTU0xfU09VUkNFX0dSU0lNEAQSGgoWU1NMX1NPVVJDRV9FUkZPUkNFX1NJTRAFQlpCFVNzbFZpc2lvbldyYXBwZXJQcm90b1ABWj9naXRodWIuY29tL1JvYm9DdXAtU1NML3NzbC12aXNpb24tcHJvY2Vzc29yL2d1aS9pbnRlcm5hbC92aXNpb24", [file_vision_ssl_vision_detection, file_vision_ssl_vision_geometry, file_vision_ssl_vp_config]);
+
+/**
+ * @generated from message SSL_WrapperPacket
+ */
+export type SSL_WrapperPacket = Message<"SSL_WrapperPacket"> & {
+  /**
+   * @generated from field: optional SSL_DetectionFrame detection = 1;
+   */
+  detection?: SSL_DetectionFrame;
+
+  /**
+   * @generated from field: optional SSL_GeometryData geometry = 2;
+   */
+  geometry?: SSL_GeometryData;
+
+  /**
+   * @generated from field: optional SSL_Source source = 3;
+   */
+  source: SSL_Source;
+
+  /**
+   * @generated from field: optional SSL_VPConfig config = 4;
+   */
+  config?: SSL_VPConfig;
+};
+
+/**
+ * @generated from message SSL_WrapperPacket
+ */
+export type SSL_WrapperPacketJson = {
+  /**
+   * @generated from field: optional SSL_DetectionFrame detection = 1;
+   */
+  detection?: SSL_DetectionFrameJson;
+
+  /**
+   * @generated from field: optional SSL_GeometryData geometry = 2;
+   */
+  geometry?: SSL_GeometryDataJson;
+
+  /**
+   * @generated from field: optional SSL_Source source = 3;
+   */
+  source?: SSL_SourceJson;
+
+  /**
+   * @generated from field: optional SSL_VPConfig config = 4;
+   */
+  config?: SSL_VPConfigJson;
+};
+
+/**
+ * Describes the message SSL_WrapperPacket.
+ * Use `create(SSL_WrapperPacketSchema)` to create a new message.
+ */
+export const SSL_WrapperPacketSchema: GenMessage<SSL_WrapperPacket, SSL_WrapperPacketJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_wrapper, 0);
+
+/**
+ * @generated from enum SSL_Source
+ */
+export enum SSL_Source {
+  /**
+   * @generated from enum value: SSL_SOURCE_UNKNOWN = 0;
+   */
+  SSL_SOURCE_UNKNOWN = 0,
+
+  /**
+   * @generated from enum value: SSL_SOURCE_OTHER = 1;
+   */
+  SSL_SOURCE_OTHER = 1,
+
+  /**
+   * @generated from enum value: SSL_SOURCE_SSL_VISION = 2;
+   */
+  SSL_SOURCE_SSL_VISION = 2,
+
+  /**
+   * @generated from enum value: SSL_SOURCE_VISION_PROCESSOR = 3;
+   */
+  SSL_SOURCE_VISION_PROCESSOR = 3,
+
+  /**
+   * @generated from enum value: SSL_SOURCE_GRSIM = 4;
+   */
+  SSL_SOURCE_GRSIM = 4,
+
+  /**
+   * @generated from enum value: SSL_SOURCE_ERFORCE_SIM = 5;
+   */
+  SSL_SOURCE_ERFORCE_SIM = 5,
+}
+
+/**
+ * @generated from enum SSL_Source
+ */
+export type SSL_SourceJson = "SSL_SOURCE_UNKNOWN" | "SSL_SOURCE_OTHER" | "SSL_SOURCE_SSL_VISION" | "SSL_SOURCE_VISION_PROCESSOR" | "SSL_SOURCE_GRSIM" | "SSL_SOURCE_ERFORCE_SIM";
+
+/**
+ * Describes the enum SSL_Source.
+ */
+export const SSL_SourceSchema: GenEnum<SSL_Source, SSL_SourceJson> = /*@__PURE__*/
+  enumDesc(file_vision_ssl_vision_wrapper, 0);
+
diff --git a/gui/frontend/src/proto/vision/ssl_vision_wrapper_tracked_pb.ts b/gui/frontend/src/proto/vision/ssl_vision_wrapper_tracked_pb.ts
new file mode 100644
index 0000000..3c06af7
--- /dev/null
+++ b/gui/frontend/src/proto/vision/ssl_vision_wrapper_tracked_pb.ts
@@ -0,0 +1,83 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file vision/ssl_vision_wrapper_tracked.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { TrackedFrame, TrackedFrameJson } from "./ssl_vision_detection_tracked_pb";
+import { file_vision_ssl_vision_detection_tracked } from "./ssl_vision_detection_tracked_pb";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file vision/ssl_vision_wrapper_tracked.proto.
+ */
+export const file_vision_ssl_vision_wrapper_tracked: GenFile = /*@__PURE__*/
+  fileDesc("Cid2aXNpb24vc3NsX3Zpc2lvbl93cmFwcGVyX3RyYWNrZWQucHJvdG8iXwoUVHJhY2tlcldyYXBwZXJQYWNrZXQSDAoEdXVpZBgBIAIoCRITCgtzb3VyY2VfbmFtZRgCIAEoCRIkCg10cmFja2VkX2ZyYW1lGAMgASgLMg0uVHJhY2tlZEZyYW1lQmFCHFNzbFZpc2lvbldyYXBwZXJUcmFja2VkUHJvdG9QAVo/Z2l0aHViLmNvbS9Sb2JvQ3VwLVNTTC9zc2wtdmlzaW9uLXByb2Nlc3Nvci9ndWkvaW50ZXJuYWwvdmlzaW9u", [file_vision_ssl_vision_detection_tracked]);
+
+/**
+ * A wrapper packet containing meta data of the source
+ * Also serves for the possibility to extend the protocol later
+ *
+ * @generated from message TrackerWrapperPacket
+ */
+export type TrackerWrapperPacket = Message<"TrackerWrapperPacket"> & {
+  /**
+   * A random UUID of the source that is kept constant at the source while running
+   * If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
+   *
+   * @generated from field: required string uuid = 1;
+   */
+  uuid: string;
+
+  /**
+   * The name of the source software that is producing this messages.
+   *
+   * @generated from field: optional string source_name = 2;
+   */
+  sourceName: string;
+
+  /**
+   * The tracked frame
+   *
+   * @generated from field: optional TrackedFrame tracked_frame = 3;
+   */
+  trackedFrame?: TrackedFrame;
+};
+
+/**
+ * A wrapper packet containing meta data of the source
+ * Also serves for the possibility to extend the protocol later
+ *
+ * @generated from message TrackerWrapperPacket
+ */
+export type TrackerWrapperPacketJson = {
+  /**
+   * A random UUID of the source that is kept constant at the source while running
+   * If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
+   *
+   * @generated from field: required string uuid = 1;
+   */
+  uuid?: string;
+
+  /**
+   * The name of the source software that is producing this messages.
+   *
+   * @generated from field: optional string source_name = 2;
+   */
+  sourceName?: string;
+
+  /**
+   * The tracked frame
+   *
+   * @generated from field: optional TrackedFrame tracked_frame = 3;
+   */
+  trackedFrame?: TrackedFrameJson;
+};
+
+/**
+ * Describes the message TrackerWrapperPacket.
+ * Use `create(TrackerWrapperPacketSchema)` to create a new message.
+ */
+export const TrackerWrapperPacketSchema: GenMessage<TrackerWrapperPacket, TrackerWrapperPacketJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vision_wrapper_tracked, 0);
+
diff --git a/gui/frontend/src/proto/vision/ssl_vp_config_pb.ts b/gui/frontend/src/proto/vision/ssl_vp_config_pb.ts
new file mode 100644
index 0000000..7762334
--- /dev/null
+++ b/gui/frontend/src/proto/vision/ssl_vp_config_pb.ts
@@ -0,0 +1,951 @@
+// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
+// @generated from file vision/ssl_vp_config.proto (syntax proto2)
+/* eslint-disable */
+
+import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
+import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
+import type { Vector2, Vector2Json } from "../gamecontroller/ssl_gc_geometry_pb";
+import { file_gamecontroller_ssl_gc_geometry } from "../gamecontroller/ssl_gc_geometry_pb";
+import type { Message } from "@bufbuild/protobuf";
+
+/**
+ * Describes the file vision/ssl_vp_config.proto.
+ */
+export const file_vision_ssl_vp_config: GenFile = /*@__PURE__*/
+  fileDesc("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", [file_gamecontroller_ssl_gc_geometry]);
+
+/**
+ * @generated from message SSL_VPConfigCamera
+ */
+export type SSL_VPConfigCamera = Message<"SSL_VPConfigCamera"> & {
+  /**
+   * Camera driver type. Availability depending on libraries installed.
+   *
+   * @generated from field: optional SSL_VPConfigCameraDriver driver = 1;
+   */
+  driver: SSL_VPConfigCameraDriver;
+
+  /**
+   * Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
+   *
+   * @generated from field: optional uint32 id = 2 [default = 0];
+   */
+  id: number;
+
+  /**
+   * OpenCV camera device, image or video file path (if unset id is used instead)
+   *
+   * @generated from field: optional string path = 3 [default = ""];
+   */
+  path: string;
+
+  /**
+   * Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
+   * 0 = Highest resolution supported by camera
+   *
+   * @generated from field: optional uint32 width = 4 [default = 0];
+   */
+  width: number;
+
+  /**
+   * @generated from field: optional uint32 height = 5 [default = 0];
+   */
+  height: number;
+
+  /**
+   * Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
+   * Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
+   * 0.0 = automatic exposure
+   *
+   * @generated from field: optional float exposure = 6 [default = 0];
+   */
+  exposure: number;
+
+  /**
+   * Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
+   * Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
+   * 0.0 = automatic gain
+   *
+   * @generated from field: optional float gain = 7 [default = 0];
+   */
+  gain: number;
+
+  /**
+   * Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
+   * Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
+   * 1.0 = no gamma
+   *
+   * @generated from field: optional float gamma = 8 [default = 1];
+   */
+  gamma: number;
+
+  /**
+   * Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
+   * (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
+   *
+   * @generated from field: optional SSL_VPConfigCameraWBType wb_type = 9 [default = OUTDOOR];
+   */
+  wbType: SSL_VPConfigCameraWBType;
+
+  /**
+   * @generated from field: optional float wb_red = 10 [default = 1];
+   */
+  wbRed: number;
+
+  /**
+   * @generated from field: optional float wb_blue = 11 [default = 1];
+   */
+  wbBlue: number;
+};
+
+/**
+ * @generated from message SSL_VPConfigCamera
+ */
+export type SSL_VPConfigCameraJson = {
+  /**
+   * Camera driver type. Availability depending on libraries installed.
+   *
+   * @generated from field: optional SSL_VPConfigCameraDriver driver = 1;
+   */
+  driver?: SSL_VPConfigCameraDriverJson;
+
+  /**
+   * Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
+   *
+   * @generated from field: optional uint32 id = 2 [default = 0];
+   */
+  id?: number;
+
+  /**
+   * OpenCV camera device, image or video file path (if unset id is used instead)
+   *
+   * @generated from field: optional string path = 3 [default = ""];
+   */
+  path?: string;
+
+  /**
+   * Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
+   * 0 = Highest resolution supported by camera
+   *
+   * @generated from field: optional uint32 width = 4 [default = 0];
+   */
+  width?: number;
+
+  /**
+   * @generated from field: optional uint32 height = 5 [default = 0];
+   */
+  height?: number;
+
+  /**
+   * Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
+   * Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
+   * 0.0 = automatic exposure
+   *
+   * @generated from field: optional float exposure = 6 [default = 0];
+   */
+  exposure?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
+   * Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
+   * 0.0 = automatic gain
+   *
+   * @generated from field: optional float gain = 7 [default = 0];
+   */
+  gain?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
+   * Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
+   * 1.0 = no gamma
+   *
+   * @generated from field: optional float gamma = 8 [default = 1];
+   */
+  gamma?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
+   * (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
+   *
+   * @generated from field: optional SSL_VPConfigCameraWBType wb_type = 9 [default = OUTDOOR];
+   */
+  wbType?: SSL_VPConfigCameraWBTypeJson;
+
+  /**
+   * @generated from field: optional float wb_red = 10 [default = 1];
+   */
+  wbRed?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * @generated from field: optional float wb_blue = 11 [default = 1];
+   */
+  wbBlue?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message SSL_VPConfigCamera.
+ * Use `create(SSL_VPConfigCameraSchema)` to create a new message.
+ */
+export const SSL_VPConfigCameraSchema: GenMessage<SSL_VPConfigCamera, SSL_VPConfigCameraJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vp_config, 0);
+
+/**
+ * @generated from message SSL_VPConfigGeometry
+ */
+export type SSL_VPConfigGeometry = Message<"SSL_VPConfigGeometry"> & {
+  /**
+   * Total camera amount over the field
+   *
+   * @generated from field: optional uint32 camera_amount = 1 [default = 1];
+   */
+  cameraAmount: number;
+
+  /**
+   * Camera height above field in mm
+   * 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field.
+   *
+   * @generated from field: optional float camera_height = 2 [default = 0];
+   */
+  cameraHeight: number;
+
+  /**
+   * Field line crossings at the edges of the camera extent in pixels from the top left image corner.
+   * The first coordinate must be the edge with the smallest x and y field coordinate.
+   *
+   * @generated from field: repeated Vector2 line_corners = 3;
+   */
+  lineCorners: Vector2[];
+
+  /**
+   * Enable field line pixel refinement.
+   * Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
+   *
+   * @generated from field: optional bool refinement = 4 [default = true];
+   */
+  refinement: boolean;
+};
+
+/**
+ * @generated from message SSL_VPConfigGeometry
+ */
+export type SSL_VPConfigGeometryJson = {
+  /**
+   * Total camera amount over the field
+   *
+   * @generated from field: optional uint32 camera_amount = 1 [default = 1];
+   */
+  cameraAmount?: number;
+
+  /**
+   * Camera height above field in mm
+   * 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field.
+   *
+   * @generated from field: optional float camera_height = 2 [default = 0];
+   */
+  cameraHeight?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Field line crossings at the edges of the camera extent in pixels from the top left image corner.
+   * The first coordinate must be the edge with the smallest x and y field coordinate.
+   *
+   * @generated from field: repeated Vector2 line_corners = 3;
+   */
+  lineCorners?: Vector2Json[];
+
+  /**
+   * Enable field line pixel refinement.
+   * Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
+   *
+   * @generated from field: optional bool refinement = 4 [default = true];
+   */
+  refinement?: boolean;
+};
+
+/**
+ * Describes the message SSL_VPConfigGeometry.
+ * Use `create(SSL_VPConfigGeometrySchema)` to create a new message.
+ */
+export const SSL_VPConfigGeometrySchema: GenMessage<SSL_VPConfigGeometry, SSL_VPConfigGeometryJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vp_config, 1);
+
+/**
+ * @generated from message SSL_VPConfigThresholds
+ */
+export type SSL_VPConfigThresholds = Message<"SSL_VPConfigThresholds"> & {
+  /**
+   * Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
+   * High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
+   *
+   * @generated from field: optional float circularity = 1 [default = 15];
+   */
+  circularity: number;
+
+  /**
+   * Minimum circularity/(3*stddev) ball blob score
+   *
+   * @generated from field: optional float score = 2 [default = 5];
+   */
+  score: number;
+
+  /**
+   * Minimum confidence (0.0 - 1.0)
+   *
+   * @generated from field: optional float min_confidence = 3 [default = 0.20000000298023224];
+   */
+  minConfidence: number;
+
+  /**
+   * Min ball camera edge distance in mm
+   *
+   * @generated from field: optional float min_cam_edge_distance = 4 [default = 170];
+   */
+  minCamEdgeDistance: number;
+
+  /**
+   * Maximum allowed clipping of two objects in mm
+   *
+   * @generated from field: optional float clipping_tolerance = 5 [default = 10];
+   */
+  clippingTolerance: number;
+
+  /**
+   * Added tolerance to geometry related operations in mm.
+   * Affects field border cutoff area and field line blob classification.
+   *
+   * @generated from field: optional float geometry_tolerance = 6 [default = 10];
+   */
+  geometryTolerance: number;
+};
+
+/**
+ * @generated from message SSL_VPConfigThresholds
+ */
+export type SSL_VPConfigThresholdsJson = {
+  /**
+   * Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
+   * High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
+   *
+   * @generated from field: optional float circularity = 1 [default = 15];
+   */
+  circularity?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Minimum circularity/(3*stddev) ball blob score
+   *
+   * @generated from field: optional float score = 2 [default = 5];
+   */
+  score?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Minimum confidence (0.0 - 1.0)
+   *
+   * @generated from field: optional float min_confidence = 3 [default = 0.20000000298023224];
+   */
+  minConfidence?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Min ball camera edge distance in mm
+   *
+   * @generated from field: optional float min_cam_edge_distance = 4 [default = 170];
+   */
+  minCamEdgeDistance?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Maximum allowed clipping of two objects in mm
+   *
+   * @generated from field: optional float clipping_tolerance = 5 [default = 10];
+   */
+  clippingTolerance?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Added tolerance to geometry related operations in mm.
+   * Affects field border cutoff area and field line blob classification.
+   *
+   * @generated from field: optional float geometry_tolerance = 6 [default = 10];
+   */
+  geometryTolerance?: number | "NaN" | "Infinity" | "-Infinity";
+};
+
+/**
+ * Describes the message SSL_VPConfigThresholds.
+ * Use `create(SSL_VPConfigThresholdsSchema)` to create a new message.
+ */
+export const SSL_VPConfigThresholdsSchema: GenMessage<SSL_VPConfigThresholds, SSL_VPConfigThresholdsJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vp_config, 2);
+
+/**
+ * @generated from message Color
+ */
+export type Color = Message<"Color"> & {
+  /**
+   * @generated from field: optional uint32 red = 1 [default = 128];
+   */
+  red: number;
+
+  /**
+   * @generated from field: optional uint32 green = 2 [default = 128];
+   */
+  green: number;
+
+  /**
+   * @generated from field: optional uint32 blue = 3 [default = 128];
+   */
+  blue: number;
+};
+
+/**
+ * @generated from message Color
+ */
+export type ColorJson = {
+  /**
+   * @generated from field: optional uint32 red = 1 [default = 128];
+   */
+  red?: number;
+
+  /**
+   * @generated from field: optional uint32 green = 2 [default = 128];
+   */
+  green?: number;
+
+  /**
+   * @generated from field: optional uint32 blue = 3 [default = 128];
+   */
+  blue?: number;
+};
+
+/**
+ * Describes the message Color.
+ * Use `create(ColorSchema)` to create a new message.
+ */
+export const ColorSchema: GenMessage<Color, ColorJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vp_config, 3);
+
+/**
+ * @generated from message VPColor
+ */
+export type VPColor = Message<"VPColor"> & {
+  /**
+   * @generated from field: optional Color reference = 1;
+   */
+  reference?: Color;
+
+  /**
+   * @generated from field: optional Color live = 2;
+   */
+  live?: Color;
+};
+
+/**
+ * @generated from message VPColor
+ */
+export type VPColorJson = {
+  /**
+   * @generated from field: optional Color reference = 1;
+   */
+  reference?: ColorJson;
+
+  /**
+   * @generated from field: optional Color live = 2;
+   */
+  live?: ColorJson;
+};
+
+/**
+ * Describes the message VPColor.
+ * Use `create(VPColorSchema)` to create a new message.
+ */
+export const VPColorSchema: GenMessage<VPColor, VPColorJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vp_config, 4);
+
+/**
+ * @generated from message SSL_VPConfigColor
+ */
+export type SSL_VPConfigColor = Message<"SSL_VPConfigColor"> & {
+  /**
+   * Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
+   *
+   * @generated from field: optional float reference_force = 1 [default = 0.10000000149011612];
+   */
+  referenceForce: number;
+
+  /**
+   * Strength of the previous color during color updates (0.0 - 1.0-reference_force)
+   *
+   * @generated from field: optional float history_force = 2 [default = 0.699999988079071];
+   */
+  historyForce: number;
+
+  /**
+   * Colors used for ball determination
+   *
+   * @generated from field: optional VPColor orange = 3;
+   */
+  orange?: VPColor;
+
+  /**
+   * @generated from field: optional VPColor field = 4;
+   */
+  field?: VPColor;
+
+  /**
+   * Colors used for center blob determination
+   *
+   * @generated from field: optional VPColor yellow = 5;
+   */
+  yellow?: VPColor;
+
+  /**
+   * @generated from field: optional VPColor blue = 6;
+   */
+  blue?: VPColor;
+
+  /**
+   * Colors used for side blob determination
+   *
+   * @generated from field: optional VPColor green = 7;
+   */
+  green?: VPColor;
+
+  /**
+   * @generated from field: optional VPColor pink = 8;
+   */
+  pink?: VPColor;
+};
+
+/**
+ * @generated from message SSL_VPConfigColor
+ */
+export type SSL_VPConfigColorJson = {
+  /**
+   * Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
+   *
+   * @generated from field: optional float reference_force = 1 [default = 0.10000000149011612];
+   */
+  referenceForce?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Strength of the previous color during color updates (0.0 - 1.0-reference_force)
+   *
+   * @generated from field: optional float history_force = 2 [default = 0.699999988079071];
+   */
+  historyForce?: number | "NaN" | "Infinity" | "-Infinity";
+
+  /**
+   * Colors used for ball determination
+   *
+   * @generated from field: optional VPColor orange = 3;
+   */
+  orange?: VPColorJson;
+
+  /**
+   * @generated from field: optional VPColor field = 4;
+   */
+  field?: VPColorJson;
+
+  /**
+   * Colors used for center blob determination
+   *
+   * @generated from field: optional VPColor yellow = 5;
+   */
+  yellow?: VPColorJson;
+
+  /**
+   * @generated from field: optional VPColor blue = 6;
+   */
+  blue?: VPColorJson;
+
+  /**
+   * Colors used for side blob determination
+   *
+   * @generated from field: optional VPColor green = 7;
+   */
+  green?: VPColorJson;
+
+  /**
+   * @generated from field: optional VPColor pink = 8;
+   */
+  pink?: VPColorJson;
+};
+
+/**
+ * Describes the message SSL_VPConfigColor.
+ * Use `create(SSL_VPConfigColorSchema)` to create a new message.
+ */
+export const SSL_VPConfigColorSchema: GenMessage<SSL_VPConfigColor, SSL_VPConfigColorJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vp_config, 5);
+
+/**
+ * @generated from message SSL_VPConfigNetwork
+ */
+export type SSL_VPConfigNetwork = Message<"SSL_VPConfigNetwork"> & {
+  /**
+   * Game controller ip address
+   *
+   * @generated from field: optional string gc_ip = 1 [default = "224.5.23.1"];
+   */
+  gcIp: string;
+
+  /**
+   * Game controller UDP port
+   *
+   * @generated from field: optional uint32 gc_port = 2 [default = 10003];
+   */
+  gcPort: number;
+
+  /**
+   * Vision IP address (port impossible to adjust over network)
+   *
+   * @generated from field: optional string vision_ip = 3 [default = "224.5.23.2"];
+   */
+  visionIp: string;
+};
+
+/**
+ * @generated from message SSL_VPConfigNetwork
+ */
+export type SSL_VPConfigNetworkJson = {
+  /**
+   * Game controller ip address
+   *
+   * @generated from field: optional string gc_ip = 1 [default = "224.5.23.1"];
+   */
+  gcIp?: string;
+
+  /**
+   * Game controller UDP port
+   *
+   * @generated from field: optional uint32 gc_port = 2 [default = 10003];
+   */
+  gcPort?: number;
+
+  /**
+   * Vision IP address (port impossible to adjust over network)
+   *
+   * @generated from field: optional string vision_ip = 3 [default = "224.5.23.2"];
+   */
+  visionIp?: string;
+};
+
+/**
+ * Describes the message SSL_VPConfigNetwork.
+ * Use `create(SSL_VPConfigNetworkSchema)` to create a new message.
+ */
+export const SSL_VPConfigNetworkSchema: GenMessage<SSL_VPConfigNetwork, SSL_VPConfigNetworkJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vp_config, 6);
+
+/**
+ * @generated from message SSL_VPConfigStream
+ */
+export type SSL_VPConfigStream = Message<"SSL_VPConfigStream"> & {
+  /**
+   * If false no network live stream will be encoded and sent.
+   *
+   * @generated from field: optional bool active = 1 [default = true];
+   */
+  active: boolean;
+
+  /**
+   * Type of image to transmit.
+   *
+   * @generated from field: optional SSL_VPConfigStreamType type = 2 [default = RAW];
+   */
+  type: SSL_VPConfigStreamType;
+
+  /**
+   * Camera RTP stream destination IP
+   *
+   * @generated from field: optional string stream_ip = 3 [default = "127.0.0.1"];
+   */
+  streamIp: string;
+
+  /**
+   * @generated from field: optional uint32 stream_port = 4 [default = 10100];
+   */
+  streamPort: number;
+};
+
+/**
+ * @generated from message SSL_VPConfigStream
+ */
+export type SSL_VPConfigStreamJson = {
+  /**
+   * If false no network live stream will be encoded and sent.
+   *
+   * @generated from field: optional bool active = 1 [default = true];
+   */
+  active?: boolean;
+
+  /**
+   * Type of image to transmit.
+   *
+   * @generated from field: optional SSL_VPConfigStreamType type = 2 [default = RAW];
+   */
+  type?: SSL_VPConfigStreamTypeJson;
+
+  /**
+   * Camera RTP stream destination IP
+   *
+   * @generated from field: optional string stream_ip = 3 [default = "127.0.0.1"];
+   */
+  streamIp?: string;
+
+  /**
+   * @generated from field: optional uint32 stream_port = 4 [default = 10100];
+   */
+  streamPort?: number;
+};
+
+/**
+ * Describes the message SSL_VPConfigStream.
+ * Use `create(SSL_VPConfigStreamSchema)` to create a new message.
+ */
+export const SSL_VPConfigStreamSchema: GenMessage<SSL_VPConfigStream, SSL_VPConfigStreamJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vp_config, 7);
+
+/**
+ * @generated from message SSL_VPConfig
+ */
+export type SSL_VPConfig = Message<"SSL_VPConfig"> & {
+  /**
+   * Persistent human-readable network unique identifier (e.g. hostname or hostname:suffix if multiple VP instances on the same host).
+   *
+   * @generated from field: required string instance = 1;
+   */
+  instance: string;
+
+  /**
+   * Corresponding to the camera_id used in SSL_DetectionFrame. Unique per field and implies position on the field:
+   * Single camera field: 0 = global field
+   * Double camera field: 0 = -x side, 1 = +x side
+   * Quadruple cam field: 0 = -x and -y, 1 = -x and +y, 2 = +x and -y, 3 = +x and +y
+   * Configuration for more cams depending on field shape.
+   *
+   * @generated from field: optional uint32 camera_id = 2 [default = 0];
+   */
+  cameraId: number;
+
+  /**
+   * Database of SSL game controller team names and robot heights in mm.
+   * If the team broadcasted by the game controller has no entry, the average robot height is used.
+   *
+   * @generated from field: map<string, float> robot_heights = 3;
+   */
+  robotHeights: { [key: string]: number };
+
+  /**
+   * @generated from field: optional SSL_VPConfigCamera camera = 4;
+   */
+  camera?: SSL_VPConfigCamera;
+
+  /**
+   * @generated from field: optional SSL_VPConfigGeometry geometry = 5;
+   */
+  geometry?: SSL_VPConfigGeometry;
+
+  /**
+   * @generated from field: optional SSL_VPConfigThresholds thresholds = 6;
+   */
+  thresholds?: SSL_VPConfigThresholds;
+
+  /**
+   * @generated from field: optional SSL_VPConfigColor color = 7;
+   */
+  color?: SSL_VPConfigColor;
+
+  /**
+   * @generated from field: optional SSL_VPConfigNetwork network = 8;
+   */
+  network?: SSL_VPConfigNetwork;
+
+  /**
+   * @generated from field: optional SSL_VPConfigStream stream = 9;
+   */
+  stream?: SSL_VPConfigStream;
+
+  /**
+   * Wait for geometry prior to processing frames
+   *
+   * @generated from field: optional bool wait_for_geometry = 10 [default = false];
+   */
+  waitForGeometry: boolean;
+};
+
+/**
+ * @generated from message SSL_VPConfig
+ */
+export type SSL_VPConfigJson = {
+  /**
+   * Persistent human-readable network unique identifier (e.g. hostname or hostname:suffix if multiple VP instances on the same host).
+   *
+   * @generated from field: required string instance = 1;
+   */
+  instance?: string;
+
+  /**
+   * Corresponding to the camera_id used in SSL_DetectionFrame. Unique per field and implies position on the field:
+   * Single camera field: 0 = global field
+   * Double camera field: 0 = -x side, 1 = +x side
+   * Quadruple cam field: 0 = -x and -y, 1 = -x and +y, 2 = +x and -y, 3 = +x and +y
+   * Configuration for more cams depending on field shape.
+   *
+   * @generated from field: optional uint32 camera_id = 2 [default = 0];
+   */
+  cameraId?: number;
+
+  /**
+   * Database of SSL game controller team names and robot heights in mm.
+   * If the team broadcasted by the game controller has no entry, the average robot height is used.
+   *
+   * @generated from field: map<string, float> robot_heights = 3;
+   */
+  robotHeights?: { [key: string]: number | "NaN" | "Infinity" | "-Infinity" };
+
+  /**
+   * @generated from field: optional SSL_VPConfigCamera camera = 4;
+   */
+  camera?: SSL_VPConfigCameraJson;
+
+  /**
+   * @generated from field: optional SSL_VPConfigGeometry geometry = 5;
+   */
+  geometry?: SSL_VPConfigGeometryJson;
+
+  /**
+   * @generated from field: optional SSL_VPConfigThresholds thresholds = 6;
+   */
+  thresholds?: SSL_VPConfigThresholdsJson;
+
+  /**
+   * @generated from field: optional SSL_VPConfigColor color = 7;
+   */
+  color?: SSL_VPConfigColorJson;
+
+  /**
+   * @generated from field: optional SSL_VPConfigNetwork network = 8;
+   */
+  network?: SSL_VPConfigNetworkJson;
+
+  /**
+   * @generated from field: optional SSL_VPConfigStream stream = 9;
+   */
+  stream?: SSL_VPConfigStreamJson;
+
+  /**
+   * Wait for geometry prior to processing frames
+   *
+   * @generated from field: optional bool wait_for_geometry = 10 [default = false];
+   */
+  waitForGeometry?: boolean;
+};
+
+/**
+ * Describes the message SSL_VPConfig.
+ * Use `create(SSL_VPConfigSchema)` to create a new message.
+ */
+export const SSL_VPConfigSchema: GenMessage<SSL_VPConfig, SSL_VPConfigJson> = /*@__PURE__*/
+  messageDesc(file_vision_ssl_vp_config, 8);
+
+/**
+ * @generated from enum SSL_VPConfigCameraDriver
+ */
+export enum SSL_VPConfigCameraDriver {
+  /**
+   * FLIR cameras
+   *
+   * @generated from enum value: SPINNAKER = 0;
+   */
+  SPINNAKER = 0,
+
+  /**
+   * Video and image files, video4linux2 (e.g. webcams) cameras
+   *
+   * @generated from enum value: OPENCV = 1;
+   */
+  OPENCV = 1,
+
+  /**
+   * Bluefox3 cameras
+   *
+   * @generated from enum value: MVIMPACT = 2;
+   */
+  MVIMPACT = 2,
+}
+
+/**
+ * @generated from enum SSL_VPConfigCameraDriver
+ */
+export type SSL_VPConfigCameraDriverJson = "SPINNAKER" | "OPENCV" | "MVIMPACT";
+
+/**
+ * Describes the enum SSL_VPConfigCameraDriver.
+ */
+export const SSL_VPConfigCameraDriverSchema: GenEnum<SSL_VPConfigCameraDriver, SSL_VPConfigCameraDriverJson> = /*@__PURE__*/
+  enumDesc(file_vision_ssl_vp_config, 0);
+
+/**
+ * @generated from enum SSL_VPConfigCameraWBType
+ */
+export enum SSL_VPConfigCameraWBType {
+  /**
+   * @generated from enum value: OUTDOOR = 0;
+   */
+  OUTDOOR = 0,
+
+  /**
+   * @generated from enum value: INDOOR = 1;
+   */
+  INDOOR = 1,
+
+  /**
+   * @generated from enum value: MANUAL = 2;
+   */
+  MANUAL = 2,
+}
+
+/**
+ * @generated from enum SSL_VPConfigCameraWBType
+ */
+export type SSL_VPConfigCameraWBTypeJson = "OUTDOOR" | "INDOOR" | "MANUAL";
+
+/**
+ * Describes the enum SSL_VPConfigCameraWBType.
+ */
+export const SSL_VPConfigCameraWBTypeSchema: GenEnum<SSL_VPConfigCameraWBType, SSL_VPConfigCameraWBTypeJson> = /*@__PURE__*/
+  enumDesc(file_vision_ssl_vp_config, 1);
+
+/**
+ * @generated from enum SSL_VPConfigStreamType
+ */
+export enum SSL_VPConfigStreamType {
+  /**
+   * @generated from enum value: RAW = 0;
+   */
+  RAW = 0,
+
+  /**
+   * @generated from enum value: REPROJ_FALSE_COLOR = 1;
+   */
+  REPROJ_FALSE_COLOR = 1,
+
+  /**
+   * @generated from enum value: REPROJ_GRADIENT_DOT = 2;
+   */
+  REPROJ_GRADIENT_DOT = 2,
+
+  /**
+   * @generated from enum value: REPROJ_BLOB_SCORE = 3;
+   */
+  REPROJ_BLOB_SCORE = 3,
+}
+
+/**
+ * @generated from enum SSL_VPConfigStreamType
+ */
+export type SSL_VPConfigStreamTypeJson = "RAW" | "REPROJ_FALSE_COLOR" | "REPROJ_GRADIENT_DOT" | "REPROJ_BLOB_SCORE";
+
+/**
+ * Describes the enum SSL_VPConfigStreamType.
+ */
+export const SSL_VPConfigStreamTypeSchema: GenEnum<SSL_VPConfigStreamType, SSL_VPConfigStreamTypeJson> = /*@__PURE__*/
+  enumDesc(file_vision_ssl_vp_config, 2);
+
diff --git a/gui/go.mod b/gui/go.mod
index 150696c..7282a95 100644
--- a/gui/go.mod
+++ b/gui/go.mod
@@ -3,9 +3,7 @@ module github.com/RoboCup-SSL/ssl-vision-processor/gui
 go 1.26.7
 
 require (
-	github.com/RoboCup-SSL/ssl-go-tools v1.12.0 // indirect
-	github.com/gorilla/websocket v1.5.3 // indirect
-	github.com/lmittmann/tint v1.2.0 // indirect
-	google.golang.org/protobuf v1.36.12 // indirect
-	gopkg.in/natefinch/lumberjack.v2 v2.2.1 // indirect
+	github.com/lmittmann/tint v1.2.0
+	google.golang.org/protobuf v1.36.12
+	gopkg.in/natefinch/lumberjack.v2 v2.2.1
 )
diff --git a/gui/go.sum b/gui/go.sum
index 7915b85..5ad9ae0 100644
--- a/gui/go.sum
+++ b/gui/go.sum
@@ -1,7 +1,5 @@
-github.com/RoboCup-SSL/ssl-go-tools v1.12.0 h1:sXN+VSlMSOtNdLD0MPCaig3vSlj3ZTz/KIi9uJR/dy0=
-github.com/RoboCup-SSL/ssl-go-tools v1.12.0/go.mod h1:Gqrqs0LAcXmCQD3Z+IPXxrqxS9xc9sWJolYQyi3AHbw=
-github.com/gorilla/websocket v1.5.3 h1:saDtZ6Pbx/0u+bgYQ3q96pZgCzfhKXGPqt7kZ72aNNg=
-github.com/gorilla/websocket v1.5.3/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
+github.com/google/go-cmp v0.7.0 h1:wk8382ETsv4JYUZwIsn6YpYiWiBsYLSJiTsyBybVuN8=
+github.com/google/go-cmp v0.7.0/go.mod h1:pXiqmnSA92OHEEa9HXL2W4E7lf9JzCmGVUdgjX3N/iU=
 github.com/lmittmann/tint v1.2.0 h1:AogHRHy8HUJUnNJBHJlYa+fR4YY8mko2cnCp67xn9JY=
 github.com/lmittmann/tint v1.2.0/go.mod h1:HIS3gSy7qNwGCj+5oRjAutErFBl4BzdQP6cJZ0NfMwE=
 google.golang.org/protobuf v1.36.12 h1:pJOKDDOyeXErUroCihFAd5LQuwXBSpVnKGrj5o/fwxc=
diff --git a/gui/internal/gamecontroller/ssl_gc_common.pb.go b/gui/internal/gamecontroller/ssl_gc_common.pb.go
new file mode 100644
index 0000000..c9ee1ad
--- /dev/null
+++ b/gui/internal/gamecontroller/ssl_gc_common.pb.go
@@ -0,0 +1,271 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: gamecontroller/ssl_gc_common.proto
+
+package gamecontroller
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+// Team is either blue or yellow
+type Team int32
+
+const (
+	// team not set
+	Team_UNKNOWN Team = 0
+	// yellow team
+	Team_YELLOW Team = 1
+	// blue team
+	Team_BLUE Team = 2
+)
+
+// Enum value maps for Team.
+var (
+	Team_name = map[int32]string{
+		0: "UNKNOWN",
+		1: "YELLOW",
+		2: "BLUE",
+	}
+	Team_value = map[string]int32{
+		"UNKNOWN": 0,
+		"YELLOW":  1,
+		"BLUE":    2,
+	}
+)
+
+func (x Team) Enum() *Team {
+	p := new(Team)
+	*p = x
+	return p
+}
+
+func (x Team) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (Team) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_common_proto_enumTypes[0].Descriptor()
+}
+
+func (Team) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_common_proto_enumTypes[0]
+}
+
+func (x Team) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *Team) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = Team(num)
+	return nil
+}
+
+// Deprecated: Use Team.Descriptor instead.
+func (Team) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_common_proto_rawDescGZIP(), []int{0}
+}
+
+// Division denotes the current division, which influences some rules
+type Division int32
+
+const (
+	Division_DIV_UNKNOWN Division = 0
+	Division_DIV_A       Division = 1
+	Division_DIV_B       Division = 2
+)
+
+// Enum value maps for Division.
+var (
+	Division_name = map[int32]string{
+		0: "DIV_UNKNOWN",
+		1: "DIV_A",
+		2: "DIV_B",
+	}
+	Division_value = map[string]int32{
+		"DIV_UNKNOWN": 0,
+		"DIV_A":       1,
+		"DIV_B":       2,
+	}
+)
+
+func (x Division) Enum() *Division {
+	p := new(Division)
+	*p = x
+	return p
+}
+
+func (x Division) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (Division) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_common_proto_enumTypes[1].Descriptor()
+}
+
+func (Division) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_common_proto_enumTypes[1]
+}
+
+func (x Division) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *Division) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = Division(num)
+	return nil
+}
+
+// Deprecated: Use Division.Descriptor instead.
+func (Division) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_common_proto_rawDescGZIP(), []int{1}
+}
+
+// RobotId is the combination of a team and a robot id
+type RobotId struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the robot number
+	Id *uint32 `protobuf:"varint,1,opt,name=id" json:"id,omitempty"`
+	// the team that the robot belongs to
+	Team          *Team `protobuf:"varint,2,opt,name=team,enum=Team" json:"team,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *RobotId) Reset() {
+	*x = RobotId{}
+	mi := &file_gamecontroller_ssl_gc_common_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *RobotId) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*RobotId) ProtoMessage() {}
+
+func (x *RobotId) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_common_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use RobotId.ProtoReflect.Descriptor instead.
+func (*RobotId) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_common_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *RobotId) GetId() uint32 {
+	if x != nil && x.Id != nil {
+		return *x.Id
+	}
+	return 0
+}
+
+func (x *RobotId) GetTeam() Team {
+	if x != nil && x.Team != nil {
+		return *x.Team
+	}
+	return Team_UNKNOWN
+}
+
+var File_gamecontroller_ssl_gc_common_proto protoreflect.FileDescriptor
+
+const file_gamecontroller_ssl_gc_common_proto_rawDesc = "" +
+	"\n" +
+	"\"gamecontroller/ssl_gc_common.proto\"4\n" +
+	"\aRobotId\x12\x0e\n" +
+	"\x02id\x18\x01 \x01(\rR\x02id\x12\x19\n" +
+	"\x04team\x18\x02 \x01(\x0e2\x05.TeamR\x04team*)\n" +
+	"\x04Team\x12\v\n" +
+	"\aUNKNOWN\x10\x00\x12\n" +
+	"\n" +
+	"\x06YELLOW\x10\x01\x12\b\n" +
+	"\x04BLUE\x10\x02*1\n" +
+	"\bDivision\x12\x0f\n" +
+	"\vDIV_UNKNOWN\x10\x00\x12\t\n" +
+	"\x05DIV_A\x10\x01\x12\t\n" +
+	"\x05DIV_B\x10\x02B]B\x10SslGcCommonProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+
+var (
+	file_gamecontroller_ssl_gc_common_proto_rawDescOnce sync.Once
+	file_gamecontroller_ssl_gc_common_proto_rawDescData []byte
+)
+
+func file_gamecontroller_ssl_gc_common_proto_rawDescGZIP() []byte {
+	file_gamecontroller_ssl_gc_common_proto_rawDescOnce.Do(func() {
+		file_gamecontroller_ssl_gc_common_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_common_proto_rawDesc), len(file_gamecontroller_ssl_gc_common_proto_rawDesc)))
+	})
+	return file_gamecontroller_ssl_gc_common_proto_rawDescData
+}
+
+var file_gamecontroller_ssl_gc_common_proto_enumTypes = make([]protoimpl.EnumInfo, 2)
+var file_gamecontroller_ssl_gc_common_proto_msgTypes = make([]protoimpl.MessageInfo, 1)
+var file_gamecontroller_ssl_gc_common_proto_goTypes = []any{
+	(Team)(0),       // 0: Team
+	(Division)(0),   // 1: Division
+	(*RobotId)(nil), // 2: RobotId
+}
+var file_gamecontroller_ssl_gc_common_proto_depIdxs = []int32{
+	0, // 0: RobotId.team:type_name -> Team
+	1, // [1:1] is the sub-list for method output_type
+	1, // [1:1] is the sub-list for method input_type
+	1, // [1:1] is the sub-list for extension type_name
+	1, // [1:1] is the sub-list for extension extendee
+	0, // [0:1] is the sub-list for field type_name
+}
+
+func init() { file_gamecontroller_ssl_gc_common_proto_init() }
+func file_gamecontroller_ssl_gc_common_proto_init() {
+	if File_gamecontroller_ssl_gc_common_proto != nil {
+		return
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_common_proto_rawDesc), len(file_gamecontroller_ssl_gc_common_proto_rawDesc)),
+			NumEnums:      2,
+			NumMessages:   1,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_gamecontroller_ssl_gc_common_proto_goTypes,
+		DependencyIndexes: file_gamecontroller_ssl_gc_common_proto_depIdxs,
+		EnumInfos:         file_gamecontroller_ssl_gc_common_proto_enumTypes,
+		MessageInfos:      file_gamecontroller_ssl_gc_common_proto_msgTypes,
+	}.Build()
+	File_gamecontroller_ssl_gc_common_proto = out.File
+	file_gamecontroller_ssl_gc_common_proto_goTypes = nil
+	file_gamecontroller_ssl_gc_common_proto_depIdxs = nil
+}
diff --git a/gui/internal/gamecontroller/ssl_gc_game_event.pb.go b/gui/internal/gamecontroller/ssl_gc_game_event.pb.go
new file mode 100644
index 0000000..8c20140
--- /dev/null
+++ b/gui/internal/gamecontroller/ssl_gc_game_event.pb.go
@@ -0,0 +1,4459 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: gamecontroller/ssl_gc_game_event.proto
+
+package gamecontroller
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+type GameEvent_Type int32
+
+const (
+	GameEvent_UNKNOWN_GAME_EVENT_TYPE               GameEvent_Type = 0
+	GameEvent_BALL_LEFT_FIELD_TOUCH_LINE            GameEvent_Type = 6  // triggered by autoRef
+	GameEvent_BALL_LEFT_FIELD_GOAL_LINE             GameEvent_Type = 7  // triggered by autoRef
+	GameEvent_AIMLESS_KICK                          GameEvent_Type = 11 // triggered by autoRef
+	GameEvent_ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA    GameEvent_Type = 19 // triggered by autoRef
+	GameEvent_DEFENDER_IN_DEFENSE_AREA              GameEvent_Type = 31 // triggered by autoRef
+	GameEvent_BOUNDARY_CROSSING                     GameEvent_Type = 41 // triggered by autoRef
+	GameEvent_KEEPER_HELD_BALL                      GameEvent_Type = 13 // triggered by GC
+	GameEvent_BOT_DRIBBLED_BALL_TOO_FAR             GameEvent_Type = 17 // triggered by autoRef
+	GameEvent_BOT_PUSHED_BOT                        GameEvent_Type = 24 // triggered by human ref
+	GameEvent_BOT_HELD_BALL_DELIBERATELY            GameEvent_Type = 26 // triggered by human ref
+	GameEvent_BOT_TIPPED_OVER                       GameEvent_Type = 27 // triggered by human ref
+	GameEvent_BOT_DROPPED_PARTS                     GameEvent_Type = 47 // triggered by human ref
+	GameEvent_ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA GameEvent_Type = 15 // triggered by autoRef
+	GameEvent_BOT_KICKED_BALL_TOO_FAST              GameEvent_Type = 18 // triggered by autoRef
+	GameEvent_BOT_CRASH_UNIQUE                      GameEvent_Type = 22 // triggered by autoRef
+	GameEvent_BOT_CRASH_DRAWN                       GameEvent_Type = 21 // triggered by autoRef
+	GameEvent_DEFENDER_TOO_CLOSE_TO_KICK_POINT      GameEvent_Type = 29 // triggered by autoRef
+	GameEvent_BOT_TOO_FAST_IN_STOP                  GameEvent_Type = 28 // triggered by autoRef
+	GameEvent_BOT_INTERFERED_PLACEMENT              GameEvent_Type = 20 // triggered by autoRef
+	GameEvent_EXCESSIVE_BOT_SUBSTITUTION            GameEvent_Type = 48 // triggered by GC
+	GameEvent_POSSIBLE_GOAL                         GameEvent_Type = 39 // triggered by autoRef
+	GameEvent_GOAL                                  GameEvent_Type = 8  // triggered by GC
+	GameEvent_INVALID_GOAL                          GameEvent_Type = 42 // triggered by GC
+	GameEvent_ATTACKER_DOUBLE_TOUCHED_BALL          GameEvent_Type = 14 // triggered by autoRef
+	GameEvent_PLACEMENT_SUCCEEDED                   GameEvent_Type = 5  // triggered by autoRef
+	GameEvent_PENALTY_KICK_FAILED                   GameEvent_Type = 43 // triggered by GC and autoRef
+	GameEvent_NO_PROGRESS_IN_GAME                   GameEvent_Type = 2  // triggered by GC
+	GameEvent_PLACEMENT_FAILED                      GameEvent_Type = 3  // triggered by GC
+	GameEvent_MULTIPLE_CARDS                        GameEvent_Type = 32 // triggered by GC
+	GameEvent_MULTIPLE_FOULS                        GameEvent_Type = 34 // triggered by GC
+	GameEvent_BOT_SUBSTITUTION                      GameEvent_Type = 37 // triggered by GC
+	GameEvent_TOO_MANY_ROBOTS                       GameEvent_Type = 38 // triggered by GC
+	GameEvent_CHALLENGE_FLAG                        GameEvent_Type = 44 // triggered by GC
+	GameEvent_CHALLENGE_FLAG_HANDLED                GameEvent_Type = 46 // triggered by GC
+	GameEvent_EMERGENCY_STOP                        GameEvent_Type = 45 // triggered by GC
+	GameEvent_UNSPORTING_BEHAVIOR_MINOR             GameEvent_Type = 35 // triggered by human ref
+	GameEvent_UNSPORTING_BEHAVIOR_MAJOR             GameEvent_Type = 36 // triggered by human ref
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	GameEvent_PREPARED GameEvent_Type = 1
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	GameEvent_INDIRECT_GOAL GameEvent_Type = 9
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	GameEvent_CHIPPED_GOAL GameEvent_Type = 10
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	GameEvent_KICK_TIMEOUT GameEvent_Type = 12
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	GameEvent_ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA GameEvent_Type = 16
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	GameEvent_ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED GameEvent_Type = 40
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	GameEvent_BOT_CRASH_UNIQUE_SKIPPED GameEvent_Type = 23
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	GameEvent_BOT_PUSHED_BOT_SKIPPED GameEvent_Type = 25
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	GameEvent_DEFENDER_IN_DEFENSE_AREA_PARTIALLY GameEvent_Type = 30
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	GameEvent_MULTIPLE_PLACEMENT_FAILURES GameEvent_Type = 33
+)
+
+// Enum value maps for GameEvent_Type.
+var (
+	GameEvent_Type_name = map[int32]string{
+		0:  "UNKNOWN_GAME_EVENT_TYPE",
+		6:  "BALL_LEFT_FIELD_TOUCH_LINE",
+		7:  "BALL_LEFT_FIELD_GOAL_LINE",
+		11: "AIMLESS_KICK",
+		19: "ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA",
+		31: "DEFENDER_IN_DEFENSE_AREA",
+		41: "BOUNDARY_CROSSING",
+		13: "KEEPER_HELD_BALL",
+		17: "BOT_DRIBBLED_BALL_TOO_FAR",
+		24: "BOT_PUSHED_BOT",
+		26: "BOT_HELD_BALL_DELIBERATELY",
+		27: "BOT_TIPPED_OVER",
+		47: "BOT_DROPPED_PARTS",
+		15: "ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA",
+		18: "BOT_KICKED_BALL_TOO_FAST",
+		22: "BOT_CRASH_UNIQUE",
+		21: "BOT_CRASH_DRAWN",
+		29: "DEFENDER_TOO_CLOSE_TO_KICK_POINT",
+		28: "BOT_TOO_FAST_IN_STOP",
+		20: "BOT_INTERFERED_PLACEMENT",
+		48: "EXCESSIVE_BOT_SUBSTITUTION",
+		39: "POSSIBLE_GOAL",
+		8:  "GOAL",
+		42: "INVALID_GOAL",
+		14: "ATTACKER_DOUBLE_TOUCHED_BALL",
+		5:  "PLACEMENT_SUCCEEDED",
+		43: "PENALTY_KICK_FAILED",
+		2:  "NO_PROGRESS_IN_GAME",
+		3:  "PLACEMENT_FAILED",
+		32: "MULTIPLE_CARDS",
+		34: "MULTIPLE_FOULS",
+		37: "BOT_SUBSTITUTION",
+		38: "TOO_MANY_ROBOTS",
+		44: "CHALLENGE_FLAG",
+		46: "CHALLENGE_FLAG_HANDLED",
+		45: "EMERGENCY_STOP",
+		35: "UNSPORTING_BEHAVIOR_MINOR",
+		36: "UNSPORTING_BEHAVIOR_MAJOR",
+		1:  "PREPARED",
+		9:  "INDIRECT_GOAL",
+		10: "CHIPPED_GOAL",
+		12: "KICK_TIMEOUT",
+		16: "ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA",
+		40: "ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED",
+		23: "BOT_CRASH_UNIQUE_SKIPPED",
+		25: "BOT_PUSHED_BOT_SKIPPED",
+		30: "DEFENDER_IN_DEFENSE_AREA_PARTIALLY",
+		33: "MULTIPLE_PLACEMENT_FAILURES",
+	}
+	GameEvent_Type_value = map[string]int32{
+		"UNKNOWN_GAME_EVENT_TYPE":                   0,
+		"BALL_LEFT_FIELD_TOUCH_LINE":                6,
+		"BALL_LEFT_FIELD_GOAL_LINE":                 7,
+		"AIMLESS_KICK":                              11,
+		"ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA":        19,
+		"DEFENDER_IN_DEFENSE_AREA":                  31,
+		"BOUNDARY_CROSSING":                         41,
+		"KEEPER_HELD_BALL":                          13,
+		"BOT_DRIBBLED_BALL_TOO_FAR":                 17,
+		"BOT_PUSHED_BOT":                            24,
+		"BOT_HELD_BALL_DELIBERATELY":                26,
+		"BOT_TIPPED_OVER":                           27,
+		"BOT_DROPPED_PARTS":                         47,
+		"ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA":     15,
+		"BOT_KICKED_BALL_TOO_FAST":                  18,
+		"BOT_CRASH_UNIQUE":                          22,
+		"BOT_CRASH_DRAWN":                           21,
+		"DEFENDER_TOO_CLOSE_TO_KICK_POINT":          29,
+		"BOT_TOO_FAST_IN_STOP":                      28,
+		"BOT_INTERFERED_PLACEMENT":                  20,
+		"EXCESSIVE_BOT_SUBSTITUTION":                48,
+		"POSSIBLE_GOAL":                             39,
+		"GOAL":                                      8,
+		"INVALID_GOAL":                              42,
+		"ATTACKER_DOUBLE_TOUCHED_BALL":              14,
+		"PLACEMENT_SUCCEEDED":                       5,
+		"PENALTY_KICK_FAILED":                       43,
+		"NO_PROGRESS_IN_GAME":                       2,
+		"PLACEMENT_FAILED":                          3,
+		"MULTIPLE_CARDS":                            32,
+		"MULTIPLE_FOULS":                            34,
+		"BOT_SUBSTITUTION":                          37,
+		"TOO_MANY_ROBOTS":                           38,
+		"CHALLENGE_FLAG":                            44,
+		"CHALLENGE_FLAG_HANDLED":                    46,
+		"EMERGENCY_STOP":                            45,
+		"UNSPORTING_BEHAVIOR_MINOR":                 35,
+		"UNSPORTING_BEHAVIOR_MAJOR":                 36,
+		"PREPARED":                                  1,
+		"INDIRECT_GOAL":                             9,
+		"CHIPPED_GOAL":                              10,
+		"KICK_TIMEOUT":                              12,
+		"ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA": 16,
+		"ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED": 40,
+		"BOT_CRASH_UNIQUE_SKIPPED":                          23,
+		"BOT_PUSHED_BOT_SKIPPED":                            25,
+		"DEFENDER_IN_DEFENSE_AREA_PARTIALLY":                30,
+		"MULTIPLE_PLACEMENT_FAILURES":                       33,
+	}
+)
+
+func (x GameEvent_Type) Enum() *GameEvent_Type {
+	p := new(GameEvent_Type)
+	*p = x
+	return p
+}
+
+func (x GameEvent_Type) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (GameEvent_Type) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_game_event_proto_enumTypes[0].Descriptor()
+}
+
+func (GameEvent_Type) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_game_event_proto_enumTypes[0]
+}
+
+func (x GameEvent_Type) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *GameEvent_Type) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = GameEvent_Type(num)
+	return nil
+}
+
+// Deprecated: Use GameEvent_Type.Descriptor instead.
+func (GameEvent_Type) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 0}
+}
+
+// GameEvent contains exactly one game event
+// Each game event has optional and required fields. The required fields are mandatory to process the event.
+// Some optional fields are only used for visualization, others are required to determine the ball placement position.
+// If fields are missing that are required for the ball placement position, no ball placement command will be issued.
+// Fields are marked optional to make testing and extending of the protocol easier.
+// An autoRef should ideally set all fields, except if there are good reasons to not do so.
+type GameEvent struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// A globally unique id of the game event.
+	Id *string `protobuf:"bytes,50,opt,name=id" json:"id,omitempty"`
+	// The type of the game event.
+	Type *GameEvent_Type `protobuf:"varint,40,opt,name=type,enum=GameEvent_Type" json:"type,omitempty"`
+	// The origins of this game event.
+	// Empty, if it originates from game controller.
+	// Contains autoRef name(s), if it originates from one or more autoRefs.
+	// Ignored if sent by autoRef to game controller.
+	Origin []string `protobuf:"bytes,41,rep,name=origin" json:"origin,omitempty"`
+	// Unix timestamp in microseconds when the event was created.
+	CreatedTimestamp *uint64 `protobuf:"varint,49,opt,name=created_timestamp,json=createdTimestamp" json:"created_timestamp,omitempty"`
+	// the event that occurred
+	//
+	// Types that are valid to be assigned to Event:
+	//
+	//	*GameEvent_BallLeftFieldTouchLine
+	//	*GameEvent_BallLeftFieldGoalLine
+	//	*GameEvent_AimlessKick_
+	//	*GameEvent_AttackerTooCloseToDefenseArea_
+	//	*GameEvent_DefenderInDefenseArea_
+	//	*GameEvent_BoundaryCrossing_
+	//	*GameEvent_KeeperHeldBall_
+	//	*GameEvent_BotDribbledBallTooFar_
+	//	*GameEvent_BotPushedBot_
+	//	*GameEvent_BotHeldBallDeliberately_
+	//	*GameEvent_BotTippedOver_
+	//	*GameEvent_BotDroppedParts_
+	//	*GameEvent_AttackerTouchedBallInDefenseArea_
+	//	*GameEvent_BotKickedBallTooFast_
+	//	*GameEvent_BotCrashUnique_
+	//	*GameEvent_BotCrashDrawn_
+	//	*GameEvent_DefenderTooCloseToKickPoint_
+	//	*GameEvent_BotTooFastInStop_
+	//	*GameEvent_BotInterferedPlacement_
+	//	*GameEvent_PossibleGoal
+	//	*GameEvent_Goal_
+	//	*GameEvent_InvalidGoal
+	//	*GameEvent_AttackerDoubleTouchedBall_
+	//	*GameEvent_PlacementSucceeded_
+	//	*GameEvent_PenaltyKickFailed_
+	//	*GameEvent_NoProgressInGame_
+	//	*GameEvent_PlacementFailed_
+	//	*GameEvent_MultipleCards_
+	//	*GameEvent_MultipleFouls_
+	//	*GameEvent_BotSubstitution_
+	//	*GameEvent_ExcessiveBotSubstitution_
+	//	*GameEvent_TooManyRobots_
+	//	*GameEvent_ChallengeFlag_
+	//	*GameEvent_ChallengeFlagHandled_
+	//	*GameEvent_EmergencyStop_
+	//	*GameEvent_UnsportingBehaviorMinor_
+	//	*GameEvent_UnsportingBehaviorMajor_
+	//	*GameEvent_Prepared_
+	//	*GameEvent_IndirectGoal_
+	//	*GameEvent_ChippedGoal_
+	//	*GameEvent_KickTimeout_
+	//	*GameEvent_AttackerTouchedOpponentInDefenseArea_
+	//	*GameEvent_AttackerTouchedOpponentInDefenseAreaSkipped
+	//	*GameEvent_BotCrashUniqueSkipped
+	//	*GameEvent_BotPushedBotSkipped
+	//	*GameEvent_DefenderInDefenseAreaPartially_
+	//	*GameEvent_MultiplePlacementFailures_
+	Event         isGameEvent_Event `protobuf_oneof:"event"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent) Reset() {
+	*x = GameEvent{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent) ProtoMessage() {}
+
+func (x *GameEvent) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent.ProtoReflect.Descriptor instead.
+func (*GameEvent) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *GameEvent) GetId() string {
+	if x != nil && x.Id != nil {
+		return *x.Id
+	}
+	return ""
+}
+
+func (x *GameEvent) GetType() GameEvent_Type {
+	if x != nil && x.Type != nil {
+		return *x.Type
+	}
+	return GameEvent_UNKNOWN_GAME_EVENT_TYPE
+}
+
+func (x *GameEvent) GetOrigin() []string {
+	if x != nil {
+		return x.Origin
+	}
+	return nil
+}
+
+func (x *GameEvent) GetCreatedTimestamp() uint64 {
+	if x != nil && x.CreatedTimestamp != nil {
+		return *x.CreatedTimestamp
+	}
+	return 0
+}
+
+func (x *GameEvent) GetEvent() isGameEvent_Event {
+	if x != nil {
+		return x.Event
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBallLeftFieldTouchLine() *GameEvent_BallLeftField {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BallLeftFieldTouchLine); ok {
+			return x.BallLeftFieldTouchLine
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBallLeftFieldGoalLine() *GameEvent_BallLeftField {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BallLeftFieldGoalLine); ok {
+			return x.BallLeftFieldGoalLine
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetAimlessKick() *GameEvent_AimlessKick {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_AimlessKick_); ok {
+			return x.AimlessKick
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetAttackerTooCloseToDefenseArea() *GameEvent_AttackerTooCloseToDefenseArea {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_AttackerTooCloseToDefenseArea_); ok {
+			return x.AttackerTooCloseToDefenseArea
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetDefenderInDefenseArea() *GameEvent_DefenderInDefenseArea {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_DefenderInDefenseArea_); ok {
+			return x.DefenderInDefenseArea
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBoundaryCrossing() *GameEvent_BoundaryCrossing {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BoundaryCrossing_); ok {
+			return x.BoundaryCrossing
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetKeeperHeldBall() *GameEvent_KeeperHeldBall {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_KeeperHeldBall_); ok {
+			return x.KeeperHeldBall
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotDribbledBallTooFar() *GameEvent_BotDribbledBallTooFar {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotDribbledBallTooFar_); ok {
+			return x.BotDribbledBallTooFar
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotPushedBot() *GameEvent_BotPushedBot {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotPushedBot_); ok {
+			return x.BotPushedBot
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotHeldBallDeliberately() *GameEvent_BotHeldBallDeliberately {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotHeldBallDeliberately_); ok {
+			return x.BotHeldBallDeliberately
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotTippedOver() *GameEvent_BotTippedOver {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotTippedOver_); ok {
+			return x.BotTippedOver
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotDroppedParts() *GameEvent_BotDroppedParts {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotDroppedParts_); ok {
+			return x.BotDroppedParts
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetAttackerTouchedBallInDefenseArea() *GameEvent_AttackerTouchedBallInDefenseArea {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_AttackerTouchedBallInDefenseArea_); ok {
+			return x.AttackerTouchedBallInDefenseArea
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotKickedBallTooFast() *GameEvent_BotKickedBallTooFast {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotKickedBallTooFast_); ok {
+			return x.BotKickedBallTooFast
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotCrashUnique() *GameEvent_BotCrashUnique {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotCrashUnique_); ok {
+			return x.BotCrashUnique
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotCrashDrawn() *GameEvent_BotCrashDrawn {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotCrashDrawn_); ok {
+			return x.BotCrashDrawn
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetDefenderTooCloseToKickPoint() *GameEvent_DefenderTooCloseToKickPoint {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_DefenderTooCloseToKickPoint_); ok {
+			return x.DefenderTooCloseToKickPoint
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotTooFastInStop() *GameEvent_BotTooFastInStop {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotTooFastInStop_); ok {
+			return x.BotTooFastInStop
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotInterferedPlacement() *GameEvent_BotInterferedPlacement {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotInterferedPlacement_); ok {
+			return x.BotInterferedPlacement
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetPossibleGoal() *GameEvent_Goal {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_PossibleGoal); ok {
+			return x.PossibleGoal
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetGoal() *GameEvent_Goal {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_Goal_); ok {
+			return x.Goal
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetInvalidGoal() *GameEvent_Goal {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_InvalidGoal); ok {
+			return x.InvalidGoal
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetAttackerDoubleTouchedBall() *GameEvent_AttackerDoubleTouchedBall {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_AttackerDoubleTouchedBall_); ok {
+			return x.AttackerDoubleTouchedBall
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetPlacementSucceeded() *GameEvent_PlacementSucceeded {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_PlacementSucceeded_); ok {
+			return x.PlacementSucceeded
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetPenaltyKickFailed() *GameEvent_PenaltyKickFailed {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_PenaltyKickFailed_); ok {
+			return x.PenaltyKickFailed
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetNoProgressInGame() *GameEvent_NoProgressInGame {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_NoProgressInGame_); ok {
+			return x.NoProgressInGame
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetPlacementFailed() *GameEvent_PlacementFailed {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_PlacementFailed_); ok {
+			return x.PlacementFailed
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetMultipleCards() *GameEvent_MultipleCards {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_MultipleCards_); ok {
+			return x.MultipleCards
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetMultipleFouls() *GameEvent_MultipleFouls {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_MultipleFouls_); ok {
+			return x.MultipleFouls
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetBotSubstitution() *GameEvent_BotSubstitution {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotSubstitution_); ok {
+			return x.BotSubstitution
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetExcessiveBotSubstitution() *GameEvent_ExcessiveBotSubstitution {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_ExcessiveBotSubstitution_); ok {
+			return x.ExcessiveBotSubstitution
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetTooManyRobots() *GameEvent_TooManyRobots {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_TooManyRobots_); ok {
+			return x.TooManyRobots
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetChallengeFlag() *GameEvent_ChallengeFlag {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_ChallengeFlag_); ok {
+			return x.ChallengeFlag
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetChallengeFlagHandled() *GameEvent_ChallengeFlagHandled {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_ChallengeFlagHandled_); ok {
+			return x.ChallengeFlagHandled
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetEmergencyStop() *GameEvent_EmergencyStop {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_EmergencyStop_); ok {
+			return x.EmergencyStop
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetUnsportingBehaviorMinor() *GameEvent_UnsportingBehaviorMinor {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_UnsportingBehaviorMinor_); ok {
+			return x.UnsportingBehaviorMinor
+		}
+	}
+	return nil
+}
+
+func (x *GameEvent) GetUnsportingBehaviorMajor() *GameEvent_UnsportingBehaviorMajor {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_UnsportingBehaviorMajor_); ok {
+			return x.UnsportingBehaviorMajor
+		}
+	}
+	return nil
+}
+
+// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+func (x *GameEvent) GetPrepared() *GameEvent_Prepared {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_Prepared_); ok {
+			return x.Prepared
+		}
+	}
+	return nil
+}
+
+// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+func (x *GameEvent) GetIndirectGoal() *GameEvent_IndirectGoal {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_IndirectGoal_); ok {
+			return x.IndirectGoal
+		}
+	}
+	return nil
+}
+
+// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+func (x *GameEvent) GetChippedGoal() *GameEvent_ChippedGoal {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_ChippedGoal_); ok {
+			return x.ChippedGoal
+		}
+	}
+	return nil
+}
+
+// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+func (x *GameEvent) GetKickTimeout() *GameEvent_KickTimeout {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_KickTimeout_); ok {
+			return x.KickTimeout
+		}
+	}
+	return nil
+}
+
+// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+func (x *GameEvent) GetAttackerTouchedOpponentInDefenseArea() *GameEvent_AttackerTouchedOpponentInDefenseArea {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_AttackerTouchedOpponentInDefenseArea_); ok {
+			return x.AttackerTouchedOpponentInDefenseArea
+		}
+	}
+	return nil
+}
+
+// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+func (x *GameEvent) GetAttackerTouchedOpponentInDefenseAreaSkipped() *GameEvent_AttackerTouchedOpponentInDefenseArea {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_AttackerTouchedOpponentInDefenseAreaSkipped); ok {
+			return x.AttackerTouchedOpponentInDefenseAreaSkipped
+		}
+	}
+	return nil
+}
+
+// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+func (x *GameEvent) GetBotCrashUniqueSkipped() *GameEvent_BotCrashUnique {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotCrashUniqueSkipped); ok {
+			return x.BotCrashUniqueSkipped
+		}
+	}
+	return nil
+}
+
+// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+func (x *GameEvent) GetBotPushedBotSkipped() *GameEvent_BotPushedBot {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_BotPushedBotSkipped); ok {
+			return x.BotPushedBotSkipped
+		}
+	}
+	return nil
+}
+
+// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+func (x *GameEvent) GetDefenderInDefenseAreaPartially() *GameEvent_DefenderInDefenseAreaPartially {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_DefenderInDefenseAreaPartially_); ok {
+			return x.DefenderInDefenseAreaPartially
+		}
+	}
+	return nil
+}
+
+// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+func (x *GameEvent) GetMultiplePlacementFailures() *GameEvent_MultiplePlacementFailures {
+	if x != nil {
+		if x, ok := x.Event.(*GameEvent_MultiplePlacementFailures_); ok {
+			return x.MultiplePlacementFailures
+		}
+	}
+	return nil
+}
+
+type isGameEvent_Event interface {
+	isGameEvent_Event()
+}
+
+type GameEvent_BallLeftFieldTouchLine struct {
+	BallLeftFieldTouchLine *GameEvent_BallLeftField `protobuf:"bytes,6,opt,name=ball_left_field_touch_line,json=ballLeftFieldTouchLine,oneof"`
+}
+
+type GameEvent_BallLeftFieldGoalLine struct {
+	BallLeftFieldGoalLine *GameEvent_BallLeftField `protobuf:"bytes,7,opt,name=ball_left_field_goal_line,json=ballLeftFieldGoalLine,oneof"`
+}
+
+type GameEvent_AimlessKick_ struct {
+	AimlessKick *GameEvent_AimlessKick `protobuf:"bytes,11,opt,name=aimless_kick,json=aimlessKick,oneof"`
+}
+
+type GameEvent_AttackerTooCloseToDefenseArea_ struct {
+	AttackerTooCloseToDefenseArea *GameEvent_AttackerTooCloseToDefenseArea `protobuf:"bytes,19,opt,name=attacker_too_close_to_defense_area,json=attackerTooCloseToDefenseArea,oneof"`
+}
+
+type GameEvent_DefenderInDefenseArea_ struct {
+	DefenderInDefenseArea *GameEvent_DefenderInDefenseArea `protobuf:"bytes,31,opt,name=defender_in_defense_area,json=defenderInDefenseArea,oneof"`
+}
+
+type GameEvent_BoundaryCrossing_ struct {
+	BoundaryCrossing *GameEvent_BoundaryCrossing `protobuf:"bytes,43,opt,name=boundary_crossing,json=boundaryCrossing,oneof"`
+}
+
+type GameEvent_KeeperHeldBall_ struct {
+	KeeperHeldBall *GameEvent_KeeperHeldBall `protobuf:"bytes,13,opt,name=keeper_held_ball,json=keeperHeldBall,oneof"`
+}
+
+type GameEvent_BotDribbledBallTooFar_ struct {
+	BotDribbledBallTooFar *GameEvent_BotDribbledBallTooFar `protobuf:"bytes,17,opt,name=bot_dribbled_ball_too_far,json=botDribbledBallTooFar,oneof"`
+}
+
+type GameEvent_BotPushedBot_ struct {
+	BotPushedBot *GameEvent_BotPushedBot `protobuf:"bytes,24,opt,name=bot_pushed_bot,json=botPushedBot,oneof"`
+}
+
+type GameEvent_BotHeldBallDeliberately_ struct {
+	BotHeldBallDeliberately *GameEvent_BotHeldBallDeliberately `protobuf:"bytes,26,opt,name=bot_held_ball_deliberately,json=botHeldBallDeliberately,oneof"`
+}
+
+type GameEvent_BotTippedOver_ struct {
+	BotTippedOver *GameEvent_BotTippedOver `protobuf:"bytes,27,opt,name=bot_tipped_over,json=botTippedOver,oneof"`
+}
+
+type GameEvent_BotDroppedParts_ struct {
+	BotDroppedParts *GameEvent_BotDroppedParts `protobuf:"bytes,51,opt,name=bot_dropped_parts,json=botDroppedParts,oneof"`
+}
+
+type GameEvent_AttackerTouchedBallInDefenseArea_ struct {
+	AttackerTouchedBallInDefenseArea *GameEvent_AttackerTouchedBallInDefenseArea `protobuf:"bytes,15,opt,name=attacker_touched_ball_in_defense_area,json=attackerTouchedBallInDefenseArea,oneof"`
+}
+
+type GameEvent_BotKickedBallTooFast_ struct {
+	BotKickedBallTooFast *GameEvent_BotKickedBallTooFast `protobuf:"bytes,18,opt,name=bot_kicked_ball_too_fast,json=botKickedBallTooFast,oneof"`
+}
+
+type GameEvent_BotCrashUnique_ struct {
+	BotCrashUnique *GameEvent_BotCrashUnique `protobuf:"bytes,22,opt,name=bot_crash_unique,json=botCrashUnique,oneof"`
+}
+
+type GameEvent_BotCrashDrawn_ struct {
+	BotCrashDrawn *GameEvent_BotCrashDrawn `protobuf:"bytes,21,opt,name=bot_crash_drawn,json=botCrashDrawn,oneof"`
+}
+
+type GameEvent_DefenderTooCloseToKickPoint_ struct {
+	DefenderTooCloseToKickPoint *GameEvent_DefenderTooCloseToKickPoint `protobuf:"bytes,29,opt,name=defender_too_close_to_kick_point,json=defenderTooCloseToKickPoint,oneof"`
+}
+
+type GameEvent_BotTooFastInStop_ struct {
+	BotTooFastInStop *GameEvent_BotTooFastInStop `protobuf:"bytes,28,opt,name=bot_too_fast_in_stop,json=botTooFastInStop,oneof"`
+}
+
+type GameEvent_BotInterferedPlacement_ struct {
+	BotInterferedPlacement *GameEvent_BotInterferedPlacement `protobuf:"bytes,20,opt,name=bot_interfered_placement,json=botInterferedPlacement,oneof"`
+}
+
+type GameEvent_PossibleGoal struct {
+	PossibleGoal *GameEvent_Goal `protobuf:"bytes,39,opt,name=possible_goal,json=possibleGoal,oneof"`
+}
+
+type GameEvent_Goal_ struct {
+	Goal *GameEvent_Goal `protobuf:"bytes,8,opt,name=goal,oneof"`
+}
+
+type GameEvent_InvalidGoal struct {
+	InvalidGoal *GameEvent_Goal `protobuf:"bytes,44,opt,name=invalid_goal,json=invalidGoal,oneof"`
+}
+
+type GameEvent_AttackerDoubleTouchedBall_ struct {
+	AttackerDoubleTouchedBall *GameEvent_AttackerDoubleTouchedBall `protobuf:"bytes,14,opt,name=attacker_double_touched_ball,json=attackerDoubleTouchedBall,oneof"`
+}
+
+type GameEvent_PlacementSucceeded_ struct {
+	PlacementSucceeded *GameEvent_PlacementSucceeded `protobuf:"bytes,5,opt,name=placement_succeeded,json=placementSucceeded,oneof"`
+}
+
+type GameEvent_PenaltyKickFailed_ struct {
+	PenaltyKickFailed *GameEvent_PenaltyKickFailed `protobuf:"bytes,45,opt,name=penalty_kick_failed,json=penaltyKickFailed,oneof"`
+}
+
+type GameEvent_NoProgressInGame_ struct {
+	NoProgressInGame *GameEvent_NoProgressInGame `protobuf:"bytes,2,opt,name=no_progress_in_game,json=noProgressInGame,oneof"`
+}
+
+type GameEvent_PlacementFailed_ struct {
+	PlacementFailed *GameEvent_PlacementFailed `protobuf:"bytes,3,opt,name=placement_failed,json=placementFailed,oneof"`
+}
+
+type GameEvent_MultipleCards_ struct {
+	MultipleCards *GameEvent_MultipleCards `protobuf:"bytes,32,opt,name=multiple_cards,json=multipleCards,oneof"`
+}
+
+type GameEvent_MultipleFouls_ struct {
+	MultipleFouls *GameEvent_MultipleFouls `protobuf:"bytes,34,opt,name=multiple_fouls,json=multipleFouls,oneof"`
+}
+
+type GameEvent_BotSubstitution_ struct {
+	BotSubstitution *GameEvent_BotSubstitution `protobuf:"bytes,37,opt,name=bot_substitution,json=botSubstitution,oneof"`
+}
+
+type GameEvent_ExcessiveBotSubstitution_ struct {
+	ExcessiveBotSubstitution *GameEvent_ExcessiveBotSubstitution `protobuf:"bytes,52,opt,name=excessive_bot_substitution,json=excessiveBotSubstitution,oneof"`
+}
+
+type GameEvent_TooManyRobots_ struct {
+	TooManyRobots *GameEvent_TooManyRobots `protobuf:"bytes,38,opt,name=too_many_robots,json=tooManyRobots,oneof"`
+}
+
+type GameEvent_ChallengeFlag_ struct {
+	ChallengeFlag *GameEvent_ChallengeFlag `protobuf:"bytes,46,opt,name=challenge_flag,json=challengeFlag,oneof"`
+}
+
+type GameEvent_ChallengeFlagHandled_ struct {
+	ChallengeFlagHandled *GameEvent_ChallengeFlagHandled `protobuf:"bytes,48,opt,name=challenge_flag_handled,json=challengeFlagHandled,oneof"`
+}
+
+type GameEvent_EmergencyStop_ struct {
+	EmergencyStop *GameEvent_EmergencyStop `protobuf:"bytes,47,opt,name=emergency_stop,json=emergencyStop,oneof"`
+}
+
+type GameEvent_UnsportingBehaviorMinor_ struct {
+	UnsportingBehaviorMinor *GameEvent_UnsportingBehaviorMinor `protobuf:"bytes,35,opt,name=unsporting_behavior_minor,json=unsportingBehaviorMinor,oneof"`
+}
+
+type GameEvent_UnsportingBehaviorMajor_ struct {
+	UnsportingBehaviorMajor *GameEvent_UnsportingBehaviorMajor `protobuf:"bytes,36,opt,name=unsporting_behavior_major,json=unsportingBehaviorMajor,oneof"`
+}
+
+type GameEvent_Prepared_ struct {
+	// replaced by ready_to_continue flag
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	Prepared *GameEvent_Prepared `protobuf:"bytes,1,opt,name=prepared,oneof"`
+}
+
+type GameEvent_IndirectGoal_ struct {
+	// obsolete
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	IndirectGoal *GameEvent_IndirectGoal `protobuf:"bytes,9,opt,name=indirect_goal,json=indirectGoal,oneof"`
+}
+
+type GameEvent_ChippedGoal_ struct {
+	// replaced by the meta-information in the possible_goal event
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	ChippedGoal *GameEvent_ChippedGoal `protobuf:"bytes,10,opt,name=chipped_goal,json=chippedGoal,oneof"`
+}
+
+type GameEvent_KickTimeout_ struct {
+	// obsolete
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	KickTimeout *GameEvent_KickTimeout `protobuf:"bytes,12,opt,name=kick_timeout,json=kickTimeout,oneof"`
+}
+
+type GameEvent_AttackerTouchedOpponentInDefenseArea_ struct {
+	// rule removed
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	AttackerTouchedOpponentInDefenseArea *GameEvent_AttackerTouchedOpponentInDefenseArea `protobuf:"bytes,16,opt,name=attacker_touched_opponent_in_defense_area,json=attackerTouchedOpponentInDefenseArea,oneof"`
+}
+
+type GameEvent_AttackerTouchedOpponentInDefenseAreaSkipped struct {
+	// obsolete
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	AttackerTouchedOpponentInDefenseAreaSkipped *GameEvent_AttackerTouchedOpponentInDefenseArea `protobuf:"bytes,42,opt,name=attacker_touched_opponent_in_defense_area_skipped,json=attackerTouchedOpponentInDefenseAreaSkipped,oneof"`
+}
+
+type GameEvent_BotCrashUniqueSkipped struct {
+	// obsolete
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	BotCrashUniqueSkipped *GameEvent_BotCrashUnique `protobuf:"bytes,23,opt,name=bot_crash_unique_skipped,json=botCrashUniqueSkipped,oneof"`
+}
+
+type GameEvent_BotPushedBotSkipped struct {
+	// can not be used as long as autoRefs do not judge pushing
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	BotPushedBotSkipped *GameEvent_BotPushedBot `protobuf:"bytes,25,opt,name=bot_pushed_bot_skipped,json=botPushedBotSkipped,oneof"`
+}
+
+type GameEvent_DefenderInDefenseAreaPartially_ struct {
+	// rule removed
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	DefenderInDefenseAreaPartially *GameEvent_DefenderInDefenseAreaPartially `protobuf:"bytes,30,opt,name=defender_in_defense_area_partially,json=defenderInDefenseAreaPartially,oneof"`
+}
+
+type GameEvent_MultiplePlacementFailures_ struct {
+	// the referee msg already indicates this
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
+	MultiplePlacementFailures *GameEvent_MultiplePlacementFailures `protobuf:"bytes,33,opt,name=multiple_placement_failures,json=multiplePlacementFailures,oneof"`
+}
+
+func (*GameEvent_BallLeftFieldTouchLine) isGameEvent_Event() {}
+
+func (*GameEvent_BallLeftFieldGoalLine) isGameEvent_Event() {}
+
+func (*GameEvent_AimlessKick_) isGameEvent_Event() {}
+
+func (*GameEvent_AttackerTooCloseToDefenseArea_) isGameEvent_Event() {}
+
+func (*GameEvent_DefenderInDefenseArea_) isGameEvent_Event() {}
+
+func (*GameEvent_BoundaryCrossing_) isGameEvent_Event() {}
+
+func (*GameEvent_KeeperHeldBall_) isGameEvent_Event() {}
+
+func (*GameEvent_BotDribbledBallTooFar_) isGameEvent_Event() {}
+
+func (*GameEvent_BotPushedBot_) isGameEvent_Event() {}
+
+func (*GameEvent_BotHeldBallDeliberately_) isGameEvent_Event() {}
+
+func (*GameEvent_BotTippedOver_) isGameEvent_Event() {}
+
+func (*GameEvent_BotDroppedParts_) isGameEvent_Event() {}
+
+func (*GameEvent_AttackerTouchedBallInDefenseArea_) isGameEvent_Event() {}
+
+func (*GameEvent_BotKickedBallTooFast_) isGameEvent_Event() {}
+
+func (*GameEvent_BotCrashUnique_) isGameEvent_Event() {}
+
+func (*GameEvent_BotCrashDrawn_) isGameEvent_Event() {}
+
+func (*GameEvent_DefenderTooCloseToKickPoint_) isGameEvent_Event() {}
+
+func (*GameEvent_BotTooFastInStop_) isGameEvent_Event() {}
+
+func (*GameEvent_BotInterferedPlacement_) isGameEvent_Event() {}
+
+func (*GameEvent_PossibleGoal) isGameEvent_Event() {}
+
+func (*GameEvent_Goal_) isGameEvent_Event() {}
+
+func (*GameEvent_InvalidGoal) isGameEvent_Event() {}
+
+func (*GameEvent_AttackerDoubleTouchedBall_) isGameEvent_Event() {}
+
+func (*GameEvent_PlacementSucceeded_) isGameEvent_Event() {}
+
+func (*GameEvent_PenaltyKickFailed_) isGameEvent_Event() {}
+
+func (*GameEvent_NoProgressInGame_) isGameEvent_Event() {}
+
+func (*GameEvent_PlacementFailed_) isGameEvent_Event() {}
+
+func (*GameEvent_MultipleCards_) isGameEvent_Event() {}
+
+func (*GameEvent_MultipleFouls_) isGameEvent_Event() {}
+
+func (*GameEvent_BotSubstitution_) isGameEvent_Event() {}
+
+func (*GameEvent_ExcessiveBotSubstitution_) isGameEvent_Event() {}
+
+func (*GameEvent_TooManyRobots_) isGameEvent_Event() {}
+
+func (*GameEvent_ChallengeFlag_) isGameEvent_Event() {}
+
+func (*GameEvent_ChallengeFlagHandled_) isGameEvent_Event() {}
+
+func (*GameEvent_EmergencyStop_) isGameEvent_Event() {}
+
+func (*GameEvent_UnsportingBehaviorMinor_) isGameEvent_Event() {}
+
+func (*GameEvent_UnsportingBehaviorMajor_) isGameEvent_Event() {}
+
+func (*GameEvent_Prepared_) isGameEvent_Event() {}
+
+func (*GameEvent_IndirectGoal_) isGameEvent_Event() {}
+
+func (*GameEvent_ChippedGoal_) isGameEvent_Event() {}
+
+func (*GameEvent_KickTimeout_) isGameEvent_Event() {}
+
+func (*GameEvent_AttackerTouchedOpponentInDefenseArea_) isGameEvent_Event() {}
+
+func (*GameEvent_AttackerTouchedOpponentInDefenseAreaSkipped) isGameEvent_Event() {}
+
+func (*GameEvent_BotCrashUniqueSkipped) isGameEvent_Event() {}
+
+func (*GameEvent_BotPushedBotSkipped) isGameEvent_Event() {}
+
+func (*GameEvent_DefenderInDefenseAreaPartially_) isGameEvent_Event() {}
+
+func (*GameEvent_MultiplePlacementFailures_) isGameEvent_Event() {}
+
+// the ball left the field normally
+type GameEvent_BallLeftField struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that last touched the ball
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that last touched the ball
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location where the ball left the field [m]
+	Location      *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BallLeftField) Reset() {
+	*x = GameEvent_BallLeftField{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BallLeftField) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BallLeftField) ProtoMessage() {}
+
+func (x *GameEvent_BallLeftField) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BallLeftField.ProtoReflect.Descriptor instead.
+func (*GameEvent_BallLeftField) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 0}
+}
+
+func (x *GameEvent_BallLeftField) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BallLeftField) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_BallLeftField) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+// the ball left the field via goal line and a team committed an aimless kick
+type GameEvent_AimlessKick struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that last touched the ball
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that last touched the ball
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location where the ball left the field [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the location where the ball was last touched [m]
+	KickLocation  *Vector2 `protobuf:"bytes,4,opt,name=kick_location,json=kickLocation" json:"kick_location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_AimlessKick) Reset() {
+	*x = GameEvent_AimlessKick{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[2]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_AimlessKick) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_AimlessKick) ProtoMessage() {}
+
+func (x *GameEvent_AimlessKick) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[2]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_AimlessKick.ProtoReflect.Descriptor instead.
+func (*GameEvent_AimlessKick) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 1}
+}
+
+func (x *GameEvent_AimlessKick) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_AimlessKick) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_AimlessKick) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_AimlessKick) GetKickLocation() *Vector2 {
+	if x != nil {
+		return x.KickLocation
+	}
+	return nil
+}
+
+// a team shot a goal
+type GameEvent_Goal struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that scored the goal
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the team that shot the goal (different from by_team for own goals)
+	KickingTeam *Team `protobuf:"varint,6,opt,name=kicking_team,json=kickingTeam,enum=Team" json:"kicking_team,omitempty"`
+	// the bot that shot the goal
+	KickingBot *uint32 `protobuf:"varint,2,opt,name=kicking_bot,json=kickingBot" json:"kicking_bot,omitempty"`
+	// the location where the ball entered the goal [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the location where the ball was kicked (for deciding if this was a valid goal) [m]
+	KickLocation *Vector2 `protobuf:"bytes,4,opt,name=kick_location,json=kickLocation" json:"kick_location,omitempty"`
+	// the maximum height the ball reached during the goal kick (for deciding if this was a valid goal) [m]
+	MaxBallHeight *float32 `protobuf:"fixed32,5,opt,name=max_ball_height,json=maxBallHeight" json:"max_ball_height,omitempty"`
+	// number of robots of scoring team when the ball entered the goal (for deciding if this was a valid goal)
+	NumRobotsByTeam *uint32 `protobuf:"varint,7,opt,name=num_robots_by_team,json=numRobotsByTeam" json:"num_robots_by_team,omitempty"`
+	// The UNIX timestamp [μs] when the scoring team last touched the ball
+	LastTouchByTeam *uint64 `protobuf:"varint,8,opt,name=last_touch_by_team,json=lastTouchByTeam" json:"last_touch_by_team,omitempty"`
+	// An additional message with e.g. a reason for invalid goals
+	Message       *string `protobuf:"bytes,9,opt,name=message" json:"message,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_Goal) Reset() {
+	*x = GameEvent_Goal{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[3]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_Goal) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_Goal) ProtoMessage() {}
+
+func (x *GameEvent_Goal) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[3]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_Goal.ProtoReflect.Descriptor instead.
+func (*GameEvent_Goal) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 2}
+}
+
+func (x *GameEvent_Goal) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_Goal) GetKickingTeam() Team {
+	if x != nil && x.KickingTeam != nil {
+		return *x.KickingTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_Goal) GetKickingBot() uint32 {
+	if x != nil && x.KickingBot != nil {
+		return *x.KickingBot
+	}
+	return 0
+}
+
+func (x *GameEvent_Goal) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_Goal) GetKickLocation() *Vector2 {
+	if x != nil {
+		return x.KickLocation
+	}
+	return nil
+}
+
+func (x *GameEvent_Goal) GetMaxBallHeight() float32 {
+	if x != nil && x.MaxBallHeight != nil {
+		return *x.MaxBallHeight
+	}
+	return 0
+}
+
+func (x *GameEvent_Goal) GetNumRobotsByTeam() uint32 {
+	if x != nil && x.NumRobotsByTeam != nil {
+		return *x.NumRobotsByTeam
+	}
+	return 0
+}
+
+func (x *GameEvent_Goal) GetLastTouchByTeam() uint64 {
+	if x != nil && x.LastTouchByTeam != nil {
+		return *x.LastTouchByTeam
+	}
+	return 0
+}
+
+func (x *GameEvent_Goal) GetMessage() string {
+	if x != nil && x.Message != nil {
+		return *x.Message
+	}
+	return ""
+}
+
+// the ball entered the goal directly during an indirect free kick
+type GameEvent_IndirectGoal struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that tried to shoot the goal
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that kicked the ball - at least the team must be set
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location where the ball entered the goal [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the location where the ball was kicked [m]
+	KickLocation  *Vector2 `protobuf:"bytes,4,opt,name=kick_location,json=kickLocation" json:"kick_location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_IndirectGoal) Reset() {
+	*x = GameEvent_IndirectGoal{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[4]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_IndirectGoal) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_IndirectGoal) ProtoMessage() {}
+
+func (x *GameEvent_IndirectGoal) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[4]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_IndirectGoal.ProtoReflect.Descriptor instead.
+func (*GameEvent_IndirectGoal) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 3}
+}
+
+func (x *GameEvent_IndirectGoal) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_IndirectGoal) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_IndirectGoal) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_IndirectGoal) GetKickLocation() *Vector2 {
+	if x != nil {
+		return x.KickLocation
+	}
+	return nil
+}
+
+// the ball entered the goal, but was initially chipped
+type GameEvent_ChippedGoal struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that tried to shoot the goal
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that kicked the ball
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location where the ball entered the goal [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the location where the ball was kicked [m]
+	KickLocation *Vector2 `protobuf:"bytes,4,opt,name=kick_location,json=kickLocation" json:"kick_location,omitempty"`
+	// the maximum height [m] of the ball, before it entered the goal and since the last kick [m]
+	MaxBallHeight *float32 `protobuf:"fixed32,5,opt,name=max_ball_height,json=maxBallHeight" json:"max_ball_height,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_ChippedGoal) Reset() {
+	*x = GameEvent_ChippedGoal{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[5]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_ChippedGoal) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_ChippedGoal) ProtoMessage() {}
+
+func (x *GameEvent_ChippedGoal) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[5]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_ChippedGoal.ProtoReflect.Descriptor instead.
+func (*GameEvent_ChippedGoal) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 4}
+}
+
+func (x *GameEvent_ChippedGoal) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_ChippedGoal) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_ChippedGoal) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_ChippedGoal) GetKickLocation() *Vector2 {
+	if x != nil {
+		return x.KickLocation
+	}
+	return nil
+}
+
+func (x *GameEvent_ChippedGoal) GetMaxBallHeight() float32 {
+	if x != nil && x.MaxBallHeight != nil {
+		return *x.MaxBallHeight
+	}
+	return 0
+}
+
+// a bot moved too fast while the game was stopped
+type GameEvent_BotTooFastInStop struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that was too fast
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the bot [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the bot speed [m/s]
+	Speed         *float32 `protobuf:"fixed32,4,opt,name=speed" json:"speed,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotTooFastInStop) Reset() {
+	*x = GameEvent_BotTooFastInStop{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[6]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotTooFastInStop) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotTooFastInStop) ProtoMessage() {}
+
+func (x *GameEvent_BotTooFastInStop) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[6]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotTooFastInStop.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotTooFastInStop) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 5}
+}
+
+func (x *GameEvent_BotTooFastInStop) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BotTooFastInStop) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_BotTooFastInStop) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_BotTooFastInStop) GetSpeed() float32 {
+	if x != nil && x.Speed != nil {
+		return *x.Speed
+	}
+	return 0
+}
+
+// a bot of the defending team got too close to the kick point during a free kick
+type GameEvent_DefenderTooCloseToKickPoint struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that was found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that violates the distance to the kick point
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the bot [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the distance [m] from bot to the kick point (including the minimum radius)
+	Distance      *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_DefenderTooCloseToKickPoint) Reset() {
+	*x = GameEvent_DefenderTooCloseToKickPoint{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[7]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_DefenderTooCloseToKickPoint) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_DefenderTooCloseToKickPoint) ProtoMessage() {}
+
+func (x *GameEvent_DefenderTooCloseToKickPoint) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[7]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_DefenderTooCloseToKickPoint.ProtoReflect.Descriptor instead.
+func (*GameEvent_DefenderTooCloseToKickPoint) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 6}
+}
+
+func (x *GameEvent_DefenderTooCloseToKickPoint) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_DefenderTooCloseToKickPoint) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_DefenderTooCloseToKickPoint) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_DefenderTooCloseToKickPoint) GetDistance() float32 {
+	if x != nil && x.Distance != nil {
+		return *x.Distance
+	}
+	return 0
+}
+
+// two robots crashed into each other with similar speeds
+type GameEvent_BotCrashDrawn struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the bot of the yellow team
+	BotYellow *uint32 `protobuf:"varint,1,opt,name=bot_yellow,json=botYellow" json:"bot_yellow,omitempty"`
+	// the bot of the blue team
+	BotBlue *uint32 `protobuf:"varint,2,opt,name=bot_blue,json=botBlue" json:"bot_blue,omitempty"`
+	// the location of the crash (center between both bots) [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the calculated crash speed [m/s] of the two bots
+	CrashSpeed *float32 `protobuf:"fixed32,4,opt,name=crash_speed,json=crashSpeed" json:"crash_speed,omitempty"`
+	// the difference [m/s] of the velocity of the two bots
+	SpeedDiff *float32 `protobuf:"fixed32,5,opt,name=speed_diff,json=speedDiff" json:"speed_diff,omitempty"`
+	// the angle [rad] in the range [0, π] of the bot velocity vectors
+	// an angle of 0 rad (  0°) means, the bots barely touched each other
+	// an angle of π rad (180°) means, the bots crashed frontal into each other
+	CrashAngle    *float32 `protobuf:"fixed32,6,opt,name=crash_angle,json=crashAngle" json:"crash_angle,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotCrashDrawn) Reset() {
+	*x = GameEvent_BotCrashDrawn{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[8]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotCrashDrawn) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotCrashDrawn) ProtoMessage() {}
+
+func (x *GameEvent_BotCrashDrawn) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[8]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotCrashDrawn.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotCrashDrawn) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 7}
+}
+
+func (x *GameEvent_BotCrashDrawn) GetBotYellow() uint32 {
+	if x != nil && x.BotYellow != nil {
+		return *x.BotYellow
+	}
+	return 0
+}
+
+func (x *GameEvent_BotCrashDrawn) GetBotBlue() uint32 {
+	if x != nil && x.BotBlue != nil {
+		return *x.BotBlue
+	}
+	return 0
+}
+
+func (x *GameEvent_BotCrashDrawn) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_BotCrashDrawn) GetCrashSpeed() float32 {
+	if x != nil && x.CrashSpeed != nil {
+		return *x.CrashSpeed
+	}
+	return 0
+}
+
+func (x *GameEvent_BotCrashDrawn) GetSpeedDiff() float32 {
+	if x != nil && x.SpeedDiff != nil {
+		return *x.SpeedDiff
+	}
+	return 0
+}
+
+func (x *GameEvent_BotCrashDrawn) GetCrashAngle() float32 {
+	if x != nil && x.CrashAngle != nil {
+		return *x.CrashAngle
+	}
+	return 0
+}
+
+// two robots crashed into each other and one team was found guilty to due significant speed difference
+type GameEvent_BotCrashUnique struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that caused the crash
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that caused the crash
+	Violator *uint32 `protobuf:"varint,2,opt,name=violator" json:"violator,omitempty"`
+	// the bot of the opposite team that was involved in the crash
+	Victim *uint32 `protobuf:"varint,3,opt,name=victim" json:"victim,omitempty"`
+	// the location of the crash (center between both bots) [m]
+	Location *Vector2 `protobuf:"bytes,4,opt,name=location" json:"location,omitempty"`
+	// the calculated crash speed vector [m/s] of the two bots
+	CrashSpeed *float32 `protobuf:"fixed32,5,opt,name=crash_speed,json=crashSpeed" json:"crash_speed,omitempty"`
+	// the difference [m/s] of the velocity of the two bots
+	SpeedDiff *float32 `protobuf:"fixed32,6,opt,name=speed_diff,json=speedDiff" json:"speed_diff,omitempty"`
+	// the angle [rad] in the range [0, π] of the bot velocity vectors
+	// an angle of 0 rad (  0°) means, the bots barely touched each other
+	// an angle of π rad (180°) means, the bots crashed frontal into each other
+	CrashAngle    *float32 `protobuf:"fixed32,7,opt,name=crash_angle,json=crashAngle" json:"crash_angle,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotCrashUnique) Reset() {
+	*x = GameEvent_BotCrashUnique{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[9]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotCrashUnique) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotCrashUnique) ProtoMessage() {}
+
+func (x *GameEvent_BotCrashUnique) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[9]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotCrashUnique.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotCrashUnique) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 8}
+}
+
+func (x *GameEvent_BotCrashUnique) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BotCrashUnique) GetViolator() uint32 {
+	if x != nil && x.Violator != nil {
+		return *x.Violator
+	}
+	return 0
+}
+
+func (x *GameEvent_BotCrashUnique) GetVictim() uint32 {
+	if x != nil && x.Victim != nil {
+		return *x.Victim
+	}
+	return 0
+}
+
+func (x *GameEvent_BotCrashUnique) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_BotCrashUnique) GetCrashSpeed() float32 {
+	if x != nil && x.CrashSpeed != nil {
+		return *x.CrashSpeed
+	}
+	return 0
+}
+
+func (x *GameEvent_BotCrashUnique) GetSpeedDiff() float32 {
+	if x != nil && x.SpeedDiff != nil {
+		return *x.SpeedDiff
+	}
+	return 0
+}
+
+func (x *GameEvent_BotCrashUnique) GetCrashAngle() float32 {
+	if x != nil && x.CrashAngle != nil {
+		return *x.CrashAngle
+	}
+	return 0
+}
+
+// a bot pushed another bot over a significant distance
+type GameEvent_BotPushedBot struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that pushed the other team
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that pushed the other bot
+	Violator *uint32 `protobuf:"varint,2,opt,name=violator" json:"violator,omitempty"`
+	// the bot of the opposite team that was pushed
+	Victim *uint32 `protobuf:"varint,3,opt,name=victim" json:"victim,omitempty"`
+	// the location of the push (center between both bots) [m]
+	Location *Vector2 `protobuf:"bytes,4,opt,name=location" json:"location,omitempty"`
+	// the pushed distance [m]
+	PushedDistance *float32 `protobuf:"fixed32,5,opt,name=pushed_distance,json=pushedDistance" json:"pushed_distance,omitempty"`
+	unknownFields  protoimpl.UnknownFields
+	sizeCache      protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotPushedBot) Reset() {
+	*x = GameEvent_BotPushedBot{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[10]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotPushedBot) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotPushedBot) ProtoMessage() {}
+
+func (x *GameEvent_BotPushedBot) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[10]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotPushedBot.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotPushedBot) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 9}
+}
+
+func (x *GameEvent_BotPushedBot) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BotPushedBot) GetViolator() uint32 {
+	if x != nil && x.Violator != nil {
+		return *x.Violator
+	}
+	return 0
+}
+
+func (x *GameEvent_BotPushedBot) GetVictim() uint32 {
+	if x != nil && x.Victim != nil {
+		return *x.Victim
+	}
+	return 0
+}
+
+func (x *GameEvent_BotPushedBot) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_BotPushedBot) GetPushedDistance() float32 {
+	if x != nil && x.PushedDistance != nil {
+		return *x.PushedDistance
+	}
+	return 0
+}
+
+// a bot tipped over
+type GameEvent_BotTippedOver struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that tipped over
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the bot [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the location of the ball at the moment when this foul occurred [m]
+	BallLocation  *Vector2 `protobuf:"bytes,4,opt,name=ball_location,json=ballLocation" json:"ball_location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotTippedOver) Reset() {
+	*x = GameEvent_BotTippedOver{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[11]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotTippedOver) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotTippedOver) ProtoMessage() {}
+
+func (x *GameEvent_BotTippedOver) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[11]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotTippedOver.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotTippedOver) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 10}
+}
+
+func (x *GameEvent_BotTippedOver) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BotTippedOver) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_BotTippedOver) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_BotTippedOver) GetBallLocation() *Vector2 {
+	if x != nil {
+		return x.BallLocation
+	}
+	return nil
+}
+
+// a bot dropped parts
+type GameEvent_BotDroppedParts struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that dropped the parts
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location where the parts were dropped [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the location of the ball at the moment when this foul occurred [m]
+	BallLocation  *Vector2 `protobuf:"bytes,4,opt,name=ball_location,json=ballLocation" json:"ball_location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotDroppedParts) Reset() {
+	*x = GameEvent_BotDroppedParts{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[12]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotDroppedParts) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotDroppedParts) ProtoMessage() {}
+
+func (x *GameEvent_BotDroppedParts) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[12]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotDroppedParts.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotDroppedParts) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 11}
+}
+
+func (x *GameEvent_BotDroppedParts) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BotDroppedParts) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_BotDroppedParts) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_BotDroppedParts) GetBallLocation() *Vector2 {
+	if x != nil {
+		return x.BallLocation
+	}
+	return nil
+}
+
+// a defender other than the keeper was fully located inside its own defense and touched the ball
+type GameEvent_DefenderInDefenseArea struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that is inside the penalty area
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the bot [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the distance [m] from bot case to the nearest point outside the defense area
+	Distance      *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_DefenderInDefenseArea) Reset() {
+	*x = GameEvent_DefenderInDefenseArea{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[13]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_DefenderInDefenseArea) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_DefenderInDefenseArea) ProtoMessage() {}
+
+func (x *GameEvent_DefenderInDefenseArea) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[13]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_DefenderInDefenseArea.ProtoReflect.Descriptor instead.
+func (*GameEvent_DefenderInDefenseArea) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 12}
+}
+
+func (x *GameEvent_DefenderInDefenseArea) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_DefenderInDefenseArea) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_DefenderInDefenseArea) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_DefenderInDefenseArea) GetDistance() float32 {
+	if x != nil && x.Distance != nil {
+		return *x.Distance
+	}
+	return 0
+}
+
+// a defender other than the keeper was partially located inside its own defense area and touched the ball
+type GameEvent_DefenderInDefenseAreaPartially struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that is partially inside the penalty area
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the bot
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the distance [m] that the bot is inside the penalty area
+	Distance *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
+	// the location of the ball at the moment when this foul occurred [m]
+	BallLocation  *Vector2 `protobuf:"bytes,5,opt,name=ball_location,json=ballLocation" json:"ball_location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_DefenderInDefenseAreaPartially) Reset() {
+	*x = GameEvent_DefenderInDefenseAreaPartially{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[14]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_DefenderInDefenseAreaPartially) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_DefenderInDefenseAreaPartially) ProtoMessage() {}
+
+func (x *GameEvent_DefenderInDefenseAreaPartially) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[14]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_DefenderInDefenseAreaPartially.ProtoReflect.Descriptor instead.
+func (*GameEvent_DefenderInDefenseAreaPartially) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 13}
+}
+
+func (x *GameEvent_DefenderInDefenseAreaPartially) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_DefenderInDefenseAreaPartially) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_DefenderInDefenseAreaPartially) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_DefenderInDefenseAreaPartially) GetDistance() float32 {
+	if x != nil && x.Distance != nil {
+		return *x.Distance
+	}
+	return 0
+}
+
+func (x *GameEvent_DefenderInDefenseAreaPartially) GetBallLocation() *Vector2 {
+	if x != nil {
+		return x.BallLocation
+	}
+	return nil
+}
+
+// an attacker touched the ball inside the opponent defense area
+type GameEvent_AttackerTouchedBallInDefenseArea struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that is inside the penalty area
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the bot [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the distance [m] that the bot is inside the penalty area
+	Distance      *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_AttackerTouchedBallInDefenseArea) Reset() {
+	*x = GameEvent_AttackerTouchedBallInDefenseArea{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[15]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_AttackerTouchedBallInDefenseArea) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_AttackerTouchedBallInDefenseArea) ProtoMessage() {}
+
+func (x *GameEvent_AttackerTouchedBallInDefenseArea) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[15]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_AttackerTouchedBallInDefenseArea.ProtoReflect.Descriptor instead.
+func (*GameEvent_AttackerTouchedBallInDefenseArea) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 14}
+}
+
+func (x *GameEvent_AttackerTouchedBallInDefenseArea) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_AttackerTouchedBallInDefenseArea) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_AttackerTouchedBallInDefenseArea) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_AttackerTouchedBallInDefenseArea) GetDistance() float32 {
+	if x != nil && x.Distance != nil {
+		return *x.Distance
+	}
+	return 0
+}
+
+// a bot kicked the ball too fast
+type GameEvent_BotKickedBallTooFast struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that kicked too fast
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the ball at the time of the highest speed [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the absolute initial ball speed (kick speed) [m/s]
+	InitialBallSpeed *float32 `protobuf:"fixed32,4,opt,name=initial_ball_speed,json=initialBallSpeed" json:"initial_ball_speed,omitempty"`
+	// was the ball chipped?
+	Chipped       *bool `protobuf:"varint,5,opt,name=chipped" json:"chipped,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotKickedBallTooFast) Reset() {
+	*x = GameEvent_BotKickedBallTooFast{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[16]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotKickedBallTooFast) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotKickedBallTooFast) ProtoMessage() {}
+
+func (x *GameEvent_BotKickedBallTooFast) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[16]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotKickedBallTooFast.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotKickedBallTooFast) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 15}
+}
+
+func (x *GameEvent_BotKickedBallTooFast) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BotKickedBallTooFast) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_BotKickedBallTooFast) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_BotKickedBallTooFast) GetInitialBallSpeed() float32 {
+	if x != nil && x.InitialBallSpeed != nil {
+		return *x.InitialBallSpeed
+	}
+	return 0
+}
+
+func (x *GameEvent_BotKickedBallTooFast) GetChipped() bool {
+	if x != nil && x.Chipped != nil {
+		return *x.Chipped
+	}
+	return false
+}
+
+// a bot dribbled to ball too far
+type GameEvent_BotDribbledBallTooFar struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that dribbled too far
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location where the dribbling started [m]
+	Start *Vector2 `protobuf:"bytes,3,opt,name=start" json:"start,omitempty"`
+	// the location where the maximum dribbling distance was reached [m]
+	End           *Vector2 `protobuf:"bytes,4,opt,name=end" json:"end,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotDribbledBallTooFar) Reset() {
+	*x = GameEvent_BotDribbledBallTooFar{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[17]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotDribbledBallTooFar) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotDribbledBallTooFar) ProtoMessage() {}
+
+func (x *GameEvent_BotDribbledBallTooFar) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[17]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotDribbledBallTooFar.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotDribbledBallTooFar) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 16}
+}
+
+func (x *GameEvent_BotDribbledBallTooFar) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BotDribbledBallTooFar) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_BotDribbledBallTooFar) GetStart() *Vector2 {
+	if x != nil {
+		return x.Start
+	}
+	return nil
+}
+
+func (x *GameEvent_BotDribbledBallTooFar) GetEnd() *Vector2 {
+	if x != nil {
+		return x.End
+	}
+	return nil
+}
+
+// an attacker touched the opponent robot inside defense area
+type GameEvent_AttackerTouchedOpponentInDefenseArea struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that touched the opponent robot
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the bot of the opposite team that was touched
+	Victim *uint32 `protobuf:"varint,4,opt,name=victim" json:"victim,omitempty"`
+	// the location of the contact point between both bots [m]
+	Location      *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) Reset() {
+	*x = GameEvent_AttackerTouchedOpponentInDefenseArea{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[18]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_AttackerTouchedOpponentInDefenseArea) ProtoMessage() {}
+
+func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[18]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_AttackerTouchedOpponentInDefenseArea.ProtoReflect.Descriptor instead.
+func (*GameEvent_AttackerTouchedOpponentInDefenseArea) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 17}
+}
+
+func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) GetVictim() uint32 {
+	if x != nil && x.Victim != nil {
+		return *x.Victim
+	}
+	return 0
+}
+
+func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+// an attacker touched the ball multiple times when it was not allowed to
+type GameEvent_AttackerDoubleTouchedBall struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that touched the ball twice
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the ball when it was first touched [m]
+	Location      *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_AttackerDoubleTouchedBall) Reset() {
+	*x = GameEvent_AttackerDoubleTouchedBall{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[19]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_AttackerDoubleTouchedBall) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_AttackerDoubleTouchedBall) ProtoMessage() {}
+
+func (x *GameEvent_AttackerDoubleTouchedBall) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[19]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_AttackerDoubleTouchedBall.ProtoReflect.Descriptor instead.
+func (*GameEvent_AttackerDoubleTouchedBall) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 18}
+}
+
+func (x *GameEvent_AttackerDoubleTouchedBall) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_AttackerDoubleTouchedBall) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_AttackerDoubleTouchedBall) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+// an attacker was located too near to the opponent defense area during stop or free kick
+type GameEvent_AttackerTooCloseToDefenseArea struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that is too close to the defense area
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the bot [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the distance [m] of the bot to the penalty area
+	Distance *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
+	// the location of the ball at the moment when this foul occurred [m]
+	BallLocation  *Vector2 `protobuf:"bytes,5,opt,name=ball_location,json=ballLocation" json:"ball_location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_AttackerTooCloseToDefenseArea) Reset() {
+	*x = GameEvent_AttackerTooCloseToDefenseArea{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[20]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_AttackerTooCloseToDefenseArea) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_AttackerTooCloseToDefenseArea) ProtoMessage() {}
+
+func (x *GameEvent_AttackerTooCloseToDefenseArea) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[20]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_AttackerTooCloseToDefenseArea.ProtoReflect.Descriptor instead.
+func (*GameEvent_AttackerTooCloseToDefenseArea) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 19}
+}
+
+func (x *GameEvent_AttackerTooCloseToDefenseArea) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_AttackerTooCloseToDefenseArea) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_AttackerTooCloseToDefenseArea) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_AttackerTooCloseToDefenseArea) GetDistance() float32 {
+	if x != nil && x.Distance != nil {
+		return *x.Distance
+	}
+	return 0
+}
+
+func (x *GameEvent_AttackerTooCloseToDefenseArea) GetBallLocation() *Vector2 {
+	if x != nil {
+		return x.BallLocation
+	}
+	return nil
+}
+
+// a bot held the ball for too long
+type GameEvent_BotHeldBallDeliberately struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that holds the ball
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the ball [m]
+	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	// the duration [s] that the bot hold the ball
+	Duration      *float32 `protobuf:"fixed32,4,opt,name=duration" json:"duration,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotHeldBallDeliberately) Reset() {
+	*x = GameEvent_BotHeldBallDeliberately{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[21]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotHeldBallDeliberately) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotHeldBallDeliberately) ProtoMessage() {}
+
+func (x *GameEvent_BotHeldBallDeliberately) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[21]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotHeldBallDeliberately.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotHeldBallDeliberately) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 20}
+}
+
+func (x *GameEvent_BotHeldBallDeliberately) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BotHeldBallDeliberately) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_BotHeldBallDeliberately) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_BotHeldBallDeliberately) GetDuration() float32 {
+	if x != nil && x.Duration != nil {
+		return *x.Duration
+	}
+	return 0
+}
+
+// a bot interfered the ball placement of the other team
+type GameEvent_BotInterferedPlacement struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the bot that interfered the placement
+	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
+	// the location of the bot [m]
+	Location      *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotInterferedPlacement) Reset() {
+	*x = GameEvent_BotInterferedPlacement{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[22]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotInterferedPlacement) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotInterferedPlacement) ProtoMessage() {}
+
+func (x *GameEvent_BotInterferedPlacement) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[22]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotInterferedPlacement.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotInterferedPlacement) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 21}
+}
+
+func (x *GameEvent_BotInterferedPlacement) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BotInterferedPlacement) GetByBot() uint32 {
+	if x != nil && x.ByBot != nil {
+		return *x.ByBot
+	}
+	return 0
+}
+
+func (x *GameEvent_BotInterferedPlacement) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+// a team collected multiple yellow cards
+type GameEvent_MultipleCards struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that received multiple yellow cards
+	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_MultipleCards) Reset() {
+	*x = GameEvent_MultipleCards{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[23]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_MultipleCards) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_MultipleCards) ProtoMessage() {}
+
+func (x *GameEvent_MultipleCards) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[23]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_MultipleCards.ProtoReflect.Descriptor instead.
+func (*GameEvent_MultipleCards) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 22}
+}
+
+func (x *GameEvent_MultipleCards) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+// a team collected multiple fouls, which results in a yellow card
+type GameEvent_MultipleFouls struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that collected multiple fouls
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the list of game events that caused the multiple fouls
+	CausedGameEvents []*GameEvent `protobuf:"bytes,2,rep,name=caused_game_events,json=causedGameEvents" json:"caused_game_events,omitempty"`
+	unknownFields    protoimpl.UnknownFields
+	sizeCache        protoimpl.SizeCache
+}
+
+func (x *GameEvent_MultipleFouls) Reset() {
+	*x = GameEvent_MultipleFouls{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[24]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_MultipleFouls) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_MultipleFouls) ProtoMessage() {}
+
+func (x *GameEvent_MultipleFouls) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[24]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_MultipleFouls.ProtoReflect.Descriptor instead.
+func (*GameEvent_MultipleFouls) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 23}
+}
+
+func (x *GameEvent_MultipleFouls) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_MultipleFouls) GetCausedGameEvents() []*GameEvent {
+	if x != nil {
+		return x.CausedGameEvents
+	}
+	return nil
+}
+
+// a team failed to place the ball multiple times in a row
+type GameEvent_MultiplePlacementFailures struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that failed multiple times
+	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_MultiplePlacementFailures) Reset() {
+	*x = GameEvent_MultiplePlacementFailures{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[25]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_MultiplePlacementFailures) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_MultiplePlacementFailures) ProtoMessage() {}
+
+func (x *GameEvent_MultiplePlacementFailures) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[25]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_MultiplePlacementFailures.ProtoReflect.Descriptor instead.
+func (*GameEvent_MultiplePlacementFailures) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 24}
+}
+
+func (x *GameEvent_MultiplePlacementFailures) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+// timeout waiting for the attacking team to perform the free kick
+type GameEvent_KickTimeout struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that that should have kicked
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the location of the ball [m]
+	Location *Vector2 `protobuf:"bytes,2,opt,name=location" json:"location,omitempty"`
+	// the time [s] that was waited
+	Time          *float32 `protobuf:"fixed32,3,opt,name=time" json:"time,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_KickTimeout) Reset() {
+	*x = GameEvent_KickTimeout{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[26]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_KickTimeout) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_KickTimeout) ProtoMessage() {}
+
+func (x *GameEvent_KickTimeout) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[26]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_KickTimeout.ProtoReflect.Descriptor instead.
+func (*GameEvent_KickTimeout) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 25}
+}
+
+func (x *GameEvent_KickTimeout) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_KickTimeout) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_KickTimeout) GetTime() float32 {
+	if x != nil && x.Time != nil {
+		return *x.Time
+	}
+	return 0
+}
+
+// game was stuck
+type GameEvent_NoProgressInGame struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the location of the ball
+	Location *Vector2 `protobuf:"bytes,1,opt,name=location" json:"location,omitempty"`
+	// the time [s] that was waited
+	Time          *float32 `protobuf:"fixed32,2,opt,name=time" json:"time,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_NoProgressInGame) Reset() {
+	*x = GameEvent_NoProgressInGame{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[27]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_NoProgressInGame) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_NoProgressInGame) ProtoMessage() {}
+
+func (x *GameEvent_NoProgressInGame) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[27]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_NoProgressInGame.ProtoReflect.Descriptor instead.
+func (*GameEvent_NoProgressInGame) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 26}
+}
+
+func (x *GameEvent_NoProgressInGame) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_NoProgressInGame) GetTime() float32 {
+	if x != nil && x.Time != nil {
+		return *x.Time
+	}
+	return 0
+}
+
+// ball placement failed
+type GameEvent_PlacementFailed struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that failed
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the remaining distance [m] from ball to placement position
+	RemainingDistance *float32 `protobuf:"fixed32,2,opt,name=remaining_distance,json=remainingDistance" json:"remaining_distance,omitempty"`
+	// the distance [m] of the nearest own robot to the ball
+	NearestOwnBotDistance *float32 `protobuf:"fixed32,3,opt,name=nearest_own_bot_distance,json=nearestOwnBotDistance" json:"nearest_own_bot_distance,omitempty"`
+	unknownFields         protoimpl.UnknownFields
+	sizeCache             protoimpl.SizeCache
+}
+
+func (x *GameEvent_PlacementFailed) Reset() {
+	*x = GameEvent_PlacementFailed{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[28]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_PlacementFailed) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_PlacementFailed) ProtoMessage() {}
+
+func (x *GameEvent_PlacementFailed) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[28]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_PlacementFailed.ProtoReflect.Descriptor instead.
+func (*GameEvent_PlacementFailed) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 27}
+}
+
+func (x *GameEvent_PlacementFailed) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_PlacementFailed) GetRemainingDistance() float32 {
+	if x != nil && x.RemainingDistance != nil {
+		return *x.RemainingDistance
+	}
+	return 0
+}
+
+func (x *GameEvent_PlacementFailed) GetNearestOwnBotDistance() float32 {
+	if x != nil && x.NearestOwnBotDistance != nil {
+		return *x.NearestOwnBotDistance
+	}
+	return 0
+}
+
+// a team was found guilty for minor unsporting behavior
+type GameEvent_UnsportingBehaviorMinor struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// an explanation of the situation and decision
+	Reason        *string `protobuf:"bytes,2,req,name=reason" json:"reason,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_UnsportingBehaviorMinor) Reset() {
+	*x = GameEvent_UnsportingBehaviorMinor{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[29]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_UnsportingBehaviorMinor) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_UnsportingBehaviorMinor) ProtoMessage() {}
+
+func (x *GameEvent_UnsportingBehaviorMinor) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[29]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_UnsportingBehaviorMinor.ProtoReflect.Descriptor instead.
+func (*GameEvent_UnsportingBehaviorMinor) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 28}
+}
+
+func (x *GameEvent_UnsportingBehaviorMinor) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_UnsportingBehaviorMinor) GetReason() string {
+	if x != nil && x.Reason != nil {
+		return *x.Reason
+	}
+	return ""
+}
+
+// a team was found guilty for major unsporting behavior
+type GameEvent_UnsportingBehaviorMajor struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// an explanation of the situation and decision
+	Reason        *string `protobuf:"bytes,2,req,name=reason" json:"reason,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_UnsportingBehaviorMajor) Reset() {
+	*x = GameEvent_UnsportingBehaviorMajor{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[30]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_UnsportingBehaviorMajor) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_UnsportingBehaviorMajor) ProtoMessage() {}
+
+func (x *GameEvent_UnsportingBehaviorMajor) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[30]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_UnsportingBehaviorMajor.ProtoReflect.Descriptor instead.
+func (*GameEvent_UnsportingBehaviorMajor) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 29}
+}
+
+func (x *GameEvent_UnsportingBehaviorMajor) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_UnsportingBehaviorMajor) GetReason() string {
+	if x != nil && x.Reason != nil {
+		return *x.Reason
+	}
+	return ""
+}
+
+// a keeper held the ball in its defense area for too long
+type GameEvent_KeeperHeldBall struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that found guilty
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the location of the ball [m]
+	Location *Vector2 `protobuf:"bytes,2,opt,name=location" json:"location,omitempty"`
+	// the duration [s] that the keeper hold the ball
+	Duration      *float32 `protobuf:"fixed32,3,opt,name=duration" json:"duration,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_KeeperHeldBall) Reset() {
+	*x = GameEvent_KeeperHeldBall{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[31]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_KeeperHeldBall) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_KeeperHeldBall) ProtoMessage() {}
+
+func (x *GameEvent_KeeperHeldBall) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[31]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_KeeperHeldBall.ProtoReflect.Descriptor instead.
+func (*GameEvent_KeeperHeldBall) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 30}
+}
+
+func (x *GameEvent_KeeperHeldBall) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_KeeperHeldBall) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_KeeperHeldBall) GetDuration() float32 {
+	if x != nil && x.Duration != nil {
+		return *x.Duration
+	}
+	return 0
+}
+
+// a team successfully placed the ball
+type GameEvent_PlacementSucceeded struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that did the placement
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the time [s] taken for placing the ball
+	TimeTaken *float32 `protobuf:"fixed32,2,opt,name=time_taken,json=timeTaken" json:"time_taken,omitempty"`
+	// the distance [m] between placement location and actual ball position
+	Precision *float32 `protobuf:"fixed32,3,opt,name=precision" json:"precision,omitempty"`
+	// the distance [m] between the initial ball location and the placement position
+	Distance      *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_PlacementSucceeded) Reset() {
+	*x = GameEvent_PlacementSucceeded{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[32]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_PlacementSucceeded) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_PlacementSucceeded) ProtoMessage() {}
+
+func (x *GameEvent_PlacementSucceeded) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[32]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_PlacementSucceeded.ProtoReflect.Descriptor instead.
+func (*GameEvent_PlacementSucceeded) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 31}
+}
+
+func (x *GameEvent_PlacementSucceeded) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_PlacementSucceeded) GetTimeTaken() float32 {
+	if x != nil && x.TimeTaken != nil {
+		return *x.TimeTaken
+	}
+	return 0
+}
+
+func (x *GameEvent_PlacementSucceeded) GetPrecision() float32 {
+	if x != nil && x.Precision != nil {
+		return *x.Precision
+	}
+	return 0
+}
+
+func (x *GameEvent_PlacementSucceeded) GetDistance() float32 {
+	if x != nil && x.Distance != nil {
+		return *x.Distance
+	}
+	return 0
+}
+
+// both teams are prepared - all conditions are met to continue (with kickoff or penalty kick)
+type GameEvent_Prepared struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the time [s] taken for preparing
+	TimeTaken     *float32 `protobuf:"fixed32,1,opt,name=time_taken,json=timeTaken" json:"time_taken,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_Prepared) Reset() {
+	*x = GameEvent_Prepared{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[33]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_Prepared) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_Prepared) ProtoMessage() {}
+
+func (x *GameEvent_Prepared) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[33]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_Prepared.ProtoReflect.Descriptor instead.
+func (*GameEvent_Prepared) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 32}
+}
+
+func (x *GameEvent_Prepared) GetTimeTaken() float32 {
+	if x != nil && x.TimeTaken != nil {
+		return *x.TimeTaken
+	}
+	return 0
+}
+
+// bots are being substituted by a team
+type GameEvent_BotSubstitution struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that substitutes robots
+	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BotSubstitution) Reset() {
+	*x = GameEvent_BotSubstitution{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[34]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BotSubstitution) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BotSubstitution) ProtoMessage() {}
+
+func (x *GameEvent_BotSubstitution) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[34]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BotSubstitution.ProtoReflect.Descriptor instead.
+func (*GameEvent_BotSubstitution) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 33}
+}
+
+func (x *GameEvent_BotSubstitution) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+// A foul for excessive bot substitutions
+type GameEvent_ExcessiveBotSubstitution struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that substitutes robots
+	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_ExcessiveBotSubstitution) Reset() {
+	*x = GameEvent_ExcessiveBotSubstitution{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[35]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_ExcessiveBotSubstitution) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_ExcessiveBotSubstitution) ProtoMessage() {}
+
+func (x *GameEvent_ExcessiveBotSubstitution) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[35]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_ExcessiveBotSubstitution.ProtoReflect.Descriptor instead.
+func (*GameEvent_ExcessiveBotSubstitution) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 34}
+}
+
+func (x *GameEvent_ExcessiveBotSubstitution) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+// A challenge flag, requested by a team previously, is flagged
+type GameEvent_ChallengeFlag struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that requested the challenge flag
+	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_ChallengeFlag) Reset() {
+	*x = GameEvent_ChallengeFlag{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[36]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_ChallengeFlag) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_ChallengeFlag) ProtoMessage() {}
+
+func (x *GameEvent_ChallengeFlag) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[36]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_ChallengeFlag.ProtoReflect.Descriptor instead.
+func (*GameEvent_ChallengeFlag) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 35}
+}
+
+func (x *GameEvent_ChallengeFlag) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+// A challenge, flagged recently, has been handled by the referee
+type GameEvent_ChallengeFlagHandled struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that requested the challenge flag
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the challenge was accepted by the referee
+	Accepted      *bool `protobuf:"varint,2,req,name=accepted" json:"accepted,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_ChallengeFlagHandled) Reset() {
+	*x = GameEvent_ChallengeFlagHandled{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[37]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_ChallengeFlagHandled) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_ChallengeFlagHandled) ProtoMessage() {}
+
+func (x *GameEvent_ChallengeFlagHandled) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[37]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_ChallengeFlagHandled.ProtoReflect.Descriptor instead.
+func (*GameEvent_ChallengeFlagHandled) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 36}
+}
+
+func (x *GameEvent_ChallengeFlagHandled) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_ChallengeFlagHandled) GetAccepted() bool {
+	if x != nil && x.Accepted != nil {
+		return *x.Accepted
+	}
+	return false
+}
+
+// An emergency stop, requested by team previously, occurred
+type GameEvent_EmergencyStop struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that substitutes robots
+	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_EmergencyStop) Reset() {
+	*x = GameEvent_EmergencyStop{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[38]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_EmergencyStop) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_EmergencyStop) ProtoMessage() {}
+
+func (x *GameEvent_EmergencyStop) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[38]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_EmergencyStop.ProtoReflect.Descriptor instead.
+func (*GameEvent_EmergencyStop) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 37}
+}
+
+func (x *GameEvent_EmergencyStop) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+// a team has too many robots on the field
+type GameEvent_TooManyRobots struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that has too many robots
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// number of robots allowed at the moment
+	NumRobotsAllowed *int32 `protobuf:"varint,2,opt,name=num_robots_allowed,json=numRobotsAllowed" json:"num_robots_allowed,omitempty"`
+	// number of robots currently on the field
+	NumRobotsOnField *int32 `protobuf:"varint,3,opt,name=num_robots_on_field,json=numRobotsOnField" json:"num_robots_on_field,omitempty"`
+	// the location of the ball at the moment when this foul occurred [m]
+	BallLocation  *Vector2 `protobuf:"bytes,4,opt,name=ball_location,json=ballLocation" json:"ball_location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_TooManyRobots) Reset() {
+	*x = GameEvent_TooManyRobots{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[39]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_TooManyRobots) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_TooManyRobots) ProtoMessage() {}
+
+func (x *GameEvent_TooManyRobots) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[39]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_TooManyRobots.ProtoReflect.Descriptor instead.
+func (*GameEvent_TooManyRobots) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 38}
+}
+
+func (x *GameEvent_TooManyRobots) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_TooManyRobots) GetNumRobotsAllowed() int32 {
+	if x != nil && x.NumRobotsAllowed != nil {
+		return *x.NumRobotsAllowed
+	}
+	return 0
+}
+
+func (x *GameEvent_TooManyRobots) GetNumRobotsOnField() int32 {
+	if x != nil && x.NumRobotsOnField != nil {
+		return *x.NumRobotsOnField
+	}
+	return 0
+}
+
+func (x *GameEvent_TooManyRobots) GetBallLocation() *Vector2 {
+	if x != nil {
+		return x.BallLocation
+	}
+	return nil
+}
+
+// a robot chipped the ball over the field boundary out of the playing surface
+type GameEvent_BoundaryCrossing struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that has too many robots
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the location of the ball [m]
+	Location      *Vector2 `protobuf:"bytes,2,opt,name=location" json:"location,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_BoundaryCrossing) Reset() {
+	*x = GameEvent_BoundaryCrossing{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[40]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_BoundaryCrossing) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_BoundaryCrossing) ProtoMessage() {}
+
+func (x *GameEvent_BoundaryCrossing) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[40]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_BoundaryCrossing.ProtoReflect.Descriptor instead.
+func (*GameEvent_BoundaryCrossing) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 39}
+}
+
+func (x *GameEvent_BoundaryCrossing) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_BoundaryCrossing) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+// the penalty kick failed (by time or by keeper)
+type GameEvent_PenaltyKickFailed struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that last touched the ball
+	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
+	// the location of the ball at the moment of this event [m]
+	Location *Vector2 `protobuf:"bytes,2,opt,name=location" json:"location,omitempty"`
+	// an explanation of the failure
+	Reason        *string `protobuf:"bytes,3,opt,name=reason" json:"reason,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEvent_PenaltyKickFailed) Reset() {
+	*x = GameEvent_PenaltyKickFailed{}
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[41]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEvent_PenaltyKickFailed) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEvent_PenaltyKickFailed) ProtoMessage() {}
+
+func (x *GameEvent_PenaltyKickFailed) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[41]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEvent_PenaltyKickFailed.ProtoReflect.Descriptor instead.
+func (*GameEvent_PenaltyKickFailed) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 40}
+}
+
+func (x *GameEvent_PenaltyKickFailed) GetByTeam() Team {
+	if x != nil && x.ByTeam != nil {
+		return *x.ByTeam
+	}
+	return Team_UNKNOWN
+}
+
+func (x *GameEvent_PenaltyKickFailed) GetLocation() *Vector2 {
+	if x != nil {
+		return x.Location
+	}
+	return nil
+}
+
+func (x *GameEvent_PenaltyKickFailed) GetReason() string {
+	if x != nil && x.Reason != nil {
+		return *x.Reason
+	}
+	return ""
+}
+
+var File_gamecontroller_ssl_gc_game_event_proto protoreflect.FileDescriptor
+
+const file_gamecontroller_ssl_gc_game_event_proto_rawDesc = "" +
+	"\n" +
+	"&gamecontroller/ssl_gc_game_event.proto\x1a\"gamecontroller/ssl_gc_common.proto\x1a$gamecontroller/ssl_gc_geometry.proto\"\xceU\n" +
+	"\tGameEvent\x12\x0e\n" +
+	"\x02id\x182 \x01(\tR\x02id\x12#\n" +
+	"\x04type\x18( \x01(\x0e2\x0f.GameEvent.TypeR\x04type\x12\x16\n" +
+	"\x06origin\x18) \x03(\tR\x06origin\x12+\n" +
+	"\x11created_timestamp\x181 \x01(\x04R\x10createdTimestamp\x12V\n" +
+	"\x1aball_left_field_touch_line\x18\x06 \x01(\v2\x18.GameEvent.BallLeftFieldH\x00R\x16ballLeftFieldTouchLine\x12T\n" +
+	"\x19ball_left_field_goal_line\x18\a \x01(\v2\x18.GameEvent.BallLeftFieldH\x00R\x15ballLeftFieldGoalLine\x12;\n" +
+	"\faimless_kick\x18\v \x01(\v2\x16.GameEvent.AimlessKickH\x00R\vaimlessKick\x12u\n" +
+	"\"attacker_too_close_to_defense_area\x18\x13 \x01(\v2(.GameEvent.AttackerTooCloseToDefenseAreaH\x00R\x1dattackerTooCloseToDefenseArea\x12[\n" +
+	"\x18defender_in_defense_area\x18\x1f \x01(\v2 .GameEvent.DefenderInDefenseAreaH\x00R\x15defenderInDefenseArea\x12J\n" +
+	"\x11boundary_crossing\x18+ \x01(\v2\x1b.GameEvent.BoundaryCrossingH\x00R\x10boundaryCrossing\x12E\n" +
+	"\x10keeper_held_ball\x18\r \x01(\v2\x19.GameEvent.KeeperHeldBallH\x00R\x0ekeeperHeldBall\x12\\\n" +
+	"\x19bot_dribbled_ball_too_far\x18\x11 \x01(\v2 .GameEvent.BotDribbledBallTooFarH\x00R\x15botDribbledBallTooFar\x12?\n" +
+	"\x0ebot_pushed_bot\x18\x18 \x01(\v2\x17.GameEvent.BotPushedBotH\x00R\fbotPushedBot\x12a\n" +
+	"\x1abot_held_ball_deliberately\x18\x1a \x01(\v2\".GameEvent.BotHeldBallDeliberatelyH\x00R\x17botHeldBallDeliberately\x12B\n" +
+	"\x0fbot_tipped_over\x18\x1b \x01(\v2\x18.GameEvent.BotTippedOverH\x00R\rbotTippedOver\x12H\n" +
+	"\x11bot_dropped_parts\x183 \x01(\v2\x1a.GameEvent.BotDroppedPartsH\x00R\x0fbotDroppedParts\x12~\n" +
+	"%attacker_touched_ball_in_defense_area\x18\x0f \x01(\v2+.GameEvent.AttackerTouchedBallInDefenseAreaH\x00R attackerTouchedBallInDefenseArea\x12Y\n" +
+	"\x18bot_kicked_ball_too_fast\x18\x12 \x01(\v2\x1f.GameEvent.BotKickedBallTooFastH\x00R\x14botKickedBallTooFast\x12E\n" +
+	"\x10bot_crash_unique\x18\x16 \x01(\v2\x19.GameEvent.BotCrashUniqueH\x00R\x0ebotCrashUnique\x12B\n" +
+	"\x0fbot_crash_drawn\x18\x15 \x01(\v2\x18.GameEvent.BotCrashDrawnH\x00R\rbotCrashDrawn\x12o\n" +
+	" defender_too_close_to_kick_point\x18\x1d \x01(\v2&.GameEvent.DefenderTooCloseToKickPointH\x00R\x1bdefenderTooCloseToKickPoint\x12M\n" +
+	"\x14bot_too_fast_in_stop\x18\x1c \x01(\v2\x1b.GameEvent.BotTooFastInStopH\x00R\x10botTooFastInStop\x12]\n" +
+	"\x18bot_interfered_placement\x18\x14 \x01(\v2!.GameEvent.BotInterferedPlacementH\x00R\x16botInterferedPlacement\x126\n" +
+	"\rpossible_goal\x18' \x01(\v2\x0f.GameEvent.GoalH\x00R\fpossibleGoal\x12%\n" +
+	"\x04goal\x18\b \x01(\v2\x0f.GameEvent.GoalH\x00R\x04goal\x124\n" +
+	"\finvalid_goal\x18, \x01(\v2\x0f.GameEvent.GoalH\x00R\vinvalidGoal\x12g\n" +
+	"\x1cattacker_double_touched_ball\x18\x0e \x01(\v2$.GameEvent.AttackerDoubleTouchedBallH\x00R\x19attackerDoubleTouchedBall\x12P\n" +
+	"\x13placement_succeeded\x18\x05 \x01(\v2\x1d.GameEvent.PlacementSucceededH\x00R\x12placementSucceeded\x12N\n" +
+	"\x13penalty_kick_failed\x18- \x01(\v2\x1c.GameEvent.PenaltyKickFailedH\x00R\x11penaltyKickFailed\x12L\n" +
+	"\x13no_progress_in_game\x18\x02 \x01(\v2\x1b.GameEvent.NoProgressInGameH\x00R\x10noProgressInGame\x12G\n" +
+	"\x10placement_failed\x18\x03 \x01(\v2\x1a.GameEvent.PlacementFailedH\x00R\x0fplacementFailed\x12A\n" +
+	"\x0emultiple_cards\x18  \x01(\v2\x18.GameEvent.MultipleCardsH\x00R\rmultipleCards\x12A\n" +
+	"\x0emultiple_fouls\x18\" \x01(\v2\x18.GameEvent.MultipleFoulsH\x00R\rmultipleFouls\x12G\n" +
+	"\x10bot_substitution\x18% \x01(\v2\x1a.GameEvent.BotSubstitutionH\x00R\x0fbotSubstitution\x12c\n" +
+	"\x1aexcessive_bot_substitution\x184 \x01(\v2#.GameEvent.ExcessiveBotSubstitutionH\x00R\x18excessiveBotSubstitution\x12B\n" +
+	"\x0ftoo_many_robots\x18& \x01(\v2\x18.GameEvent.TooManyRobotsH\x00R\rtooManyRobots\x12A\n" +
+	"\x0echallenge_flag\x18. \x01(\v2\x18.GameEvent.ChallengeFlagH\x00R\rchallengeFlag\x12W\n" +
+	"\x16challenge_flag_handled\x180 \x01(\v2\x1f.GameEvent.ChallengeFlagHandledH\x00R\x14challengeFlagHandled\x12A\n" +
+	"\x0eemergency_stop\x18/ \x01(\v2\x18.GameEvent.EmergencyStopH\x00R\remergencyStop\x12`\n" +
+	"\x19unsporting_behavior_minor\x18# \x01(\v2\".GameEvent.UnsportingBehaviorMinorH\x00R\x17unsportingBehaviorMinor\x12`\n" +
+	"\x19unsporting_behavior_major\x18$ \x01(\v2\".GameEvent.UnsportingBehaviorMajorH\x00R\x17unsportingBehaviorMajor\x125\n" +
+	"\bprepared\x18\x01 \x01(\v2\x13.GameEvent.PreparedB\x02\x18\x01H\x00R\bprepared\x12B\n" +
+	"\rindirect_goal\x18\t \x01(\v2\x17.GameEvent.IndirectGoalB\x02\x18\x01H\x00R\findirectGoal\x12?\n" +
+	"\fchipped_goal\x18\n" +
+	" \x01(\v2\x16.GameEvent.ChippedGoalB\x02\x18\x01H\x00R\vchippedGoal\x12?\n" +
+	"\fkick_timeout\x18\f \x01(\v2\x16.GameEvent.KickTimeoutB\x02\x18\x01H\x00R\vkickTimeout\x12\x8e\x01\n" +
+	")attacker_touched_opponent_in_defense_area\x18\x10 \x01(\v2/.GameEvent.AttackerTouchedOpponentInDefenseAreaB\x02\x18\x01H\x00R$attackerTouchedOpponentInDefenseArea\x12\x9d\x01\n" +
+	"1attacker_touched_opponent_in_defense_area_skipped\x18* \x01(\v2/.GameEvent.AttackerTouchedOpponentInDefenseAreaB\x02\x18\x01H\x00R+attackerTouchedOpponentInDefenseAreaSkipped\x12X\n" +
+	"\x18bot_crash_unique_skipped\x18\x17 \x01(\v2\x19.GameEvent.BotCrashUniqueB\x02\x18\x01H\x00R\x15botCrashUniqueSkipped\x12R\n" +
+	"\x16bot_pushed_bot_skipped\x18\x19 \x01(\v2\x17.GameEvent.BotPushedBotB\x02\x18\x01H\x00R\x13botPushedBotSkipped\x12{\n" +
+	"\"defender_in_defense_area_partially\x18\x1e \x01(\v2).GameEvent.DefenderInDefenseAreaPartiallyB\x02\x18\x01H\x00R\x1edefenderInDefenseAreaPartially\x12j\n" +
+	"\x1bmultiple_placement_failures\x18! \x01(\v2$.GameEvent.MultiplePlacementFailuresB\x02\x18\x01H\x00R\x19multiplePlacementFailures\x1al\n" +
+	"\rBallLeftField\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x1a\x99\x01\n" +
+	"\vAimlessKick\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
+	"\rkick_location\x18\x04 \x01(\v2\b.Vector2R\fkickLocation\x1a\xe2\x02\n" +
+	"\x04Goal\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12(\n" +
+	"\fkicking_team\x18\x06 \x01(\x0e2\x05.TeamR\vkickingTeam\x12\x1f\n" +
+	"\vkicking_bot\x18\x02 \x01(\rR\n" +
+	"kickingBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
+	"\rkick_location\x18\x04 \x01(\v2\b.Vector2R\fkickLocation\x12&\n" +
+	"\x0fmax_ball_height\x18\x05 \x01(\x02R\rmaxBallHeight\x12+\n" +
+	"\x12num_robots_by_team\x18\a \x01(\rR\x0fnumRobotsByTeam\x12+\n" +
+	"\x12last_touch_by_team\x18\b \x01(\x04R\x0flastTouchByTeam\x12\x18\n" +
+	"\amessage\x18\t \x01(\tR\amessage\x1a\x9a\x01\n" +
+	"\fIndirectGoal\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
+	"\rkick_location\x18\x04 \x01(\v2\b.Vector2R\fkickLocation\x1a\xc1\x01\n" +
+	"\vChippedGoal\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
+	"\rkick_location\x18\x04 \x01(\v2\b.Vector2R\fkickLocation\x12&\n" +
+	"\x0fmax_ball_height\x18\x05 \x01(\x02R\rmaxBallHeight\x1a\x85\x01\n" +
+	"\x10BotTooFastInStop\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x14\n" +
+	"\x05speed\x18\x04 \x01(\x02R\x05speed\x1a\x96\x01\n" +
+	"\x1bDefenderTooCloseToKickPoint\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
+	"\bdistance\x18\x04 \x01(\x02R\bdistance\x1a\xd0\x01\n" +
+	"\rBotCrashDrawn\x12\x1d\n" +
+	"\n" +
+	"bot_yellow\x18\x01 \x01(\rR\tbotYellow\x12\x19\n" +
+	"\bbot_blue\x18\x02 \x01(\rR\abotBlue\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1f\n" +
+	"\vcrash_speed\x18\x04 \x01(\x02R\n" +
+	"crashSpeed\x12\x1d\n" +
+	"\n" +
+	"speed_diff\x18\x05 \x01(\x02R\tspeedDiff\x12\x1f\n" +
+	"\vcrash_angle\x18\x06 \x01(\x02R\n" +
+	"crashAngle\x1a\xeb\x01\n" +
+	"\x0eBotCrashUnique\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x1a\n" +
+	"\bviolator\x18\x02 \x01(\rR\bviolator\x12\x16\n" +
+	"\x06victim\x18\x03 \x01(\rR\x06victim\x12$\n" +
+	"\blocation\x18\x04 \x01(\v2\b.Vector2R\blocation\x12\x1f\n" +
+	"\vcrash_speed\x18\x05 \x01(\x02R\n" +
+	"crashSpeed\x12\x1d\n" +
+	"\n" +
+	"speed_diff\x18\x06 \x01(\x02R\tspeedDiff\x12\x1f\n" +
+	"\vcrash_angle\x18\a \x01(\x02R\n" +
+	"crashAngle\x1a\xb1\x01\n" +
+	"\fBotPushedBot\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x1a\n" +
+	"\bviolator\x18\x02 \x01(\rR\bviolator\x12\x16\n" +
+	"\x06victim\x18\x03 \x01(\rR\x06victim\x12$\n" +
+	"\blocation\x18\x04 \x01(\v2\b.Vector2R\blocation\x12'\n" +
+	"\x0fpushed_distance\x18\x05 \x01(\x02R\x0epushedDistance\x1a\x9b\x01\n" +
+	"\rBotTippedOver\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
+	"\rball_location\x18\x04 \x01(\v2\b.Vector2R\fballLocation\x1a\x9d\x01\n" +
+	"\x0fBotDroppedParts\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
+	"\rball_location\x18\x04 \x01(\v2\b.Vector2R\fballLocation\x1a\x90\x01\n" +
+	"\x15DefenderInDefenseArea\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
+	"\bdistance\x18\x04 \x01(\x02R\bdistance\x1a\xc8\x01\n" +
+	"\x1eDefenderInDefenseAreaPartially\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
+	"\bdistance\x18\x04 \x01(\x02R\bdistance\x12-\n" +
+	"\rball_location\x18\x05 \x01(\v2\b.Vector2R\fballLocation\x1a\x9b\x01\n" +
+	" AttackerTouchedBallInDefenseArea\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
+	"\bdistance\x18\x04 \x01(\x02R\bdistance\x1a\xbb\x01\n" +
+	"\x14BotKickedBallTooFast\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12,\n" +
+	"\x12initial_ball_speed\x18\x04 \x01(\x02R\x10initialBallSpeed\x12\x18\n" +
+	"\achipped\x18\x05 \x01(\bR\achipped\x1a\x8a\x01\n" +
+	"\x15BotDribbledBallTooFar\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12\x1e\n" +
+	"\x05start\x18\x03 \x01(\v2\b.Vector2R\x05start\x12\x1a\n" +
+	"\x03end\x18\x04 \x01(\v2\b.Vector2R\x03end\x1a\x9b\x01\n" +
+	"$AttackerTouchedOpponentInDefenseArea\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12\x16\n" +
+	"\x06victim\x18\x04 \x01(\rR\x06victim\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x1ax\n" +
+	"\x19AttackerDoubleTouchedBall\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x1a\xc7\x01\n" +
+	"\x1dAttackerTooCloseToDefenseArea\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
+	"\bdistance\x18\x04 \x01(\x02R\bdistance\x12-\n" +
+	"\rball_location\x18\x05 \x01(\v2\b.Vector2R\fballLocation\x1a\x92\x01\n" +
+	"\x17BotHeldBallDeliberately\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
+	"\bduration\x18\x04 \x01(\x02R\bduration\x1au\n" +
+	"\x16BotInterferedPlacement\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
+	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
+	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x1a/\n" +
+	"\rMultipleCards\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1ai\n" +
+	"\rMultipleFouls\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x128\n" +
+	"\x12caused_game_events\x18\x02 \x03(\v2\n" +
+	".GameEventR\x10causedGameEvents\x1a;\n" +
+	"\x19MultiplePlacementFailures\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1ag\n" +
+	"\vKickTimeout\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12$\n" +
+	"\blocation\x18\x02 \x01(\v2\b.Vector2R\blocation\x12\x12\n" +
+	"\x04time\x18\x03 \x01(\x02R\x04time\x1aL\n" +
+	"\x10NoProgressInGame\x12$\n" +
+	"\blocation\x18\x01 \x01(\v2\b.Vector2R\blocation\x12\x12\n" +
+	"\x04time\x18\x02 \x01(\x02R\x04time\x1a\x99\x01\n" +
+	"\x0fPlacementFailed\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12-\n" +
+	"\x12remaining_distance\x18\x02 \x01(\x02R\x11remainingDistance\x127\n" +
+	"\x18nearest_own_bot_distance\x18\x03 \x01(\x02R\x15nearestOwnBotDistance\x1aQ\n" +
+	"\x17UnsportingBehaviorMinor\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x16\n" +
+	"\x06reason\x18\x02 \x02(\tR\x06reason\x1aQ\n" +
+	"\x17UnsportingBehaviorMajor\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x16\n" +
+	"\x06reason\x18\x02 \x02(\tR\x06reason\x1ar\n" +
+	"\x0eKeeperHeldBall\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12$\n" +
+	"\blocation\x18\x02 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
+	"\bduration\x18\x03 \x01(\x02R\bduration\x1a\x8d\x01\n" +
+	"\x12PlacementSucceeded\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x1d\n" +
+	"\n" +
+	"time_taken\x18\x02 \x01(\x02R\ttimeTaken\x12\x1c\n" +
+	"\tprecision\x18\x03 \x01(\x02R\tprecision\x12\x1a\n" +
+	"\bdistance\x18\x04 \x01(\x02R\bdistance\x1a)\n" +
+	"\bPrepared\x12\x1d\n" +
+	"\n" +
+	"time_taken\x18\x01 \x01(\x02R\ttimeTaken\x1a1\n" +
+	"\x0fBotSubstitution\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1a:\n" +
+	"\x18ExcessiveBotSubstitution\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1a/\n" +
+	"\rChallengeFlag\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1aR\n" +
+	"\x14ChallengeFlagHandled\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x1a\n" +
+	"\baccepted\x18\x02 \x02(\bR\baccepted\x1a/\n" +
+	"\rEmergencyStop\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1a\xbb\x01\n" +
+	"\rTooManyRobots\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12,\n" +
+	"\x12num_robots_allowed\x18\x02 \x01(\x05R\x10numRobotsAllowed\x12-\n" +
+	"\x13num_robots_on_field\x18\x03 \x01(\x05R\x10numRobotsOnField\x12-\n" +
+	"\rball_location\x18\x04 \x01(\v2\b.Vector2R\fballLocation\x1aX\n" +
+	"\x10BoundaryCrossing\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12$\n" +
+	"\blocation\x18\x02 \x01(\v2\b.Vector2R\blocation\x1aq\n" +
+	"\x11PenaltyKickFailed\x12\x1e\n" +
+	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12$\n" +
+	"\blocation\x18\x02 \x01(\v2\b.Vector2R\blocation\x12\x16\n" +
+	"\x06reason\x18\x03 \x01(\tR\x06reason\"\xb5\n" +
+	"\n" +
+	"\x04Type\x12\x1b\n" +
+	"\x17UNKNOWN_GAME_EVENT_TYPE\x10\x00\x12\x1e\n" +
+	"\x1aBALL_LEFT_FIELD_TOUCH_LINE\x10\x06\x12\x1d\n" +
+	"\x19BALL_LEFT_FIELD_GOAL_LINE\x10\a\x12\x10\n" +
+	"\fAIMLESS_KICK\x10\v\x12&\n" +
+	"\"ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA\x10\x13\x12\x1c\n" +
+	"\x18DEFENDER_IN_DEFENSE_AREA\x10\x1f\x12\x15\n" +
+	"\x11BOUNDARY_CROSSING\x10)\x12\x14\n" +
+	"\x10KEEPER_HELD_BALL\x10\r\x12\x1d\n" +
+	"\x19BOT_DRIBBLED_BALL_TOO_FAR\x10\x11\x12\x12\n" +
+	"\x0eBOT_PUSHED_BOT\x10\x18\x12\x1e\n" +
+	"\x1aBOT_HELD_BALL_DELIBERATELY\x10\x1a\x12\x13\n" +
+	"\x0fBOT_TIPPED_OVER\x10\x1b\x12\x15\n" +
+	"\x11BOT_DROPPED_PARTS\x10/\x12)\n" +
+	"%ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA\x10\x0f\x12\x1c\n" +
+	"\x18BOT_KICKED_BALL_TOO_FAST\x10\x12\x12\x14\n" +
+	"\x10BOT_CRASH_UNIQUE\x10\x16\x12\x13\n" +
+	"\x0fBOT_CRASH_DRAWN\x10\x15\x12$\n" +
+	" DEFENDER_TOO_CLOSE_TO_KICK_POINT\x10\x1d\x12\x18\n" +
+	"\x14BOT_TOO_FAST_IN_STOP\x10\x1c\x12\x1c\n" +
+	"\x18BOT_INTERFERED_PLACEMENT\x10\x14\x12\x1e\n" +
+	"\x1aEXCESSIVE_BOT_SUBSTITUTION\x100\x12\x11\n" +
+	"\rPOSSIBLE_GOAL\x10'\x12\b\n" +
+	"\x04GOAL\x10\b\x12\x10\n" +
+	"\fINVALID_GOAL\x10*\x12 \n" +
+	"\x1cATTACKER_DOUBLE_TOUCHED_BALL\x10\x0e\x12\x17\n" +
+	"\x13PLACEMENT_SUCCEEDED\x10\x05\x12\x17\n" +
+	"\x13PENALTY_KICK_FAILED\x10+\x12\x17\n" +
+	"\x13NO_PROGRESS_IN_GAME\x10\x02\x12\x14\n" +
+	"\x10PLACEMENT_FAILED\x10\x03\x12\x12\n" +
+	"\x0eMULTIPLE_CARDS\x10 \x12\x12\n" +
+	"\x0eMULTIPLE_FOULS\x10\"\x12\x14\n" +
+	"\x10BOT_SUBSTITUTION\x10%\x12\x13\n" +
+	"\x0fTOO_MANY_ROBOTS\x10&\x12\x12\n" +
+	"\x0eCHALLENGE_FLAG\x10,\x12\x1a\n" +
+	"\x16CHALLENGE_FLAG_HANDLED\x10.\x12\x12\n" +
+	"\x0eEMERGENCY_STOP\x10-\x12\x1d\n" +
+	"\x19UNSPORTING_BEHAVIOR_MINOR\x10#\x12\x1d\n" +
+	"\x19UNSPORTING_BEHAVIOR_MAJOR\x10$\x12\x10\n" +
+	"\bPREPARED\x10\x01\x1a\x02\b\x01\x12\x15\n" +
+	"\rINDIRECT_GOAL\x10\t\x1a\x02\b\x01\x12\x14\n" +
+	"\fCHIPPED_GOAL\x10\n" +
+	"\x1a\x02\b\x01\x12\x14\n" +
+	"\fKICK_TIMEOUT\x10\f\x1a\x02\b\x01\x121\n" +
+	")ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA\x10\x10\x1a\x02\b\x01\x129\n" +
+	"1ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED\x10(\x1a\x02\b\x01\x12 \n" +
+	"\x18BOT_CRASH_UNIQUE_SKIPPED\x10\x17\x1a\x02\b\x01\x12\x1e\n" +
+	"\x16BOT_PUSHED_BOT_SKIPPED\x10\x19\x1a\x02\b\x01\x12*\n" +
+	"\"DEFENDER_IN_DEFENSE_AREA_PARTIALLY\x10\x1e\x1a\x02\b\x01\x12#\n" +
+	"\x1bMULTIPLE_PLACEMENT_FAILURES\x10!\x1a\x02\b\x01B\a\n" +
+	"\x05eventB`B\x13SslGcGameEventProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+
+var (
+	file_gamecontroller_ssl_gc_game_event_proto_rawDescOnce sync.Once
+	file_gamecontroller_ssl_gc_game_event_proto_rawDescData []byte
+)
+
+func file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP() []byte {
+	file_gamecontroller_ssl_gc_game_event_proto_rawDescOnce.Do(func() {
+		file_gamecontroller_ssl_gc_game_event_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_game_event_proto_rawDesc), len(file_gamecontroller_ssl_gc_game_event_proto_rawDesc)))
+	})
+	return file_gamecontroller_ssl_gc_game_event_proto_rawDescData
+}
+
+var file_gamecontroller_ssl_gc_game_event_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
+var file_gamecontroller_ssl_gc_game_event_proto_msgTypes = make([]protoimpl.MessageInfo, 42)
+var file_gamecontroller_ssl_gc_game_event_proto_goTypes = []any{
+	(GameEvent_Type)(0),                                    // 0: GameEvent.Type
+	(*GameEvent)(nil),                                      // 1: GameEvent
+	(*GameEvent_BallLeftField)(nil),                        // 2: GameEvent.BallLeftField
+	(*GameEvent_AimlessKick)(nil),                          // 3: GameEvent.AimlessKick
+	(*GameEvent_Goal)(nil),                                 // 4: GameEvent.Goal
+	(*GameEvent_IndirectGoal)(nil),                         // 5: GameEvent.IndirectGoal
+	(*GameEvent_ChippedGoal)(nil),                          // 6: GameEvent.ChippedGoal
+	(*GameEvent_BotTooFastInStop)(nil),                     // 7: GameEvent.BotTooFastInStop
+	(*GameEvent_DefenderTooCloseToKickPoint)(nil),          // 8: GameEvent.DefenderTooCloseToKickPoint
+	(*GameEvent_BotCrashDrawn)(nil),                        // 9: GameEvent.BotCrashDrawn
+	(*GameEvent_BotCrashUnique)(nil),                       // 10: GameEvent.BotCrashUnique
+	(*GameEvent_BotPushedBot)(nil),                         // 11: GameEvent.BotPushedBot
+	(*GameEvent_BotTippedOver)(nil),                        // 12: GameEvent.BotTippedOver
+	(*GameEvent_BotDroppedParts)(nil),                      // 13: GameEvent.BotDroppedParts
+	(*GameEvent_DefenderInDefenseArea)(nil),                // 14: GameEvent.DefenderInDefenseArea
+	(*GameEvent_DefenderInDefenseAreaPartially)(nil),       // 15: GameEvent.DefenderInDefenseAreaPartially
+	(*GameEvent_AttackerTouchedBallInDefenseArea)(nil),     // 16: GameEvent.AttackerTouchedBallInDefenseArea
+	(*GameEvent_BotKickedBallTooFast)(nil),                 // 17: GameEvent.BotKickedBallTooFast
+	(*GameEvent_BotDribbledBallTooFar)(nil),                // 18: GameEvent.BotDribbledBallTooFar
+	(*GameEvent_AttackerTouchedOpponentInDefenseArea)(nil), // 19: GameEvent.AttackerTouchedOpponentInDefenseArea
+	(*GameEvent_AttackerDoubleTouchedBall)(nil),            // 20: GameEvent.AttackerDoubleTouchedBall
+	(*GameEvent_AttackerTooCloseToDefenseArea)(nil),        // 21: GameEvent.AttackerTooCloseToDefenseArea
+	(*GameEvent_BotHeldBallDeliberately)(nil),              // 22: GameEvent.BotHeldBallDeliberately
+	(*GameEvent_BotInterferedPlacement)(nil),               // 23: GameEvent.BotInterferedPlacement
+	(*GameEvent_MultipleCards)(nil),                        // 24: GameEvent.MultipleCards
+	(*GameEvent_MultipleFouls)(nil),                        // 25: GameEvent.MultipleFouls
+	(*GameEvent_MultiplePlacementFailures)(nil),            // 26: GameEvent.MultiplePlacementFailures
+	(*GameEvent_KickTimeout)(nil),                          // 27: GameEvent.KickTimeout
+	(*GameEvent_NoProgressInGame)(nil),                     // 28: GameEvent.NoProgressInGame
+	(*GameEvent_PlacementFailed)(nil),                      // 29: GameEvent.PlacementFailed
+	(*GameEvent_UnsportingBehaviorMinor)(nil),              // 30: GameEvent.UnsportingBehaviorMinor
+	(*GameEvent_UnsportingBehaviorMajor)(nil),              // 31: GameEvent.UnsportingBehaviorMajor
+	(*GameEvent_KeeperHeldBall)(nil),                       // 32: GameEvent.KeeperHeldBall
+	(*GameEvent_PlacementSucceeded)(nil),                   // 33: GameEvent.PlacementSucceeded
+	(*GameEvent_Prepared)(nil),                             // 34: GameEvent.Prepared
+	(*GameEvent_BotSubstitution)(nil),                      // 35: GameEvent.BotSubstitution
+	(*GameEvent_ExcessiveBotSubstitution)(nil),             // 36: GameEvent.ExcessiveBotSubstitution
+	(*GameEvent_ChallengeFlag)(nil),                        // 37: GameEvent.ChallengeFlag
+	(*GameEvent_ChallengeFlagHandled)(nil),                 // 38: GameEvent.ChallengeFlagHandled
+	(*GameEvent_EmergencyStop)(nil),                        // 39: GameEvent.EmergencyStop
+	(*GameEvent_TooManyRobots)(nil),                        // 40: GameEvent.TooManyRobots
+	(*GameEvent_BoundaryCrossing)(nil),                     // 41: GameEvent.BoundaryCrossing
+	(*GameEvent_PenaltyKickFailed)(nil),                    // 42: GameEvent.PenaltyKickFailed
+	(Team)(0),                                              // 43: Team
+	(*Vector2)(nil),                                        // 44: Vector2
+}
+var file_gamecontroller_ssl_gc_game_event_proto_depIdxs = []int32{
+	0,   // 0: GameEvent.type:type_name -> GameEvent.Type
+	2,   // 1: GameEvent.ball_left_field_touch_line:type_name -> GameEvent.BallLeftField
+	2,   // 2: GameEvent.ball_left_field_goal_line:type_name -> GameEvent.BallLeftField
+	3,   // 3: GameEvent.aimless_kick:type_name -> GameEvent.AimlessKick
+	21,  // 4: GameEvent.attacker_too_close_to_defense_area:type_name -> GameEvent.AttackerTooCloseToDefenseArea
+	14,  // 5: GameEvent.defender_in_defense_area:type_name -> GameEvent.DefenderInDefenseArea
+	41,  // 6: GameEvent.boundary_crossing:type_name -> GameEvent.BoundaryCrossing
+	32,  // 7: GameEvent.keeper_held_ball:type_name -> GameEvent.KeeperHeldBall
+	18,  // 8: GameEvent.bot_dribbled_ball_too_far:type_name -> GameEvent.BotDribbledBallTooFar
+	11,  // 9: GameEvent.bot_pushed_bot:type_name -> GameEvent.BotPushedBot
+	22,  // 10: GameEvent.bot_held_ball_deliberately:type_name -> GameEvent.BotHeldBallDeliberately
+	12,  // 11: GameEvent.bot_tipped_over:type_name -> GameEvent.BotTippedOver
+	13,  // 12: GameEvent.bot_dropped_parts:type_name -> GameEvent.BotDroppedParts
+	16,  // 13: GameEvent.attacker_touched_ball_in_defense_area:type_name -> GameEvent.AttackerTouchedBallInDefenseArea
+	17,  // 14: GameEvent.bot_kicked_ball_too_fast:type_name -> GameEvent.BotKickedBallTooFast
+	10,  // 15: GameEvent.bot_crash_unique:type_name -> GameEvent.BotCrashUnique
+	9,   // 16: GameEvent.bot_crash_drawn:type_name -> GameEvent.BotCrashDrawn
+	8,   // 17: GameEvent.defender_too_close_to_kick_point:type_name -> GameEvent.DefenderTooCloseToKickPoint
+	7,   // 18: GameEvent.bot_too_fast_in_stop:type_name -> GameEvent.BotTooFastInStop
+	23,  // 19: GameEvent.bot_interfered_placement:type_name -> GameEvent.BotInterferedPlacement
+	4,   // 20: GameEvent.possible_goal:type_name -> GameEvent.Goal
+	4,   // 21: GameEvent.goal:type_name -> GameEvent.Goal
+	4,   // 22: GameEvent.invalid_goal:type_name -> GameEvent.Goal
+	20,  // 23: GameEvent.attacker_double_touched_ball:type_name -> GameEvent.AttackerDoubleTouchedBall
+	33,  // 24: GameEvent.placement_succeeded:type_name -> GameEvent.PlacementSucceeded
+	42,  // 25: GameEvent.penalty_kick_failed:type_name -> GameEvent.PenaltyKickFailed
+	28,  // 26: GameEvent.no_progress_in_game:type_name -> GameEvent.NoProgressInGame
+	29,  // 27: GameEvent.placement_failed:type_name -> GameEvent.PlacementFailed
+	24,  // 28: GameEvent.multiple_cards:type_name -> GameEvent.MultipleCards
+	25,  // 29: GameEvent.multiple_fouls:type_name -> GameEvent.MultipleFouls
+	35,  // 30: GameEvent.bot_substitution:type_name -> GameEvent.BotSubstitution
+	36,  // 31: GameEvent.excessive_bot_substitution:type_name -> GameEvent.ExcessiveBotSubstitution
+	40,  // 32: GameEvent.too_many_robots:type_name -> GameEvent.TooManyRobots
+	37,  // 33: GameEvent.challenge_flag:type_name -> GameEvent.ChallengeFlag
+	38,  // 34: GameEvent.challenge_flag_handled:type_name -> GameEvent.ChallengeFlagHandled
+	39,  // 35: GameEvent.emergency_stop:type_name -> GameEvent.EmergencyStop
+	30,  // 36: GameEvent.unsporting_behavior_minor:type_name -> GameEvent.UnsportingBehaviorMinor
+	31,  // 37: GameEvent.unsporting_behavior_major:type_name -> GameEvent.UnsportingBehaviorMajor
+	34,  // 38: GameEvent.prepared:type_name -> GameEvent.Prepared
+	5,   // 39: GameEvent.indirect_goal:type_name -> GameEvent.IndirectGoal
+	6,   // 40: GameEvent.chipped_goal:type_name -> GameEvent.ChippedGoal
+	27,  // 41: GameEvent.kick_timeout:type_name -> GameEvent.KickTimeout
+	19,  // 42: GameEvent.attacker_touched_opponent_in_defense_area:type_name -> GameEvent.AttackerTouchedOpponentInDefenseArea
+	19,  // 43: GameEvent.attacker_touched_opponent_in_defense_area_skipped:type_name -> GameEvent.AttackerTouchedOpponentInDefenseArea
+	10,  // 44: GameEvent.bot_crash_unique_skipped:type_name -> GameEvent.BotCrashUnique
+	11,  // 45: GameEvent.bot_pushed_bot_skipped:type_name -> GameEvent.BotPushedBot
+	15,  // 46: GameEvent.defender_in_defense_area_partially:type_name -> GameEvent.DefenderInDefenseAreaPartially
+	26,  // 47: GameEvent.multiple_placement_failures:type_name -> GameEvent.MultiplePlacementFailures
+	43,  // 48: GameEvent.BallLeftField.by_team:type_name -> Team
+	44,  // 49: GameEvent.BallLeftField.location:type_name -> Vector2
+	43,  // 50: GameEvent.AimlessKick.by_team:type_name -> Team
+	44,  // 51: GameEvent.AimlessKick.location:type_name -> Vector2
+	44,  // 52: GameEvent.AimlessKick.kick_location:type_name -> Vector2
+	43,  // 53: GameEvent.Goal.by_team:type_name -> Team
+	43,  // 54: GameEvent.Goal.kicking_team:type_name -> Team
+	44,  // 55: GameEvent.Goal.location:type_name -> Vector2
+	44,  // 56: GameEvent.Goal.kick_location:type_name -> Vector2
+	43,  // 57: GameEvent.IndirectGoal.by_team:type_name -> Team
+	44,  // 58: GameEvent.IndirectGoal.location:type_name -> Vector2
+	44,  // 59: GameEvent.IndirectGoal.kick_location:type_name -> Vector2
+	43,  // 60: GameEvent.ChippedGoal.by_team:type_name -> Team
+	44,  // 61: GameEvent.ChippedGoal.location:type_name -> Vector2
+	44,  // 62: GameEvent.ChippedGoal.kick_location:type_name -> Vector2
+	43,  // 63: GameEvent.BotTooFastInStop.by_team:type_name -> Team
+	44,  // 64: GameEvent.BotTooFastInStop.location:type_name -> Vector2
+	43,  // 65: GameEvent.DefenderTooCloseToKickPoint.by_team:type_name -> Team
+	44,  // 66: GameEvent.DefenderTooCloseToKickPoint.location:type_name -> Vector2
+	44,  // 67: GameEvent.BotCrashDrawn.location:type_name -> Vector2
+	43,  // 68: GameEvent.BotCrashUnique.by_team:type_name -> Team
+	44,  // 69: GameEvent.BotCrashUnique.location:type_name -> Vector2
+	43,  // 70: GameEvent.BotPushedBot.by_team:type_name -> Team
+	44,  // 71: GameEvent.BotPushedBot.location:type_name -> Vector2
+	43,  // 72: GameEvent.BotTippedOver.by_team:type_name -> Team
+	44,  // 73: GameEvent.BotTippedOver.location:type_name -> Vector2
+	44,  // 74: GameEvent.BotTippedOver.ball_location:type_name -> Vector2
+	43,  // 75: GameEvent.BotDroppedParts.by_team:type_name -> Team
+	44,  // 76: GameEvent.BotDroppedParts.location:type_name -> Vector2
+	44,  // 77: GameEvent.BotDroppedParts.ball_location:type_name -> Vector2
+	43,  // 78: GameEvent.DefenderInDefenseArea.by_team:type_name -> Team
+	44,  // 79: GameEvent.DefenderInDefenseArea.location:type_name -> Vector2
+	43,  // 80: GameEvent.DefenderInDefenseAreaPartially.by_team:type_name -> Team
+	44,  // 81: GameEvent.DefenderInDefenseAreaPartially.location:type_name -> Vector2
+	44,  // 82: GameEvent.DefenderInDefenseAreaPartially.ball_location:type_name -> Vector2
+	43,  // 83: GameEvent.AttackerTouchedBallInDefenseArea.by_team:type_name -> Team
+	44,  // 84: GameEvent.AttackerTouchedBallInDefenseArea.location:type_name -> Vector2
+	43,  // 85: GameEvent.BotKickedBallTooFast.by_team:type_name -> Team
+	44,  // 86: GameEvent.BotKickedBallTooFast.location:type_name -> Vector2
+	43,  // 87: GameEvent.BotDribbledBallTooFar.by_team:type_name -> Team
+	44,  // 88: GameEvent.BotDribbledBallTooFar.start:type_name -> Vector2
+	44,  // 89: GameEvent.BotDribbledBallTooFar.end:type_name -> Vector2
+	43,  // 90: GameEvent.AttackerTouchedOpponentInDefenseArea.by_team:type_name -> Team
+	44,  // 91: GameEvent.AttackerTouchedOpponentInDefenseArea.location:type_name -> Vector2
+	43,  // 92: GameEvent.AttackerDoubleTouchedBall.by_team:type_name -> Team
+	44,  // 93: GameEvent.AttackerDoubleTouchedBall.location:type_name -> Vector2
+	43,  // 94: GameEvent.AttackerTooCloseToDefenseArea.by_team:type_name -> Team
+	44,  // 95: GameEvent.AttackerTooCloseToDefenseArea.location:type_name -> Vector2
+	44,  // 96: GameEvent.AttackerTooCloseToDefenseArea.ball_location:type_name -> Vector2
+	43,  // 97: GameEvent.BotHeldBallDeliberately.by_team:type_name -> Team
+	44,  // 98: GameEvent.BotHeldBallDeliberately.location:type_name -> Vector2
+	43,  // 99: GameEvent.BotInterferedPlacement.by_team:type_name -> Team
+	44,  // 100: GameEvent.BotInterferedPlacement.location:type_name -> Vector2
+	43,  // 101: GameEvent.MultipleCards.by_team:type_name -> Team
+	43,  // 102: GameEvent.MultipleFouls.by_team:type_name -> Team
+	1,   // 103: GameEvent.MultipleFouls.caused_game_events:type_name -> GameEvent
+	43,  // 104: GameEvent.MultiplePlacementFailures.by_team:type_name -> Team
+	43,  // 105: GameEvent.KickTimeout.by_team:type_name -> Team
+	44,  // 106: GameEvent.KickTimeout.location:type_name -> Vector2
+	44,  // 107: GameEvent.NoProgressInGame.location:type_name -> Vector2
+	43,  // 108: GameEvent.PlacementFailed.by_team:type_name -> Team
+	43,  // 109: GameEvent.UnsportingBehaviorMinor.by_team:type_name -> Team
+	43,  // 110: GameEvent.UnsportingBehaviorMajor.by_team:type_name -> Team
+	43,  // 111: GameEvent.KeeperHeldBall.by_team:type_name -> Team
+	44,  // 112: GameEvent.KeeperHeldBall.location:type_name -> Vector2
+	43,  // 113: GameEvent.PlacementSucceeded.by_team:type_name -> Team
+	43,  // 114: GameEvent.BotSubstitution.by_team:type_name -> Team
+	43,  // 115: GameEvent.ExcessiveBotSubstitution.by_team:type_name -> Team
+	43,  // 116: GameEvent.ChallengeFlag.by_team:type_name -> Team
+	43,  // 117: GameEvent.ChallengeFlagHandled.by_team:type_name -> Team
+	43,  // 118: GameEvent.EmergencyStop.by_team:type_name -> Team
+	43,  // 119: GameEvent.TooManyRobots.by_team:type_name -> Team
+	44,  // 120: GameEvent.TooManyRobots.ball_location:type_name -> Vector2
+	43,  // 121: GameEvent.BoundaryCrossing.by_team:type_name -> Team
+	44,  // 122: GameEvent.BoundaryCrossing.location:type_name -> Vector2
+	43,  // 123: GameEvent.PenaltyKickFailed.by_team:type_name -> Team
+	44,  // 124: GameEvent.PenaltyKickFailed.location:type_name -> Vector2
+	125, // [125:125] is the sub-list for method output_type
+	125, // [125:125] is the sub-list for method input_type
+	125, // [125:125] is the sub-list for extension type_name
+	125, // [125:125] is the sub-list for extension extendee
+	0,   // [0:125] is the sub-list for field type_name
+}
+
+func init() { file_gamecontroller_ssl_gc_game_event_proto_init() }
+func file_gamecontroller_ssl_gc_game_event_proto_init() {
+	if File_gamecontroller_ssl_gc_game_event_proto != nil {
+		return
+	}
+	file_gamecontroller_ssl_gc_common_proto_init()
+	file_gamecontroller_ssl_gc_geometry_proto_init()
+	file_gamecontroller_ssl_gc_game_event_proto_msgTypes[0].OneofWrappers = []any{
+		(*GameEvent_BallLeftFieldTouchLine)(nil),
+		(*GameEvent_BallLeftFieldGoalLine)(nil),
+		(*GameEvent_AimlessKick_)(nil),
+		(*GameEvent_AttackerTooCloseToDefenseArea_)(nil),
+		(*GameEvent_DefenderInDefenseArea_)(nil),
+		(*GameEvent_BoundaryCrossing_)(nil),
+		(*GameEvent_KeeperHeldBall_)(nil),
+		(*GameEvent_BotDribbledBallTooFar_)(nil),
+		(*GameEvent_BotPushedBot_)(nil),
+		(*GameEvent_BotHeldBallDeliberately_)(nil),
+		(*GameEvent_BotTippedOver_)(nil),
+		(*GameEvent_BotDroppedParts_)(nil),
+		(*GameEvent_AttackerTouchedBallInDefenseArea_)(nil),
+		(*GameEvent_BotKickedBallTooFast_)(nil),
+		(*GameEvent_BotCrashUnique_)(nil),
+		(*GameEvent_BotCrashDrawn_)(nil),
+		(*GameEvent_DefenderTooCloseToKickPoint_)(nil),
+		(*GameEvent_BotTooFastInStop_)(nil),
+		(*GameEvent_BotInterferedPlacement_)(nil),
+		(*GameEvent_PossibleGoal)(nil),
+		(*GameEvent_Goal_)(nil),
+		(*GameEvent_InvalidGoal)(nil),
+		(*GameEvent_AttackerDoubleTouchedBall_)(nil),
+		(*GameEvent_PlacementSucceeded_)(nil),
+		(*GameEvent_PenaltyKickFailed_)(nil),
+		(*GameEvent_NoProgressInGame_)(nil),
+		(*GameEvent_PlacementFailed_)(nil),
+		(*GameEvent_MultipleCards_)(nil),
+		(*GameEvent_MultipleFouls_)(nil),
+		(*GameEvent_BotSubstitution_)(nil),
+		(*GameEvent_ExcessiveBotSubstitution_)(nil),
+		(*GameEvent_TooManyRobots_)(nil),
+		(*GameEvent_ChallengeFlag_)(nil),
+		(*GameEvent_ChallengeFlagHandled_)(nil),
+		(*GameEvent_EmergencyStop_)(nil),
+		(*GameEvent_UnsportingBehaviorMinor_)(nil),
+		(*GameEvent_UnsportingBehaviorMajor_)(nil),
+		(*GameEvent_Prepared_)(nil),
+		(*GameEvent_IndirectGoal_)(nil),
+		(*GameEvent_ChippedGoal_)(nil),
+		(*GameEvent_KickTimeout_)(nil),
+		(*GameEvent_AttackerTouchedOpponentInDefenseArea_)(nil),
+		(*GameEvent_AttackerTouchedOpponentInDefenseAreaSkipped)(nil),
+		(*GameEvent_BotCrashUniqueSkipped)(nil),
+		(*GameEvent_BotPushedBotSkipped)(nil),
+		(*GameEvent_DefenderInDefenseAreaPartially_)(nil),
+		(*GameEvent_MultiplePlacementFailures_)(nil),
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_game_event_proto_rawDesc), len(file_gamecontroller_ssl_gc_game_event_proto_rawDesc)),
+			NumEnums:      1,
+			NumMessages:   42,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_gamecontroller_ssl_gc_game_event_proto_goTypes,
+		DependencyIndexes: file_gamecontroller_ssl_gc_game_event_proto_depIdxs,
+		EnumInfos:         file_gamecontroller_ssl_gc_game_event_proto_enumTypes,
+		MessageInfos:      file_gamecontroller_ssl_gc_game_event_proto_msgTypes,
+	}.Build()
+	File_gamecontroller_ssl_gc_game_event_proto = out.File
+	file_gamecontroller_ssl_gc_game_event_proto_goTypes = nil
+	file_gamecontroller_ssl_gc_game_event_proto_depIdxs = nil
+}
diff --git a/gui/internal/gamecontroller/ssl_gc_geometry.pb.go b/gui/internal/gamecontroller/ssl_gc_geometry.pb.go
new file mode 100644
index 0000000..b03a087
--- /dev/null
+++ b/gui/internal/gamecontroller/ssl_gc_geometry.pb.go
@@ -0,0 +1,198 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: gamecontroller/ssl_gc_geometry.proto
+
+package gamecontroller
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+// A vector with two dimensions
+type Vector2 struct {
+	state         protoimpl.MessageState `protogen:"open.v1"`
+	X             *float32               `protobuf:"fixed32,1,req,name=x" json:"x,omitempty"`
+	Y             *float32               `protobuf:"fixed32,2,req,name=y" json:"y,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *Vector2) Reset() {
+	*x = Vector2{}
+	mi := &file_gamecontroller_ssl_gc_geometry_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Vector2) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Vector2) ProtoMessage() {}
+
+func (x *Vector2) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_geometry_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Vector2.ProtoReflect.Descriptor instead.
+func (*Vector2) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_geometry_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *Vector2) GetX() float32 {
+	if x != nil && x.X != nil {
+		return *x.X
+	}
+	return 0
+}
+
+func (x *Vector2) GetY() float32 {
+	if x != nil && x.Y != nil {
+		return *x.Y
+	}
+	return 0
+}
+
+// A vector with three dimensions
+type Vector3 struct {
+	state         protoimpl.MessageState `protogen:"open.v1"`
+	X             *float32               `protobuf:"fixed32,1,req,name=x" json:"x,omitempty"`
+	Y             *float32               `protobuf:"fixed32,2,req,name=y" json:"y,omitempty"`
+	Z             *float32               `protobuf:"fixed32,3,req,name=z" json:"z,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *Vector3) Reset() {
+	*x = Vector3{}
+	mi := &file_gamecontroller_ssl_gc_geometry_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Vector3) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Vector3) ProtoMessage() {}
+
+func (x *Vector3) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_geometry_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Vector3.ProtoReflect.Descriptor instead.
+func (*Vector3) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_geometry_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *Vector3) GetX() float32 {
+	if x != nil && x.X != nil {
+		return *x.X
+	}
+	return 0
+}
+
+func (x *Vector3) GetY() float32 {
+	if x != nil && x.Y != nil {
+		return *x.Y
+	}
+	return 0
+}
+
+func (x *Vector3) GetZ() float32 {
+	if x != nil && x.Z != nil {
+		return *x.Z
+	}
+	return 0
+}
+
+var File_gamecontroller_ssl_gc_geometry_proto protoreflect.FileDescriptor
+
+const file_gamecontroller_ssl_gc_geometry_proto_rawDesc = "" +
+	"\n" +
+	"$gamecontroller/ssl_gc_geometry.proto\"%\n" +
+	"\aVector2\x12\f\n" +
+	"\x01x\x18\x01 \x02(\x02R\x01x\x12\f\n" +
+	"\x01y\x18\x02 \x02(\x02R\x01y\"3\n" +
+	"\aVector3\x12\f\n" +
+	"\x01x\x18\x01 \x02(\x02R\x01x\x12\f\n" +
+	"\x01y\x18\x02 \x02(\x02R\x01y\x12\f\n" +
+	"\x01z\x18\x03 \x02(\x02R\x01zB_B\x12SslGcGeometryProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+
+var (
+	file_gamecontroller_ssl_gc_geometry_proto_rawDescOnce sync.Once
+	file_gamecontroller_ssl_gc_geometry_proto_rawDescData []byte
+)
+
+func file_gamecontroller_ssl_gc_geometry_proto_rawDescGZIP() []byte {
+	file_gamecontroller_ssl_gc_geometry_proto_rawDescOnce.Do(func() {
+		file_gamecontroller_ssl_gc_geometry_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_geometry_proto_rawDesc), len(file_gamecontroller_ssl_gc_geometry_proto_rawDesc)))
+	})
+	return file_gamecontroller_ssl_gc_geometry_proto_rawDescData
+}
+
+var file_gamecontroller_ssl_gc_geometry_proto_msgTypes = make([]protoimpl.MessageInfo, 2)
+var file_gamecontroller_ssl_gc_geometry_proto_goTypes = []any{
+	(*Vector2)(nil), // 0: Vector2
+	(*Vector3)(nil), // 1: Vector3
+}
+var file_gamecontroller_ssl_gc_geometry_proto_depIdxs = []int32{
+	0, // [0:0] is the sub-list for method output_type
+	0, // [0:0] is the sub-list for method input_type
+	0, // [0:0] is the sub-list for extension type_name
+	0, // [0:0] is the sub-list for extension extendee
+	0, // [0:0] is the sub-list for field type_name
+}
+
+func init() { file_gamecontroller_ssl_gc_geometry_proto_init() }
+func file_gamecontroller_ssl_gc_geometry_proto_init() {
+	if File_gamecontroller_ssl_gc_geometry_proto != nil {
+		return
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_geometry_proto_rawDesc), len(file_gamecontroller_ssl_gc_geometry_proto_rawDesc)),
+			NumEnums:      0,
+			NumMessages:   2,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_gamecontroller_ssl_gc_geometry_proto_goTypes,
+		DependencyIndexes: file_gamecontroller_ssl_gc_geometry_proto_depIdxs,
+		MessageInfos:      file_gamecontroller_ssl_gc_geometry_proto_msgTypes,
+	}.Build()
+	File_gamecontroller_ssl_gc_geometry_proto = out.File
+	file_gamecontroller_ssl_gc_geometry_proto_goTypes = nil
+	file_gamecontroller_ssl_gc_geometry_proto_depIdxs = nil
+}
diff --git a/gui/internal/gamecontroller/ssl_gc_rcon.pb.go b/gui/internal/gamecontroller/ssl_gc_rcon.pb.go
new file mode 100644
index 0000000..4db9744
--- /dev/null
+++ b/gui/internal/gamecontroller/ssl_gc_rcon.pb.go
@@ -0,0 +1,352 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: gamecontroller/ssl_gc_rcon.proto
+
+package gamecontroller
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+type ControllerReply_StatusCode int32
+
+const (
+	ControllerReply_UNKNOWN_STATUS_CODE ControllerReply_StatusCode = 0
+	ControllerReply_OK                  ControllerReply_StatusCode = 1
+	ControllerReply_REJECTED            ControllerReply_StatusCode = 2
+)
+
+// Enum value maps for ControllerReply_StatusCode.
+var (
+	ControllerReply_StatusCode_name = map[int32]string{
+		0: "UNKNOWN_STATUS_CODE",
+		1: "OK",
+		2: "REJECTED",
+	}
+	ControllerReply_StatusCode_value = map[string]int32{
+		"UNKNOWN_STATUS_CODE": 0,
+		"OK":                  1,
+		"REJECTED":            2,
+	}
+)
+
+func (x ControllerReply_StatusCode) Enum() *ControllerReply_StatusCode {
+	p := new(ControllerReply_StatusCode)
+	*p = x
+	return p
+}
+
+func (x ControllerReply_StatusCode) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (ControllerReply_StatusCode) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_rcon_proto_enumTypes[0].Descriptor()
+}
+
+func (ControllerReply_StatusCode) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_rcon_proto_enumTypes[0]
+}
+
+func (x ControllerReply_StatusCode) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *ControllerReply_StatusCode) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = ControllerReply_StatusCode(num)
+	return nil
+}
+
+// Deprecated: Use ControllerReply_StatusCode.Descriptor instead.
+func (ControllerReply_StatusCode) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_proto_rawDescGZIP(), []int{0, 0}
+}
+
+type ControllerReply_Verification int32
+
+const (
+	ControllerReply_UNKNOWN_VERIFICATION ControllerReply_Verification = 0
+	ControllerReply_VERIFIED             ControllerReply_Verification = 1
+	ControllerReply_UNVERIFIED           ControllerReply_Verification = 2
+)
+
+// Enum value maps for ControllerReply_Verification.
+var (
+	ControllerReply_Verification_name = map[int32]string{
+		0: "UNKNOWN_VERIFICATION",
+		1: "VERIFIED",
+		2: "UNVERIFIED",
+	}
+	ControllerReply_Verification_value = map[string]int32{
+		"UNKNOWN_VERIFICATION": 0,
+		"VERIFIED":             1,
+		"UNVERIFIED":           2,
+	}
+)
+
+func (x ControllerReply_Verification) Enum() *ControllerReply_Verification {
+	p := new(ControllerReply_Verification)
+	*p = x
+	return p
+}
+
+func (x ControllerReply_Verification) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (ControllerReply_Verification) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_rcon_proto_enumTypes[1].Descriptor()
+}
+
+func (ControllerReply_Verification) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_rcon_proto_enumTypes[1]
+}
+
+func (x ControllerReply_Verification) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *ControllerReply_Verification) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = ControllerReply_Verification(num)
+	return nil
+}
+
+// Deprecated: Use ControllerReply_Verification.Descriptor instead.
+func (ControllerReply_Verification) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_proto_rawDescGZIP(), []int{0, 1}
+}
+
+// a reply that is sent by the controller for each request from teams or autoRefs
+type ControllerReply struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// status_code is an optional code that indicates the result of the last request
+	StatusCode *ControllerReply_StatusCode `protobuf:"varint,1,opt,name=status_code,json=statusCode,enum=ControllerReply_StatusCode" json:"status_code,omitempty"`
+	// reason is an optional explanation of the status code
+	Reason *string `protobuf:"bytes,2,opt,name=reason" json:"reason,omitempty"`
+	// next_token must be send with the next request, if secure communication is used
+	// the token is used to avoid replay attacks
+	// the token is always present in the very first message before the registration starts
+	// the token is not present, if secure communication is not used
+	NextToken *string `protobuf:"bytes,3,opt,name=next_token,json=nextToken" json:"next_token,omitempty"`
+	// verification indicates if the last request could be verified (secure communication)
+	Verification  *ControllerReply_Verification `protobuf:"varint,4,opt,name=verification,enum=ControllerReply_Verification" json:"verification,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *ControllerReply) Reset() {
+	*x = ControllerReply{}
+	mi := &file_gamecontroller_ssl_gc_rcon_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *ControllerReply) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*ControllerReply) ProtoMessage() {}
+
+func (x *ControllerReply) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use ControllerReply.ProtoReflect.Descriptor instead.
+func (*ControllerReply) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *ControllerReply) GetStatusCode() ControllerReply_StatusCode {
+	if x != nil && x.StatusCode != nil {
+		return *x.StatusCode
+	}
+	return ControllerReply_UNKNOWN_STATUS_CODE
+}
+
+func (x *ControllerReply) GetReason() string {
+	if x != nil && x.Reason != nil {
+		return *x.Reason
+	}
+	return ""
+}
+
+func (x *ControllerReply) GetNextToken() string {
+	if x != nil && x.NextToken != nil {
+		return *x.NextToken
+	}
+	return ""
+}
+
+func (x *ControllerReply) GetVerification() ControllerReply_Verification {
+	if x != nil && x.Verification != nil {
+		return *x.Verification
+	}
+	return ControllerReply_UNKNOWN_VERIFICATION
+}
+
+// Signature can be added to a request to let it be verfied by the controller
+type Signature struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the token that was received with the last controller reply
+	Token *string `protobuf:"bytes,1,req,name=token" json:"token,omitempty"`
+	// the PKCS1v15 signature of this message
+	Pkcs1V15      []byte `protobuf:"bytes,2,req,name=pkcs1v15" json:"pkcs1v15,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *Signature) Reset() {
+	*x = Signature{}
+	mi := &file_gamecontroller_ssl_gc_rcon_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Signature) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Signature) ProtoMessage() {}
+
+func (x *Signature) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Signature.ProtoReflect.Descriptor instead.
+func (*Signature) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *Signature) GetToken() string {
+	if x != nil && x.Token != nil {
+		return *x.Token
+	}
+	return ""
+}
+
+func (x *Signature) GetPkcs1V15() []byte {
+	if x != nil {
+		return x.Pkcs1V15
+	}
+	return nil
+}
+
+var File_gamecontroller_ssl_gc_rcon_proto protoreflect.FileDescriptor
+
+const file_gamecontroller_ssl_gc_rcon_proto_rawDesc = "" +
+	"\n" +
+	" gamecontroller/ssl_gc_rcon.proto\"\xce\x02\n" +
+	"\x0fControllerReply\x12<\n" +
+	"\vstatus_code\x18\x01 \x01(\x0e2\x1b.ControllerReply.StatusCodeR\n" +
+	"statusCode\x12\x16\n" +
+	"\x06reason\x18\x02 \x01(\tR\x06reason\x12\x1d\n" +
+	"\n" +
+	"next_token\x18\x03 \x01(\tR\tnextToken\x12A\n" +
+	"\fverification\x18\x04 \x01(\x0e2\x1d.ControllerReply.VerificationR\fverification\";\n" +
+	"\n" +
+	"StatusCode\x12\x17\n" +
+	"\x13UNKNOWN_STATUS_CODE\x10\x00\x12\x06\n" +
+	"\x02OK\x10\x01\x12\f\n" +
+	"\bREJECTED\x10\x02\"F\n" +
+	"\fVerification\x12\x18\n" +
+	"\x14UNKNOWN_VERIFICATION\x10\x00\x12\f\n" +
+	"\bVERIFIED\x10\x01\x12\x0e\n" +
+	"\n" +
+	"UNVERIFIED\x10\x02\"=\n" +
+	"\tSignature\x12\x14\n" +
+	"\x05token\x18\x01 \x02(\tR\x05token\x12\x1a\n" +
+	"\bpkcs1v15\x18\x02 \x02(\fR\bpkcs1v15B[B\x0eSslGcRconProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+
+var (
+	file_gamecontroller_ssl_gc_rcon_proto_rawDescOnce sync.Once
+	file_gamecontroller_ssl_gc_rcon_proto_rawDescData []byte
+)
+
+func file_gamecontroller_ssl_gc_rcon_proto_rawDescGZIP() []byte {
+	file_gamecontroller_ssl_gc_rcon_proto_rawDescOnce.Do(func() {
+		file_gamecontroller_ssl_gc_rcon_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_proto_rawDesc)))
+	})
+	return file_gamecontroller_ssl_gc_rcon_proto_rawDescData
+}
+
+var file_gamecontroller_ssl_gc_rcon_proto_enumTypes = make([]protoimpl.EnumInfo, 2)
+var file_gamecontroller_ssl_gc_rcon_proto_msgTypes = make([]protoimpl.MessageInfo, 2)
+var file_gamecontroller_ssl_gc_rcon_proto_goTypes = []any{
+	(ControllerReply_StatusCode)(0),   // 0: ControllerReply.StatusCode
+	(ControllerReply_Verification)(0), // 1: ControllerReply.Verification
+	(*ControllerReply)(nil),           // 2: ControllerReply
+	(*Signature)(nil),                 // 3: Signature
+}
+var file_gamecontroller_ssl_gc_rcon_proto_depIdxs = []int32{
+	0, // 0: ControllerReply.status_code:type_name -> ControllerReply.StatusCode
+	1, // 1: ControllerReply.verification:type_name -> ControllerReply.Verification
+	2, // [2:2] is the sub-list for method output_type
+	2, // [2:2] is the sub-list for method input_type
+	2, // [2:2] is the sub-list for extension type_name
+	2, // [2:2] is the sub-list for extension extendee
+	0, // [0:2] is the sub-list for field type_name
+}
+
+func init() { file_gamecontroller_ssl_gc_rcon_proto_init() }
+func file_gamecontroller_ssl_gc_rcon_proto_init() {
+	if File_gamecontroller_ssl_gc_rcon_proto != nil {
+		return
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_proto_rawDesc)),
+			NumEnums:      2,
+			NumMessages:   2,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_gamecontroller_ssl_gc_rcon_proto_goTypes,
+		DependencyIndexes: file_gamecontroller_ssl_gc_rcon_proto_depIdxs,
+		EnumInfos:         file_gamecontroller_ssl_gc_rcon_proto_enumTypes,
+		MessageInfos:      file_gamecontroller_ssl_gc_rcon_proto_msgTypes,
+	}.Build()
+	File_gamecontroller_ssl_gc_rcon_proto = out.File
+	file_gamecontroller_ssl_gc_rcon_proto_goTypes = nil
+	file_gamecontroller_ssl_gc_rcon_proto_depIdxs = nil
+}
diff --git a/gui/internal/gamecontroller/ssl_gc_rcon_autoref.pb.go b/gui/internal/gamecontroller/ssl_gc_rcon_autoref.pb.go
new file mode 100644
index 0000000..8a0ed95
--- /dev/null
+++ b/gui/internal/gamecontroller/ssl_gc_rcon_autoref.pb.go
@@ -0,0 +1,283 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: gamecontroller/ssl_gc_rcon_autoref.proto
+
+package gamecontroller
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+// AutoRefRegistration is the first message that a client must send to the controller to identify itself
+type AutoRefRegistration struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// identifier is a unique name of the client
+	Identifier *string `protobuf:"bytes,1,req,name=identifier" json:"identifier,omitempty"`
+	// signature can optionally be specified to enable secure communication
+	Signature     *Signature `protobuf:"bytes,2,opt,name=signature" json:"signature,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *AutoRefRegistration) Reset() {
+	*x = AutoRefRegistration{}
+	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *AutoRefRegistration) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*AutoRefRegistration) ProtoMessage() {}
+
+func (x *AutoRefRegistration) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use AutoRefRegistration.ProtoReflect.Descriptor instead.
+func (*AutoRefRegistration) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *AutoRefRegistration) GetIdentifier() string {
+	if x != nil && x.Identifier != nil {
+		return *x.Identifier
+	}
+	return ""
+}
+
+func (x *AutoRefRegistration) GetSignature() *Signature {
+	if x != nil {
+		return x.Signature
+	}
+	return nil
+}
+
+// AutoRefToController is the wrapper message for all subsequent messages from the autoRef to the controller
+type AutoRefToController struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// signature can optionally be specified to enable secure communication
+	Signature *Signature `protobuf:"bytes,1,opt,name=signature" json:"signature,omitempty"`
+	// game_event is an optional event that the autoRef detected during the game
+	GameEvent     *GameEvent `protobuf:"bytes,2,opt,name=game_event,json=gameEvent" json:"game_event,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *AutoRefToController) Reset() {
+	*x = AutoRefToController{}
+	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *AutoRefToController) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*AutoRefToController) ProtoMessage() {}
+
+func (x *AutoRefToController) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use AutoRefToController.ProtoReflect.Descriptor instead.
+func (*AutoRefToController) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *AutoRefToController) GetSignature() *Signature {
+	if x != nil {
+		return x.Signature
+	}
+	return nil
+}
+
+func (x *AutoRefToController) GetGameEvent() *GameEvent {
+	if x != nil {
+		return x.GameEvent
+	}
+	return nil
+}
+
+// ControllerToAutoRef is the wrapper message for all messages from controller to autoRef
+type ControllerToAutoRef struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Types that are valid to be assigned to Msg:
+	//
+	//	*ControllerToAutoRef_ControllerReply
+	Msg           isControllerToAutoRef_Msg `protobuf_oneof:"msg"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *ControllerToAutoRef) Reset() {
+	*x = ControllerToAutoRef{}
+	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[2]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *ControllerToAutoRef) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*ControllerToAutoRef) ProtoMessage() {}
+
+func (x *ControllerToAutoRef) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[2]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use ControllerToAutoRef.ProtoReflect.Descriptor instead.
+func (*ControllerToAutoRef) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescGZIP(), []int{2}
+}
+
+func (x *ControllerToAutoRef) GetMsg() isControllerToAutoRef_Msg {
+	if x != nil {
+		return x.Msg
+	}
+	return nil
+}
+
+func (x *ControllerToAutoRef) GetControllerReply() *ControllerReply {
+	if x != nil {
+		if x, ok := x.Msg.(*ControllerToAutoRef_ControllerReply); ok {
+			return x.ControllerReply
+		}
+	}
+	return nil
+}
+
+type isControllerToAutoRef_Msg interface {
+	isControllerToAutoRef_Msg()
+}
+
+type ControllerToAutoRef_ControllerReply struct {
+	// a reply from the controller
+	ControllerReply *ControllerReply `protobuf:"bytes,1,opt,name=controller_reply,json=controllerReply,oneof"`
+}
+
+func (*ControllerToAutoRef_ControllerReply) isControllerToAutoRef_Msg() {}
+
+var File_gamecontroller_ssl_gc_rcon_autoref_proto protoreflect.FileDescriptor
+
+const file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDesc = "" +
+	"\n" +
+	"(gamecontroller/ssl_gc_rcon_autoref.proto\x1a&gamecontroller/ssl_gc_game_event.proto\x1a gamecontroller/ssl_gc_rcon.proto\"_\n" +
+	"\x13AutoRefRegistration\x12\x1e\n" +
+	"\n" +
+	"identifier\x18\x01 \x02(\tR\n" +
+	"identifier\x12(\n" +
+	"\tsignature\x18\x02 \x01(\v2\n" +
+	".SignatureR\tsignature\"v\n" +
+	"\x13AutoRefToController\x12(\n" +
+	"\tsignature\x18\x01 \x01(\v2\n" +
+	".SignatureR\tsignature\x12)\n" +
+	"\n" +
+	"game_event\x18\x02 \x01(\v2\n" +
+	".GameEventR\tgameEventJ\x04\b\x03\x10\x04J\x04\b\x04\x10\x05\"[\n" +
+	"\x13ControllerToAutoRef\x12=\n" +
+	"\x10controller_reply\x18\x01 \x01(\v2\x10.ControllerReplyH\x00R\x0fcontrollerReplyB\x05\n" +
+	"\x03msgBbB\x15SslGcRconAutorefProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+
+var (
+	file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescOnce sync.Once
+	file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescData []byte
+)
+
+func file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescGZIP() []byte {
+	file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescOnce.Do(func() {
+		file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDesc)))
+	})
+	return file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescData
+}
+
+var file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes = make([]protoimpl.MessageInfo, 3)
+var file_gamecontroller_ssl_gc_rcon_autoref_proto_goTypes = []any{
+	(*AutoRefRegistration)(nil), // 0: AutoRefRegistration
+	(*AutoRefToController)(nil), // 1: AutoRefToController
+	(*ControllerToAutoRef)(nil), // 2: ControllerToAutoRef
+	(*Signature)(nil),           // 3: Signature
+	(*GameEvent)(nil),           // 4: GameEvent
+	(*ControllerReply)(nil),     // 5: ControllerReply
+}
+var file_gamecontroller_ssl_gc_rcon_autoref_proto_depIdxs = []int32{
+	3, // 0: AutoRefRegistration.signature:type_name -> Signature
+	3, // 1: AutoRefToController.signature:type_name -> Signature
+	4, // 2: AutoRefToController.game_event:type_name -> GameEvent
+	5, // 3: ControllerToAutoRef.controller_reply:type_name -> ControllerReply
+	4, // [4:4] is the sub-list for method output_type
+	4, // [4:4] is the sub-list for method input_type
+	4, // [4:4] is the sub-list for extension type_name
+	4, // [4:4] is the sub-list for extension extendee
+	0, // [0:4] is the sub-list for field type_name
+}
+
+func init() { file_gamecontroller_ssl_gc_rcon_autoref_proto_init() }
+func file_gamecontroller_ssl_gc_rcon_autoref_proto_init() {
+	if File_gamecontroller_ssl_gc_rcon_autoref_proto != nil {
+		return
+	}
+	file_gamecontroller_ssl_gc_game_event_proto_init()
+	file_gamecontroller_ssl_gc_rcon_proto_init()
+	file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[2].OneofWrappers = []any{
+		(*ControllerToAutoRef_ControllerReply)(nil),
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDesc)),
+			NumEnums:      0,
+			NumMessages:   3,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_gamecontroller_ssl_gc_rcon_autoref_proto_goTypes,
+		DependencyIndexes: file_gamecontroller_ssl_gc_rcon_autoref_proto_depIdxs,
+		MessageInfos:      file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes,
+	}.Build()
+	File_gamecontroller_ssl_gc_rcon_autoref_proto = out.File
+	file_gamecontroller_ssl_gc_rcon_autoref_proto_goTypes = nil
+	file_gamecontroller_ssl_gc_rcon_autoref_proto_depIdxs = nil
+}
diff --git a/gui/internal/gamecontroller/ssl_gc_rcon_remotecontrol.pb.go b/gui/internal/gamecontroller/ssl_gc_rcon_remotecontrol.pb.go
new file mode 100644
index 0000000..9d7a3ff
--- /dev/null
+++ b/gui/internal/gamecontroller/ssl_gc_rcon_remotecontrol.pb.go
@@ -0,0 +1,718 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: gamecontroller/ssl_gc_rcon_remotecontrol.proto
+
+package gamecontroller
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+// All possible request types that the remote control can make
+type RemoteControlRequestType int32
+
+const (
+	RemoteControlRequestType_UNKNOWN_REQUEST_TYPE RemoteControlRequestType = 0
+	RemoteControlRequestType_EMERGENCY_STOP       RemoteControlRequestType = 1
+	RemoteControlRequestType_ROBOT_SUBSTITUTION   RemoteControlRequestType = 2
+	RemoteControlRequestType_TIMEOUT              RemoteControlRequestType = 3
+	RemoteControlRequestType_CHALLENGE_FLAG       RemoteControlRequestType = 4
+	RemoteControlRequestType_CHANGE_KEEPER_ID     RemoteControlRequestType = 5
+	RemoteControlRequestType_STOP_TIMEOUT         RemoteControlRequestType = 6
+	RemoteControlRequestType_FAIL_BALLPLACEMENT   RemoteControlRequestType = 7
+)
+
+// Enum value maps for RemoteControlRequestType.
+var (
+	RemoteControlRequestType_name = map[int32]string{
+		0: "UNKNOWN_REQUEST_TYPE",
+		1: "EMERGENCY_STOP",
+		2: "ROBOT_SUBSTITUTION",
+		3: "TIMEOUT",
+		4: "CHALLENGE_FLAG",
+		5: "CHANGE_KEEPER_ID",
+		6: "STOP_TIMEOUT",
+		7: "FAIL_BALLPLACEMENT",
+	}
+	RemoteControlRequestType_value = map[string]int32{
+		"UNKNOWN_REQUEST_TYPE": 0,
+		"EMERGENCY_STOP":       1,
+		"ROBOT_SUBSTITUTION":   2,
+		"TIMEOUT":              3,
+		"CHALLENGE_FLAG":       4,
+		"CHANGE_KEEPER_ID":     5,
+		"STOP_TIMEOUT":         6,
+		"FAIL_BALLPLACEMENT":   7,
+	}
+)
+
+func (x RemoteControlRequestType) Enum() *RemoteControlRequestType {
+	p := new(RemoteControlRequestType)
+	*p = x
+	return p
+}
+
+func (x RemoteControlRequestType) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (RemoteControlRequestType) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes[0].Descriptor()
+}
+
+func (RemoteControlRequestType) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes[0]
+}
+
+func (x RemoteControlRequestType) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *RemoteControlRequestType) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = RemoteControlRequestType(num)
+	return nil
+}
+
+// Deprecated: Use RemoteControlRequestType.Descriptor instead.
+func (RemoteControlRequestType) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{0}
+}
+
+type RemoteControlToController_Request int32
+
+const (
+	RemoteControlToController_UNKNOWN RemoteControlToController_Request = 0
+	// Ping the GC to test the connection. The GC will respond with OK and the current team state
+	RemoteControlToController_PING RemoteControlToController_Request = 1
+	// Raise a challenge flag (this is not revocable)
+	RemoteControlToController_CHALLENGE_FLAG RemoteControlToController_Request = 2
+	// Stop an ongoing timeout
+	RemoteControlToController_STOP_TIMEOUT RemoteControlToController_Request = 3
+	// Fail a ball placement
+	RemoteControlToController_FAIL_BALLPLACEMENT RemoteControlToController_Request = 4
+)
+
+// Enum value maps for RemoteControlToController_Request.
+var (
+	RemoteControlToController_Request_name = map[int32]string{
+		0: "UNKNOWN",
+		1: "PING",
+		2: "CHALLENGE_FLAG",
+		3: "STOP_TIMEOUT",
+		4: "FAIL_BALLPLACEMENT",
+	}
+	RemoteControlToController_Request_value = map[string]int32{
+		"UNKNOWN":            0,
+		"PING":               1,
+		"CHALLENGE_FLAG":     2,
+		"STOP_TIMEOUT":       3,
+		"FAIL_BALLPLACEMENT": 4,
+	}
+)
+
+func (x RemoteControlToController_Request) Enum() *RemoteControlToController_Request {
+	p := new(RemoteControlToController_Request)
+	*p = x
+	return p
+}
+
+func (x RemoteControlToController_Request) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (RemoteControlToController_Request) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes[1].Descriptor()
+}
+
+func (RemoteControlToController_Request) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes[1]
+}
+
+func (x RemoteControlToController_Request) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *RemoteControlToController_Request) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = RemoteControlToController_Request(num)
+	return nil
+}
+
+// Deprecated: Use RemoteControlToController_Request.Descriptor instead.
+func (RemoteControlToController_Request) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{1, 0}
+}
+
+// a registration that must be send by the remote control to the controller as the very first message
+type RemoteControlRegistration struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team to be controlled
+	Team *Team `protobuf:"varint,1,req,name=team,enum=Team" json:"team,omitempty"`
+	// signature can optionally be specified to enable secure communication
+	Signature     *Signature `protobuf:"bytes,2,opt,name=signature" json:"signature,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *RemoteControlRegistration) Reset() {
+	*x = RemoteControlRegistration{}
+	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *RemoteControlRegistration) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*RemoteControlRegistration) ProtoMessage() {}
+
+func (x *RemoteControlRegistration) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use RemoteControlRegistration.ProtoReflect.Descriptor instead.
+func (*RemoteControlRegistration) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *RemoteControlRegistration) GetTeam() Team {
+	if x != nil && x.Team != nil {
+		return *x.Team
+	}
+	return Team_UNKNOWN
+}
+
+func (x *RemoteControlRegistration) GetSignature() *Signature {
+	if x != nil {
+		return x.Signature
+	}
+	return nil
+}
+
+// wrapper for all messages from the remote control to the controller
+type RemoteControlToController struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// signature can optionally be specified to enable secure communication
+	Signature *Signature `protobuf:"bytes,1,opt,name=signature" json:"signature,omitempty"`
+	// Types that are valid to be assigned to Msg:
+	//
+	//	*RemoteControlToController_Request_
+	//	*RemoteControlToController_DesiredKeeper
+	//	*RemoteControlToController_RequestRobotSubstitution
+	//	*RemoteControlToController_RequestTimeout
+	//	*RemoteControlToController_RequestEmergencyStop
+	Msg           isRemoteControlToController_Msg `protobuf_oneof:"msg"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *RemoteControlToController) Reset() {
+	*x = RemoteControlToController{}
+	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *RemoteControlToController) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*RemoteControlToController) ProtoMessage() {}
+
+func (x *RemoteControlToController) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use RemoteControlToController.ProtoReflect.Descriptor instead.
+func (*RemoteControlToController) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *RemoteControlToController) GetSignature() *Signature {
+	if x != nil {
+		return x.Signature
+	}
+	return nil
+}
+
+func (x *RemoteControlToController) GetMsg() isRemoteControlToController_Msg {
+	if x != nil {
+		return x.Msg
+	}
+	return nil
+}
+
+func (x *RemoteControlToController) GetRequest() RemoteControlToController_Request {
+	if x != nil {
+		if x, ok := x.Msg.(*RemoteControlToController_Request_); ok {
+			return x.Request
+		}
+	}
+	return RemoteControlToController_UNKNOWN
+}
+
+func (x *RemoteControlToController) GetDesiredKeeper() int32 {
+	if x != nil {
+		if x, ok := x.Msg.(*RemoteControlToController_DesiredKeeper); ok {
+			return x.DesiredKeeper
+		}
+	}
+	return 0
+}
+
+func (x *RemoteControlToController) GetRequestRobotSubstitution() bool {
+	if x != nil {
+		if x, ok := x.Msg.(*RemoteControlToController_RequestRobotSubstitution); ok {
+			return x.RequestRobotSubstitution
+		}
+	}
+	return false
+}
+
+func (x *RemoteControlToController) GetRequestTimeout() bool {
+	if x != nil {
+		if x, ok := x.Msg.(*RemoteControlToController_RequestTimeout); ok {
+			return x.RequestTimeout
+		}
+	}
+	return false
+}
+
+func (x *RemoteControlToController) GetRequestEmergencyStop() bool {
+	if x != nil {
+		if x, ok := x.Msg.(*RemoteControlToController_RequestEmergencyStop); ok {
+			return x.RequestEmergencyStop
+		}
+	}
+	return false
+}
+
+type isRemoteControlToController_Msg interface {
+	isRemoteControlToController_Msg()
+}
+
+type RemoteControlToController_Request_ struct {
+	// send a request to the GC
+	Request RemoteControlToController_Request `protobuf:"varint,2,opt,name=request,enum=RemoteControlToController_Request,oneof"`
+}
+
+type RemoteControlToController_DesiredKeeper struct {
+	// request a new desired keeper id
+	DesiredKeeper int32 `protobuf:"varint,3,opt,name=desired_keeper,json=desiredKeeper,oneof"`
+}
+
+type RemoteControlToController_RequestRobotSubstitution struct {
+	// true: request to substitute a robot at the next possibility
+	// false: cancel request
+	RequestRobotSubstitution bool `protobuf:"varint,4,opt,name=request_robot_substitution,json=requestRobotSubstitution,oneof"`
+}
+
+type RemoteControlToController_RequestTimeout struct {
+	// true: request a timeout with the next stoppage
+	// false: cancel the request
+	RequestTimeout bool `protobuf:"varint,5,opt,name=request_timeout,json=requestTimeout,oneof"`
+}
+
+type RemoteControlToController_RequestEmergencyStop struct {
+	// true: initiate an emergency stop
+	// false: cancel the request
+	RequestEmergencyStop bool `protobuf:"varint,6,opt,name=request_emergency_stop,json=requestEmergencyStop,oneof"`
+}
+
+func (*RemoteControlToController_Request_) isRemoteControlToController_Msg() {}
+
+func (*RemoteControlToController_DesiredKeeper) isRemoteControlToController_Msg() {}
+
+func (*RemoteControlToController_RequestRobotSubstitution) isRemoteControlToController_Msg() {}
+
+func (*RemoteControlToController_RequestTimeout) isRemoteControlToController_Msg() {}
+
+func (*RemoteControlToController_RequestEmergencyStop) isRemoteControlToController_Msg() {}
+
+// wrapper for all messages from controller to a team's computer
+type ControllerToRemoteControl struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// a reply from the controller
+	ControllerReply *ControllerReply `protobuf:"bytes,1,opt,name=controller_reply,json=controllerReply" json:"controller_reply,omitempty"`
+	// current team state
+	State         *RemoteControlTeamState `protobuf:"bytes,2,opt,name=state" json:"state,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *ControllerToRemoteControl) Reset() {
+	*x = ControllerToRemoteControl{}
+	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[2]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *ControllerToRemoteControl) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*ControllerToRemoteControl) ProtoMessage() {}
+
+func (x *ControllerToRemoteControl) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[2]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use ControllerToRemoteControl.ProtoReflect.Descriptor instead.
+func (*ControllerToRemoteControl) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{2}
+}
+
+func (x *ControllerToRemoteControl) GetControllerReply() *ControllerReply {
+	if x != nil {
+		return x.ControllerReply
+	}
+	return nil
+}
+
+func (x *ControllerToRemoteControl) GetState() *RemoteControlTeamState {
+	if x != nil {
+		return x.State
+	}
+	return nil
+}
+
+// Current team state from Controller for remote control
+type RemoteControlTeamState struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the team that is controlled
+	Team *Team `protobuf:"varint,12,opt,name=team,enum=Team" json:"team,omitempty"`
+	// list of all currently available request types that can be made
+	AvailableRequests []RemoteControlRequestType `protobuf:"varint,1,rep,name=available_requests,json=availableRequests,enum=RemoteControlRequestType" json:"available_requests,omitempty"`
+	// list of all currently active request types that are pending
+	ActiveRequests []RemoteControlRequestType `protobuf:"varint,2,rep,name=active_requests,json=activeRequests,enum=RemoteControlRequestType" json:"active_requests,omitempty"`
+	// currently set keeper id
+	KeeperId *int32 `protobuf:"varint,3,opt,name=keeper_id,json=keeperId" json:"keeper_id,omitempty"`
+	// number of seconds till emergency stop is executed
+	// zero, if no emergency stop requested
+	EmergencyStopIn *float32 `protobuf:"fixed32,4,opt,name=emergency_stop_in,json=emergencyStopIn" json:"emergency_stop_in,omitempty"`
+	// number of timeouts left for the team
+	TimeoutsLeft *int32 `protobuf:"varint,5,opt,name=timeouts_left,json=timeoutsLeft" json:"timeouts_left,omitempty"`
+	// number of seconds left for timeout for the team
+	TimeoutTimeLeft *float32 `protobuf:"fixed32,10,opt,name=timeout_time_left,json=timeoutTimeLeft" json:"timeout_time_left,omitempty"`
+	// number of challenge flags left for the team
+	ChallengeFlagsLeft *int32 `protobuf:"varint,6,opt,name=challenge_flags_left,json=challengeFlagsLeft" json:"challenge_flags_left,omitempty"`
+	// max number of robots currently allowed
+	MaxRobots *int32 `protobuf:"varint,7,opt,name=max_robots,json=maxRobots" json:"max_robots,omitempty"`
+	// current number of robots visible on field
+	RobotsOnField *int32 `protobuf:"varint,9,opt,name=robots_on_field,json=robotsOnField" json:"robots_on_field,omitempty"`
+	// list of due times for each active yellow card (in seconds)
+	YellowCardsDue []float32 `protobuf:"fixed32,8,rep,name=yellow_cards_due,json=yellowCardsDue" json:"yellow_cards_due,omitempty"`
+	// if true, team is allowed to substitute robots
+	CanSubstituteRobot *bool `protobuf:"varint,11,opt,name=can_substitute_robot,json=canSubstituteRobot" json:"can_substitute_robot,omitempty"`
+	// number of bot substitutions left by the team in this halftime
+	BotSubstitutionsLeft *uint32 `protobuf:"varint,13,opt,name=bot_substitutions_left,json=botSubstitutionsLeft" json:"bot_substitutions_left,omitempty"`
+	// number of seconds left for current bot substitution
+	BotSubstitutionTimeLeft *float32 `protobuf:"fixed32,14,opt,name=bot_substitution_time_left,json=botSubstitutionTimeLeft" json:"bot_substitution_time_left,omitempty"`
+	unknownFields           protoimpl.UnknownFields
+	sizeCache               protoimpl.SizeCache
+}
+
+func (x *RemoteControlTeamState) Reset() {
+	*x = RemoteControlTeamState{}
+	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[3]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *RemoteControlTeamState) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*RemoteControlTeamState) ProtoMessage() {}
+
+func (x *RemoteControlTeamState) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[3]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use RemoteControlTeamState.ProtoReflect.Descriptor instead.
+func (*RemoteControlTeamState) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{3}
+}
+
+func (x *RemoteControlTeamState) GetTeam() Team {
+	if x != nil && x.Team != nil {
+		return *x.Team
+	}
+	return Team_UNKNOWN
+}
+
+func (x *RemoteControlTeamState) GetAvailableRequests() []RemoteControlRequestType {
+	if x != nil {
+		return x.AvailableRequests
+	}
+	return nil
+}
+
+func (x *RemoteControlTeamState) GetActiveRequests() []RemoteControlRequestType {
+	if x != nil {
+		return x.ActiveRequests
+	}
+	return nil
+}
+
+func (x *RemoteControlTeamState) GetKeeperId() int32 {
+	if x != nil && x.KeeperId != nil {
+		return *x.KeeperId
+	}
+	return 0
+}
+
+func (x *RemoteControlTeamState) GetEmergencyStopIn() float32 {
+	if x != nil && x.EmergencyStopIn != nil {
+		return *x.EmergencyStopIn
+	}
+	return 0
+}
+
+func (x *RemoteControlTeamState) GetTimeoutsLeft() int32 {
+	if x != nil && x.TimeoutsLeft != nil {
+		return *x.TimeoutsLeft
+	}
+	return 0
+}
+
+func (x *RemoteControlTeamState) GetTimeoutTimeLeft() float32 {
+	if x != nil && x.TimeoutTimeLeft != nil {
+		return *x.TimeoutTimeLeft
+	}
+	return 0
+}
+
+func (x *RemoteControlTeamState) GetChallengeFlagsLeft() int32 {
+	if x != nil && x.ChallengeFlagsLeft != nil {
+		return *x.ChallengeFlagsLeft
+	}
+	return 0
+}
+
+func (x *RemoteControlTeamState) GetMaxRobots() int32 {
+	if x != nil && x.MaxRobots != nil {
+		return *x.MaxRobots
+	}
+	return 0
+}
+
+func (x *RemoteControlTeamState) GetRobotsOnField() int32 {
+	if x != nil && x.RobotsOnField != nil {
+		return *x.RobotsOnField
+	}
+	return 0
+}
+
+func (x *RemoteControlTeamState) GetYellowCardsDue() []float32 {
+	if x != nil {
+		return x.YellowCardsDue
+	}
+	return nil
+}
+
+func (x *RemoteControlTeamState) GetCanSubstituteRobot() bool {
+	if x != nil && x.CanSubstituteRobot != nil {
+		return *x.CanSubstituteRobot
+	}
+	return false
+}
+
+func (x *RemoteControlTeamState) GetBotSubstitutionsLeft() uint32 {
+	if x != nil && x.BotSubstitutionsLeft != nil {
+		return *x.BotSubstitutionsLeft
+	}
+	return 0
+}
+
+func (x *RemoteControlTeamState) GetBotSubstitutionTimeLeft() float32 {
+	if x != nil && x.BotSubstitutionTimeLeft != nil {
+		return *x.BotSubstitutionTimeLeft
+	}
+	return 0
+}
+
+var File_gamecontroller_ssl_gc_rcon_remotecontrol_proto protoreflect.FileDescriptor
+
+const file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDesc = "" +
+	"\n" +
+	".gamecontroller/ssl_gc_rcon_remotecontrol.proto\x1a\"gamecontroller/ssl_gc_common.proto\x1a gamecontroller/ssl_gc_rcon.proto\"`\n" +
+	"\x19RemoteControlRegistration\x12\x19\n" +
+	"\x04team\x18\x01 \x02(\x0e2\x05.TeamR\x04team\x12(\n" +
+	"\tsignature\x18\x02 \x01(\v2\n" +
+	".SignatureR\tsignature\"\xb8\x03\n" +
+	"\x19RemoteControlToController\x12(\n" +
+	"\tsignature\x18\x01 \x01(\v2\n" +
+	".SignatureR\tsignature\x12>\n" +
+	"\arequest\x18\x02 \x01(\x0e2\".RemoteControlToController.RequestH\x00R\arequest\x12'\n" +
+	"\x0edesired_keeper\x18\x03 \x01(\x05H\x00R\rdesiredKeeper\x12>\n" +
+	"\x1arequest_robot_substitution\x18\x04 \x01(\bH\x00R\x18requestRobotSubstitution\x12)\n" +
+	"\x0frequest_timeout\x18\x05 \x01(\bH\x00R\x0erequestTimeout\x126\n" +
+	"\x16request_emergency_stop\x18\x06 \x01(\bH\x00R\x14requestEmergencyStop\"^\n" +
+	"\aRequest\x12\v\n" +
+	"\aUNKNOWN\x10\x00\x12\b\n" +
+	"\x04PING\x10\x01\x12\x12\n" +
+	"\x0eCHALLENGE_FLAG\x10\x02\x12\x10\n" +
+	"\fSTOP_TIMEOUT\x10\x03\x12\x16\n" +
+	"\x12FAIL_BALLPLACEMENT\x10\x04B\x05\n" +
+	"\x03msg\"\x87\x01\n" +
+	"\x19ControllerToRemoteControl\x12;\n" +
+	"\x10controller_reply\x18\x01 \x01(\v2\x10.ControllerReplyR\x0fcontrollerReply\x12-\n" +
+	"\x05state\x18\x02 \x01(\v2\x17.RemoteControlTeamStateR\x05state\"\xa3\x05\n" +
+	"\x16RemoteControlTeamState\x12\x19\n" +
+	"\x04team\x18\f \x01(\x0e2\x05.TeamR\x04team\x12H\n" +
+	"\x12available_requests\x18\x01 \x03(\x0e2\x19.RemoteControlRequestTypeR\x11availableRequests\x12B\n" +
+	"\x0factive_requests\x18\x02 \x03(\x0e2\x19.RemoteControlRequestTypeR\x0eactiveRequests\x12\x1b\n" +
+	"\tkeeper_id\x18\x03 \x01(\x05R\bkeeperId\x12*\n" +
+	"\x11emergency_stop_in\x18\x04 \x01(\x02R\x0femergencyStopIn\x12#\n" +
+	"\rtimeouts_left\x18\x05 \x01(\x05R\ftimeoutsLeft\x12*\n" +
+	"\x11timeout_time_left\x18\n" +
+	" \x01(\x02R\x0ftimeoutTimeLeft\x120\n" +
+	"\x14challenge_flags_left\x18\x06 \x01(\x05R\x12challengeFlagsLeft\x12\x1d\n" +
+	"\n" +
+	"max_robots\x18\a \x01(\x05R\tmaxRobots\x12&\n" +
+	"\x0frobots_on_field\x18\t \x01(\x05R\rrobotsOnField\x12(\n" +
+	"\x10yellow_cards_due\x18\b \x03(\x02R\x0eyellowCardsDue\x120\n" +
+	"\x14can_substitute_robot\x18\v \x01(\bR\x12canSubstituteRobot\x124\n" +
+	"\x16bot_substitutions_left\x18\r \x01(\rR\x14botSubstitutionsLeft\x12;\n" +
+	"\x1abot_substitution_time_left\x18\x0e \x01(\x02R\x17botSubstitutionTimeLeft*\xc1\x01\n" +
+	"\x18RemoteControlRequestType\x12\x18\n" +
+	"\x14UNKNOWN_REQUEST_TYPE\x10\x00\x12\x12\n" +
+	"\x0eEMERGENCY_STOP\x10\x01\x12\x16\n" +
+	"\x12ROBOT_SUBSTITUTION\x10\x02\x12\v\n" +
+	"\aTIMEOUT\x10\x03\x12\x12\n" +
+	"\x0eCHALLENGE_FLAG\x10\x04\x12\x14\n" +
+	"\x10CHANGE_KEEPER_ID\x10\x05\x12\x10\n" +
+	"\fSTOP_TIMEOUT\x10\x06\x12\x16\n" +
+	"\x12FAIL_BALLPLACEMENT\x10\aBhB\x1bSslGcRconRemotecontrolProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+
+var (
+	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescOnce sync.Once
+	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescData []byte
+)
+
+func file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP() []byte {
+	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescOnce.Do(func() {
+		file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDesc)))
+	})
+	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescData
+}
+
+var file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes = make([]protoimpl.EnumInfo, 2)
+var file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes = make([]protoimpl.MessageInfo, 4)
+var file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_goTypes = []any{
+	(RemoteControlRequestType)(0),          // 0: RemoteControlRequestType
+	(RemoteControlToController_Request)(0), // 1: RemoteControlToController.Request
+	(*RemoteControlRegistration)(nil),      // 2: RemoteControlRegistration
+	(*RemoteControlToController)(nil),      // 3: RemoteControlToController
+	(*ControllerToRemoteControl)(nil),      // 4: ControllerToRemoteControl
+	(*RemoteControlTeamState)(nil),         // 5: RemoteControlTeamState
+	(Team)(0),                              // 6: Team
+	(*Signature)(nil),                      // 7: Signature
+	(*ControllerReply)(nil),                // 8: ControllerReply
+}
+var file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_depIdxs = []int32{
+	6, // 0: RemoteControlRegistration.team:type_name -> Team
+	7, // 1: RemoteControlRegistration.signature:type_name -> Signature
+	7, // 2: RemoteControlToController.signature:type_name -> Signature
+	1, // 3: RemoteControlToController.request:type_name -> RemoteControlToController.Request
+	8, // 4: ControllerToRemoteControl.controller_reply:type_name -> ControllerReply
+	5, // 5: ControllerToRemoteControl.state:type_name -> RemoteControlTeamState
+	6, // 6: RemoteControlTeamState.team:type_name -> Team
+	0, // 7: RemoteControlTeamState.available_requests:type_name -> RemoteControlRequestType
+	0, // 8: RemoteControlTeamState.active_requests:type_name -> RemoteControlRequestType
+	9, // [9:9] is the sub-list for method output_type
+	9, // [9:9] is the sub-list for method input_type
+	9, // [9:9] is the sub-list for extension type_name
+	9, // [9:9] is the sub-list for extension extendee
+	0, // [0:9] is the sub-list for field type_name
+}
+
+func init() { file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_init() }
+func file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_init() {
+	if File_gamecontroller_ssl_gc_rcon_remotecontrol_proto != nil {
+		return
+	}
+	file_gamecontroller_ssl_gc_common_proto_init()
+	file_gamecontroller_ssl_gc_rcon_proto_init()
+	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[1].OneofWrappers = []any{
+		(*RemoteControlToController_Request_)(nil),
+		(*RemoteControlToController_DesiredKeeper)(nil),
+		(*RemoteControlToController_RequestRobotSubstitution)(nil),
+		(*RemoteControlToController_RequestTimeout)(nil),
+		(*RemoteControlToController_RequestEmergencyStop)(nil),
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDesc)),
+			NumEnums:      2,
+			NumMessages:   4,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_goTypes,
+		DependencyIndexes: file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_depIdxs,
+		EnumInfos:         file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes,
+		MessageInfos:      file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes,
+	}.Build()
+	File_gamecontroller_ssl_gc_rcon_remotecontrol_proto = out.File
+	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_goTypes = nil
+	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_depIdxs = nil
+}
diff --git a/gui/internal/gamecontroller/ssl_gc_rcon_team.pb.go b/gui/internal/gamecontroller/ssl_gc_rcon_team.pb.go
new file mode 100644
index 0000000..fc1ec5b
--- /dev/null
+++ b/gui/internal/gamecontroller/ssl_gc_rcon_team.pb.go
@@ -0,0 +1,442 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: gamecontroller/ssl_gc_rcon_team.proto
+
+package gamecontroller
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+// the current advantage choice of the team
+// the choice is valid until another choice is received
+// if the team disconnects, the choice is reset to its default (STOP)
+// teams may either send their current choice continuously or only on change
+type AdvantageChoice int32
+
+const (
+	// stop the game
+	AdvantageChoice_STOP AdvantageChoice = 0
+	// keep the game running
+	AdvantageChoice_CONTINUE AdvantageChoice = 1
+)
+
+// Enum value maps for AdvantageChoice.
+var (
+	AdvantageChoice_name = map[int32]string{
+		0: "STOP",
+		1: "CONTINUE",
+	}
+	AdvantageChoice_value = map[string]int32{
+		"STOP":     0,
+		"CONTINUE": 1,
+	}
+)
+
+func (x AdvantageChoice) Enum() *AdvantageChoice {
+	p := new(AdvantageChoice)
+	*p = x
+	return p
+}
+
+func (x AdvantageChoice) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (AdvantageChoice) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_rcon_team_proto_enumTypes[0].Descriptor()
+}
+
+func (AdvantageChoice) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_rcon_team_proto_enumTypes[0]
+}
+
+func (x AdvantageChoice) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *AdvantageChoice) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = AdvantageChoice(num)
+	return nil
+}
+
+// Deprecated: Use AdvantageChoice.Descriptor instead.
+func (AdvantageChoice) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_team_proto_rawDescGZIP(), []int{0}
+}
+
+// a registration that must be send by teams to the controller as the very first message
+type TeamRegistration struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// the exact team name as published by the game-controller
+	TeamName *string `protobuf:"bytes,1,req,name=team_name,json=teamName" json:"team_name,omitempty"`
+	// signature can optionally be specified to enable secure communication
+	Signature *Signature `protobuf:"bytes,2,opt,name=signature" json:"signature,omitempty"`
+	// the team (relevant only if a team plays against itself)
+	Team          *Team `protobuf:"varint,3,opt,name=team,enum=Team" json:"team,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *TeamRegistration) Reset() {
+	*x = TeamRegistration{}
+	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *TeamRegistration) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*TeamRegistration) ProtoMessage() {}
+
+func (x *TeamRegistration) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use TeamRegistration.ProtoReflect.Descriptor instead.
+func (*TeamRegistration) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_team_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *TeamRegistration) GetTeamName() string {
+	if x != nil && x.TeamName != nil {
+		return *x.TeamName
+	}
+	return ""
+}
+
+func (x *TeamRegistration) GetSignature() *Signature {
+	if x != nil {
+		return x.Signature
+	}
+	return nil
+}
+
+func (x *TeamRegistration) GetTeam() Team {
+	if x != nil && x.Team != nil {
+		return *x.Team
+	}
+	return Team_UNKNOWN
+}
+
+// wrapper for all messages from a team's computer to the controller
+type TeamToController struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// signature can optionally be specified to enable secure communication
+	Signature *Signature `protobuf:"bytes,1,opt,name=signature" json:"signature,omitempty"`
+	// Types that are valid to be assigned to Msg:
+	//
+	//	*TeamToController_DesiredKeeper
+	//	*TeamToController_AdvantageChoice
+	//	*TeamToController_SubstituteBot
+	//	*TeamToController_Ping
+	Msg           isTeamToController_Msg `protobuf_oneof:"msg"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *TeamToController) Reset() {
+	*x = TeamToController{}
+	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *TeamToController) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*TeamToController) ProtoMessage() {}
+
+func (x *TeamToController) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use TeamToController.ProtoReflect.Descriptor instead.
+func (*TeamToController) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_team_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *TeamToController) GetSignature() *Signature {
+	if x != nil {
+		return x.Signature
+	}
+	return nil
+}
+
+func (x *TeamToController) GetMsg() isTeamToController_Msg {
+	if x != nil {
+		return x.Msg
+	}
+	return nil
+}
+
+func (x *TeamToController) GetDesiredKeeper() int32 {
+	if x != nil {
+		if x, ok := x.Msg.(*TeamToController_DesiredKeeper); ok {
+			return x.DesiredKeeper
+		}
+	}
+	return 0
+}
+
+func (x *TeamToController) GetAdvantageChoice() AdvantageChoice {
+	if x != nil {
+		if x, ok := x.Msg.(*TeamToController_AdvantageChoice); ok {
+			return x.AdvantageChoice
+		}
+	}
+	return AdvantageChoice_STOP
+}
+
+func (x *TeamToController) GetSubstituteBot() bool {
+	if x != nil {
+		if x, ok := x.Msg.(*TeamToController_SubstituteBot); ok {
+			return x.SubstituteBot
+		}
+	}
+	return false
+}
+
+func (x *TeamToController) GetPing() bool {
+	if x != nil {
+		if x, ok := x.Msg.(*TeamToController_Ping); ok {
+			return x.Ping
+		}
+	}
+	return false
+}
+
+type isTeamToController_Msg interface {
+	isTeamToController_Msg()
+}
+
+type TeamToController_DesiredKeeper struct {
+	// request a new desired keeper id
+	DesiredKeeper int32 `protobuf:"varint,2,opt,name=desired_keeper,json=desiredKeeper,oneof"`
+}
+
+type TeamToController_AdvantageChoice struct {
+	// response to an advantage choice request
+	AdvantageChoice AdvantageChoice `protobuf:"varint,3,opt,name=advantage_choice,json=advantageChoice,enum=AdvantageChoice,oneof"`
+}
+
+type TeamToController_SubstituteBot struct {
+	// request to substitute a robot at the next possibility
+	SubstituteBot bool `protobuf:"varint,4,opt,name=substitute_bot,json=substituteBot,oneof"`
+}
+
+type TeamToController_Ping struct {
+	// send a ping to the GC to test if the connection is still open.
+	// the value is ignored and a reply is sent back
+	Ping bool `protobuf:"varint,5,opt,name=ping,oneof"`
+}
+
+func (*TeamToController_DesiredKeeper) isTeamToController_Msg() {}
+
+func (*TeamToController_AdvantageChoice) isTeamToController_Msg() {}
+
+func (*TeamToController_SubstituteBot) isTeamToController_Msg() {}
+
+func (*TeamToController_Ping) isTeamToController_Msg() {}
+
+// wrapper for all messages from controller to a team's computer
+type ControllerToTeam struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Types that are valid to be assigned to Msg:
+	//
+	//	*ControllerToTeam_ControllerReply
+	Msg           isControllerToTeam_Msg `protobuf_oneof:"msg"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *ControllerToTeam) Reset() {
+	*x = ControllerToTeam{}
+	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[2]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *ControllerToTeam) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*ControllerToTeam) ProtoMessage() {}
+
+func (x *ControllerToTeam) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[2]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use ControllerToTeam.ProtoReflect.Descriptor instead.
+func (*ControllerToTeam) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_rcon_team_proto_rawDescGZIP(), []int{2}
+}
+
+func (x *ControllerToTeam) GetMsg() isControllerToTeam_Msg {
+	if x != nil {
+		return x.Msg
+	}
+	return nil
+}
+
+func (x *ControllerToTeam) GetControllerReply() *ControllerReply {
+	if x != nil {
+		if x, ok := x.Msg.(*ControllerToTeam_ControllerReply); ok {
+			return x.ControllerReply
+		}
+	}
+	return nil
+}
+
+type isControllerToTeam_Msg interface {
+	isControllerToTeam_Msg()
+}
+
+type ControllerToTeam_ControllerReply struct {
+	// a reply from the controller
+	ControllerReply *ControllerReply `protobuf:"bytes,1,opt,name=controller_reply,json=controllerReply,oneof"`
+}
+
+func (*ControllerToTeam_ControllerReply) isControllerToTeam_Msg() {}
+
+var File_gamecontroller_ssl_gc_rcon_team_proto protoreflect.FileDescriptor
+
+const file_gamecontroller_ssl_gc_rcon_team_proto_rawDesc = "" +
+	"\n" +
+	"%gamecontroller/ssl_gc_rcon_team.proto\x1a\"gamecontroller/ssl_gc_common.proto\x1a gamecontroller/ssl_gc_rcon.proto\"t\n" +
+	"\x10TeamRegistration\x12\x1b\n" +
+	"\tteam_name\x18\x01 \x02(\tR\bteamName\x12(\n" +
+	"\tsignature\x18\x02 \x01(\v2\n" +
+	".SignatureR\tsignature\x12\x19\n" +
+	"\x04team\x18\x03 \x01(\x0e2\x05.TeamR\x04team\"\xea\x01\n" +
+	"\x10TeamToController\x12(\n" +
+	"\tsignature\x18\x01 \x01(\v2\n" +
+	".SignatureR\tsignature\x12'\n" +
+	"\x0edesired_keeper\x18\x02 \x01(\x05H\x00R\rdesiredKeeper\x12=\n" +
+	"\x10advantage_choice\x18\x03 \x01(\x0e2\x10.AdvantageChoiceH\x00R\x0fadvantageChoice\x12'\n" +
+	"\x0esubstitute_bot\x18\x04 \x01(\bH\x00R\rsubstituteBot\x12\x14\n" +
+	"\x04ping\x18\x05 \x01(\bH\x00R\x04pingB\x05\n" +
+	"\x03msg\"^\n" +
+	"\x10ControllerToTeam\x12=\n" +
+	"\x10controller_reply\x18\x01 \x01(\v2\x10.ControllerReplyH\x00R\x0fcontrollerReplyB\x05\n" +
+	"\x03msgJ\x04\b\x02\x10\x03*)\n" +
+	"\x0fAdvantageChoice\x12\b\n" +
+	"\x04STOP\x10\x00\x12\f\n" +
+	"\bCONTINUE\x10\x01B_B\x12SslGcRconTeamProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+
+var (
+	file_gamecontroller_ssl_gc_rcon_team_proto_rawDescOnce sync.Once
+	file_gamecontroller_ssl_gc_rcon_team_proto_rawDescData []byte
+)
+
+func file_gamecontroller_ssl_gc_rcon_team_proto_rawDescGZIP() []byte {
+	file_gamecontroller_ssl_gc_rcon_team_proto_rawDescOnce.Do(func() {
+		file_gamecontroller_ssl_gc_rcon_team_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_team_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_team_proto_rawDesc)))
+	})
+	return file_gamecontroller_ssl_gc_rcon_team_proto_rawDescData
+}
+
+var file_gamecontroller_ssl_gc_rcon_team_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
+var file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes = make([]protoimpl.MessageInfo, 3)
+var file_gamecontroller_ssl_gc_rcon_team_proto_goTypes = []any{
+	(AdvantageChoice)(0),     // 0: AdvantageChoice
+	(*TeamRegistration)(nil), // 1: TeamRegistration
+	(*TeamToController)(nil), // 2: TeamToController
+	(*ControllerToTeam)(nil), // 3: ControllerToTeam
+	(*Signature)(nil),        // 4: Signature
+	(Team)(0),                // 5: Team
+	(*ControllerReply)(nil),  // 6: ControllerReply
+}
+var file_gamecontroller_ssl_gc_rcon_team_proto_depIdxs = []int32{
+	4, // 0: TeamRegistration.signature:type_name -> Signature
+	5, // 1: TeamRegistration.team:type_name -> Team
+	4, // 2: TeamToController.signature:type_name -> Signature
+	0, // 3: TeamToController.advantage_choice:type_name -> AdvantageChoice
+	6, // 4: ControllerToTeam.controller_reply:type_name -> ControllerReply
+	5, // [5:5] is the sub-list for method output_type
+	5, // [5:5] is the sub-list for method input_type
+	5, // [5:5] is the sub-list for extension type_name
+	5, // [5:5] is the sub-list for extension extendee
+	0, // [0:5] is the sub-list for field type_name
+}
+
+func init() { file_gamecontroller_ssl_gc_rcon_team_proto_init() }
+func file_gamecontroller_ssl_gc_rcon_team_proto_init() {
+	if File_gamecontroller_ssl_gc_rcon_team_proto != nil {
+		return
+	}
+	file_gamecontroller_ssl_gc_common_proto_init()
+	file_gamecontroller_ssl_gc_rcon_proto_init()
+	file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[1].OneofWrappers = []any{
+		(*TeamToController_DesiredKeeper)(nil),
+		(*TeamToController_AdvantageChoice)(nil),
+		(*TeamToController_SubstituteBot)(nil),
+		(*TeamToController_Ping)(nil),
+	}
+	file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[2].OneofWrappers = []any{
+		(*ControllerToTeam_ControllerReply)(nil),
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_team_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_team_proto_rawDesc)),
+			NumEnums:      1,
+			NumMessages:   3,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_gamecontroller_ssl_gc_rcon_team_proto_goTypes,
+		DependencyIndexes: file_gamecontroller_ssl_gc_rcon_team_proto_depIdxs,
+		EnumInfos:         file_gamecontroller_ssl_gc_rcon_team_proto_enumTypes,
+		MessageInfos:      file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes,
+	}.Build()
+	File_gamecontroller_ssl_gc_rcon_team_proto = out.File
+	file_gamecontroller_ssl_gc_rcon_team_proto_goTypes = nil
+	file_gamecontroller_ssl_gc_rcon_team_proto_depIdxs = nil
+}
diff --git a/gui/internal/gamecontroller/ssl_gc_referee_message.pb.go b/gui/internal/gamecontroller/ssl_gc_referee_message.pb.go
new file mode 100644
index 0000000..84dd959
--- /dev/null
+++ b/gui/internal/gamecontroller/ssl_gc_referee_message.pb.go
@@ -0,0 +1,1113 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: gamecontroller/ssl_gc_referee_message.proto
+
+package gamecontroller
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+// MatchType is a meta information about the current match for easier log processing
+type MatchType int32
+
+const (
+	// not set
+	MatchType_UNKNOWN_MATCH MatchType = 0
+	// match is part of the group phase
+	MatchType_GROUP_PHASE MatchType = 1
+	// match is part of the elimination phase
+	MatchType_ELIMINATION_PHASE MatchType = 2
+	// a friendly match, not part of a tournament
+	MatchType_FRIENDLY MatchType = 3
+)
+
+// Enum value maps for MatchType.
+var (
+	MatchType_name = map[int32]string{
+		0: "UNKNOWN_MATCH",
+		1: "GROUP_PHASE",
+		2: "ELIMINATION_PHASE",
+		3: "FRIENDLY",
+	}
+	MatchType_value = map[string]int32{
+		"UNKNOWN_MATCH":     0,
+		"GROUP_PHASE":       1,
+		"ELIMINATION_PHASE": 2,
+		"FRIENDLY":          3,
+	}
+)
+
+func (x MatchType) Enum() *MatchType {
+	p := new(MatchType)
+	*p = x
+	return p
+}
+
+func (x MatchType) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (MatchType) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[0].Descriptor()
+}
+
+func (MatchType) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[0]
+}
+
+func (x MatchType) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *MatchType) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = MatchType(num)
+	return nil
+}
+
+// Deprecated: Use MatchType.Descriptor instead.
+func (MatchType) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0}
+}
+
+// HullColor is the color of the hull of the robots of a team
+type HullColor int32
+
+const (
+	// not set
+	HullColor_HULL_COLOR_UNKNOWN HullColor = 0
+	// dark hull color
+	HullColor_HULL_COLOR_DARK HullColor = 1
+	// light hull color
+	HullColor_HULL_COLOR_LIGHT HullColor = 2
+)
+
+// Enum value maps for HullColor.
+var (
+	HullColor_name = map[int32]string{
+		0: "HULL_COLOR_UNKNOWN",
+		1: "HULL_COLOR_DARK",
+		2: "HULL_COLOR_LIGHT",
+	}
+	HullColor_value = map[string]int32{
+		"HULL_COLOR_UNKNOWN": 0,
+		"HULL_COLOR_DARK":    1,
+		"HULL_COLOR_LIGHT":   2,
+	}
+)
+
+func (x HullColor) Enum() *HullColor {
+	p := new(HullColor)
+	*p = x
+	return p
+}
+
+func (x HullColor) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (HullColor) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[1].Descriptor()
+}
+
+func (HullColor) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[1]
+}
+
+func (x HullColor) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *HullColor) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = HullColor(num)
+	return nil
+}
+
+// Deprecated: Use HullColor.Descriptor instead.
+func (HullColor) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{1}
+}
+
+// These are the "coarse" stages of the game.
+type Referee_Stage int32
+
+const (
+	// The first half is about to start.
+	// A kickoff is called within this stage.
+	// This stage ends with the NORMAL_START.
+	Referee_NORMAL_FIRST_HALF_PRE Referee_Stage = 0
+	// The first half of the normal game, before half time.
+	Referee_NORMAL_FIRST_HALF Referee_Stage = 1
+	// Half time between first and second halves.
+	Referee_NORMAL_HALF_TIME Referee_Stage = 2
+	// The second half is about to start.
+	// A kickoff is called within this stage.
+	// This stage ends with the NORMAL_START.
+	Referee_NORMAL_SECOND_HALF_PRE Referee_Stage = 3
+	// The second half of the normal game, after half time.
+	Referee_NORMAL_SECOND_HALF Referee_Stage = 4
+	// The break before extra time.
+	Referee_EXTRA_TIME_BREAK Referee_Stage = 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.
+	Referee_EXTRA_FIRST_HALF_PRE Referee_Stage = 6
+	// The first half of extra time.
+	Referee_EXTRA_FIRST_HALF Referee_Stage = 7
+	// Half time between first and second extra halves.
+	Referee_EXTRA_HALF_TIME Referee_Stage = 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.
+	Referee_EXTRA_SECOND_HALF_PRE Referee_Stage = 9
+	// The second half of extra time.
+	Referee_EXTRA_SECOND_HALF Referee_Stage = 10
+	// The break before penalty shootout.
+	Referee_PENALTY_SHOOTOUT_BREAK Referee_Stage = 11
+	// The penalty shootout.
+	Referee_PENALTY_SHOOTOUT Referee_Stage = 12
+	// The game is over.
+	Referee_POST_GAME Referee_Stage = 13
+)
+
+// Enum value maps for Referee_Stage.
+var (
+	Referee_Stage_name = map[int32]string{
+		0:  "NORMAL_FIRST_HALF_PRE",
+		1:  "NORMAL_FIRST_HALF",
+		2:  "NORMAL_HALF_TIME",
+		3:  "NORMAL_SECOND_HALF_PRE",
+		4:  "NORMAL_SECOND_HALF",
+		5:  "EXTRA_TIME_BREAK",
+		6:  "EXTRA_FIRST_HALF_PRE",
+		7:  "EXTRA_FIRST_HALF",
+		8:  "EXTRA_HALF_TIME",
+		9:  "EXTRA_SECOND_HALF_PRE",
+		10: "EXTRA_SECOND_HALF",
+		11: "PENALTY_SHOOTOUT_BREAK",
+		12: "PENALTY_SHOOTOUT",
+		13: "POST_GAME",
+	}
+	Referee_Stage_value = map[string]int32{
+		"NORMAL_FIRST_HALF_PRE":  0,
+		"NORMAL_FIRST_HALF":      1,
+		"NORMAL_HALF_TIME":       2,
+		"NORMAL_SECOND_HALF_PRE": 3,
+		"NORMAL_SECOND_HALF":     4,
+		"EXTRA_TIME_BREAK":       5,
+		"EXTRA_FIRST_HALF_PRE":   6,
+		"EXTRA_FIRST_HALF":       7,
+		"EXTRA_HALF_TIME":        8,
+		"EXTRA_SECOND_HALF_PRE":  9,
+		"EXTRA_SECOND_HALF":      10,
+		"PENALTY_SHOOTOUT_BREAK": 11,
+		"PENALTY_SHOOTOUT":       12,
+		"POST_GAME":              13,
+	}
+)
+
+func (x Referee_Stage) Enum() *Referee_Stage {
+	p := new(Referee_Stage)
+	*p = x
+	return p
+}
+
+func (x Referee_Stage) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (Referee_Stage) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[2].Descriptor()
+}
+
+func (Referee_Stage) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[2]
+}
+
+func (x Referee_Stage) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *Referee_Stage) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = Referee_Stage(num)
+	return nil
+}
+
+// Deprecated: Use Referee_Stage.Descriptor instead.
+func (Referee_Stage) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0, 0}
+}
+
+// These are the "fine" states of play on the field.
+type Referee_Command int32
+
+const (
+	// All robots should completely stop moving.
+	Referee_HALT Referee_Command = 0
+	// Robots must keep 50 cm from the ball.
+	Referee_STOP Referee_Command = 1
+	// A prepared kickoff or penalty may now be taken.
+	Referee_NORMAL_START Referee_Command = 2
+	// The ball is dropped and free for either team.
+	Referee_FORCE_START Referee_Command = 3
+	// The yellow team may move into kickoff position.
+	Referee_PREPARE_KICKOFF_YELLOW Referee_Command = 4
+	// The blue team may move into kickoff position.
+	Referee_PREPARE_KICKOFF_BLUE Referee_Command = 5
+	// The yellow team may move into penalty position.
+	Referee_PREPARE_PENALTY_YELLOW Referee_Command = 6
+	// The blue team may move into penalty position.
+	Referee_PREPARE_PENALTY_BLUE Referee_Command = 7
+	// The yellow team may take a direct free kick.
+	Referee_DIRECT_FREE_YELLOW Referee_Command = 8
+	// The blue team may take a direct free kick.
+	Referee_DIRECT_FREE_BLUE Referee_Command = 9
+	// The yellow team may take an indirect free kick.
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_referee_message.proto.
+	Referee_INDIRECT_FREE_YELLOW Referee_Command = 10
+	// The blue team may take an indirect free kick.
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_referee_message.proto.
+	Referee_INDIRECT_FREE_BLUE Referee_Command = 11
+	// The yellow team is currently in a timeout.
+	Referee_TIMEOUT_YELLOW Referee_Command = 12
+	// The blue team is currently in a timeout.
+	Referee_TIMEOUT_BLUE Referee_Command = 13
+	// The yellow team just scored a goal.
+	// For information only.
+	// Deprecated: Use the score field from the team infos instead. That way, you can also detect revoked goals.
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_referee_message.proto.
+	Referee_GOAL_YELLOW Referee_Command = 14
+	// The blue team just scored a goal. See also GOAL_YELLOW.
+	//
+	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_referee_message.proto.
+	Referee_GOAL_BLUE Referee_Command = 15
+	// Equivalent to STOP, but the yellow team must pick up the ball and
+	// drop it in the Designated Position.
+	Referee_BALL_PLACEMENT_YELLOW Referee_Command = 16
+	// Equivalent to STOP, but the blue team must pick up the ball and drop
+	// it in the Designated Position.
+	Referee_BALL_PLACEMENT_BLUE Referee_Command = 17
+)
+
+// Enum value maps for Referee_Command.
+var (
+	Referee_Command_name = map[int32]string{
+		0:  "HALT",
+		1:  "STOP",
+		2:  "NORMAL_START",
+		3:  "FORCE_START",
+		4:  "PREPARE_KICKOFF_YELLOW",
+		5:  "PREPARE_KICKOFF_BLUE",
+		6:  "PREPARE_PENALTY_YELLOW",
+		7:  "PREPARE_PENALTY_BLUE",
+		8:  "DIRECT_FREE_YELLOW",
+		9:  "DIRECT_FREE_BLUE",
+		10: "INDIRECT_FREE_YELLOW",
+		11: "INDIRECT_FREE_BLUE",
+		12: "TIMEOUT_YELLOW",
+		13: "TIMEOUT_BLUE",
+		14: "GOAL_YELLOW",
+		15: "GOAL_BLUE",
+		16: "BALL_PLACEMENT_YELLOW",
+		17: "BALL_PLACEMENT_BLUE",
+	}
+	Referee_Command_value = map[string]int32{
+		"HALT":                   0,
+		"STOP":                   1,
+		"NORMAL_START":           2,
+		"FORCE_START":            3,
+		"PREPARE_KICKOFF_YELLOW": 4,
+		"PREPARE_KICKOFF_BLUE":   5,
+		"PREPARE_PENALTY_YELLOW": 6,
+		"PREPARE_PENALTY_BLUE":   7,
+		"DIRECT_FREE_YELLOW":     8,
+		"DIRECT_FREE_BLUE":       9,
+		"INDIRECT_FREE_YELLOW":   10,
+		"INDIRECT_FREE_BLUE":     11,
+		"TIMEOUT_YELLOW":         12,
+		"TIMEOUT_BLUE":           13,
+		"GOAL_YELLOW":            14,
+		"GOAL_BLUE":              15,
+		"BALL_PLACEMENT_YELLOW":  16,
+		"BALL_PLACEMENT_BLUE":    17,
+	}
+)
+
+func (x Referee_Command) Enum() *Referee_Command {
+	p := new(Referee_Command)
+	*p = x
+	return p
+}
+
+func (x Referee_Command) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (Referee_Command) Descriptor() protoreflect.EnumDescriptor {
+	return file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[3].Descriptor()
+}
+
+func (Referee_Command) Type() protoreflect.EnumType {
+	return &file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[3]
+}
+
+func (x Referee_Command) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *Referee_Command) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = Referee_Command(num)
+	return nil
+}
+
+// Deprecated: Use Referee_Command.Descriptor instead.
+func (Referee_Command) EnumDescriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0, 1}
+}
+
+// Each UDP packet contains one of these messages.
+type Referee struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// A random UUID of the source that is kept constant at the source while running
+	// If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
+	SourceIdentifier *string `protobuf:"bytes,18,opt,name=source_identifier,json=sourceIdentifier" json:"source_identifier,omitempty"`
+	// The match type is a meta information about the current match that helps to process the logs after a competition
+	MatchType *MatchType `protobuf:"varint,19,opt,name=match_type,json=matchType,enum=MatchType,def=0" json:"match_type,omitempty"`
+	// The UNIX timestamp when the packet was sent, in microseconds.
+	// Divide by 1,000,000 to get a time_t.
+	PacketTimestamp *uint64        `protobuf:"varint,1,req,name=packet_timestamp,json=packetTimestamp" json:"packet_timestamp,omitempty"`
+	Stage           *Referee_Stage `protobuf:"varint,2,req,name=stage,enum=Referee_Stage" json:"stage,omitempty"`
+	// The number of microseconds 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.
+	StageTimeLeft *int64           `protobuf:"zigzag64,3,opt,name=stage_time_left,json=stageTimeLeft" json:"stage_time_left,omitempty"`
+	Command       *Referee_Command `protobuf:"varint,4,req,name=command,enum=Referee_Command" json:"command,omitempty"`
+	// The number of commands issued since startup (mod 2^32).
+	CommandCounter *uint32 `protobuf:"varint,5,req,name=command_counter,json=commandCounter" json:"command_counter,omitempty"`
+	// The UNIX timestamp when the command was issued, in microseconds.
+	// This value changes only when a new command is issued, not on each packet.
+	CommandTimestamp *uint64 `protobuf:"varint,6,req,name=command_timestamp,json=commandTimestamp" json:"command_timestamp,omitempty"`
+	// Information about the two teams.
+	Yellow             *Referee_TeamInfo `protobuf:"bytes,7,req,name=yellow" json:"yellow,omitempty"`
+	Blue               *Referee_TeamInfo `protobuf:"bytes,8,req,name=blue" json:"blue,omitempty"`
+	DesignatedPosition *Referee_Point    `protobuf:"bytes,9,opt,name=designated_position,json=designatedPosition" json:"designated_position,omitempty"`
+	// Information about the direction of play.
+	// True, if the blue team will have it's goal on the positive x-axis of the ssl-vision coordinate system.
+	// Obviously, the yellow team will play on the opposite half.
+	BlueTeamOnPositiveHalf *bool `protobuf:"varint,10,opt,name=blue_team_on_positive_half,json=blueTeamOnPositiveHalf" json:"blue_team_on_positive_half,omitempty"`
+	// The command that will be issued after the current stoppage and ball placement to continue the game.
+	NextCommand        *Referee_Command          `protobuf:"varint,12,opt,name=next_command,json=nextCommand,enum=Referee_Command" json:"next_command,omitempty"`
+	GameEvents         []*GameEvent              `protobuf:"bytes,16,rep,name=game_events,json=gameEvents" json:"game_events,omitempty"`
+	GameEventProposals []*GameEventProposalGroup `protobuf:"bytes,17,rep,name=game_event_proposals,json=gameEventProposals" json:"game_event_proposals,omitempty"`
+	// The time in microseconds that is remaining until the current action times out
+	// The time will not be reset. It can get negative.
+	// An autoRef would raise an appropriate event, if the time gets negative.
+	// Possible actions where this time is relevant:
+	//   - free kicks
+	//   - kickoff, penalty kick, force start
+	//   - ball placement
+	CurrentActionTimeRemaining *int64 `protobuf:"varint,15,opt,name=current_action_time_remaining,json=currentActionTimeRemaining" json:"current_action_time_remaining,omitempty"`
+	// A message that can be displayed to the spectators, like a reason for a stoppage.
+	StatusMessage *string `protobuf:"bytes,20,opt,name=status_message,json=statusMessage" json:"status_message,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+// Default values for Referee fields.
+const (
+	Default_Referee_MatchType = MatchType_UNKNOWN_MATCH
+)
+
+func (x *Referee) Reset() {
+	*x = Referee{}
+	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Referee) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Referee) ProtoMessage() {}
+
+func (x *Referee) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Referee.ProtoReflect.Descriptor instead.
+func (*Referee) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *Referee) GetSourceIdentifier() string {
+	if x != nil && x.SourceIdentifier != nil {
+		return *x.SourceIdentifier
+	}
+	return ""
+}
+
+func (x *Referee) GetMatchType() MatchType {
+	if x != nil && x.MatchType != nil {
+		return *x.MatchType
+	}
+	return Default_Referee_MatchType
+}
+
+func (x *Referee) GetPacketTimestamp() uint64 {
+	if x != nil && x.PacketTimestamp != nil {
+		return *x.PacketTimestamp
+	}
+	return 0
+}
+
+func (x *Referee) GetStage() Referee_Stage {
+	if x != nil && x.Stage != nil {
+		return *x.Stage
+	}
+	return Referee_NORMAL_FIRST_HALF_PRE
+}
+
+func (x *Referee) GetStageTimeLeft() int64 {
+	if x != nil && x.StageTimeLeft != nil {
+		return *x.StageTimeLeft
+	}
+	return 0
+}
+
+func (x *Referee) GetCommand() Referee_Command {
+	if x != nil && x.Command != nil {
+		return *x.Command
+	}
+	return Referee_HALT
+}
+
+func (x *Referee) GetCommandCounter() uint32 {
+	if x != nil && x.CommandCounter != nil {
+		return *x.CommandCounter
+	}
+	return 0
+}
+
+func (x *Referee) GetCommandTimestamp() uint64 {
+	if x != nil && x.CommandTimestamp != nil {
+		return *x.CommandTimestamp
+	}
+	return 0
+}
+
+func (x *Referee) GetYellow() *Referee_TeamInfo {
+	if x != nil {
+		return x.Yellow
+	}
+	return nil
+}
+
+func (x *Referee) GetBlue() *Referee_TeamInfo {
+	if x != nil {
+		return x.Blue
+	}
+	return nil
+}
+
+func (x *Referee) GetDesignatedPosition() *Referee_Point {
+	if x != nil {
+		return x.DesignatedPosition
+	}
+	return nil
+}
+
+func (x *Referee) GetBlueTeamOnPositiveHalf() bool {
+	if x != nil && x.BlueTeamOnPositiveHalf != nil {
+		return *x.BlueTeamOnPositiveHalf
+	}
+	return false
+}
+
+func (x *Referee) GetNextCommand() Referee_Command {
+	if x != nil && x.NextCommand != nil {
+		return *x.NextCommand
+	}
+	return Referee_HALT
+}
+
+func (x *Referee) GetGameEvents() []*GameEvent {
+	if x != nil {
+		return x.GameEvents
+	}
+	return nil
+}
+
+func (x *Referee) GetGameEventProposals() []*GameEventProposalGroup {
+	if x != nil {
+		return x.GameEventProposals
+	}
+	return nil
+}
+
+func (x *Referee) GetCurrentActionTimeRemaining() int64 {
+	if x != nil && x.CurrentActionTimeRemaining != nil {
+		return *x.CurrentActionTimeRemaining
+	}
+	return 0
+}
+
+func (x *Referee) GetStatusMessage() string {
+	if x != nil && x.StatusMessage != nil {
+		return *x.StatusMessage
+	}
+	return ""
+}
+
+// List of matching proposals
+type GameEventProposalGroup struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Unique ID of this group
+	Id *string `protobuf:"bytes,3,opt,name=id" json:"id,omitempty"`
+	// The proposed game events
+	GameEvents []*GameEvent `protobuf:"bytes,1,rep,name=game_events,json=gameEvents" json:"game_events,omitempty"`
+	// Whether the proposal group was accepted
+	Accepted      *bool `protobuf:"varint,2,opt,name=accepted" json:"accepted,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *GameEventProposalGroup) Reset() {
+	*x = GameEventProposalGroup{}
+	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *GameEventProposalGroup) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*GameEventProposalGroup) ProtoMessage() {}
+
+func (x *GameEventProposalGroup) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use GameEventProposalGroup.ProtoReflect.Descriptor instead.
+func (*GameEventProposalGroup) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *GameEventProposalGroup) GetId() string {
+	if x != nil && x.Id != nil {
+		return *x.Id
+	}
+	return ""
+}
+
+func (x *GameEventProposalGroup) GetGameEvents() []*GameEvent {
+	if x != nil {
+		return x.GameEvents
+	}
+	return nil
+}
+
+func (x *GameEventProposalGroup) GetAccepted() bool {
+	if x != nil && x.Accepted != nil {
+		return *x.Accepted
+	}
+	return false
+}
+
+// Information about a single team.
+type Referee_TeamInfo struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// The team's name (empty string if operator has not typed anything).
+	Name *string `protobuf:"bytes,1,req,name=name" json:"name,omitempty"`
+	// The number of goals scored by the team during normal play and overtime.
+	Score *uint32 `protobuf:"varint,2,req,name=score" json:"score,omitempty"`
+	// The number of red cards issued to the team since the beginning of the game.
+	RedCards *uint32 `protobuf:"varint,3,req,name=red_cards,json=redCards" json:"red_cards,omitempty"`
+	// The amount of time (in microseconds) left on each yellow card issued to the team.
+	// If no yellow cards are issued, this array has no elements.
+	// Otherwise, times are ordered from smallest to largest.
+	YellowCardTimes []uint32 `protobuf:"varint,4,rep,packed,name=yellow_card_times,json=yellowCardTimes" json:"yellow_card_times,omitempty"`
+	// The total number of yellow cards ever issued to the team.
+	YellowCards *uint32 `protobuf:"varint,5,req,name=yellow_cards,json=yellowCards" json:"yellow_cards,omitempty"`
+	// The number of timeouts this team can still call.
+	// If in a timeout right now, that timeout is excluded.
+	Timeouts *uint32 `protobuf:"varint,6,req,name=timeouts" json:"timeouts,omitempty"`
+	// The number of microseconds of timeout this team can use.
+	TimeoutTime *uint32 `protobuf:"varint,7,req,name=timeout_time,json=timeoutTime" json:"timeout_time,omitempty"`
+	// The pattern number of this team's goalkeeper.
+	Goalkeeper *uint32 `protobuf:"varint,8,req,name=goalkeeper" json:"goalkeeper,omitempty"`
+	// The total number of countable fouls that act towards yellow cards
+	FoulCounter *uint32 `protobuf:"varint,9,opt,name=foul_counter,json=foulCounter" json:"foul_counter,omitempty"`
+	// The number of consecutive ball placement failures of this team
+	BallPlacementFailures *uint32 `protobuf:"varint,10,opt,name=ball_placement_failures,json=ballPlacementFailures" json:"ball_placement_failures,omitempty"`
+	// Indicate if the team is able and allowed to place the ball
+	CanPlaceBall *bool `protobuf:"varint,12,opt,name=can_place_ball,json=canPlaceBall" json:"can_place_ball,omitempty"`
+	// The maximum number of bots allowed on the field based on division and cards
+	MaxAllowedBots *uint32 `protobuf:"varint,13,opt,name=max_allowed_bots,json=maxAllowedBots" json:"max_allowed_bots,omitempty"`
+	// The team has submitted an intent to substitute one or more robots at the next chance
+	BotSubstitutionIntent *bool `protobuf:"varint,14,opt,name=bot_substitution_intent,json=botSubstitutionIntent" json:"bot_substitution_intent,omitempty"`
+	// Indicate if the team reached the maximum allowed ball placement failures and is thus not allowed to place the ball anymore
+	BallPlacementFailuresReached *bool `protobuf:"varint,15,opt,name=ball_placement_failures_reached,json=ballPlacementFailuresReached" json:"ball_placement_failures_reached,omitempty"`
+	// The team is allowed to substitute one or more robots currently
+	BotSubstitutionAllowed *bool `protobuf:"varint,16,opt,name=bot_substitution_allowed,json=botSubstitutionAllowed" json:"bot_substitution_allowed,omitempty"`
+	// The number of bot substitutions left by the team in this halftime
+	BotSubstitutionsLeft *uint32 `protobuf:"varint,17,opt,name=bot_substitutions_left,json=botSubstitutionsLeft" json:"bot_substitutions_left,omitempty"`
+	// The number of microseconds left for current bot substitution
+	BotSubstitutionTimeLeft *uint32 `protobuf:"varint,18,opt,name=bot_substitution_time_left,json=botSubstitutionTimeLeft" json:"bot_substitution_time_left,omitempty"`
+	// The color of the hull of the robots of this team
+	HullColor     *HullColor `protobuf:"varint,19,opt,name=hull_color,json=hullColor,enum=HullColor" json:"hull_color,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *Referee_TeamInfo) Reset() {
+	*x = Referee_TeamInfo{}
+	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[2]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Referee_TeamInfo) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Referee_TeamInfo) ProtoMessage() {}
+
+func (x *Referee_TeamInfo) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[2]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Referee_TeamInfo.ProtoReflect.Descriptor instead.
+func (*Referee_TeamInfo) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0, 0}
+}
+
+func (x *Referee_TeamInfo) GetName() string {
+	if x != nil && x.Name != nil {
+		return *x.Name
+	}
+	return ""
+}
+
+func (x *Referee_TeamInfo) GetScore() uint32 {
+	if x != nil && x.Score != nil {
+		return *x.Score
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetRedCards() uint32 {
+	if x != nil && x.RedCards != nil {
+		return *x.RedCards
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetYellowCardTimes() []uint32 {
+	if x != nil {
+		return x.YellowCardTimes
+	}
+	return nil
+}
+
+func (x *Referee_TeamInfo) GetYellowCards() uint32 {
+	if x != nil && x.YellowCards != nil {
+		return *x.YellowCards
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetTimeouts() uint32 {
+	if x != nil && x.Timeouts != nil {
+		return *x.Timeouts
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetTimeoutTime() uint32 {
+	if x != nil && x.TimeoutTime != nil {
+		return *x.TimeoutTime
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetGoalkeeper() uint32 {
+	if x != nil && x.Goalkeeper != nil {
+		return *x.Goalkeeper
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetFoulCounter() uint32 {
+	if x != nil && x.FoulCounter != nil {
+		return *x.FoulCounter
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetBallPlacementFailures() uint32 {
+	if x != nil && x.BallPlacementFailures != nil {
+		return *x.BallPlacementFailures
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetCanPlaceBall() bool {
+	if x != nil && x.CanPlaceBall != nil {
+		return *x.CanPlaceBall
+	}
+	return false
+}
+
+func (x *Referee_TeamInfo) GetMaxAllowedBots() uint32 {
+	if x != nil && x.MaxAllowedBots != nil {
+		return *x.MaxAllowedBots
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetBotSubstitutionIntent() bool {
+	if x != nil && x.BotSubstitutionIntent != nil {
+		return *x.BotSubstitutionIntent
+	}
+	return false
+}
+
+func (x *Referee_TeamInfo) GetBallPlacementFailuresReached() bool {
+	if x != nil && x.BallPlacementFailuresReached != nil {
+		return *x.BallPlacementFailuresReached
+	}
+	return false
+}
+
+func (x *Referee_TeamInfo) GetBotSubstitutionAllowed() bool {
+	if x != nil && x.BotSubstitutionAllowed != nil {
+		return *x.BotSubstitutionAllowed
+	}
+	return false
+}
+
+func (x *Referee_TeamInfo) GetBotSubstitutionsLeft() uint32 {
+	if x != nil && x.BotSubstitutionsLeft != nil {
+		return *x.BotSubstitutionsLeft
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetBotSubstitutionTimeLeft() uint32 {
+	if x != nil && x.BotSubstitutionTimeLeft != nil {
+		return *x.BotSubstitutionTimeLeft
+	}
+	return 0
+}
+
+func (x *Referee_TeamInfo) GetHullColor() HullColor {
+	if x != nil && x.HullColor != nil {
+		return *x.HullColor
+	}
+	return HullColor_HULL_COLOR_UNKNOWN
+}
+
+// The coordinates of the Designated Position. These are measured in
+// millimetres and correspond to SSL-Vision coordinates. These fields are
+// always either both present (in the case of a ball placement command) or
+// both absent (in the case of any other command).
+type Referee_Point struct {
+	state         protoimpl.MessageState `protogen:"open.v1"`
+	X             *float32               `protobuf:"fixed32,1,req,name=x" json:"x,omitempty"`
+	Y             *float32               `protobuf:"fixed32,2,req,name=y" json:"y,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *Referee_Point) Reset() {
+	*x = Referee_Point{}
+	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[3]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Referee_Point) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Referee_Point) ProtoMessage() {}
+
+func (x *Referee_Point) ProtoReflect() protoreflect.Message {
+	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[3]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Referee_Point.ProtoReflect.Descriptor instead.
+func (*Referee_Point) Descriptor() ([]byte, []int) {
+	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0, 1}
+}
+
+func (x *Referee_Point) GetX() float32 {
+	if x != nil && x.X != nil {
+		return *x.X
+	}
+	return 0
+}
+
+func (x *Referee_Point) GetY() float32 {
+	if x != nil && x.Y != nil {
+		return *x.Y
+	}
+	return 0
+}
+
+var File_gamecontroller_ssl_gc_referee_message_proto protoreflect.FileDescriptor
+
+const file_gamecontroller_ssl_gc_referee_message_proto_rawDesc = "" +
+	"\n" +
+	"+gamecontroller/ssl_gc_referee_message.proto\x1a&gamecontroller/ssl_gc_game_event.proto\"\xfd\x12\n" +
+	"\aReferee\x12+\n" +
+	"\x11source_identifier\x18\x12 \x01(\tR\x10sourceIdentifier\x128\n" +
+	"\n" +
+	"match_type\x18\x13 \x01(\x0e2\n" +
+	".MatchType:\rUNKNOWN_MATCHR\tmatchType\x12)\n" +
+	"\x10packet_timestamp\x18\x01 \x02(\x04R\x0fpacketTimestamp\x12$\n" +
+	"\x05stage\x18\x02 \x02(\x0e2\x0e.Referee.StageR\x05stage\x12&\n" +
+	"\x0fstage_time_left\x18\x03 \x01(\x12R\rstageTimeLeft\x12*\n" +
+	"\acommand\x18\x04 \x02(\x0e2\x10.Referee.CommandR\acommand\x12'\n" +
+	"\x0fcommand_counter\x18\x05 \x02(\rR\x0ecommandCounter\x12+\n" +
+	"\x11command_timestamp\x18\x06 \x02(\x04R\x10commandTimestamp\x12)\n" +
+	"\x06yellow\x18\a \x02(\v2\x11.Referee.TeamInfoR\x06yellow\x12%\n" +
+	"\x04blue\x18\b \x02(\v2\x11.Referee.TeamInfoR\x04blue\x12?\n" +
+	"\x13designated_position\x18\t \x01(\v2\x0e.Referee.PointR\x12designatedPosition\x12:\n" +
+	"\x1ablue_team_on_positive_half\x18\n" +
+	" \x01(\bR\x16blueTeamOnPositiveHalf\x123\n" +
+	"\fnext_command\x18\f \x01(\x0e2\x10.Referee.CommandR\vnextCommand\x12+\n" +
+	"\vgame_events\x18\x10 \x03(\v2\n" +
+	".GameEventR\n" +
+	"gameEvents\x12I\n" +
+	"\x14game_event_proposals\x18\x11 \x03(\v2\x17.GameEventProposalGroupR\x12gameEventProposals\x12A\n" +
+	"\x1dcurrent_action_time_remaining\x18\x0f \x01(\x03R\x1acurrentActionTimeRemaining\x12%\n" +
+	"\x0estatus_message\x18\x14 \x01(\tR\rstatusMessage\x1a\x85\x06\n" +
+	"\bTeamInfo\x12\x12\n" +
+	"\x04name\x18\x01 \x02(\tR\x04name\x12\x14\n" +
+	"\x05score\x18\x02 \x02(\rR\x05score\x12\x1b\n" +
+	"\tred_cards\x18\x03 \x02(\rR\bredCards\x12.\n" +
+	"\x11yellow_card_times\x18\x04 \x03(\rB\x02\x10\x01R\x0fyellowCardTimes\x12!\n" +
+	"\fyellow_cards\x18\x05 \x02(\rR\vyellowCards\x12\x1a\n" +
+	"\btimeouts\x18\x06 \x02(\rR\btimeouts\x12!\n" +
+	"\ftimeout_time\x18\a \x02(\rR\vtimeoutTime\x12\x1e\n" +
+	"\n" +
+	"goalkeeper\x18\b \x02(\rR\n" +
+	"goalkeeper\x12!\n" +
+	"\ffoul_counter\x18\t \x01(\rR\vfoulCounter\x126\n" +
+	"\x17ball_placement_failures\x18\n" +
+	" \x01(\rR\x15ballPlacementFailures\x12$\n" +
+	"\x0ecan_place_ball\x18\f \x01(\bR\fcanPlaceBall\x12(\n" +
+	"\x10max_allowed_bots\x18\r \x01(\rR\x0emaxAllowedBots\x126\n" +
+	"\x17bot_substitution_intent\x18\x0e \x01(\bR\x15botSubstitutionIntent\x12E\n" +
+	"\x1fball_placement_failures_reached\x18\x0f \x01(\bR\x1cballPlacementFailuresReached\x128\n" +
+	"\x18bot_substitution_allowed\x18\x10 \x01(\bR\x16botSubstitutionAllowed\x124\n" +
+	"\x16bot_substitutions_left\x18\x11 \x01(\rR\x14botSubstitutionsLeft\x12;\n" +
+	"\x1abot_substitution_time_left\x18\x12 \x01(\rR\x17botSubstitutionTimeLeft\x12)\n" +
+	"\n" +
+	"hull_color\x18\x13 \x01(\x0e2\n" +
+	".HullColorR\thullColor\x1a#\n" +
+	"\x05Point\x12\f\n" +
+	"\x01x\x18\x01 \x02(\x02R\x01x\x12\f\n" +
+	"\x01y\x18\x02 \x02(\x02R\x01y\"\xd1\x02\n" +
+	"\x05Stage\x12\x19\n" +
+	"\x15NORMAL_FIRST_HALF_PRE\x10\x00\x12\x15\n" +
+	"\x11NORMAL_FIRST_HALF\x10\x01\x12\x14\n" +
+	"\x10NORMAL_HALF_TIME\x10\x02\x12\x1a\n" +
+	"\x16NORMAL_SECOND_HALF_PRE\x10\x03\x12\x16\n" +
+	"\x12NORMAL_SECOND_HALF\x10\x04\x12\x14\n" +
+	"\x10EXTRA_TIME_BREAK\x10\x05\x12\x18\n" +
+	"\x14EXTRA_FIRST_HALF_PRE\x10\x06\x12\x14\n" +
+	"\x10EXTRA_FIRST_HALF\x10\a\x12\x13\n" +
+	"\x0fEXTRA_HALF_TIME\x10\b\x12\x19\n" +
+	"\x15EXTRA_SECOND_HALF_PRE\x10\t\x12\x15\n" +
+	"\x11EXTRA_SECOND_HALF\x10\n" +
+	"\x12\x1a\n" +
+	"\x16PENALTY_SHOOTOUT_BREAK\x10\v\x12\x14\n" +
+	"\x10PENALTY_SHOOTOUT\x10\f\x12\r\n" +
+	"\tPOST_GAME\x10\r\"\x96\x03\n" +
+	"\aCommand\x12\b\n" +
+	"\x04HALT\x10\x00\x12\b\n" +
+	"\x04STOP\x10\x01\x12\x10\n" +
+	"\fNORMAL_START\x10\x02\x12\x0f\n" +
+	"\vFORCE_START\x10\x03\x12\x1a\n" +
+	"\x16PREPARE_KICKOFF_YELLOW\x10\x04\x12\x18\n" +
+	"\x14PREPARE_KICKOFF_BLUE\x10\x05\x12\x1a\n" +
+	"\x16PREPARE_PENALTY_YELLOW\x10\x06\x12\x18\n" +
+	"\x14PREPARE_PENALTY_BLUE\x10\a\x12\x16\n" +
+	"\x12DIRECT_FREE_YELLOW\x10\b\x12\x14\n" +
+	"\x10DIRECT_FREE_BLUE\x10\t\x12\x1c\n" +
+	"\x14INDIRECT_FREE_YELLOW\x10\n" +
+	"\x1a\x02\b\x01\x12\x1a\n" +
+	"\x12INDIRECT_FREE_BLUE\x10\v\x1a\x02\b\x01\x12\x12\n" +
+	"\x0eTIMEOUT_YELLOW\x10\f\x12\x10\n" +
+	"\fTIMEOUT_BLUE\x10\r\x12\x13\n" +
+	"\vGOAL_YELLOW\x10\x0e\x1a\x02\b\x01\x12\x11\n" +
+	"\tGOAL_BLUE\x10\x0f\x1a\x02\b\x01\x12\x19\n" +
+	"\x15BALL_PLACEMENT_YELLOW\x10\x10\x12\x17\n" +
+	"\x13BALL_PLACEMENT_BLUE\x10\x11J\x04\b\v\x10\fJ\x04\b\r\x10\x0eJ\x04\b\x0e\x10\x0f\"q\n" +
+	"\x16GameEventProposalGroup\x12\x0e\n" +
+	"\x02id\x18\x03 \x01(\tR\x02id\x12+\n" +
+	"\vgame_events\x18\x01 \x03(\v2\n" +
+	".GameEventR\n" +
+	"gameEvents\x12\x1a\n" +
+	"\baccepted\x18\x02 \x01(\bR\baccepted*T\n" +
+	"\tMatchType\x12\x11\n" +
+	"\rUNKNOWN_MATCH\x10\x00\x12\x0f\n" +
+	"\vGROUP_PHASE\x10\x01\x12\x15\n" +
+	"\x11ELIMINATION_PHASE\x10\x02\x12\f\n" +
+	"\bFRIENDLY\x10\x03*N\n" +
+	"\tHullColor\x12\x16\n" +
+	"\x12HULL_COLOR_UNKNOWN\x10\x00\x12\x13\n" +
+	"\x0fHULL_COLOR_DARK\x10\x01\x12\x14\n" +
+	"\x10HULL_COLOR_LIGHT\x10\x02BeB\x18SslGcRefereeMessageProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+
+var (
+	file_gamecontroller_ssl_gc_referee_message_proto_rawDescOnce sync.Once
+	file_gamecontroller_ssl_gc_referee_message_proto_rawDescData []byte
+)
+
+func file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP() []byte {
+	file_gamecontroller_ssl_gc_referee_message_proto_rawDescOnce.Do(func() {
+		file_gamecontroller_ssl_gc_referee_message_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_referee_message_proto_rawDesc), len(file_gamecontroller_ssl_gc_referee_message_proto_rawDesc)))
+	})
+	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescData
+}
+
+var file_gamecontroller_ssl_gc_referee_message_proto_enumTypes = make([]protoimpl.EnumInfo, 4)
+var file_gamecontroller_ssl_gc_referee_message_proto_msgTypes = make([]protoimpl.MessageInfo, 4)
+var file_gamecontroller_ssl_gc_referee_message_proto_goTypes = []any{
+	(MatchType)(0),                 // 0: MatchType
+	(HullColor)(0),                 // 1: HullColor
+	(Referee_Stage)(0),             // 2: Referee.Stage
+	(Referee_Command)(0),           // 3: Referee.Command
+	(*Referee)(nil),                // 4: Referee
+	(*GameEventProposalGroup)(nil), // 5: GameEventProposalGroup
+	(*Referee_TeamInfo)(nil),       // 6: Referee.TeamInfo
+	(*Referee_Point)(nil),          // 7: Referee.Point
+	(*GameEvent)(nil),              // 8: GameEvent
+}
+var file_gamecontroller_ssl_gc_referee_message_proto_depIdxs = []int32{
+	0,  // 0: Referee.match_type:type_name -> MatchType
+	2,  // 1: Referee.stage:type_name -> Referee.Stage
+	3,  // 2: Referee.command:type_name -> Referee.Command
+	6,  // 3: Referee.yellow:type_name -> Referee.TeamInfo
+	6,  // 4: Referee.blue:type_name -> Referee.TeamInfo
+	7,  // 5: Referee.designated_position:type_name -> Referee.Point
+	3,  // 6: Referee.next_command:type_name -> Referee.Command
+	8,  // 7: Referee.game_events:type_name -> GameEvent
+	5,  // 8: Referee.game_event_proposals:type_name -> GameEventProposalGroup
+	8,  // 9: GameEventProposalGroup.game_events:type_name -> GameEvent
+	1,  // 10: Referee.TeamInfo.hull_color:type_name -> HullColor
+	11, // [11:11] is the sub-list for method output_type
+	11, // [11:11] is the sub-list for method input_type
+	11, // [11:11] is the sub-list for extension type_name
+	11, // [11:11] is the sub-list for extension extendee
+	0,  // [0:11] is the sub-list for field type_name
+}
+
+func init() { file_gamecontroller_ssl_gc_referee_message_proto_init() }
+func file_gamecontroller_ssl_gc_referee_message_proto_init() {
+	if File_gamecontroller_ssl_gc_referee_message_proto != nil {
+		return
+	}
+	file_gamecontroller_ssl_gc_game_event_proto_init()
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_referee_message_proto_rawDesc), len(file_gamecontroller_ssl_gc_referee_message_proto_rawDesc)),
+			NumEnums:      4,
+			NumMessages:   4,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_gamecontroller_ssl_gc_referee_message_proto_goTypes,
+		DependencyIndexes: file_gamecontroller_ssl_gc_referee_message_proto_depIdxs,
+		EnumInfos:         file_gamecontroller_ssl_gc_referee_message_proto_enumTypes,
+		MessageInfos:      file_gamecontroller_ssl_gc_referee_message_proto_msgTypes,
+	}.Build()
+	File_gamecontroller_ssl_gc_referee_message_proto = out.File
+	file_gamecontroller_ssl_gc_referee_message_proto_goTypes = nil
+	file_gamecontroller_ssl_gc_referee_message_proto_depIdxs = nil
+}
diff --git a/gui/internal/vision/ssl_vision_detection.pb.go b/gui/internal/vision/ssl_vision_detection.pb.go
new file mode 100644
index 0000000..040f87a
--- /dev/null
+++ b/gui/internal/vision/ssl_vision_detection.pb.go
@@ -0,0 +1,439 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: vision/ssl_vision_detection.proto
+
+package vision
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+type SSL_DetectionBall struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Confidence in [0-1] of the detection
+	Confidence *float32 `protobuf:"fixed32,1,req,name=confidence" json:"confidence,omitempty"`
+	Area       *uint32  `protobuf:"varint,2,opt,name=area" json:"area,omitempty"`
+	// X-coordinate in [mm] in global ssl-vision coordinate system
+	X *float32 `protobuf:"fixed32,3,req,name=x" json:"x,omitempty"`
+	// Y-coordinate in [mm] in global ssl-vision coordinate system
+	Y *float32 `protobuf:"fixed32,4,req,name=y" json:"y,omitempty"`
+	// Z-coordinate in [mm] in global ssl-vision coordinate system
+	// Not supported by ssl-vision, but might be set by simulators
+	Z *float32 `protobuf:"fixed32,5,opt,name=z" json:"z,omitempty"`
+	// X-coordinate in [pixel] in the image
+	PixelX *float32 `protobuf:"fixed32,6,req,name=pixel_x,json=pixelX" json:"pixel_x,omitempty"`
+	// Y-coordinate in [pixel] in the image
+	PixelY        *float32 `protobuf:"fixed32,7,req,name=pixel_y,json=pixelY" json:"pixel_y,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *SSL_DetectionBall) Reset() {
+	*x = SSL_DetectionBall{}
+	mi := &file_vision_ssl_vision_detection_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_DetectionBall) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_DetectionBall) ProtoMessage() {}
+
+func (x *SSL_DetectionBall) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_detection_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_DetectionBall.ProtoReflect.Descriptor instead.
+func (*SSL_DetectionBall) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_detection_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *SSL_DetectionBall) GetConfidence() float32 {
+	if x != nil && x.Confidence != nil {
+		return *x.Confidence
+	}
+	return 0
+}
+
+func (x *SSL_DetectionBall) GetArea() uint32 {
+	if x != nil && x.Area != nil {
+		return *x.Area
+	}
+	return 0
+}
+
+func (x *SSL_DetectionBall) GetX() float32 {
+	if x != nil && x.X != nil {
+		return *x.X
+	}
+	return 0
+}
+
+func (x *SSL_DetectionBall) GetY() float32 {
+	if x != nil && x.Y != nil {
+		return *x.Y
+	}
+	return 0
+}
+
+func (x *SSL_DetectionBall) GetZ() float32 {
+	if x != nil && x.Z != nil {
+		return *x.Z
+	}
+	return 0
+}
+
+func (x *SSL_DetectionBall) GetPixelX() float32 {
+	if x != nil && x.PixelX != nil {
+		return *x.PixelX
+	}
+	return 0
+}
+
+func (x *SSL_DetectionBall) GetPixelY() float32 {
+	if x != nil && x.PixelY != nil {
+		return *x.PixelY
+	}
+	return 0
+}
+
+type SSL_DetectionRobot struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Confidence in [0-1] of the detection
+	Confidence *float32 `protobuf:"fixed32,1,req,name=confidence" json:"confidence,omitempty"`
+	// Id of the robot
+	RobotId *uint32 `protobuf:"varint,2,opt,name=robot_id,json=robotId" json:"robot_id,omitempty"`
+	// X-coordinate in [mm] in global ssl-vision coordinate system
+	X *float32 `protobuf:"fixed32,3,req,name=x" json:"x,omitempty"`
+	// Y-coordinate in [mm] in global ssl-vision coordinate system
+	Y *float32 `protobuf:"fixed32,4,req,name=y" json:"y,omitempty"`
+	// Orientation in [rad]
+	Orientation *float32 `protobuf:"fixed32,5,opt,name=orientation" json:"orientation,omitempty"`
+	// X-coordinate in [pixel] in the image
+	PixelX *float32 `protobuf:"fixed32,6,req,name=pixel_x,json=pixelX" json:"pixel_x,omitempty"`
+	// Y-coordinate in [pixel] in the image
+	PixelY *float32 `protobuf:"fixed32,7,req,name=pixel_y,json=pixelY" json:"pixel_y,omitempty"`
+	// Height, as configured in ssl-vision for the respective team
+	Height        *float32 `protobuf:"fixed32,8,opt,name=height" json:"height,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *SSL_DetectionRobot) Reset() {
+	*x = SSL_DetectionRobot{}
+	mi := &file_vision_ssl_vision_detection_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_DetectionRobot) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_DetectionRobot) ProtoMessage() {}
+
+func (x *SSL_DetectionRobot) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_detection_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_DetectionRobot.ProtoReflect.Descriptor instead.
+func (*SSL_DetectionRobot) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_detection_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *SSL_DetectionRobot) GetConfidence() float32 {
+	if x != nil && x.Confidence != nil {
+		return *x.Confidence
+	}
+	return 0
+}
+
+func (x *SSL_DetectionRobot) GetRobotId() uint32 {
+	if x != nil && x.RobotId != nil {
+		return *x.RobotId
+	}
+	return 0
+}
+
+func (x *SSL_DetectionRobot) GetX() float32 {
+	if x != nil && x.X != nil {
+		return *x.X
+	}
+	return 0
+}
+
+func (x *SSL_DetectionRobot) GetY() float32 {
+	if x != nil && x.Y != nil {
+		return *x.Y
+	}
+	return 0
+}
+
+func (x *SSL_DetectionRobot) GetOrientation() float32 {
+	if x != nil && x.Orientation != nil {
+		return *x.Orientation
+	}
+	return 0
+}
+
+func (x *SSL_DetectionRobot) GetPixelX() float32 {
+	if x != nil && x.PixelX != nil {
+		return *x.PixelX
+	}
+	return 0
+}
+
+func (x *SSL_DetectionRobot) GetPixelY() float32 {
+	if x != nil && x.PixelY != nil {
+		return *x.PixelY
+	}
+	return 0
+}
+
+func (x *SSL_DetectionRobot) GetHeight() float32 {
+	if x != nil && x.Height != nil {
+		return *x.Height
+	}
+	return 0
+}
+
+type SSL_DetectionFrame struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// monotonously increasing frame number
+	FrameNumber *uint32 `protobuf:"varint,1,req,name=frame_number,json=frameNumber" json:"frame_number,omitempty"`
+	// Unix timestamp in [seconds] at which the image has been received by ssl-vision
+	TCapture *float64 `protobuf:"fixed64,2,req,name=t_capture,json=tCapture" json:"t_capture,omitempty"`
+	// Unix timestamp in [seconds] at which this message has been sent to the network
+	TSent *float64 `protobuf:"fixed64,3,req,name=t_sent,json=tSent" json:"t_sent,omitempty"`
+	// Camera timestamp in [seconds] as reported by the camera, if supported
+	// This is not necessarily a unix timestamp
+	TCaptureCamera *float64 `protobuf:"fixed64,8,opt,name=t_capture_camera,json=tCaptureCamera" json:"t_capture_camera,omitempty"`
+	// Internal VisionProcessor field for clock synchronization,
+	// containing the time offset of received packets for each cam relative to the local clock.
+	TOffsets []float32 `protobuf:"fixed32,9,rep,name=t_offsets,json=tOffsets" json:"t_offsets,omitempty"`
+	// Identifier of the camera
+	CameraId *uint32 `protobuf:"varint,4,req,name=camera_id,json=cameraId" json:"camera_id,omitempty"`
+	// Detected balls
+	Balls []*SSL_DetectionBall `protobuf:"bytes,5,rep,name=balls" json:"balls,omitempty"`
+	// Detected yellow robots
+	RobotsYellow []*SSL_DetectionRobot `protobuf:"bytes,6,rep,name=robots_yellow,json=robotsYellow" json:"robots_yellow,omitempty"`
+	// Detected blue robots
+	RobotsBlue    []*SSL_DetectionRobot `protobuf:"bytes,7,rep,name=robots_blue,json=robotsBlue" json:"robots_blue,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *SSL_DetectionFrame) Reset() {
+	*x = SSL_DetectionFrame{}
+	mi := &file_vision_ssl_vision_detection_proto_msgTypes[2]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_DetectionFrame) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_DetectionFrame) ProtoMessage() {}
+
+func (x *SSL_DetectionFrame) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_detection_proto_msgTypes[2]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_DetectionFrame.ProtoReflect.Descriptor instead.
+func (*SSL_DetectionFrame) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_detection_proto_rawDescGZIP(), []int{2}
+}
+
+func (x *SSL_DetectionFrame) GetFrameNumber() uint32 {
+	if x != nil && x.FrameNumber != nil {
+		return *x.FrameNumber
+	}
+	return 0
+}
+
+func (x *SSL_DetectionFrame) GetTCapture() float64 {
+	if x != nil && x.TCapture != nil {
+		return *x.TCapture
+	}
+	return 0
+}
+
+func (x *SSL_DetectionFrame) GetTSent() float64 {
+	if x != nil && x.TSent != nil {
+		return *x.TSent
+	}
+	return 0
+}
+
+func (x *SSL_DetectionFrame) GetTCaptureCamera() float64 {
+	if x != nil && x.TCaptureCamera != nil {
+		return *x.TCaptureCamera
+	}
+	return 0
+}
+
+func (x *SSL_DetectionFrame) GetTOffsets() []float32 {
+	if x != nil {
+		return x.TOffsets
+	}
+	return nil
+}
+
+func (x *SSL_DetectionFrame) GetCameraId() uint32 {
+	if x != nil && x.CameraId != nil {
+		return *x.CameraId
+	}
+	return 0
+}
+
+func (x *SSL_DetectionFrame) GetBalls() []*SSL_DetectionBall {
+	if x != nil {
+		return x.Balls
+	}
+	return nil
+}
+
+func (x *SSL_DetectionFrame) GetRobotsYellow() []*SSL_DetectionRobot {
+	if x != nil {
+		return x.RobotsYellow
+	}
+	return nil
+}
+
+func (x *SSL_DetectionFrame) GetRobotsBlue() []*SSL_DetectionRobot {
+	if x != nil {
+		return x.RobotsBlue
+	}
+	return nil
+}
+
+var File_vision_ssl_vision_detection_proto protoreflect.FileDescriptor
+
+const file_vision_ssl_vision_detection_proto_rawDesc = "" +
+	"\n" +
+	"!vision/ssl_vision_detection.proto\"\xa3\x01\n" +
+	"\x11SSL_DetectionBall\x12\x1e\n" +
+	"\n" +
+	"confidence\x18\x01 \x02(\x02R\n" +
+	"confidence\x12\x12\n" +
+	"\x04area\x18\x02 \x01(\rR\x04area\x12\f\n" +
+	"\x01x\x18\x03 \x02(\x02R\x01x\x12\f\n" +
+	"\x01y\x18\x04 \x02(\x02R\x01y\x12\f\n" +
+	"\x01z\x18\x05 \x01(\x02R\x01z\x12\x17\n" +
+	"\apixel_x\x18\x06 \x02(\x02R\x06pixelX\x12\x17\n" +
+	"\apixel_y\x18\a \x02(\x02R\x06pixelY\"\xd7\x01\n" +
+	"\x12SSL_DetectionRobot\x12\x1e\n" +
+	"\n" +
+	"confidence\x18\x01 \x02(\x02R\n" +
+	"confidence\x12\x19\n" +
+	"\brobot_id\x18\x02 \x01(\rR\arobotId\x12\f\n" +
+	"\x01x\x18\x03 \x02(\x02R\x01x\x12\f\n" +
+	"\x01y\x18\x04 \x02(\x02R\x01y\x12 \n" +
+	"\vorientation\x18\x05 \x01(\x02R\vorientation\x12\x17\n" +
+	"\apixel_x\x18\x06 \x02(\x02R\x06pixelX\x12\x17\n" +
+	"\apixel_y\x18\a \x02(\x02R\x06pixelY\x12\x16\n" +
+	"\x06height\x18\b \x01(\x02R\x06height\"\xe9\x02\n" +
+	"\x12SSL_DetectionFrame\x12!\n" +
+	"\fframe_number\x18\x01 \x02(\rR\vframeNumber\x12\x1b\n" +
+	"\tt_capture\x18\x02 \x02(\x01R\btCapture\x12\x15\n" +
+	"\x06t_sent\x18\x03 \x02(\x01R\x05tSent\x12(\n" +
+	"\x10t_capture_camera\x18\b \x01(\x01R\x0etCaptureCamera\x12\x1b\n" +
+	"\tt_offsets\x18\t \x03(\x02R\btOffsets\x12\x1b\n" +
+	"\tcamera_id\x18\x04 \x02(\rR\bcameraId\x12(\n" +
+	"\x05balls\x18\x05 \x03(\v2\x12.SSL_DetectionBallR\x05balls\x128\n" +
+	"\rrobots_yellow\x18\x06 \x03(\v2\x13.SSL_DetectionRobotR\frobotsYellow\x124\n" +
+	"\vrobots_blue\x18\a \x03(\v2\x13.SSL_DetectionRobotR\n" +
+	"robotsBlueB\\B\x17SslVisionDetectionProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+
+var (
+	file_vision_ssl_vision_detection_proto_rawDescOnce sync.Once
+	file_vision_ssl_vision_detection_proto_rawDescData []byte
+)
+
+func file_vision_ssl_vision_detection_proto_rawDescGZIP() []byte {
+	file_vision_ssl_vision_detection_proto_rawDescOnce.Do(func() {
+		file_vision_ssl_vision_detection_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_detection_proto_rawDesc), len(file_vision_ssl_vision_detection_proto_rawDesc)))
+	})
+	return file_vision_ssl_vision_detection_proto_rawDescData
+}
+
+var file_vision_ssl_vision_detection_proto_msgTypes = make([]protoimpl.MessageInfo, 3)
+var file_vision_ssl_vision_detection_proto_goTypes = []any{
+	(*SSL_DetectionBall)(nil),  // 0: SSL_DetectionBall
+	(*SSL_DetectionRobot)(nil), // 1: SSL_DetectionRobot
+	(*SSL_DetectionFrame)(nil), // 2: SSL_DetectionFrame
+}
+var file_vision_ssl_vision_detection_proto_depIdxs = []int32{
+	0, // 0: SSL_DetectionFrame.balls:type_name -> SSL_DetectionBall
+	1, // 1: SSL_DetectionFrame.robots_yellow:type_name -> SSL_DetectionRobot
+	1, // 2: SSL_DetectionFrame.robots_blue:type_name -> SSL_DetectionRobot
+	3, // [3:3] is the sub-list for method output_type
+	3, // [3:3] is the sub-list for method input_type
+	3, // [3:3] is the sub-list for extension type_name
+	3, // [3:3] is the sub-list for extension extendee
+	0, // [0:3] is the sub-list for field type_name
+}
+
+func init() { file_vision_ssl_vision_detection_proto_init() }
+func file_vision_ssl_vision_detection_proto_init() {
+	if File_vision_ssl_vision_detection_proto != nil {
+		return
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_detection_proto_rawDesc), len(file_vision_ssl_vision_detection_proto_rawDesc)),
+			NumEnums:      0,
+			NumMessages:   3,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_vision_ssl_vision_detection_proto_goTypes,
+		DependencyIndexes: file_vision_ssl_vision_detection_proto_depIdxs,
+		MessageInfos:      file_vision_ssl_vision_detection_proto_msgTypes,
+	}.Build()
+	File_vision_ssl_vision_detection_proto = out.File
+	file_vision_ssl_vision_detection_proto_goTypes = nil
+	file_vision_ssl_vision_detection_proto_depIdxs = nil
+}
diff --git a/gui/internal/vision/ssl_vision_detection_tracked.pb.go b/gui/internal/vision/ssl_vision_detection_tracked.pb.go
new file mode 100644
index 0000000..d0b462a
--- /dev/null
+++ b/gui/internal/vision/ssl_vision_detection_tracked.pb.go
@@ -0,0 +1,544 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: vision/ssl_vision_detection_tracked.proto
+
+package vision
+
+import (
+	gamecontroller "github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+// Capabilities that a source implementation can have
+type Capability int32
+
+const (
+	Capability_CAPABILITY_UNKNOWN               Capability = 0
+	Capability_CAPABILITY_DETECT_FLYING_BALLS   Capability = 1
+	Capability_CAPABILITY_DETECT_MULTIPLE_BALLS Capability = 2
+	Capability_CAPABILITY_DETECT_KICKED_BALLS   Capability = 3
+)
+
+// Enum value maps for Capability.
+var (
+	Capability_name = map[int32]string{
+		0: "CAPABILITY_UNKNOWN",
+		1: "CAPABILITY_DETECT_FLYING_BALLS",
+		2: "CAPABILITY_DETECT_MULTIPLE_BALLS",
+		3: "CAPABILITY_DETECT_KICKED_BALLS",
+	}
+	Capability_value = map[string]int32{
+		"CAPABILITY_UNKNOWN":               0,
+		"CAPABILITY_DETECT_FLYING_BALLS":   1,
+		"CAPABILITY_DETECT_MULTIPLE_BALLS": 2,
+		"CAPABILITY_DETECT_KICKED_BALLS":   3,
+	}
+)
+
+func (x Capability) Enum() *Capability {
+	p := new(Capability)
+	*p = x
+	return p
+}
+
+func (x Capability) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (Capability) Descriptor() protoreflect.EnumDescriptor {
+	return file_vision_ssl_vision_detection_tracked_proto_enumTypes[0].Descriptor()
+}
+
+func (Capability) Type() protoreflect.EnumType {
+	return &file_vision_ssl_vision_detection_tracked_proto_enumTypes[0]
+}
+
+func (x Capability) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *Capability) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = Capability(num)
+	return nil
+}
+
+// Deprecated: Use Capability.Descriptor instead.
+func (Capability) EnumDescriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP(), []int{0}
+}
+
+// A single tracked ball
+type TrackedBall struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// The position (x, y, height) [m] in the ssl-vision coordinate system
+	Pos *gamecontroller.Vector3 `protobuf:"bytes,1,req,name=pos" json:"pos,omitempty"`
+	// The velocity [m/s] in the ssl-vision coordinate system
+	Vel *gamecontroller.Vector3 `protobuf:"bytes,2,opt,name=vel" json:"vel,omitempty"`
+	// The visibility of the ball
+	// A value between 0 (not visible) and 1 (visible)
+	// The exact implementation depends on the source software
+	Visibility    *float32 `protobuf:"fixed32,3,opt,name=visibility" json:"visibility,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *TrackedBall) Reset() {
+	*x = TrackedBall{}
+	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *TrackedBall) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*TrackedBall) ProtoMessage() {}
+
+func (x *TrackedBall) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use TrackedBall.ProtoReflect.Descriptor instead.
+func (*TrackedBall) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *TrackedBall) GetPos() *gamecontroller.Vector3 {
+	if x != nil {
+		return x.Pos
+	}
+	return nil
+}
+
+func (x *TrackedBall) GetVel() *gamecontroller.Vector3 {
+	if x != nil {
+		return x.Vel
+	}
+	return nil
+}
+
+func (x *TrackedBall) GetVisibility() float32 {
+	if x != nil && x.Visibility != nil {
+		return *x.Visibility
+	}
+	return 0
+}
+
+// A ball kicked by a robot, including predictions when the ball will come to a stop
+type KickedBall struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// The initial position [m] from which the ball was kicked
+	Pos *gamecontroller.Vector2 `protobuf:"bytes,1,req,name=pos" json:"pos,omitempty"`
+	// The initial velocity [m/s] with which the ball was kicked
+	Vel *gamecontroller.Vector3 `protobuf:"bytes,2,req,name=vel" json:"vel,omitempty"`
+	// The unix timestamp [s] when the kick was performed
+	StartTimestamp *float64 `protobuf:"fixed64,3,req,name=start_timestamp,json=startTimestamp" json:"start_timestamp,omitempty"`
+	// The predicted unix timestamp [s] when the ball comes to a stop
+	StopTimestamp *float64 `protobuf:"fixed64,4,opt,name=stop_timestamp,json=stopTimestamp" json:"stop_timestamp,omitempty"`
+	// The predicted position [m] at which the ball will come to a stop
+	StopPos *gamecontroller.Vector2 `protobuf:"bytes,5,opt,name=stop_pos,json=stopPos" json:"stop_pos,omitempty"`
+	// The robot that kicked the ball
+	RobotId       *gamecontroller.RobotId `protobuf:"bytes,6,opt,name=robot_id,json=robotId" json:"robot_id,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *KickedBall) Reset() {
+	*x = KickedBall{}
+	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *KickedBall) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*KickedBall) ProtoMessage() {}
+
+func (x *KickedBall) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use KickedBall.ProtoReflect.Descriptor instead.
+func (*KickedBall) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *KickedBall) GetPos() *gamecontroller.Vector2 {
+	if x != nil {
+		return x.Pos
+	}
+	return nil
+}
+
+func (x *KickedBall) GetVel() *gamecontroller.Vector3 {
+	if x != nil {
+		return x.Vel
+	}
+	return nil
+}
+
+func (x *KickedBall) GetStartTimestamp() float64 {
+	if x != nil && x.StartTimestamp != nil {
+		return *x.StartTimestamp
+	}
+	return 0
+}
+
+func (x *KickedBall) GetStopTimestamp() float64 {
+	if x != nil && x.StopTimestamp != nil {
+		return *x.StopTimestamp
+	}
+	return 0
+}
+
+func (x *KickedBall) GetStopPos() *gamecontroller.Vector2 {
+	if x != nil {
+		return x.StopPos
+	}
+	return nil
+}
+
+func (x *KickedBall) GetRobotId() *gamecontroller.RobotId {
+	if x != nil {
+		return x.RobotId
+	}
+	return nil
+}
+
+// A single tracked robot
+type TrackedRobot struct {
+	state   protoimpl.MessageState  `protogen:"open.v1"`
+	RobotId *gamecontroller.RobotId `protobuf:"bytes,1,req,name=robot_id,json=robotId" json:"robot_id,omitempty"`
+	// The position [m] in the ssl-vision coordinate system
+	Pos *gamecontroller.Vector2 `protobuf:"bytes,2,req,name=pos" json:"pos,omitempty"`
+	// The orientation [rad] in the ssl-vision coordinate system
+	Orientation *float32 `protobuf:"fixed32,3,req,name=orientation" json:"orientation,omitempty"`
+	// The velocity [m/s] in the ssl-vision coordinate system
+	Vel *gamecontroller.Vector2 `protobuf:"bytes,4,opt,name=vel" json:"vel,omitempty"`
+	// The angular velocity [rad/s] in the ssl-vision coordinate system
+	VelAngular *float32 `protobuf:"fixed32,5,opt,name=vel_angular,json=velAngular" json:"vel_angular,omitempty"`
+	// The visibility of the robot
+	// A value between 0 (not visible) and 1 (visible)
+	// The exact implementation depends on the source software
+	Visibility    *float32 `protobuf:"fixed32,6,opt,name=visibility" json:"visibility,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *TrackedRobot) Reset() {
+	*x = TrackedRobot{}
+	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[2]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *TrackedRobot) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*TrackedRobot) ProtoMessage() {}
+
+func (x *TrackedRobot) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[2]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use TrackedRobot.ProtoReflect.Descriptor instead.
+func (*TrackedRobot) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP(), []int{2}
+}
+
+func (x *TrackedRobot) GetRobotId() *gamecontroller.RobotId {
+	if x != nil {
+		return x.RobotId
+	}
+	return nil
+}
+
+func (x *TrackedRobot) GetPos() *gamecontroller.Vector2 {
+	if x != nil {
+		return x.Pos
+	}
+	return nil
+}
+
+func (x *TrackedRobot) GetOrientation() float32 {
+	if x != nil && x.Orientation != nil {
+		return *x.Orientation
+	}
+	return 0
+}
+
+func (x *TrackedRobot) GetVel() *gamecontroller.Vector2 {
+	if x != nil {
+		return x.Vel
+	}
+	return nil
+}
+
+func (x *TrackedRobot) GetVelAngular() float32 {
+	if x != nil && x.VelAngular != nil {
+		return *x.VelAngular
+	}
+	return 0
+}
+
+func (x *TrackedRobot) GetVisibility() float32 {
+	if x != nil && x.Visibility != nil {
+		return *x.Visibility
+	}
+	return 0
+}
+
+// A frame that contains all currently tracked objects on the field on all cameras
+type TrackedFrame struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// A monotonous increasing frame counter
+	FrameNumber *uint32 `protobuf:"varint,1,req,name=frame_number,json=frameNumber" json:"frame_number,omitempty"`
+	// The unix timestamp in [s] of the data
+	// If timestamp is larger than timestamp_captured, the source has applied a prediction already
+	Timestamp *float64 `protobuf:"fixed64,2,req,name=timestamp" json:"timestamp,omitempty"`
+	// The list of detected balls
+	// The first ball is the primary one
+	// Sources may add additional balls based on their capabilities
+	Balls []*TrackedBall `protobuf:"bytes,3,rep,name=balls" json:"balls,omitempty"`
+	// The list of detected robots of both teams
+	Robots []*TrackedRobot `protobuf:"bytes,4,rep,name=robots" json:"robots,omitempty"`
+	// Information about a kicked ball, if the ball was kicked by a robot and is still moving
+	// Note: This field is optional. Some source implementations might not set this at any time
+	KickedBall *KickedBall `protobuf:"bytes,5,opt,name=kicked_ball,json=kickedBall" json:"kicked_ball,omitempty"`
+	// List of capabilities of the source implementation
+	Capabilities  []Capability `protobuf:"varint,6,rep,name=capabilities,enum=Capability" json:"capabilities,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *TrackedFrame) Reset() {
+	*x = TrackedFrame{}
+	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[3]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *TrackedFrame) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*TrackedFrame) ProtoMessage() {}
+
+func (x *TrackedFrame) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[3]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use TrackedFrame.ProtoReflect.Descriptor instead.
+func (*TrackedFrame) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP(), []int{3}
+}
+
+func (x *TrackedFrame) GetFrameNumber() uint32 {
+	if x != nil && x.FrameNumber != nil {
+		return *x.FrameNumber
+	}
+	return 0
+}
+
+func (x *TrackedFrame) GetTimestamp() float64 {
+	if x != nil && x.Timestamp != nil {
+		return *x.Timestamp
+	}
+	return 0
+}
+
+func (x *TrackedFrame) GetBalls() []*TrackedBall {
+	if x != nil {
+		return x.Balls
+	}
+	return nil
+}
+
+func (x *TrackedFrame) GetRobots() []*TrackedRobot {
+	if x != nil {
+		return x.Robots
+	}
+	return nil
+}
+
+func (x *TrackedFrame) GetKickedBall() *KickedBall {
+	if x != nil {
+		return x.KickedBall
+	}
+	return nil
+}
+
+func (x *TrackedFrame) GetCapabilities() []Capability {
+	if x != nil {
+		return x.Capabilities
+	}
+	return nil
+}
+
+var File_vision_ssl_vision_detection_tracked_proto protoreflect.FileDescriptor
+
+const file_vision_ssl_vision_detection_tracked_proto_rawDesc = "" +
+	"\n" +
+	")vision/ssl_vision_detection_tracked.proto\x1a\"gamecontroller/ssl_gc_common.proto\x1a$gamecontroller/ssl_gc_geometry.proto\"e\n" +
+	"\vTrackedBall\x12\x1a\n" +
+	"\x03pos\x18\x01 \x02(\v2\b.Vector3R\x03pos\x12\x1a\n" +
+	"\x03vel\x18\x02 \x01(\v2\b.Vector3R\x03vel\x12\x1e\n" +
+	"\n" +
+	"visibility\x18\x03 \x01(\x02R\n" +
+	"visibility\"\xde\x01\n" +
+	"\n" +
+	"KickedBall\x12\x1a\n" +
+	"\x03pos\x18\x01 \x02(\v2\b.Vector2R\x03pos\x12\x1a\n" +
+	"\x03vel\x18\x02 \x02(\v2\b.Vector3R\x03vel\x12'\n" +
+	"\x0fstart_timestamp\x18\x03 \x02(\x01R\x0estartTimestamp\x12%\n" +
+	"\x0estop_timestamp\x18\x04 \x01(\x01R\rstopTimestamp\x12#\n" +
+	"\bstop_pos\x18\x05 \x01(\v2\b.Vector2R\astopPos\x12#\n" +
+	"\brobot_id\x18\x06 \x01(\v2\b.RobotIdR\arobotId\"\xce\x01\n" +
+	"\fTrackedRobot\x12#\n" +
+	"\brobot_id\x18\x01 \x02(\v2\b.RobotIdR\arobotId\x12\x1a\n" +
+	"\x03pos\x18\x02 \x02(\v2\b.Vector2R\x03pos\x12 \n" +
+	"\vorientation\x18\x03 \x02(\x02R\vorientation\x12\x1a\n" +
+	"\x03vel\x18\x04 \x01(\v2\b.Vector2R\x03vel\x12\x1f\n" +
+	"\vvel_angular\x18\x05 \x01(\x02R\n" +
+	"velAngular\x12\x1e\n" +
+	"\n" +
+	"visibility\x18\x06 \x01(\x02R\n" +
+	"visibility\"\xf9\x01\n" +
+	"\fTrackedFrame\x12!\n" +
+	"\fframe_number\x18\x01 \x02(\rR\vframeNumber\x12\x1c\n" +
+	"\ttimestamp\x18\x02 \x02(\x01R\ttimestamp\x12\"\n" +
+	"\x05balls\x18\x03 \x03(\v2\f.TrackedBallR\x05balls\x12%\n" +
+	"\x06robots\x18\x04 \x03(\v2\r.TrackedRobotR\x06robots\x12,\n" +
+	"\vkicked_ball\x18\x05 \x01(\v2\v.KickedBallR\n" +
+	"kickedBall\x12/\n" +
+	"\fcapabilities\x18\x06 \x03(\x0e2\v.CapabilityR\fcapabilities*\x92\x01\n" +
+	"\n" +
+	"Capability\x12\x16\n" +
+	"\x12CAPABILITY_UNKNOWN\x10\x00\x12\"\n" +
+	"\x1eCAPABILITY_DETECT_FLYING_BALLS\x10\x01\x12$\n" +
+	" CAPABILITY_DETECT_MULTIPLE_BALLS\x10\x02\x12\"\n" +
+	"\x1eCAPABILITY_DETECT_KICKED_BALLS\x10\x03BcB\x1eSslVisionDetectionTrackedProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+
+var (
+	file_vision_ssl_vision_detection_tracked_proto_rawDescOnce sync.Once
+	file_vision_ssl_vision_detection_tracked_proto_rawDescData []byte
+)
+
+func file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP() []byte {
+	file_vision_ssl_vision_detection_tracked_proto_rawDescOnce.Do(func() {
+		file_vision_ssl_vision_detection_tracked_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_detection_tracked_proto_rawDesc), len(file_vision_ssl_vision_detection_tracked_proto_rawDesc)))
+	})
+	return file_vision_ssl_vision_detection_tracked_proto_rawDescData
+}
+
+var file_vision_ssl_vision_detection_tracked_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
+var file_vision_ssl_vision_detection_tracked_proto_msgTypes = make([]protoimpl.MessageInfo, 4)
+var file_vision_ssl_vision_detection_tracked_proto_goTypes = []any{
+	(Capability)(0),                // 0: Capability
+	(*TrackedBall)(nil),            // 1: TrackedBall
+	(*KickedBall)(nil),             // 2: KickedBall
+	(*TrackedRobot)(nil),           // 3: TrackedRobot
+	(*TrackedFrame)(nil),           // 4: TrackedFrame
+	(*gamecontroller.Vector3)(nil), // 5: Vector3
+	(*gamecontroller.Vector2)(nil), // 6: Vector2
+	(*gamecontroller.RobotId)(nil), // 7: RobotId
+}
+var file_vision_ssl_vision_detection_tracked_proto_depIdxs = []int32{
+	5,  // 0: TrackedBall.pos:type_name -> Vector3
+	5,  // 1: TrackedBall.vel:type_name -> Vector3
+	6,  // 2: KickedBall.pos:type_name -> Vector2
+	5,  // 3: KickedBall.vel:type_name -> Vector3
+	6,  // 4: KickedBall.stop_pos:type_name -> Vector2
+	7,  // 5: KickedBall.robot_id:type_name -> RobotId
+	7,  // 6: TrackedRobot.robot_id:type_name -> RobotId
+	6,  // 7: TrackedRobot.pos:type_name -> Vector2
+	6,  // 8: TrackedRobot.vel:type_name -> Vector2
+	1,  // 9: TrackedFrame.balls:type_name -> TrackedBall
+	3,  // 10: TrackedFrame.robots:type_name -> TrackedRobot
+	2,  // 11: TrackedFrame.kicked_ball:type_name -> KickedBall
+	0,  // 12: TrackedFrame.capabilities:type_name -> Capability
+	13, // [13:13] is the sub-list for method output_type
+	13, // [13:13] is the sub-list for method input_type
+	13, // [13:13] is the sub-list for extension type_name
+	13, // [13:13] is the sub-list for extension extendee
+	0,  // [0:13] is the sub-list for field type_name
+}
+
+func init() { file_vision_ssl_vision_detection_tracked_proto_init() }
+func file_vision_ssl_vision_detection_tracked_proto_init() {
+	if File_vision_ssl_vision_detection_tracked_proto != nil {
+		return
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_detection_tracked_proto_rawDesc), len(file_vision_ssl_vision_detection_tracked_proto_rawDesc)),
+			NumEnums:      1,
+			NumMessages:   4,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_vision_ssl_vision_detection_tracked_proto_goTypes,
+		DependencyIndexes: file_vision_ssl_vision_detection_tracked_proto_depIdxs,
+		EnumInfos:         file_vision_ssl_vision_detection_tracked_proto_enumTypes,
+		MessageInfos:      file_vision_ssl_vision_detection_tracked_proto_msgTypes,
+	}.Build()
+	File_vision_ssl_vision_detection_tracked_proto = out.File
+	file_vision_ssl_vision_detection_tracked_proto_goTypes = nil
+	file_vision_ssl_vision_detection_tracked_proto_depIdxs = nil
+}
diff --git a/gui/internal/vision/ssl_vision_geometry.pb.go b/gui/internal/vision/ssl_vision_geometry.pb.go
new file mode 100644
index 0000000..e93b604
--- /dev/null
+++ b/gui/internal/vision/ssl_vision_geometry.pb.go
@@ -0,0 +1,1135 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: vision/ssl_vision_geometry.proto
+
+package vision
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+type SSL_FieldShapeType int32
+
+const (
+	SSL_FieldShapeType_Undefined                     SSL_FieldShapeType = 0
+	SSL_FieldShapeType_CenterCircle                  SSL_FieldShapeType = 1
+	SSL_FieldShapeType_TopTouchLine                  SSL_FieldShapeType = 2
+	SSL_FieldShapeType_BottomTouchLine               SSL_FieldShapeType = 3
+	SSL_FieldShapeType_LeftGoalLine                  SSL_FieldShapeType = 4
+	SSL_FieldShapeType_RightGoalLine                 SSL_FieldShapeType = 5
+	SSL_FieldShapeType_HalfwayLine                   SSL_FieldShapeType = 6
+	SSL_FieldShapeType_CenterLine                    SSL_FieldShapeType = 7
+	SSL_FieldShapeType_LeftPenaltyStretch            SSL_FieldShapeType = 8
+	SSL_FieldShapeType_RightPenaltyStretch           SSL_FieldShapeType = 9
+	SSL_FieldShapeType_LeftFieldLeftPenaltyStretch   SSL_FieldShapeType = 10
+	SSL_FieldShapeType_LeftFieldRightPenaltyStretch  SSL_FieldShapeType = 11
+	SSL_FieldShapeType_RightFieldLeftPenaltyStretch  SSL_FieldShapeType = 12
+	SSL_FieldShapeType_RightFieldRightPenaltyStretch SSL_FieldShapeType = 13
+)
+
+// Enum value maps for SSL_FieldShapeType.
+var (
+	SSL_FieldShapeType_name = map[int32]string{
+		0:  "Undefined",
+		1:  "CenterCircle",
+		2:  "TopTouchLine",
+		3:  "BottomTouchLine",
+		4:  "LeftGoalLine",
+		5:  "RightGoalLine",
+		6:  "HalfwayLine",
+		7:  "CenterLine",
+		8:  "LeftPenaltyStretch",
+		9:  "RightPenaltyStretch",
+		10: "LeftFieldLeftPenaltyStretch",
+		11: "LeftFieldRightPenaltyStretch",
+		12: "RightFieldLeftPenaltyStretch",
+		13: "RightFieldRightPenaltyStretch",
+	}
+	SSL_FieldShapeType_value = map[string]int32{
+		"Undefined":                     0,
+		"CenterCircle":                  1,
+		"TopTouchLine":                  2,
+		"BottomTouchLine":               3,
+		"LeftGoalLine":                  4,
+		"RightGoalLine":                 5,
+		"HalfwayLine":                   6,
+		"CenterLine":                    7,
+		"LeftPenaltyStretch":            8,
+		"RightPenaltyStretch":           9,
+		"LeftFieldLeftPenaltyStretch":   10,
+		"LeftFieldRightPenaltyStretch":  11,
+		"RightFieldLeftPenaltyStretch":  12,
+		"RightFieldRightPenaltyStretch": 13,
+	}
+)
+
+func (x SSL_FieldShapeType) Enum() *SSL_FieldShapeType {
+	p := new(SSL_FieldShapeType)
+	*p = x
+	return p
+}
+
+func (x SSL_FieldShapeType) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (SSL_FieldShapeType) Descriptor() protoreflect.EnumDescriptor {
+	return file_vision_ssl_vision_geometry_proto_enumTypes[0].Descriptor()
+}
+
+func (SSL_FieldShapeType) Type() protoreflect.EnumType {
+	return &file_vision_ssl_vision_geometry_proto_enumTypes[0]
+}
+
+func (x SSL_FieldShapeType) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *SSL_FieldShapeType) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = SSL_FieldShapeType(num)
+	return nil
+}
+
+// Deprecated: Use SSL_FieldShapeType.Descriptor instead.
+func (SSL_FieldShapeType) EnumDescriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{0}
+}
+
+// A 2D float vector.
+type Vector2F struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// X-coordinate in mm
+	X *float32 `protobuf:"fixed32,1,req,name=x" json:"x,omitempty"`
+	// Y-coordinate in mm
+	Y             *float32 `protobuf:"fixed32,2,req,name=y" json:"y,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *Vector2F) Reset() {
+	*x = Vector2F{}
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Vector2F) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Vector2F) ProtoMessage() {}
+
+func (x *Vector2F) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Vector2F.ProtoReflect.Descriptor instead.
+func (*Vector2F) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *Vector2F) GetX() float32 {
+	if x != nil && x.X != nil {
+		return *x.X
+	}
+	return 0
+}
+
+func (x *Vector2F) GetY() float32 {
+	if x != nil && x.Y != nil {
+		return *x.Y
+	}
+	return 0
+}
+
+// Represents a field marking as a line segment represented by a start point p1,
+// and end point p2, and a line thickness. The start and end points are along
+// the center of the line, so the thickness of the line extends by thickness / 2
+// on either side of the line.
+type SSL_FieldLineSegment struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Name of this field marking.
+	Name *string `protobuf:"bytes,1,req,name=name" json:"name,omitempty"`
+	// Start point of the line segment.
+	P1 *Vector2F `protobuf:"bytes,2,req,name=p1" json:"p1,omitempty"`
+	// End point of the line segment.
+	P2 *Vector2F `protobuf:"bytes,3,req,name=p2" json:"p2,omitempty"`
+	// Thickness of the line segment.
+	Thickness *float32 `protobuf:"fixed32,4,req,name=thickness" json:"thickness,omitempty"`
+	// The type of this shape
+	Type          *SSL_FieldShapeType `protobuf:"varint,5,opt,name=type,enum=SSL_FieldShapeType" json:"type,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *SSL_FieldLineSegment) Reset() {
+	*x = SSL_FieldLineSegment{}
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_FieldLineSegment) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_FieldLineSegment) ProtoMessage() {}
+
+func (x *SSL_FieldLineSegment) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_FieldLineSegment.ProtoReflect.Descriptor instead.
+func (*SSL_FieldLineSegment) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *SSL_FieldLineSegment) GetName() string {
+	if x != nil && x.Name != nil {
+		return *x.Name
+	}
+	return ""
+}
+
+func (x *SSL_FieldLineSegment) GetP1() *Vector2F {
+	if x != nil {
+		return x.P1
+	}
+	return nil
+}
+
+func (x *SSL_FieldLineSegment) GetP2() *Vector2F {
+	if x != nil {
+		return x.P2
+	}
+	return nil
+}
+
+func (x *SSL_FieldLineSegment) GetThickness() float32 {
+	if x != nil && x.Thickness != nil {
+		return *x.Thickness
+	}
+	return 0
+}
+
+func (x *SSL_FieldLineSegment) GetType() SSL_FieldShapeType {
+	if x != nil && x.Type != nil {
+		return *x.Type
+	}
+	return SSL_FieldShapeType_Undefined
+}
+
+// Represents a field marking as a circular arc segment represented by center point, a
+// start angle, an end angle, and an arc thickness.
+type SSL_FieldCircularArc struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Name of this field marking.
+	Name *string `protobuf:"bytes,1,req,name=name" json:"name,omitempty"`
+	// Center point of the circular arc.
+	Center *Vector2F `protobuf:"bytes,2,req,name=center" json:"center,omitempty"`
+	// Radius of the arc.
+	Radius *float32 `protobuf:"fixed32,3,req,name=radius" json:"radius,omitempty"`
+	// Start angle in counter-clockwise order.
+	A1 *float32 `protobuf:"fixed32,4,req,name=a1" json:"a1,omitempty"`
+	// End angle in counter-clockwise order.
+	A2 *float32 `protobuf:"fixed32,5,req,name=a2" json:"a2,omitempty"`
+	// Thickness of the arc.
+	Thickness *float32 `protobuf:"fixed32,6,req,name=thickness" json:"thickness,omitempty"`
+	// The type of this shape
+	Type          *SSL_FieldShapeType `protobuf:"varint,7,opt,name=type,enum=SSL_FieldShapeType" json:"type,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *SSL_FieldCircularArc) Reset() {
+	*x = SSL_FieldCircularArc{}
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[2]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_FieldCircularArc) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_FieldCircularArc) ProtoMessage() {}
+
+func (x *SSL_FieldCircularArc) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[2]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_FieldCircularArc.ProtoReflect.Descriptor instead.
+func (*SSL_FieldCircularArc) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{2}
+}
+
+func (x *SSL_FieldCircularArc) GetName() string {
+	if x != nil && x.Name != nil {
+		return *x.Name
+	}
+	return ""
+}
+
+func (x *SSL_FieldCircularArc) GetCenter() *Vector2F {
+	if x != nil {
+		return x.Center
+	}
+	return nil
+}
+
+func (x *SSL_FieldCircularArc) GetRadius() float32 {
+	if x != nil && x.Radius != nil {
+		return *x.Radius
+	}
+	return 0
+}
+
+func (x *SSL_FieldCircularArc) GetA1() float32 {
+	if x != nil && x.A1 != nil {
+		return *x.A1
+	}
+	return 0
+}
+
+func (x *SSL_FieldCircularArc) GetA2() float32 {
+	if x != nil && x.A2 != nil {
+		return *x.A2
+	}
+	return 0
+}
+
+func (x *SSL_FieldCircularArc) GetThickness() float32 {
+	if x != nil && x.Thickness != nil {
+		return *x.Thickness
+	}
+	return 0
+}
+
+func (x *SSL_FieldCircularArc) GetType() SSL_FieldShapeType {
+	if x != nil && x.Type != nil {
+		return *x.Type
+	}
+	return SSL_FieldShapeType_Undefined
+}
+
+type SSL_GeometryFieldSize struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Field length (distance between goal lines) in mm
+	FieldLength *int32 `protobuf:"varint,1,req,name=field_length,json=fieldLength" json:"field_length,omitempty"`
+	// Field width (distance between touch lines) in mm
+	FieldWidth *int32 `protobuf:"varint,2,req,name=field_width,json=fieldWidth" json:"field_width,omitempty"`
+	// Goal width (distance between inner edges of goal posts) in mm
+	GoalWidth *int32 `protobuf:"varint,3,req,name=goal_width,json=goalWidth" json:"goal_width,omitempty"`
+	// Goal depth (distance from outer goal line edge to inner goal back) in mm
+	GoalDepth *int32 `protobuf:"varint,4,req,name=goal_depth,json=goalDepth" json:"goal_depth,omitempty"`
+	// Boundary width (distance from touch line centers to boundary walls) in mm
+	BoundaryWidth *int32 `protobuf:"varint,5,req,name=boundary_width,json=boundaryWidth" json:"boundary_width,omitempty"`
+	// Boundary width at the goal lines (distance from goal line centers to boundary walls) in mm
+	BoundaryWidthGoalLine *int32 `protobuf:"varint,16,opt,name=boundary_width_goal_line,json=boundaryWidthGoalLine" json:"boundary_width_goal_line,omitempty"`
+	// Generated line segments based on the other parameters
+	FieldLines []*SSL_FieldLineSegment `protobuf:"bytes,6,rep,name=field_lines,json=fieldLines" json:"field_lines,omitempty"`
+	// Generated circular arcs based on the other parameters
+	FieldArcs []*SSL_FieldCircularArc `protobuf:"bytes,7,rep,name=field_arcs,json=fieldArcs" json:"field_arcs,omitempty"`
+	// Depth of the penalty/defense area (measured between line centers) in mm
+	PenaltyAreaDepth *int32 `protobuf:"varint,8,opt,name=penalty_area_depth,json=penaltyAreaDepth" json:"penalty_area_depth,omitempty"`
+	// Width of the penalty/defense area (measured between line centers) in mm
+	PenaltyAreaWidth *int32 `protobuf:"varint,9,opt,name=penalty_area_width,json=penaltyAreaWidth" json:"penalty_area_width,omitempty"`
+	// Radius of the center circle (measured between line centers) in mm
+	CenterCircleRadius *int32 `protobuf:"varint,10,opt,name=center_circle_radius,json=centerCircleRadius" json:"center_circle_radius,omitempty"`
+	// Thickness/width of the lines on the field in mm
+	LineThickness *int32 `protobuf:"varint,11,opt,name=line_thickness,json=lineThickness" json:"line_thickness,omitempty"`
+	// Distance between the goal center and the center of the penalty mark in mm
+	GoalCenterToPenaltyMark *int32 `protobuf:"varint,12,opt,name=goal_center_to_penalty_mark,json=goalCenterToPenaltyMark" json:"goal_center_to_penalty_mark,omitempty"`
+	// Goal height in mm
+	GoalHeight *int32 `protobuf:"varint,13,opt,name=goal_height,json=goalHeight" json:"goal_height,omitempty"`
+	// Ball radius in mm (note that this is a float type to represent sub-mm precision)
+	BallRadius *float32 `protobuf:"fixed32,14,opt,name=ball_radius,json=ballRadius" json:"ball_radius,omitempty"`
+	// Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)
+	MaxRobotRadius *float32 `protobuf:"fixed32,15,opt,name=max_robot_radius,json=maxRobotRadius" json:"max_robot_radius,omitempty"`
+	// Width of the goal substitution area (distance from goal line center plus boundary width to boundary walls) in mm
+	GoalSubstitutionAreaWidth *int32 `protobuf:"varint,17,opt,name=goal_substitution_area_width,json=goalSubstitutionAreaWidth" json:"goal_substitution_area_width,omitempty"`
+	unknownFields             protoimpl.UnknownFields
+	sizeCache                 protoimpl.SizeCache
+}
+
+func (x *SSL_GeometryFieldSize) Reset() {
+	*x = SSL_GeometryFieldSize{}
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[3]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_GeometryFieldSize) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_GeometryFieldSize) ProtoMessage() {}
+
+func (x *SSL_GeometryFieldSize) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[3]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_GeometryFieldSize.ProtoReflect.Descriptor instead.
+func (*SSL_GeometryFieldSize) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{3}
+}
+
+func (x *SSL_GeometryFieldSize) GetFieldLength() int32 {
+	if x != nil && x.FieldLength != nil {
+		return *x.FieldLength
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetFieldWidth() int32 {
+	if x != nil && x.FieldWidth != nil {
+		return *x.FieldWidth
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetGoalWidth() int32 {
+	if x != nil && x.GoalWidth != nil {
+		return *x.GoalWidth
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetGoalDepth() int32 {
+	if x != nil && x.GoalDepth != nil {
+		return *x.GoalDepth
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetBoundaryWidth() int32 {
+	if x != nil && x.BoundaryWidth != nil {
+		return *x.BoundaryWidth
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetBoundaryWidthGoalLine() int32 {
+	if x != nil && x.BoundaryWidthGoalLine != nil {
+		return *x.BoundaryWidthGoalLine
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetFieldLines() []*SSL_FieldLineSegment {
+	if x != nil {
+		return x.FieldLines
+	}
+	return nil
+}
+
+func (x *SSL_GeometryFieldSize) GetFieldArcs() []*SSL_FieldCircularArc {
+	if x != nil {
+		return x.FieldArcs
+	}
+	return nil
+}
+
+func (x *SSL_GeometryFieldSize) GetPenaltyAreaDepth() int32 {
+	if x != nil && x.PenaltyAreaDepth != nil {
+		return *x.PenaltyAreaDepth
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetPenaltyAreaWidth() int32 {
+	if x != nil && x.PenaltyAreaWidth != nil {
+		return *x.PenaltyAreaWidth
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetCenterCircleRadius() int32 {
+	if x != nil && x.CenterCircleRadius != nil {
+		return *x.CenterCircleRadius
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetLineThickness() int32 {
+	if x != nil && x.LineThickness != nil {
+		return *x.LineThickness
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetGoalCenterToPenaltyMark() int32 {
+	if x != nil && x.GoalCenterToPenaltyMark != nil {
+		return *x.GoalCenterToPenaltyMark
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetGoalHeight() int32 {
+	if x != nil && x.GoalHeight != nil {
+		return *x.GoalHeight
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetBallRadius() float32 {
+	if x != nil && x.BallRadius != nil {
+		return *x.BallRadius
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetMaxRobotRadius() float32 {
+	if x != nil && x.MaxRobotRadius != nil {
+		return *x.MaxRobotRadius
+	}
+	return 0
+}
+
+func (x *SSL_GeometryFieldSize) GetGoalSubstitutionAreaWidth() int32 {
+	if x != nil && x.GoalSubstitutionAreaWidth != nil {
+		return *x.GoalSubstitutionAreaWidth
+	}
+	return 0
+}
+
+type SSL_GeometryCameraCalibration struct {
+	state                protoimpl.MessageState `protogen:"open.v1"`
+	CameraId             *uint32                `protobuf:"varint,1,req,name=camera_id,json=cameraId" json:"camera_id,omitempty"`
+	FocalLength          *float32               `protobuf:"fixed32,2,req,name=focal_length,json=focalLength" json:"focal_length,omitempty"`
+	PrincipalPointX      *float32               `protobuf:"fixed32,3,req,name=principal_point_x,json=principalPointX" json:"principal_point_x,omitempty"`
+	PrincipalPointY      *float32               `protobuf:"fixed32,4,req,name=principal_point_y,json=principalPointY" json:"principal_point_y,omitempty"`
+	Distortion           *float32               `protobuf:"fixed32,5,req,name=distortion" json:"distortion,omitempty"`
+	Q0                   *float32               `protobuf:"fixed32,6,req,name=q0" json:"q0,omitempty"`
+	Q1                   *float32               `protobuf:"fixed32,7,req,name=q1" json:"q1,omitempty"`
+	Q2                   *float32               `protobuf:"fixed32,8,req,name=q2" json:"q2,omitempty"`
+	Q3                   *float32               `protobuf:"fixed32,9,req,name=q3" json:"q3,omitempty"`
+	Tx                   *float32               `protobuf:"fixed32,10,req,name=tx" json:"tx,omitempty"`
+	Ty                   *float32               `protobuf:"fixed32,11,req,name=ty" json:"ty,omitempty"`
+	Tz                   *float32               `protobuf:"fixed32,12,req,name=tz" json:"tz,omitempty"`
+	DerivedCameraWorldTx *float32               `protobuf:"fixed32,13,opt,name=derived_camera_world_tx,json=derivedCameraWorldTx" json:"derived_camera_world_tx,omitempty"`
+	DerivedCameraWorldTy *float32               `protobuf:"fixed32,14,opt,name=derived_camera_world_ty,json=derivedCameraWorldTy" json:"derived_camera_world_ty,omitempty"`
+	DerivedCameraWorldTz *float32               `protobuf:"fixed32,15,opt,name=derived_camera_world_tz,json=derivedCameraWorldTz" json:"derived_camera_world_tz,omitempty"`
+	PixelImageWidth      *uint32                `protobuf:"varint,16,opt,name=pixel_image_width,json=pixelImageWidth" json:"pixel_image_width,omitempty"`
+	PixelImageHeight     *uint32                `protobuf:"varint,17,opt,name=pixel_image_height,json=pixelImageHeight" json:"pixel_image_height,omitempty"`
+	unknownFields        protoimpl.UnknownFields
+	sizeCache            protoimpl.SizeCache
+}
+
+func (x *SSL_GeometryCameraCalibration) Reset() {
+	*x = SSL_GeometryCameraCalibration{}
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[4]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_GeometryCameraCalibration) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_GeometryCameraCalibration) ProtoMessage() {}
+
+func (x *SSL_GeometryCameraCalibration) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[4]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_GeometryCameraCalibration.ProtoReflect.Descriptor instead.
+func (*SSL_GeometryCameraCalibration) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{4}
+}
+
+func (x *SSL_GeometryCameraCalibration) GetCameraId() uint32 {
+	if x != nil && x.CameraId != nil {
+		return *x.CameraId
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetFocalLength() float32 {
+	if x != nil && x.FocalLength != nil {
+		return *x.FocalLength
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetPrincipalPointX() float32 {
+	if x != nil && x.PrincipalPointX != nil {
+		return *x.PrincipalPointX
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetPrincipalPointY() float32 {
+	if x != nil && x.PrincipalPointY != nil {
+		return *x.PrincipalPointY
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetDistortion() float32 {
+	if x != nil && x.Distortion != nil {
+		return *x.Distortion
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetQ0() float32 {
+	if x != nil && x.Q0 != nil {
+		return *x.Q0
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetQ1() float32 {
+	if x != nil && x.Q1 != nil {
+		return *x.Q1
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetQ2() float32 {
+	if x != nil && x.Q2 != nil {
+		return *x.Q2
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetQ3() float32 {
+	if x != nil && x.Q3 != nil {
+		return *x.Q3
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetTx() float32 {
+	if x != nil && x.Tx != nil {
+		return *x.Tx
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetTy() float32 {
+	if x != nil && x.Ty != nil {
+		return *x.Ty
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetTz() float32 {
+	if x != nil && x.Tz != nil {
+		return *x.Tz
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetDerivedCameraWorldTx() float32 {
+	if x != nil && x.DerivedCameraWorldTx != nil {
+		return *x.DerivedCameraWorldTx
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetDerivedCameraWorldTy() float32 {
+	if x != nil && x.DerivedCameraWorldTy != nil {
+		return *x.DerivedCameraWorldTy
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetDerivedCameraWorldTz() float32 {
+	if x != nil && x.DerivedCameraWorldTz != nil {
+		return *x.DerivedCameraWorldTz
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetPixelImageWidth() uint32 {
+	if x != nil && x.PixelImageWidth != nil {
+		return *x.PixelImageWidth
+	}
+	return 0
+}
+
+func (x *SSL_GeometryCameraCalibration) GetPixelImageHeight() uint32 {
+	if x != nil && x.PixelImageHeight != nil {
+		return *x.PixelImageHeight
+	}
+	return 0
+}
+
+// Two-Phase model for straight-kicked balls.
+// There are two phases with different accelerations during the ball kicks:
+// 1. Sliding
+// 2. Rolling
+// The full model is described in the TDP of ER-Force from 2016, which can be found here:
+// https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf
+type SSL_BallModelStraightTwoPhase struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Ball sliding acceleration [m/s^2] (should be negative)
+	AccSlide *float64 `protobuf:"fixed64,1,req,name=acc_slide,json=accSlide" json:"acc_slide,omitempty"`
+	// Ball rolling acceleration [m/s^2] (should be negative)
+	AccRoll *float64 `protobuf:"fixed64,2,req,name=acc_roll,json=accRoll" json:"acc_roll,omitempty"`
+	// Fraction of the initial velocity where the ball starts to roll
+	KSwitch       *float64 `protobuf:"fixed64,3,req,name=k_switch,json=kSwitch" json:"k_switch,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *SSL_BallModelStraightTwoPhase) Reset() {
+	*x = SSL_BallModelStraightTwoPhase{}
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[5]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_BallModelStraightTwoPhase) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_BallModelStraightTwoPhase) ProtoMessage() {}
+
+func (x *SSL_BallModelStraightTwoPhase) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[5]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_BallModelStraightTwoPhase.ProtoReflect.Descriptor instead.
+func (*SSL_BallModelStraightTwoPhase) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{5}
+}
+
+func (x *SSL_BallModelStraightTwoPhase) GetAccSlide() float64 {
+	if x != nil && x.AccSlide != nil {
+		return *x.AccSlide
+	}
+	return 0
+}
+
+func (x *SSL_BallModelStraightTwoPhase) GetAccRoll() float64 {
+	if x != nil && x.AccRoll != nil {
+		return *x.AccRoll
+	}
+	return 0
+}
+
+func (x *SSL_BallModelStraightTwoPhase) GetKSwitch() float64 {
+	if x != nil && x.KSwitch != nil {
+		return *x.KSwitch
+	}
+	return 0
+}
+
+// Fixed-Loss model for chipped balls.
+// Uses fixed damping factors for xy and z direction per hop.
+type SSL_BallModelChipFixedLoss struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Chip kick velocity damping factor in XY direction for the first hop
+	DampingXyFirstHop *float64 `protobuf:"fixed64,1,req,name=damping_xy_first_hop,json=dampingXyFirstHop" json:"damping_xy_first_hop,omitempty"`
+	// Chip kick velocity damping factor in XY direction for all following hops
+	DampingXyOtherHops *float64 `protobuf:"fixed64,2,req,name=damping_xy_other_hops,json=dampingXyOtherHops" json:"damping_xy_other_hops,omitempty"`
+	// Chip kick velocity damping factor in Z direction for all hops
+	DampingZ      *float64 `protobuf:"fixed64,3,req,name=damping_z,json=dampingZ" json:"damping_z,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *SSL_BallModelChipFixedLoss) Reset() {
+	*x = SSL_BallModelChipFixedLoss{}
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[6]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_BallModelChipFixedLoss) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_BallModelChipFixedLoss) ProtoMessage() {}
+
+func (x *SSL_BallModelChipFixedLoss) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[6]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_BallModelChipFixedLoss.ProtoReflect.Descriptor instead.
+func (*SSL_BallModelChipFixedLoss) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{6}
+}
+
+func (x *SSL_BallModelChipFixedLoss) GetDampingXyFirstHop() float64 {
+	if x != nil && x.DampingXyFirstHop != nil {
+		return *x.DampingXyFirstHop
+	}
+	return 0
+}
+
+func (x *SSL_BallModelChipFixedLoss) GetDampingXyOtherHops() float64 {
+	if x != nil && x.DampingXyOtherHops != nil {
+		return *x.DampingXyOtherHops
+	}
+	return 0
+}
+
+func (x *SSL_BallModelChipFixedLoss) GetDampingZ() float64 {
+	if x != nil && x.DampingZ != nil {
+		return *x.DampingZ
+	}
+	return 0
+}
+
+type SSL_GeometryModels struct {
+	state            protoimpl.MessageState         `protogen:"open.v1"`
+	StraightTwoPhase *SSL_BallModelStraightTwoPhase `protobuf:"bytes,1,opt,name=straight_two_phase,json=straightTwoPhase" json:"straight_two_phase,omitempty"`
+	ChipFixedLoss    *SSL_BallModelChipFixedLoss    `protobuf:"bytes,2,opt,name=chip_fixed_loss,json=chipFixedLoss" json:"chip_fixed_loss,omitempty"`
+	unknownFields    protoimpl.UnknownFields
+	sizeCache        protoimpl.SizeCache
+}
+
+func (x *SSL_GeometryModels) Reset() {
+	*x = SSL_GeometryModels{}
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[7]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_GeometryModels) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_GeometryModels) ProtoMessage() {}
+
+func (x *SSL_GeometryModels) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[7]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_GeometryModels.ProtoReflect.Descriptor instead.
+func (*SSL_GeometryModels) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{7}
+}
+
+func (x *SSL_GeometryModels) GetStraightTwoPhase() *SSL_BallModelStraightTwoPhase {
+	if x != nil {
+		return x.StraightTwoPhase
+	}
+	return nil
+}
+
+func (x *SSL_GeometryModels) GetChipFixedLoss() *SSL_BallModelChipFixedLoss {
+	if x != nil {
+		return x.ChipFixedLoss
+	}
+	return nil
+}
+
+type SSL_GeometryData struct {
+	state         protoimpl.MessageState           `protogen:"open.v1"`
+	Field         *SSL_GeometryFieldSize           `protobuf:"bytes,1,req,name=field" json:"field,omitempty"`
+	Calib         []*SSL_GeometryCameraCalibration `protobuf:"bytes,2,rep,name=calib" json:"calib,omitempty"`
+	Models        *SSL_GeometryModels              `protobuf:"bytes,3,opt,name=models" json:"models,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *SSL_GeometryData) Reset() {
+	*x = SSL_GeometryData{}
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[8]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_GeometryData) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_GeometryData) ProtoMessage() {}
+
+func (x *SSL_GeometryData) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[8]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_GeometryData.ProtoReflect.Descriptor instead.
+func (*SSL_GeometryData) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{8}
+}
+
+func (x *SSL_GeometryData) GetField() *SSL_GeometryFieldSize {
+	if x != nil {
+		return x.Field
+	}
+	return nil
+}
+
+func (x *SSL_GeometryData) GetCalib() []*SSL_GeometryCameraCalibration {
+	if x != nil {
+		return x.Calib
+	}
+	return nil
+}
+
+func (x *SSL_GeometryData) GetModels() *SSL_GeometryModels {
+	if x != nil {
+		return x.Models
+	}
+	return nil
+}
+
+var File_vision_ssl_vision_geometry_proto protoreflect.FileDescriptor
+
+const file_vision_ssl_vision_geometry_proto_rawDesc = "" +
+	"\n" +
+	" vision/ssl_vision_geometry.proto\"&\n" +
+	"\bVector2f\x12\f\n" +
+	"\x01x\x18\x01 \x02(\x02R\x01x\x12\f\n" +
+	"\x01y\x18\x02 \x02(\x02R\x01y\"\xa7\x01\n" +
+	"\x14SSL_FieldLineSegment\x12\x12\n" +
+	"\x04name\x18\x01 \x02(\tR\x04name\x12\x19\n" +
+	"\x02p1\x18\x02 \x02(\v2\t.Vector2fR\x02p1\x12\x19\n" +
+	"\x02p2\x18\x03 \x02(\v2\t.Vector2fR\x02p2\x12\x1c\n" +
+	"\tthickness\x18\x04 \x02(\x02R\tthickness\x12'\n" +
+	"\x04type\x18\x05 \x01(\x0e2\x13.SSL_FieldShapeTypeR\x04type\"\xcc\x01\n" +
+	"\x14SSL_FieldCircularArc\x12\x12\n" +
+	"\x04name\x18\x01 \x02(\tR\x04name\x12!\n" +
+	"\x06center\x18\x02 \x02(\v2\t.Vector2fR\x06center\x12\x16\n" +
+	"\x06radius\x18\x03 \x02(\x02R\x06radius\x12\x0e\n" +
+	"\x02a1\x18\x04 \x02(\x02R\x02a1\x12\x0e\n" +
+	"\x02a2\x18\x05 \x02(\x02R\x02a2\x12\x1c\n" +
+	"\tthickness\x18\x06 \x02(\x02R\tthickness\x12'\n" +
+	"\x04type\x18\a \x01(\x0e2\x13.SSL_FieldShapeTypeR\x04type\"\x87\x06\n" +
+	"\x15SSL_GeometryFieldSize\x12!\n" +
+	"\ffield_length\x18\x01 \x02(\x05R\vfieldLength\x12\x1f\n" +
+	"\vfield_width\x18\x02 \x02(\x05R\n" +
+	"fieldWidth\x12\x1d\n" +
+	"\n" +
+	"goal_width\x18\x03 \x02(\x05R\tgoalWidth\x12\x1d\n" +
+	"\n" +
+	"goal_depth\x18\x04 \x02(\x05R\tgoalDepth\x12%\n" +
+	"\x0eboundary_width\x18\x05 \x02(\x05R\rboundaryWidth\x127\n" +
+	"\x18boundary_width_goal_line\x18\x10 \x01(\x05R\x15boundaryWidthGoalLine\x126\n" +
+	"\vfield_lines\x18\x06 \x03(\v2\x15.SSL_FieldLineSegmentR\n" +
+	"fieldLines\x124\n" +
+	"\n" +
+	"field_arcs\x18\a \x03(\v2\x15.SSL_FieldCircularArcR\tfieldArcs\x12,\n" +
+	"\x12penalty_area_depth\x18\b \x01(\x05R\x10penaltyAreaDepth\x12,\n" +
+	"\x12penalty_area_width\x18\t \x01(\x05R\x10penaltyAreaWidth\x120\n" +
+	"\x14center_circle_radius\x18\n" +
+	" \x01(\x05R\x12centerCircleRadius\x12%\n" +
+	"\x0eline_thickness\x18\v \x01(\x05R\rlineThickness\x12<\n" +
+	"\x1bgoal_center_to_penalty_mark\x18\f \x01(\x05R\x17goalCenterToPenaltyMark\x12\x1f\n" +
+	"\vgoal_height\x18\r \x01(\x05R\n" +
+	"goalHeight\x12\x1f\n" +
+	"\vball_radius\x18\x0e \x01(\x02R\n" +
+	"ballRadius\x12(\n" +
+	"\x10max_robot_radius\x18\x0f \x01(\x02R\x0emaxRobotRadius\x12?\n" +
+	"\x1cgoal_substitution_area_width\x18\x11 \x01(\x05R\x19goalSubstitutionAreaWidth\"\xc6\x04\n" +
+	"\x1dSSL_GeometryCameraCalibration\x12\x1b\n" +
+	"\tcamera_id\x18\x01 \x02(\rR\bcameraId\x12!\n" +
+	"\ffocal_length\x18\x02 \x02(\x02R\vfocalLength\x12*\n" +
+	"\x11principal_point_x\x18\x03 \x02(\x02R\x0fprincipalPointX\x12*\n" +
+	"\x11principal_point_y\x18\x04 \x02(\x02R\x0fprincipalPointY\x12\x1e\n" +
+	"\n" +
+	"distortion\x18\x05 \x02(\x02R\n" +
+	"distortion\x12\x0e\n" +
+	"\x02q0\x18\x06 \x02(\x02R\x02q0\x12\x0e\n" +
+	"\x02q1\x18\a \x02(\x02R\x02q1\x12\x0e\n" +
+	"\x02q2\x18\b \x02(\x02R\x02q2\x12\x0e\n" +
+	"\x02q3\x18\t \x02(\x02R\x02q3\x12\x0e\n" +
+	"\x02tx\x18\n" +
+	" \x02(\x02R\x02tx\x12\x0e\n" +
+	"\x02ty\x18\v \x02(\x02R\x02ty\x12\x0e\n" +
+	"\x02tz\x18\f \x02(\x02R\x02tz\x125\n" +
+	"\x17derived_camera_world_tx\x18\r \x01(\x02R\x14derivedCameraWorldTx\x125\n" +
+	"\x17derived_camera_world_ty\x18\x0e \x01(\x02R\x14derivedCameraWorldTy\x125\n" +
+	"\x17derived_camera_world_tz\x18\x0f \x01(\x02R\x14derivedCameraWorldTz\x12*\n" +
+	"\x11pixel_image_width\x18\x10 \x01(\rR\x0fpixelImageWidth\x12,\n" +
+	"\x12pixel_image_height\x18\x11 \x01(\rR\x10pixelImageHeight\"r\n" +
+	"\x1dSSL_BallModelStraightTwoPhase\x12\x1b\n" +
+	"\tacc_slide\x18\x01 \x02(\x01R\baccSlide\x12\x19\n" +
+	"\bacc_roll\x18\x02 \x02(\x01R\aaccRoll\x12\x19\n" +
+	"\bk_switch\x18\x03 \x02(\x01R\akSwitch\"\x9d\x01\n" +
+	"\x1aSSL_BallModelChipFixedLoss\x12/\n" +
+	"\x14damping_xy_first_hop\x18\x01 \x02(\x01R\x11dampingXyFirstHop\x121\n" +
+	"\x15damping_xy_other_hops\x18\x02 \x02(\x01R\x12dampingXyOtherHops\x12\x1b\n" +
+	"\tdamping_z\x18\x03 \x02(\x01R\bdampingZ\"\xa7\x01\n" +
+	"\x12SSL_GeometryModels\x12L\n" +
+	"\x12straight_two_phase\x18\x01 \x01(\v2\x1e.SSL_BallModelStraightTwoPhaseR\x10straightTwoPhase\x12C\n" +
+	"\x0fchip_fixed_loss\x18\x02 \x01(\v2\x1b.SSL_BallModelChipFixedLossR\rchipFixedLoss\"\xa3\x01\n" +
+	"\x10SSL_GeometryData\x12,\n" +
+	"\x05field\x18\x01 \x02(\v2\x16.SSL_GeometryFieldSizeR\x05field\x124\n" +
+	"\x05calib\x18\x02 \x03(\v2\x1e.SSL_GeometryCameraCalibrationR\x05calib\x12+\n" +
+	"\x06models\x18\x03 \x01(\v2\x13.SSL_GeometryModelsR\x06models*\xdb\x02\n" +
+	"\x12SSL_FieldShapeType\x12\r\n" +
+	"\tUndefined\x10\x00\x12\x10\n" +
+	"\fCenterCircle\x10\x01\x12\x10\n" +
+	"\fTopTouchLine\x10\x02\x12\x13\n" +
+	"\x0fBottomTouchLine\x10\x03\x12\x10\n" +
+	"\fLeftGoalLine\x10\x04\x12\x11\n" +
+	"\rRightGoalLine\x10\x05\x12\x0f\n" +
+	"\vHalfwayLine\x10\x06\x12\x0e\n" +
+	"\n" +
+	"CenterLine\x10\a\x12\x16\n" +
+	"\x12LeftPenaltyStretch\x10\b\x12\x17\n" +
+	"\x13RightPenaltyStretch\x10\t\x12\x1f\n" +
+	"\x1bLeftFieldLeftPenaltyStretch\x10\n" +
+	"\x12 \n" +
+	"\x1cLeftFieldRightPenaltyStretch\x10\v\x12 \n" +
+	"\x1cRightFieldLeftPenaltyStretch\x10\f\x12!\n" +
+	"\x1dRightFieldRightPenaltyStretch\x10\rB[B\x16SslVisionGeometryProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+
+var (
+	file_vision_ssl_vision_geometry_proto_rawDescOnce sync.Once
+	file_vision_ssl_vision_geometry_proto_rawDescData []byte
+)
+
+func file_vision_ssl_vision_geometry_proto_rawDescGZIP() []byte {
+	file_vision_ssl_vision_geometry_proto_rawDescOnce.Do(func() {
+		file_vision_ssl_vision_geometry_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_geometry_proto_rawDesc), len(file_vision_ssl_vision_geometry_proto_rawDesc)))
+	})
+	return file_vision_ssl_vision_geometry_proto_rawDescData
+}
+
+var file_vision_ssl_vision_geometry_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
+var file_vision_ssl_vision_geometry_proto_msgTypes = make([]protoimpl.MessageInfo, 9)
+var file_vision_ssl_vision_geometry_proto_goTypes = []any{
+	(SSL_FieldShapeType)(0),               // 0: SSL_FieldShapeType
+	(*Vector2F)(nil),                      // 1: Vector2f
+	(*SSL_FieldLineSegment)(nil),          // 2: SSL_FieldLineSegment
+	(*SSL_FieldCircularArc)(nil),          // 3: SSL_FieldCircularArc
+	(*SSL_GeometryFieldSize)(nil),         // 4: SSL_GeometryFieldSize
+	(*SSL_GeometryCameraCalibration)(nil), // 5: SSL_GeometryCameraCalibration
+	(*SSL_BallModelStraightTwoPhase)(nil), // 6: SSL_BallModelStraightTwoPhase
+	(*SSL_BallModelChipFixedLoss)(nil),    // 7: SSL_BallModelChipFixedLoss
+	(*SSL_GeometryModels)(nil),            // 8: SSL_GeometryModels
+	(*SSL_GeometryData)(nil),              // 9: SSL_GeometryData
+}
+var file_vision_ssl_vision_geometry_proto_depIdxs = []int32{
+	1,  // 0: SSL_FieldLineSegment.p1:type_name -> Vector2f
+	1,  // 1: SSL_FieldLineSegment.p2:type_name -> Vector2f
+	0,  // 2: SSL_FieldLineSegment.type:type_name -> SSL_FieldShapeType
+	1,  // 3: SSL_FieldCircularArc.center:type_name -> Vector2f
+	0,  // 4: SSL_FieldCircularArc.type:type_name -> SSL_FieldShapeType
+	2,  // 5: SSL_GeometryFieldSize.field_lines:type_name -> SSL_FieldLineSegment
+	3,  // 6: SSL_GeometryFieldSize.field_arcs:type_name -> SSL_FieldCircularArc
+	6,  // 7: SSL_GeometryModels.straight_two_phase:type_name -> SSL_BallModelStraightTwoPhase
+	7,  // 8: SSL_GeometryModels.chip_fixed_loss:type_name -> SSL_BallModelChipFixedLoss
+	4,  // 9: SSL_GeometryData.field:type_name -> SSL_GeometryFieldSize
+	5,  // 10: SSL_GeometryData.calib:type_name -> SSL_GeometryCameraCalibration
+	8,  // 11: SSL_GeometryData.models:type_name -> SSL_GeometryModels
+	12, // [12:12] is the sub-list for method output_type
+	12, // [12:12] is the sub-list for method input_type
+	12, // [12:12] is the sub-list for extension type_name
+	12, // [12:12] is the sub-list for extension extendee
+	0,  // [0:12] is the sub-list for field type_name
+}
+
+func init() { file_vision_ssl_vision_geometry_proto_init() }
+func file_vision_ssl_vision_geometry_proto_init() {
+	if File_vision_ssl_vision_geometry_proto != nil {
+		return
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_geometry_proto_rawDesc), len(file_vision_ssl_vision_geometry_proto_rawDesc)),
+			NumEnums:      1,
+			NumMessages:   9,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_vision_ssl_vision_geometry_proto_goTypes,
+		DependencyIndexes: file_vision_ssl_vision_geometry_proto_depIdxs,
+		EnumInfos:         file_vision_ssl_vision_geometry_proto_enumTypes,
+		MessageInfos:      file_vision_ssl_vision_geometry_proto_msgTypes,
+	}.Build()
+	File_vision_ssl_vision_geometry_proto = out.File
+	file_vision_ssl_vision_geometry_proto_goTypes = nil
+	file_vision_ssl_vision_geometry_proto_depIdxs = nil
+}
diff --git a/gui/internal/vision/ssl_vision_wrapper.pb.go b/gui/internal/vision/ssl_vision_wrapper.pb.go
new file mode 100644
index 0000000..ecbee04
--- /dev/null
+++ b/gui/internal/vision/ssl_vision_wrapper.pb.go
@@ -0,0 +1,238 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: vision/ssl_vision_wrapper.proto
+
+package vision
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+type SSL_Source int32
+
+const (
+	SSL_Source_SSL_SOURCE_UNKNOWN          SSL_Source = 0
+	SSL_Source_SSL_SOURCE_OTHER            SSL_Source = 1
+	SSL_Source_SSL_SOURCE_SSL_VISION       SSL_Source = 2
+	SSL_Source_SSL_SOURCE_VISION_PROCESSOR SSL_Source = 3
+	SSL_Source_SSL_SOURCE_GRSIM            SSL_Source = 4
+	SSL_Source_SSL_SOURCE_ERFORCE_SIM      SSL_Source = 5
+)
+
+// Enum value maps for SSL_Source.
+var (
+	SSL_Source_name = map[int32]string{
+		0: "SSL_SOURCE_UNKNOWN",
+		1: "SSL_SOURCE_OTHER",
+		2: "SSL_SOURCE_SSL_VISION",
+		3: "SSL_SOURCE_VISION_PROCESSOR",
+		4: "SSL_SOURCE_GRSIM",
+		5: "SSL_SOURCE_ERFORCE_SIM",
+	}
+	SSL_Source_value = map[string]int32{
+		"SSL_SOURCE_UNKNOWN":          0,
+		"SSL_SOURCE_OTHER":            1,
+		"SSL_SOURCE_SSL_VISION":       2,
+		"SSL_SOURCE_VISION_PROCESSOR": 3,
+		"SSL_SOURCE_GRSIM":            4,
+		"SSL_SOURCE_ERFORCE_SIM":      5,
+	}
+)
+
+func (x SSL_Source) Enum() *SSL_Source {
+	p := new(SSL_Source)
+	*p = x
+	return p
+}
+
+func (x SSL_Source) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (SSL_Source) Descriptor() protoreflect.EnumDescriptor {
+	return file_vision_ssl_vision_wrapper_proto_enumTypes[0].Descriptor()
+}
+
+func (SSL_Source) Type() protoreflect.EnumType {
+	return &file_vision_ssl_vision_wrapper_proto_enumTypes[0]
+}
+
+func (x SSL_Source) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *SSL_Source) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = SSL_Source(num)
+	return nil
+}
+
+// Deprecated: Use SSL_Source.Descriptor instead.
+func (SSL_Source) EnumDescriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_wrapper_proto_rawDescGZIP(), []int{0}
+}
+
+type SSL_WrapperPacket struct {
+	state         protoimpl.MessageState `protogen:"open.v1"`
+	Detection     *SSL_DetectionFrame    `protobuf:"bytes,1,opt,name=detection" json:"detection,omitempty"`
+	Geometry      *SSL_GeometryData      `protobuf:"bytes,2,opt,name=geometry" json:"geometry,omitempty"`
+	Source        *SSL_Source            `protobuf:"varint,3,opt,name=source,enum=SSL_Source" json:"source,omitempty"`
+	Config        *SSL_VPConfig          `protobuf:"bytes,4,opt,name=config" json:"config,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *SSL_WrapperPacket) Reset() {
+	*x = SSL_WrapperPacket{}
+	mi := &file_vision_ssl_vision_wrapper_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_WrapperPacket) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_WrapperPacket) ProtoMessage() {}
+
+func (x *SSL_WrapperPacket) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_wrapper_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_WrapperPacket.ProtoReflect.Descriptor instead.
+func (*SSL_WrapperPacket) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_wrapper_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *SSL_WrapperPacket) GetDetection() *SSL_DetectionFrame {
+	if x != nil {
+		return x.Detection
+	}
+	return nil
+}
+
+func (x *SSL_WrapperPacket) GetGeometry() *SSL_GeometryData {
+	if x != nil {
+		return x.Geometry
+	}
+	return nil
+}
+
+func (x *SSL_WrapperPacket) GetSource() SSL_Source {
+	if x != nil && x.Source != nil {
+		return *x.Source
+	}
+	return SSL_Source_SSL_SOURCE_UNKNOWN
+}
+
+func (x *SSL_WrapperPacket) GetConfig() *SSL_VPConfig {
+	if x != nil {
+		return x.Config
+	}
+	return nil
+}
+
+var File_vision_ssl_vision_wrapper_proto protoreflect.FileDescriptor
+
+const file_vision_ssl_vision_wrapper_proto_rawDesc = "" +
+	"\n" +
+	"\x1fvision/ssl_vision_wrapper.proto\x1a!vision/ssl_vision_detection.proto\x1a vision/ssl_vision_geometry.proto\x1a\x1avision/ssl_vp_config.proto\"\xc1\x01\n" +
+	"\x11SSL_WrapperPacket\x121\n" +
+	"\tdetection\x18\x01 \x01(\v2\x13.SSL_DetectionFrameR\tdetection\x12-\n" +
+	"\bgeometry\x18\x02 \x01(\v2\x11.SSL_GeometryDataR\bgeometry\x12#\n" +
+	"\x06source\x18\x03 \x01(\x0e2\v.SSL_SourceR\x06source\x12%\n" +
+	"\x06config\x18\x04 \x01(\v2\r.SSL_VPConfigR\x06config*\xa8\x01\n" +
+	"\n" +
+	"SSL_Source\x12\x16\n" +
+	"\x12SSL_SOURCE_UNKNOWN\x10\x00\x12\x14\n" +
+	"\x10SSL_SOURCE_OTHER\x10\x01\x12\x19\n" +
+	"\x15SSL_SOURCE_SSL_VISION\x10\x02\x12\x1f\n" +
+	"\x1bSSL_SOURCE_VISION_PROCESSOR\x10\x03\x12\x14\n" +
+	"\x10SSL_SOURCE_GRSIM\x10\x04\x12\x1a\n" +
+	"\x16SSL_SOURCE_ERFORCE_SIM\x10\x05BZB\x15SslVisionWrapperProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+
+var (
+	file_vision_ssl_vision_wrapper_proto_rawDescOnce sync.Once
+	file_vision_ssl_vision_wrapper_proto_rawDescData []byte
+)
+
+func file_vision_ssl_vision_wrapper_proto_rawDescGZIP() []byte {
+	file_vision_ssl_vision_wrapper_proto_rawDescOnce.Do(func() {
+		file_vision_ssl_vision_wrapper_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_wrapper_proto_rawDesc), len(file_vision_ssl_vision_wrapper_proto_rawDesc)))
+	})
+	return file_vision_ssl_vision_wrapper_proto_rawDescData
+}
+
+var file_vision_ssl_vision_wrapper_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
+var file_vision_ssl_vision_wrapper_proto_msgTypes = make([]protoimpl.MessageInfo, 1)
+var file_vision_ssl_vision_wrapper_proto_goTypes = []any{
+	(SSL_Source)(0),            // 0: SSL_Source
+	(*SSL_WrapperPacket)(nil),  // 1: SSL_WrapperPacket
+	(*SSL_DetectionFrame)(nil), // 2: SSL_DetectionFrame
+	(*SSL_GeometryData)(nil),   // 3: SSL_GeometryData
+	(*SSL_VPConfig)(nil),       // 4: SSL_VPConfig
+}
+var file_vision_ssl_vision_wrapper_proto_depIdxs = []int32{
+	2, // 0: SSL_WrapperPacket.detection:type_name -> SSL_DetectionFrame
+	3, // 1: SSL_WrapperPacket.geometry:type_name -> SSL_GeometryData
+	0, // 2: SSL_WrapperPacket.source:type_name -> SSL_Source
+	4, // 3: SSL_WrapperPacket.config:type_name -> SSL_VPConfig
+	4, // [4:4] is the sub-list for method output_type
+	4, // [4:4] is the sub-list for method input_type
+	4, // [4:4] is the sub-list for extension type_name
+	4, // [4:4] is the sub-list for extension extendee
+	0, // [0:4] is the sub-list for field type_name
+}
+
+func init() { file_vision_ssl_vision_wrapper_proto_init() }
+func file_vision_ssl_vision_wrapper_proto_init() {
+	if File_vision_ssl_vision_wrapper_proto != nil {
+		return
+	}
+	file_vision_ssl_vision_detection_proto_init()
+	file_vision_ssl_vision_geometry_proto_init()
+	file_vision_ssl_vp_config_proto_init()
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_wrapper_proto_rawDesc), len(file_vision_ssl_vision_wrapper_proto_rawDesc)),
+			NumEnums:      1,
+			NumMessages:   1,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_vision_ssl_vision_wrapper_proto_goTypes,
+		DependencyIndexes: file_vision_ssl_vision_wrapper_proto_depIdxs,
+		EnumInfos:         file_vision_ssl_vision_wrapper_proto_enumTypes,
+		MessageInfos:      file_vision_ssl_vision_wrapper_proto_msgTypes,
+	}.Build()
+	File_vision_ssl_vision_wrapper_proto = out.File
+	file_vision_ssl_vision_wrapper_proto_goTypes = nil
+	file_vision_ssl_vision_wrapper_proto_depIdxs = nil
+}
diff --git a/gui/internal/vision/ssl_vision_wrapper_tracked.pb.go b/gui/internal/vision/ssl_vision_wrapper_tracked.pb.go
new file mode 100644
index 0000000..f993a0b
--- /dev/null
+++ b/gui/internal/vision/ssl_vision_wrapper_tracked.pb.go
@@ -0,0 +1,150 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: vision/ssl_vision_wrapper_tracked.proto
+
+package vision
+
+import (
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+// A wrapper packet containing meta data of the source
+// Also serves for the possibility to extend the protocol later
+type TrackerWrapperPacket struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// A random UUID of the source that is kept constant at the source while running
+	// If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
+	Uuid *string `protobuf:"bytes,1,req,name=uuid" json:"uuid,omitempty"`
+	// The name of the source software that is producing this messages.
+	SourceName *string `protobuf:"bytes,2,opt,name=source_name,json=sourceName" json:"source_name,omitempty"`
+	// The tracked frame
+	TrackedFrame  *TrackedFrame `protobuf:"bytes,3,opt,name=tracked_frame,json=trackedFrame" json:"tracked_frame,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *TrackerWrapperPacket) Reset() {
+	*x = TrackerWrapperPacket{}
+	mi := &file_vision_ssl_vision_wrapper_tracked_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *TrackerWrapperPacket) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*TrackerWrapperPacket) ProtoMessage() {}
+
+func (x *TrackerWrapperPacket) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vision_wrapper_tracked_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use TrackerWrapperPacket.ProtoReflect.Descriptor instead.
+func (*TrackerWrapperPacket) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vision_wrapper_tracked_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *TrackerWrapperPacket) GetUuid() string {
+	if x != nil && x.Uuid != nil {
+		return *x.Uuid
+	}
+	return ""
+}
+
+func (x *TrackerWrapperPacket) GetSourceName() string {
+	if x != nil && x.SourceName != nil {
+		return *x.SourceName
+	}
+	return ""
+}
+
+func (x *TrackerWrapperPacket) GetTrackedFrame() *TrackedFrame {
+	if x != nil {
+		return x.TrackedFrame
+	}
+	return nil
+}
+
+var File_vision_ssl_vision_wrapper_tracked_proto protoreflect.FileDescriptor
+
+const file_vision_ssl_vision_wrapper_tracked_proto_rawDesc = "" +
+	"\n" +
+	"'vision/ssl_vision_wrapper_tracked.proto\x1a)vision/ssl_vision_detection_tracked.proto\"\x7f\n" +
+	"\x14TrackerWrapperPacket\x12\x12\n" +
+	"\x04uuid\x18\x01 \x02(\tR\x04uuid\x12\x1f\n" +
+	"\vsource_name\x18\x02 \x01(\tR\n" +
+	"sourceName\x122\n" +
+	"\rtracked_frame\x18\x03 \x01(\v2\r.TrackedFrameR\ftrackedFrameBaB\x1cSslVisionWrapperTrackedProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+
+var (
+	file_vision_ssl_vision_wrapper_tracked_proto_rawDescOnce sync.Once
+	file_vision_ssl_vision_wrapper_tracked_proto_rawDescData []byte
+)
+
+func file_vision_ssl_vision_wrapper_tracked_proto_rawDescGZIP() []byte {
+	file_vision_ssl_vision_wrapper_tracked_proto_rawDescOnce.Do(func() {
+		file_vision_ssl_vision_wrapper_tracked_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_wrapper_tracked_proto_rawDesc), len(file_vision_ssl_vision_wrapper_tracked_proto_rawDesc)))
+	})
+	return file_vision_ssl_vision_wrapper_tracked_proto_rawDescData
+}
+
+var file_vision_ssl_vision_wrapper_tracked_proto_msgTypes = make([]protoimpl.MessageInfo, 1)
+var file_vision_ssl_vision_wrapper_tracked_proto_goTypes = []any{
+	(*TrackerWrapperPacket)(nil), // 0: TrackerWrapperPacket
+	(*TrackedFrame)(nil),         // 1: TrackedFrame
+}
+var file_vision_ssl_vision_wrapper_tracked_proto_depIdxs = []int32{
+	1, // 0: TrackerWrapperPacket.tracked_frame:type_name -> TrackedFrame
+	1, // [1:1] is the sub-list for method output_type
+	1, // [1:1] is the sub-list for method input_type
+	1, // [1:1] is the sub-list for extension type_name
+	1, // [1:1] is the sub-list for extension extendee
+	0, // [0:1] is the sub-list for field type_name
+}
+
+func init() { file_vision_ssl_vision_wrapper_tracked_proto_init() }
+func file_vision_ssl_vision_wrapper_tracked_proto_init() {
+	if File_vision_ssl_vision_wrapper_tracked_proto != nil {
+		return
+	}
+	file_vision_ssl_vision_detection_tracked_proto_init()
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_wrapper_tracked_proto_rawDesc), len(file_vision_ssl_vision_wrapper_tracked_proto_rawDesc)),
+			NumEnums:      0,
+			NumMessages:   1,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_vision_ssl_vision_wrapper_tracked_proto_goTypes,
+		DependencyIndexes: file_vision_ssl_vision_wrapper_tracked_proto_depIdxs,
+		MessageInfos:      file_vision_ssl_vision_wrapper_tracked_proto_msgTypes,
+	}.Build()
+	File_vision_ssl_vision_wrapper_tracked_proto = out.File
+	file_vision_ssl_vision_wrapper_tracked_proto_goTypes = nil
+	file_vision_ssl_vision_wrapper_tracked_proto_depIdxs = nil
+}
diff --git a/gui/internal/vision/ssl_vp_config.pb.go b/gui/internal/vision/ssl_vp_config.pb.go
new file mode 100644
index 0000000..9529600
--- /dev/null
+++ b/gui/internal/vision/ssl_vp_config.pb.go
@@ -0,0 +1,1230 @@
+// Code generated by protoc-gen-go. DO NOT EDIT.
+// versions:
+// 	protoc-gen-go v1.36.6
+// 	protoc        (unknown)
+// source: vision/ssl_vp_config.proto
+
+package vision
+
+import (
+	gamecontroller "github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
+	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
+	reflect "reflect"
+	sync "sync"
+	unsafe "unsafe"
+)
+
+const (
+	// Verify that this generated code is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
+	// Verify that runtime/protoimpl is sufficiently up-to-date.
+	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
+)
+
+type SSL_VPConfigCameraDriver int32
+
+const (
+	// FLIR cameras
+	SSL_VPConfigCameraDriver_SPINNAKER SSL_VPConfigCameraDriver = 0
+	// Video and image files, video4linux2 (e.g. webcams) cameras
+	SSL_VPConfigCameraDriver_OPENCV SSL_VPConfigCameraDriver = 1
+	// Bluefox3 cameras
+	SSL_VPConfigCameraDriver_MVIMPACT SSL_VPConfigCameraDriver = 2
+)
+
+// Enum value maps for SSL_VPConfigCameraDriver.
+var (
+	SSL_VPConfigCameraDriver_name = map[int32]string{
+		0: "SPINNAKER",
+		1: "OPENCV",
+		2: "MVIMPACT",
+	}
+	SSL_VPConfigCameraDriver_value = map[string]int32{
+		"SPINNAKER": 0,
+		"OPENCV":    1,
+		"MVIMPACT":  2,
+	}
+)
+
+func (x SSL_VPConfigCameraDriver) Enum() *SSL_VPConfigCameraDriver {
+	p := new(SSL_VPConfigCameraDriver)
+	*p = x
+	return p
+}
+
+func (x SSL_VPConfigCameraDriver) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (SSL_VPConfigCameraDriver) Descriptor() protoreflect.EnumDescriptor {
+	return file_vision_ssl_vp_config_proto_enumTypes[0].Descriptor()
+}
+
+func (SSL_VPConfigCameraDriver) Type() protoreflect.EnumType {
+	return &file_vision_ssl_vp_config_proto_enumTypes[0]
+}
+
+func (x SSL_VPConfigCameraDriver) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *SSL_VPConfigCameraDriver) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = SSL_VPConfigCameraDriver(num)
+	return nil
+}
+
+// Deprecated: Use SSL_VPConfigCameraDriver.Descriptor instead.
+func (SSL_VPConfigCameraDriver) EnumDescriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{0}
+}
+
+type SSL_VPConfigCameraWBType int32
+
+const (
+	SSL_VPConfigCameraWBType_OUTDOOR SSL_VPConfigCameraWBType = 0
+	SSL_VPConfigCameraWBType_INDOOR  SSL_VPConfigCameraWBType = 1
+	SSL_VPConfigCameraWBType_MANUAL  SSL_VPConfigCameraWBType = 2
+)
+
+// Enum value maps for SSL_VPConfigCameraWBType.
+var (
+	SSL_VPConfigCameraWBType_name = map[int32]string{
+		0: "OUTDOOR",
+		1: "INDOOR",
+		2: "MANUAL",
+	}
+	SSL_VPConfigCameraWBType_value = map[string]int32{
+		"OUTDOOR": 0,
+		"INDOOR":  1,
+		"MANUAL":  2,
+	}
+)
+
+func (x SSL_VPConfigCameraWBType) Enum() *SSL_VPConfigCameraWBType {
+	p := new(SSL_VPConfigCameraWBType)
+	*p = x
+	return p
+}
+
+func (x SSL_VPConfigCameraWBType) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (SSL_VPConfigCameraWBType) Descriptor() protoreflect.EnumDescriptor {
+	return file_vision_ssl_vp_config_proto_enumTypes[1].Descriptor()
+}
+
+func (SSL_VPConfigCameraWBType) Type() protoreflect.EnumType {
+	return &file_vision_ssl_vp_config_proto_enumTypes[1]
+}
+
+func (x SSL_VPConfigCameraWBType) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *SSL_VPConfigCameraWBType) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = SSL_VPConfigCameraWBType(num)
+	return nil
+}
+
+// Deprecated: Use SSL_VPConfigCameraWBType.Descriptor instead.
+func (SSL_VPConfigCameraWBType) EnumDescriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{1}
+}
+
+type SSL_VPConfigStreamType int32
+
+const (
+	SSL_VPConfigStreamType_RAW                 SSL_VPConfigStreamType = 0
+	SSL_VPConfigStreamType_REPROJ_FALSE_COLOR  SSL_VPConfigStreamType = 1
+	SSL_VPConfigStreamType_REPROJ_GRADIENT_DOT SSL_VPConfigStreamType = 2
+	SSL_VPConfigStreamType_REPROJ_BLOB_SCORE   SSL_VPConfigStreamType = 3
+)
+
+// Enum value maps for SSL_VPConfigStreamType.
+var (
+	SSL_VPConfigStreamType_name = map[int32]string{
+		0: "RAW",
+		1: "REPROJ_FALSE_COLOR",
+		2: "REPROJ_GRADIENT_DOT",
+		3: "REPROJ_BLOB_SCORE",
+	}
+	SSL_VPConfigStreamType_value = map[string]int32{
+		"RAW":                 0,
+		"REPROJ_FALSE_COLOR":  1,
+		"REPROJ_GRADIENT_DOT": 2,
+		"REPROJ_BLOB_SCORE":   3,
+	}
+)
+
+func (x SSL_VPConfigStreamType) Enum() *SSL_VPConfigStreamType {
+	p := new(SSL_VPConfigStreamType)
+	*p = x
+	return p
+}
+
+func (x SSL_VPConfigStreamType) String() string {
+	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
+}
+
+func (SSL_VPConfigStreamType) Descriptor() protoreflect.EnumDescriptor {
+	return file_vision_ssl_vp_config_proto_enumTypes[2].Descriptor()
+}
+
+func (SSL_VPConfigStreamType) Type() protoreflect.EnumType {
+	return &file_vision_ssl_vp_config_proto_enumTypes[2]
+}
+
+func (x SSL_VPConfigStreamType) Number() protoreflect.EnumNumber {
+	return protoreflect.EnumNumber(x)
+}
+
+// Deprecated: Do not use.
+func (x *SSL_VPConfigStreamType) UnmarshalJSON(b []byte) error {
+	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
+	if err != nil {
+		return err
+	}
+	*x = SSL_VPConfigStreamType(num)
+	return nil
+}
+
+// Deprecated: Use SSL_VPConfigStreamType.Descriptor instead.
+func (SSL_VPConfigStreamType) EnumDescriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{2}
+}
+
+type SSL_VPConfigCamera struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Camera driver type. Availability depending on libraries installed.
+	Driver *SSL_VPConfigCameraDriver `protobuf:"varint,1,opt,name=driver,enum=SSL_VPConfigCameraDriver" json:"driver,omitempty"`
+	// Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
+	Id *uint32 `protobuf:"varint,2,opt,name=id,def=0" json:"id,omitempty"`
+	// OpenCV camera device, image or video file path (if unset id is used instead)
+	Path *string `protobuf:"bytes,3,opt,name=path,def=" json:"path,omitempty"`
+	// Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
+	// 0 = Highest resolution supported by camera
+	Width  *uint32 `protobuf:"varint,4,opt,name=width,def=0" json:"width,omitempty"`
+	Height *uint32 `protobuf:"varint,5,opt,name=height,def=0" json:"height,omitempty"`
+	// Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
+	// Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
+	// 0.0 = automatic exposure
+	Exposure *float32 `protobuf:"fixed32,6,opt,name=exposure,def=0" json:"exposure,omitempty"`
+	// Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
+	// Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
+	// 0.0 = automatic gain
+	Gain *float32 `protobuf:"fixed32,7,opt,name=gain,def=0" json:"gain,omitempty"`
+	// Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
+	// Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
+	// 1.0 = no gamma
+	Gamma *float32 `protobuf:"fixed32,8,opt,name=gamma,def=1" json:"gamma,omitempty"`
+	// Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
+	// (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
+	WbType        *SSL_VPConfigCameraWBType `protobuf:"varint,9,opt,name=wb_type,json=wbType,enum=SSL_VPConfigCameraWBType,def=0" json:"wb_type,omitempty"`
+	WbRed         *float32                  `protobuf:"fixed32,10,opt,name=wb_red,json=wbRed,def=1" json:"wb_red,omitempty"`
+	WbBlue        *float32                  `protobuf:"fixed32,11,opt,name=wb_blue,json=wbBlue,def=1" json:"wb_blue,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+// Default values for SSL_VPConfigCamera fields.
+const (
+	Default_SSL_VPConfigCamera_Id       = uint32(0)
+	Default_SSL_VPConfigCamera_Path     = string("")
+	Default_SSL_VPConfigCamera_Width    = uint32(0)
+	Default_SSL_VPConfigCamera_Height   = uint32(0)
+	Default_SSL_VPConfigCamera_Exposure = float32(0)
+	Default_SSL_VPConfigCamera_Gain     = float32(0)
+	Default_SSL_VPConfigCamera_Gamma    = float32(1)
+	Default_SSL_VPConfigCamera_WbType   = SSL_VPConfigCameraWBType_OUTDOOR
+	Default_SSL_VPConfigCamera_WbRed    = float32(1)
+	Default_SSL_VPConfigCamera_WbBlue   = float32(1)
+)
+
+func (x *SSL_VPConfigCamera) Reset() {
+	*x = SSL_VPConfigCamera{}
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[0]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_VPConfigCamera) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_VPConfigCamera) ProtoMessage() {}
+
+func (x *SSL_VPConfigCamera) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[0]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_VPConfigCamera.ProtoReflect.Descriptor instead.
+func (*SSL_VPConfigCamera) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{0}
+}
+
+func (x *SSL_VPConfigCamera) GetDriver() SSL_VPConfigCameraDriver {
+	if x != nil && x.Driver != nil {
+		return *x.Driver
+	}
+	return SSL_VPConfigCameraDriver_SPINNAKER
+}
+
+func (x *SSL_VPConfigCamera) GetId() uint32 {
+	if x != nil && x.Id != nil {
+		return *x.Id
+	}
+	return Default_SSL_VPConfigCamera_Id
+}
+
+func (x *SSL_VPConfigCamera) GetPath() string {
+	if x != nil && x.Path != nil {
+		return *x.Path
+	}
+	return Default_SSL_VPConfigCamera_Path
+}
+
+func (x *SSL_VPConfigCamera) GetWidth() uint32 {
+	if x != nil && x.Width != nil {
+		return *x.Width
+	}
+	return Default_SSL_VPConfigCamera_Width
+}
+
+func (x *SSL_VPConfigCamera) GetHeight() uint32 {
+	if x != nil && x.Height != nil {
+		return *x.Height
+	}
+	return Default_SSL_VPConfigCamera_Height
+}
+
+func (x *SSL_VPConfigCamera) GetExposure() float32 {
+	if x != nil && x.Exposure != nil {
+		return *x.Exposure
+	}
+	return Default_SSL_VPConfigCamera_Exposure
+}
+
+func (x *SSL_VPConfigCamera) GetGain() float32 {
+	if x != nil && x.Gain != nil {
+		return *x.Gain
+	}
+	return Default_SSL_VPConfigCamera_Gain
+}
+
+func (x *SSL_VPConfigCamera) GetGamma() float32 {
+	if x != nil && x.Gamma != nil {
+		return *x.Gamma
+	}
+	return Default_SSL_VPConfigCamera_Gamma
+}
+
+func (x *SSL_VPConfigCamera) GetWbType() SSL_VPConfigCameraWBType {
+	if x != nil && x.WbType != nil {
+		return *x.WbType
+	}
+	return Default_SSL_VPConfigCamera_WbType
+}
+
+func (x *SSL_VPConfigCamera) GetWbRed() float32 {
+	if x != nil && x.WbRed != nil {
+		return *x.WbRed
+	}
+	return Default_SSL_VPConfigCamera_WbRed
+}
+
+func (x *SSL_VPConfigCamera) GetWbBlue() float32 {
+	if x != nil && x.WbBlue != nil {
+		return *x.WbBlue
+	}
+	return Default_SSL_VPConfigCamera_WbBlue
+}
+
+type SSL_VPConfigGeometry struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Total camera amount over the field
+	CameraAmount *uint32 `protobuf:"varint,1,opt,name=camera_amount,json=cameraAmount,def=1" json:"camera_amount,omitempty"`
+	// Camera height above field in mm
+	// 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field.
+	CameraHeight *float32 `protobuf:"fixed32,2,opt,name=camera_height,json=cameraHeight,def=0" json:"camera_height,omitempty"`
+	// Field line crossings at the edges of the camera extent in pixels from the top left image corner.
+	// The first coordinate must be the edge with the smallest x and y field coordinate.
+	LineCorners []*gamecontroller.Vector2 `protobuf:"bytes,3,rep,name=line_corners,json=lineCorners" json:"line_corners,omitempty"`
+	// Enable field line pixel refinement.
+	// Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
+	Refinement    *bool `protobuf:"varint,4,opt,name=refinement,def=1" json:"refinement,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+// Default values for SSL_VPConfigGeometry fields.
+const (
+	Default_SSL_VPConfigGeometry_CameraAmount = uint32(1)
+	Default_SSL_VPConfigGeometry_CameraHeight = float32(0)
+	Default_SSL_VPConfigGeometry_Refinement   = bool(true)
+)
+
+func (x *SSL_VPConfigGeometry) Reset() {
+	*x = SSL_VPConfigGeometry{}
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[1]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_VPConfigGeometry) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_VPConfigGeometry) ProtoMessage() {}
+
+func (x *SSL_VPConfigGeometry) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[1]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_VPConfigGeometry.ProtoReflect.Descriptor instead.
+func (*SSL_VPConfigGeometry) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *SSL_VPConfigGeometry) GetCameraAmount() uint32 {
+	if x != nil && x.CameraAmount != nil {
+		return *x.CameraAmount
+	}
+	return Default_SSL_VPConfigGeometry_CameraAmount
+}
+
+func (x *SSL_VPConfigGeometry) GetCameraHeight() float32 {
+	if x != nil && x.CameraHeight != nil {
+		return *x.CameraHeight
+	}
+	return Default_SSL_VPConfigGeometry_CameraHeight
+}
+
+func (x *SSL_VPConfigGeometry) GetLineCorners() []*gamecontroller.Vector2 {
+	if x != nil {
+		return x.LineCorners
+	}
+	return nil
+}
+
+func (x *SSL_VPConfigGeometry) GetRefinement() bool {
+	if x != nil && x.Refinement != nil {
+		return *x.Refinement
+	}
+	return Default_SSL_VPConfigGeometry_Refinement
+}
+
+type SSL_VPConfigThresholds struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
+	// High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
+	Circularity *float32 `protobuf:"fixed32,1,opt,name=circularity,def=15" json:"circularity,omitempty"`
+	// Minimum circularity/(3*stddev) ball blob score
+	Score *float32 `protobuf:"fixed32,2,opt,name=score,def=5" json:"score,omitempty"`
+	// Minimum confidence (0.0 - 1.0)
+	MinConfidence *float32 `protobuf:"fixed32,3,opt,name=min_confidence,json=minConfidence,def=0.2" json:"min_confidence,omitempty"`
+	// Min ball camera edge distance in mm
+	MinCamEdgeDistance *float32 `protobuf:"fixed32,4,opt,name=min_cam_edge_distance,json=minCamEdgeDistance,def=170" json:"min_cam_edge_distance,omitempty"`
+	// Maximum allowed clipping of two objects in mm
+	ClippingTolerance *float32 `protobuf:"fixed32,5,opt,name=clipping_tolerance,json=clippingTolerance,def=10" json:"clipping_tolerance,omitempty"`
+	// Added tolerance to geometry related operations in mm.
+	// Affects field border cutoff area and field line blob classification.
+	GeometryTolerance *float32 `protobuf:"fixed32,6,opt,name=geometry_tolerance,json=geometryTolerance,def=10" json:"geometry_tolerance,omitempty"`
+	unknownFields     protoimpl.UnknownFields
+	sizeCache         protoimpl.SizeCache
+}
+
+// Default values for SSL_VPConfigThresholds fields.
+const (
+	Default_SSL_VPConfigThresholds_Circularity        = float32(15)
+	Default_SSL_VPConfigThresholds_Score              = float32(5)
+	Default_SSL_VPConfigThresholds_MinConfidence      = float32(0.20000000298023224)
+	Default_SSL_VPConfigThresholds_MinCamEdgeDistance = float32(170)
+	Default_SSL_VPConfigThresholds_ClippingTolerance  = float32(10)
+	Default_SSL_VPConfigThresholds_GeometryTolerance  = float32(10)
+)
+
+func (x *SSL_VPConfigThresholds) Reset() {
+	*x = SSL_VPConfigThresholds{}
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[2]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_VPConfigThresholds) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_VPConfigThresholds) ProtoMessage() {}
+
+func (x *SSL_VPConfigThresholds) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[2]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_VPConfigThresholds.ProtoReflect.Descriptor instead.
+func (*SSL_VPConfigThresholds) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{2}
+}
+
+func (x *SSL_VPConfigThresholds) GetCircularity() float32 {
+	if x != nil && x.Circularity != nil {
+		return *x.Circularity
+	}
+	return Default_SSL_VPConfigThresholds_Circularity
+}
+
+func (x *SSL_VPConfigThresholds) GetScore() float32 {
+	if x != nil && x.Score != nil {
+		return *x.Score
+	}
+	return Default_SSL_VPConfigThresholds_Score
+}
+
+func (x *SSL_VPConfigThresholds) GetMinConfidence() float32 {
+	if x != nil && x.MinConfidence != nil {
+		return *x.MinConfidence
+	}
+	return Default_SSL_VPConfigThresholds_MinConfidence
+}
+
+func (x *SSL_VPConfigThresholds) GetMinCamEdgeDistance() float32 {
+	if x != nil && x.MinCamEdgeDistance != nil {
+		return *x.MinCamEdgeDistance
+	}
+	return Default_SSL_VPConfigThresholds_MinCamEdgeDistance
+}
+
+func (x *SSL_VPConfigThresholds) GetClippingTolerance() float32 {
+	if x != nil && x.ClippingTolerance != nil {
+		return *x.ClippingTolerance
+	}
+	return Default_SSL_VPConfigThresholds_ClippingTolerance
+}
+
+func (x *SSL_VPConfigThresholds) GetGeometryTolerance() float32 {
+	if x != nil && x.GeometryTolerance != nil {
+		return *x.GeometryTolerance
+	}
+	return Default_SSL_VPConfigThresholds_GeometryTolerance
+}
+
+type Color struct {
+	state         protoimpl.MessageState `protogen:"open.v1"`
+	Red           *uint32                `protobuf:"varint,1,opt,name=red,def=128" json:"red,omitempty"`
+	Green         *uint32                `protobuf:"varint,2,opt,name=green,def=128" json:"green,omitempty"`
+	Blue          *uint32                `protobuf:"varint,3,opt,name=blue,def=128" json:"blue,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+// Default values for Color fields.
+const (
+	Default_Color_Red   = uint32(128)
+	Default_Color_Green = uint32(128)
+	Default_Color_Blue  = uint32(128)
+)
+
+func (x *Color) Reset() {
+	*x = Color{}
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[3]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Color) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Color) ProtoMessage() {}
+
+func (x *Color) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[3]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Color.ProtoReflect.Descriptor instead.
+func (*Color) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{3}
+}
+
+func (x *Color) GetRed() uint32 {
+	if x != nil && x.Red != nil {
+		return *x.Red
+	}
+	return Default_Color_Red
+}
+
+func (x *Color) GetGreen() uint32 {
+	if x != nil && x.Green != nil {
+		return *x.Green
+	}
+	return Default_Color_Green
+}
+
+func (x *Color) GetBlue() uint32 {
+	if x != nil && x.Blue != nil {
+		return *x.Blue
+	}
+	return Default_Color_Blue
+}
+
+type VPColor struct {
+	state         protoimpl.MessageState `protogen:"open.v1"`
+	Reference     *Color                 `protobuf:"bytes,1,opt,name=reference" json:"reference,omitempty"`
+	Live          *Color                 `protobuf:"bytes,2,opt,name=live" json:"live,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *VPColor) Reset() {
+	*x = VPColor{}
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[4]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *VPColor) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*VPColor) ProtoMessage() {}
+
+func (x *VPColor) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[4]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use VPColor.ProtoReflect.Descriptor instead.
+func (*VPColor) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{4}
+}
+
+func (x *VPColor) GetReference() *Color {
+	if x != nil {
+		return x.Reference
+	}
+	return nil
+}
+
+func (x *VPColor) GetLive() *Color {
+	if x != nil {
+		return x.Live
+	}
+	return nil
+}
+
+type SSL_VPConfigColor struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
+	ReferenceForce *float32 `protobuf:"fixed32,1,opt,name=reference_force,json=referenceForce,def=0.1" json:"reference_force,omitempty"`
+	// Strength of the previous color during color updates (0.0 - 1.0-reference_force)
+	HistoryForce *float32 `protobuf:"fixed32,2,opt,name=history_force,json=historyForce,def=0.7" json:"history_force,omitempty"`
+	// Colors used for ball determination
+	Orange *VPColor `protobuf:"bytes,3,opt,name=orange" json:"orange,omitempty"`
+	Field  *VPColor `protobuf:"bytes,4,opt,name=field" json:"field,omitempty"`
+	// Colors used for center blob determination
+	Yellow *VPColor `protobuf:"bytes,5,opt,name=yellow" json:"yellow,omitempty"`
+	Blue   *VPColor `protobuf:"bytes,6,opt,name=blue" json:"blue,omitempty"`
+	// Colors used for side blob determination
+	Green         *VPColor `protobuf:"bytes,7,opt,name=green" json:"green,omitempty"`
+	Pink          *VPColor `protobuf:"bytes,8,opt,name=pink" json:"pink,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+// Default values for SSL_VPConfigColor fields.
+const (
+	Default_SSL_VPConfigColor_ReferenceForce = float32(0.10000000149011612)
+	Default_SSL_VPConfigColor_HistoryForce   = float32(0.699999988079071)
+)
+
+func (x *SSL_VPConfigColor) Reset() {
+	*x = SSL_VPConfigColor{}
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[5]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_VPConfigColor) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_VPConfigColor) ProtoMessage() {}
+
+func (x *SSL_VPConfigColor) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[5]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_VPConfigColor.ProtoReflect.Descriptor instead.
+func (*SSL_VPConfigColor) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{5}
+}
+
+func (x *SSL_VPConfigColor) GetReferenceForce() float32 {
+	if x != nil && x.ReferenceForce != nil {
+		return *x.ReferenceForce
+	}
+	return Default_SSL_VPConfigColor_ReferenceForce
+}
+
+func (x *SSL_VPConfigColor) GetHistoryForce() float32 {
+	if x != nil && x.HistoryForce != nil {
+		return *x.HistoryForce
+	}
+	return Default_SSL_VPConfigColor_HistoryForce
+}
+
+func (x *SSL_VPConfigColor) GetOrange() *VPColor {
+	if x != nil {
+		return x.Orange
+	}
+	return nil
+}
+
+func (x *SSL_VPConfigColor) GetField() *VPColor {
+	if x != nil {
+		return x.Field
+	}
+	return nil
+}
+
+func (x *SSL_VPConfigColor) GetYellow() *VPColor {
+	if x != nil {
+		return x.Yellow
+	}
+	return nil
+}
+
+func (x *SSL_VPConfigColor) GetBlue() *VPColor {
+	if x != nil {
+		return x.Blue
+	}
+	return nil
+}
+
+func (x *SSL_VPConfigColor) GetGreen() *VPColor {
+	if x != nil {
+		return x.Green
+	}
+	return nil
+}
+
+func (x *SSL_VPConfigColor) GetPink() *VPColor {
+	if x != nil {
+		return x.Pink
+	}
+	return nil
+}
+
+type SSL_VPConfigNetwork struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Game controller ip address
+	GcIp *string `protobuf:"bytes,1,opt,name=gc_ip,json=gcIp,def=224.5.23.1" json:"gc_ip,omitempty"`
+	// Game controller UDP port
+	GcPort *uint32 `protobuf:"varint,2,opt,name=gc_port,json=gcPort,def=10003" json:"gc_port,omitempty"`
+	// Vision IP address (port impossible to adjust over network)
+	VisionIp      *string `protobuf:"bytes,3,opt,name=vision_ip,json=visionIp,def=224.5.23.2" json:"vision_ip,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+// Default values for SSL_VPConfigNetwork fields.
+const (
+	Default_SSL_VPConfigNetwork_GcIp     = string("224.5.23.1")
+	Default_SSL_VPConfigNetwork_GcPort   = uint32(10003)
+	Default_SSL_VPConfigNetwork_VisionIp = string("224.5.23.2")
+)
+
+func (x *SSL_VPConfigNetwork) Reset() {
+	*x = SSL_VPConfigNetwork{}
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[6]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_VPConfigNetwork) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_VPConfigNetwork) ProtoMessage() {}
+
+func (x *SSL_VPConfigNetwork) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[6]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_VPConfigNetwork.ProtoReflect.Descriptor instead.
+func (*SSL_VPConfigNetwork) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{6}
+}
+
+func (x *SSL_VPConfigNetwork) GetGcIp() string {
+	if x != nil && x.GcIp != nil {
+		return *x.GcIp
+	}
+	return Default_SSL_VPConfigNetwork_GcIp
+}
+
+func (x *SSL_VPConfigNetwork) GetGcPort() uint32 {
+	if x != nil && x.GcPort != nil {
+		return *x.GcPort
+	}
+	return Default_SSL_VPConfigNetwork_GcPort
+}
+
+func (x *SSL_VPConfigNetwork) GetVisionIp() string {
+	if x != nil && x.VisionIp != nil {
+		return *x.VisionIp
+	}
+	return Default_SSL_VPConfigNetwork_VisionIp
+}
+
+type SSL_VPConfigStream struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// If false no network live stream will be encoded and sent.
+	Active *bool `protobuf:"varint,1,opt,name=active,def=1" json:"active,omitempty"`
+	// Type of image to transmit.
+	Type *SSL_VPConfigStreamType `protobuf:"varint,2,opt,name=type,enum=SSL_VPConfigStreamType,def=0" json:"type,omitempty"`
+	// Camera RTP stream destination IP
+	StreamIp      *string `protobuf:"bytes,3,opt,name=stream_ip,json=streamIp,def=127.0.0.1" json:"stream_ip,omitempty"`
+	StreamPort    *uint32 `protobuf:"varint,4,opt,name=stream_port,json=streamPort,def=10100" json:"stream_port,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+// Default values for SSL_VPConfigStream fields.
+const (
+	Default_SSL_VPConfigStream_Active     = bool(true)
+	Default_SSL_VPConfigStream_Type       = SSL_VPConfigStreamType_RAW
+	Default_SSL_VPConfigStream_StreamIp   = string("127.0.0.1")
+	Default_SSL_VPConfigStream_StreamPort = uint32(10100)
+)
+
+func (x *SSL_VPConfigStream) Reset() {
+	*x = SSL_VPConfigStream{}
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[7]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_VPConfigStream) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_VPConfigStream) ProtoMessage() {}
+
+func (x *SSL_VPConfigStream) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[7]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_VPConfigStream.ProtoReflect.Descriptor instead.
+func (*SSL_VPConfigStream) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{7}
+}
+
+func (x *SSL_VPConfigStream) GetActive() bool {
+	if x != nil && x.Active != nil {
+		return *x.Active
+	}
+	return Default_SSL_VPConfigStream_Active
+}
+
+func (x *SSL_VPConfigStream) GetType() SSL_VPConfigStreamType {
+	if x != nil && x.Type != nil {
+		return *x.Type
+	}
+	return Default_SSL_VPConfigStream_Type
+}
+
+func (x *SSL_VPConfigStream) GetStreamIp() string {
+	if x != nil && x.StreamIp != nil {
+		return *x.StreamIp
+	}
+	return Default_SSL_VPConfigStream_StreamIp
+}
+
+func (x *SSL_VPConfigStream) GetStreamPort() uint32 {
+	if x != nil && x.StreamPort != nil {
+		return *x.StreamPort
+	}
+	return Default_SSL_VPConfigStream_StreamPort
+}
+
+type SSL_VPConfig struct {
+	state protoimpl.MessageState `protogen:"open.v1"`
+	// Persistent human-readable network unique identifier (e.g. hostname or hostname:suffix if multiple VP instances on the same host).
+	Instance *string `protobuf:"bytes,1,req,name=instance" json:"instance,omitempty"`
+	// Corresponding to the camera_id used in SSL_DetectionFrame. Unique per field and implies position on the field:
+	// Single camera field: 0 = global field
+	// Double camera field: 0 = -x side, 1 = +x side
+	// Quadruple cam field: 0 = -x and -y, 1 = -x and +y, 2 = +x and -y, 3 = +x and +y
+	// Configuration for more cams depending on field shape.
+	CameraId *uint32 `protobuf:"varint,2,opt,name=camera_id,json=cameraId,def=0" json:"camera_id,omitempty"`
+	// Database of SSL game controller team names and robot heights in mm.
+	// If the team broadcasted by the game controller has no entry, the average robot height is used.
+	RobotHeights map[string]float32      `protobuf:"bytes,3,rep,name=robot_heights,json=robotHeights" json:"robot_heights,omitempty" protobuf_key:"bytes,1,opt,name=key" protobuf_val:"fixed32,2,opt,name=value"`
+	Camera       *SSL_VPConfigCamera     `protobuf:"bytes,4,opt,name=camera" json:"camera,omitempty"`
+	Geometry     *SSL_VPConfigGeometry   `protobuf:"bytes,5,opt,name=geometry" json:"geometry,omitempty"`
+	Thresholds   *SSL_VPConfigThresholds `protobuf:"bytes,6,opt,name=thresholds" json:"thresholds,omitempty"`
+	Color        *SSL_VPConfigColor      `protobuf:"bytes,7,opt,name=color" json:"color,omitempty"`
+	Network      *SSL_VPConfigNetwork    `protobuf:"bytes,8,opt,name=network" json:"network,omitempty"`
+	Stream       *SSL_VPConfigStream     `protobuf:"bytes,9,opt,name=stream" json:"stream,omitempty"`
+	// Wait for geometry prior to processing frames
+	WaitForGeometry *bool `protobuf:"varint,10,opt,name=wait_for_geometry,json=waitForGeometry,def=0" json:"wait_for_geometry,omitempty"`
+	unknownFields   protoimpl.UnknownFields
+	sizeCache       protoimpl.SizeCache
+}
+
+// Default values for SSL_VPConfig fields.
+const (
+	Default_SSL_VPConfig_CameraId        = uint32(0)
+	Default_SSL_VPConfig_WaitForGeometry = bool(false)
+)
+
+func (x *SSL_VPConfig) Reset() {
+	*x = SSL_VPConfig{}
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[8]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *SSL_VPConfig) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*SSL_VPConfig) ProtoMessage() {}
+
+func (x *SSL_VPConfig) ProtoReflect() protoreflect.Message {
+	mi := &file_vision_ssl_vp_config_proto_msgTypes[8]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use SSL_VPConfig.ProtoReflect.Descriptor instead.
+func (*SSL_VPConfig) Descriptor() ([]byte, []int) {
+	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{8}
+}
+
+func (x *SSL_VPConfig) GetInstance() string {
+	if x != nil && x.Instance != nil {
+		return *x.Instance
+	}
+	return ""
+}
+
+func (x *SSL_VPConfig) GetCameraId() uint32 {
+	if x != nil && x.CameraId != nil {
+		return *x.CameraId
+	}
+	return Default_SSL_VPConfig_CameraId
+}
+
+func (x *SSL_VPConfig) GetRobotHeights() map[string]float32 {
+	if x != nil {
+		return x.RobotHeights
+	}
+	return nil
+}
+
+func (x *SSL_VPConfig) GetCamera() *SSL_VPConfigCamera {
+	if x != nil {
+		return x.Camera
+	}
+	return nil
+}
+
+func (x *SSL_VPConfig) GetGeometry() *SSL_VPConfigGeometry {
+	if x != nil {
+		return x.Geometry
+	}
+	return nil
+}
+
+func (x *SSL_VPConfig) GetThresholds() *SSL_VPConfigThresholds {
+	if x != nil {
+		return x.Thresholds
+	}
+	return nil
+}
+
+func (x *SSL_VPConfig) GetColor() *SSL_VPConfigColor {
+	if x != nil {
+		return x.Color
+	}
+	return nil
+}
+
+func (x *SSL_VPConfig) GetNetwork() *SSL_VPConfigNetwork {
+	if x != nil {
+		return x.Network
+	}
+	return nil
+}
+
+func (x *SSL_VPConfig) GetStream() *SSL_VPConfigStream {
+	if x != nil {
+		return x.Stream
+	}
+	return nil
+}
+
+func (x *SSL_VPConfig) GetWaitForGeometry() bool {
+	if x != nil && x.WaitForGeometry != nil {
+		return *x.WaitForGeometry
+	}
+	return Default_SSL_VPConfig_WaitForGeometry
+}
+
+var File_vision_ssl_vp_config_proto protoreflect.FileDescriptor
+
+const file_vision_ssl_vp_config_proto_rawDesc = "" +
+	"\n" +
+	"\x1avision/ssl_vp_config.proto\x1a$gamecontroller/ssl_gc_geometry.proto\"\xe6\x02\n" +
+	"\x12SSL_VPConfigCamera\x121\n" +
+	"\x06driver\x18\x01 \x01(\x0e2\x19.SSL_VPConfigCameraDriverR\x06driver\x12\x11\n" +
+	"\x02id\x18\x02 \x01(\r:\x010R\x02id\x12\x14\n" +
+	"\x04path\x18\x03 \x01(\t:\x00R\x04path\x12\x17\n" +
+	"\x05width\x18\x04 \x01(\r:\x010R\x05width\x12\x19\n" +
+	"\x06height\x18\x05 \x01(\r:\x010R\x06height\x12\x1d\n" +
+	"\bexposure\x18\x06 \x01(\x02:\x010R\bexposure\x12\x15\n" +
+	"\x04gain\x18\a \x01(\x02:\x010R\x04gain\x12\x17\n" +
+	"\x05gamma\x18\b \x01(\x02:\x011R\x05gamma\x12;\n" +
+	"\awb_type\x18\t \x01(\x0e2\x19.SSL_VPConfigCameraWBType:\aOUTDOORR\x06wbType\x12\x18\n" +
+	"\x06wb_red\x18\n" +
+	" \x01(\x02:\x011R\x05wbRed\x12\x1a\n" +
+	"\awb_blue\x18\v \x01(\x02:\x011R\x06wbBlue\"\xb9\x01\n" +
+	"\x14SSL_VPConfigGeometry\x12&\n" +
+	"\rcamera_amount\x18\x01 \x01(\r:\x011R\fcameraAmount\x12&\n" +
+	"\rcamera_height\x18\x02 \x01(\x02:\x010R\fcameraHeight\x12+\n" +
+	"\fline_corners\x18\x03 \x03(\v2\b.Vector2R\vlineCorners\x12$\n" +
+	"\n" +
+	"refinement\x18\x04 \x01(\b:\x04trueR\n" +
+	"refinement\"\xb1\x02\n" +
+	"\x16SSL_VPConfigThresholds\x12$\n" +
+	"\vcircularity\x18\x01 \x01(\x02:\x0215R\vcircularity\x12\x17\n" +
+	"\x05score\x18\x02 \x01(\x02:\x015R\x05score\x12:\n" +
+	"\x0emin_confidence\x18\x03 \x01(\x02:\x130.20000000298023224R\rminConfidence\x126\n" +
+	"\x15min_cam_edge_distance\x18\x04 \x01(\x02:\x03170R\x12minCamEdgeDistance\x121\n" +
+	"\x12clipping_tolerance\x18\x05 \x01(\x02:\x0210R\x11clippingTolerance\x121\n" +
+	"\x12geometry_tolerance\x18\x06 \x01(\x02:\x0210R\x11geometryTolerance\"R\n" +
+	"\x05Color\x12\x15\n" +
+	"\x03red\x18\x01 \x01(\r:\x03128R\x03red\x12\x19\n" +
+	"\x05green\x18\x02 \x01(\r:\x03128R\x05green\x12\x17\n" +
+	"\x04blue\x18\x03 \x01(\r:\x03128R\x04blue\"K\n" +
+	"\aVPColor\x12$\n" +
+	"\treference\x18\x01 \x01(\v2\x06.ColorR\treference\x12\x1a\n" +
+	"\x04live\x18\x02 \x01(\v2\x06.ColorR\x04live\"\xc9\x02\n" +
+	"\x11SSL_VPConfigColor\x12<\n" +
+	"\x0freference_force\x18\x01 \x01(\x02:\x130.10000000149011612R\x0ereferenceForce\x126\n" +
+	"\rhistory_force\x18\x02 \x01(\x02:\x110.699999988079071R\fhistoryForce\x12 \n" +
+	"\x06orange\x18\x03 \x01(\v2\b.VPColorR\x06orange\x12\x1e\n" +
+	"\x05field\x18\x04 \x01(\v2\b.VPColorR\x05field\x12 \n" +
+	"\x06yellow\x18\x05 \x01(\v2\b.VPColorR\x06yellow\x12\x1c\n" +
+	"\x04blue\x18\x06 \x01(\v2\b.VPColorR\x04blue\x12\x1e\n" +
+	"\x05green\x18\a \x01(\v2\b.VPColorR\x05green\x12\x1c\n" +
+	"\x04pink\x18\b \x01(\v2\b.VPColorR\x04pink\"\x7f\n" +
+	"\x13SSL_VPConfigNetwork\x12\x1f\n" +
+	"\x05gc_ip\x18\x01 \x01(\t:\n" +
+	"224.5.23.1R\x04gcIp\x12\x1e\n" +
+	"\agc_port\x18\x02 \x01(\r:\x0510003R\x06gcPort\x12'\n" +
+	"\tvision_ip\x18\x03 \x01(\t:\n" +
+	"224.5.23.2R\bvisionIp\"\xb4\x01\n" +
+	"\x12SSL_VPConfigStream\x12\x1c\n" +
+	"\x06active\x18\x01 \x01(\b:\x04trueR\x06active\x120\n" +
+	"\x04type\x18\x02 \x01(\x0e2\x17.SSL_VPConfigStreamType:\x03RAWR\x04type\x12&\n" +
+	"\tstream_ip\x18\x03 \x01(\t:\t127.0.0.1R\bstreamIp\x12&\n" +
+	"\vstream_port\x18\x04 \x01(\r:\x0510100R\n" +
+	"streamPort\"\xa4\x04\n" +
+	"\fSSL_VPConfig\x12\x1a\n" +
+	"\binstance\x18\x01 \x02(\tR\binstance\x12\x1e\n" +
+	"\tcamera_id\x18\x02 \x01(\r:\x010R\bcameraId\x12D\n" +
+	"\rrobot_heights\x18\x03 \x03(\v2\x1f.SSL_VPConfig.RobotHeightsEntryR\frobotHeights\x12+\n" +
+	"\x06camera\x18\x04 \x01(\v2\x13.SSL_VPConfigCameraR\x06camera\x121\n" +
+	"\bgeometry\x18\x05 \x01(\v2\x15.SSL_VPConfigGeometryR\bgeometry\x127\n" +
+	"\n" +
+	"thresholds\x18\x06 \x01(\v2\x17.SSL_VPConfigThresholdsR\n" +
+	"thresholds\x12(\n" +
+	"\x05color\x18\a \x01(\v2\x12.SSL_VPConfigColorR\x05color\x12.\n" +
+	"\anetwork\x18\b \x01(\v2\x14.SSL_VPConfigNetworkR\anetwork\x12+\n" +
+	"\x06stream\x18\t \x01(\v2\x13.SSL_VPConfigStreamR\x06stream\x121\n" +
+	"\x11wait_for_geometry\x18\n" +
+	" \x01(\b:\x05falseR\x0fwaitForGeometry\x1a?\n" +
+	"\x11RobotHeightsEntry\x12\x10\n" +
+	"\x03key\x18\x01 \x01(\tR\x03key\x12\x14\n" +
+	"\x05value\x18\x02 \x01(\x02R\x05value:\x028\x01*C\n" +
+	"\x18SSL_VPConfigCameraDriver\x12\r\n" +
+	"\tSPINNAKER\x10\x00\x12\n" +
+	"\n" +
+	"\x06OPENCV\x10\x01\x12\f\n" +
+	"\bMVIMPACT\x10\x02*?\n" +
+	"\x18SSL_VPConfigCameraWBType\x12\v\n" +
+	"\aOUTDOOR\x10\x00\x12\n" +
+	"\n" +
+	"\x06INDOOR\x10\x01\x12\n" +
+	"\n" +
+	"\x06MANUAL\x10\x02*i\n" +
+	"\x16SSL_VPConfigStreamType\x12\a\n" +
+	"\x03RAW\x10\x00\x12\x16\n" +
+	"\x12REPROJ_FALSE_COLOR\x10\x01\x12\x17\n" +
+	"\x13REPROJ_GRADIENT_DOT\x10\x02\x12\x15\n" +
+	"\x11REPROJ_BLOB_SCORE\x10\x03BUB\x10SslVpConfigProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+
+var (
+	file_vision_ssl_vp_config_proto_rawDescOnce sync.Once
+	file_vision_ssl_vp_config_proto_rawDescData []byte
+)
+
+func file_vision_ssl_vp_config_proto_rawDescGZIP() []byte {
+	file_vision_ssl_vp_config_proto_rawDescOnce.Do(func() {
+		file_vision_ssl_vp_config_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vp_config_proto_rawDesc), len(file_vision_ssl_vp_config_proto_rawDesc)))
+	})
+	return file_vision_ssl_vp_config_proto_rawDescData
+}
+
+var file_vision_ssl_vp_config_proto_enumTypes = make([]protoimpl.EnumInfo, 3)
+var file_vision_ssl_vp_config_proto_msgTypes = make([]protoimpl.MessageInfo, 10)
+var file_vision_ssl_vp_config_proto_goTypes = []any{
+	(SSL_VPConfigCameraDriver)(0),  // 0: SSL_VPConfigCameraDriver
+	(SSL_VPConfigCameraWBType)(0),  // 1: SSL_VPConfigCameraWBType
+	(SSL_VPConfigStreamType)(0),    // 2: SSL_VPConfigStreamType
+	(*SSL_VPConfigCamera)(nil),     // 3: SSL_VPConfigCamera
+	(*SSL_VPConfigGeometry)(nil),   // 4: SSL_VPConfigGeometry
+	(*SSL_VPConfigThresholds)(nil), // 5: SSL_VPConfigThresholds
+	(*Color)(nil),                  // 6: Color
+	(*VPColor)(nil),                // 7: VPColor
+	(*SSL_VPConfigColor)(nil),      // 8: SSL_VPConfigColor
+	(*SSL_VPConfigNetwork)(nil),    // 9: SSL_VPConfigNetwork
+	(*SSL_VPConfigStream)(nil),     // 10: SSL_VPConfigStream
+	(*SSL_VPConfig)(nil),           // 11: SSL_VPConfig
+	nil,                            // 12: SSL_VPConfig.RobotHeightsEntry
+	(*gamecontroller.Vector2)(nil), // 13: Vector2
+}
+var file_vision_ssl_vp_config_proto_depIdxs = []int32{
+	0,  // 0: SSL_VPConfigCamera.driver:type_name -> SSL_VPConfigCameraDriver
+	1,  // 1: SSL_VPConfigCamera.wb_type:type_name -> SSL_VPConfigCameraWBType
+	13, // 2: SSL_VPConfigGeometry.line_corners:type_name -> Vector2
+	6,  // 3: VPColor.reference:type_name -> Color
+	6,  // 4: VPColor.live:type_name -> Color
+	7,  // 5: SSL_VPConfigColor.orange:type_name -> VPColor
+	7,  // 6: SSL_VPConfigColor.field:type_name -> VPColor
+	7,  // 7: SSL_VPConfigColor.yellow:type_name -> VPColor
+	7,  // 8: SSL_VPConfigColor.blue:type_name -> VPColor
+	7,  // 9: SSL_VPConfigColor.green:type_name -> VPColor
+	7,  // 10: SSL_VPConfigColor.pink:type_name -> VPColor
+	2,  // 11: SSL_VPConfigStream.type:type_name -> SSL_VPConfigStreamType
+	12, // 12: SSL_VPConfig.robot_heights:type_name -> SSL_VPConfig.RobotHeightsEntry
+	3,  // 13: SSL_VPConfig.camera:type_name -> SSL_VPConfigCamera
+	4,  // 14: SSL_VPConfig.geometry:type_name -> SSL_VPConfigGeometry
+	5,  // 15: SSL_VPConfig.thresholds:type_name -> SSL_VPConfigThresholds
+	8,  // 16: SSL_VPConfig.color:type_name -> SSL_VPConfigColor
+	9,  // 17: SSL_VPConfig.network:type_name -> SSL_VPConfigNetwork
+	10, // 18: SSL_VPConfig.stream:type_name -> SSL_VPConfigStream
+	19, // [19:19] is the sub-list for method output_type
+	19, // [19:19] is the sub-list for method input_type
+	19, // [19:19] is the sub-list for extension type_name
+	19, // [19:19] is the sub-list for extension extendee
+	0,  // [0:19] is the sub-list for field type_name
+}
+
+func init() { file_vision_ssl_vp_config_proto_init() }
+func file_vision_ssl_vp_config_proto_init() {
+	if File_vision_ssl_vp_config_proto != nil {
+		return
+	}
+	type x struct{}
+	out := protoimpl.TypeBuilder{
+		File: protoimpl.DescBuilder{
+			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
+			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vp_config_proto_rawDesc), len(file_vision_ssl_vp_config_proto_rawDesc)),
+			NumEnums:      3,
+			NumMessages:   10,
+			NumExtensions: 0,
+			NumServices:   0,
+		},
+		GoTypes:           file_vision_ssl_vp_config_proto_goTypes,
+		DependencyIndexes: file_vision_ssl_vp_config_proto_depIdxs,
+		EnumInfos:         file_vision_ssl_vp_config_proto_enumTypes,
+		MessageInfos:      file_vision_ssl_vp_config_proto_msgTypes,
+	}.Build()
+	File_vision_ssl_vp_config_proto = out.File
+	file_vision_ssl_vp_config_proto_goTypes = nil
+	file_vision_ssl_vp_config_proto_depIdxs = nil
+}

From fd4440f2408600914f139248927761b9eaf3c341 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Tue, 22 Sep 2026 17:55:55 -0400
Subject: [PATCH 05/23] major UI updates

---
 .github/workflows/ci.yml                      |  24 +-
 .gitignore                                    |   2 +-
 .pre-commit-config.yaml                       |  15 -
 README.md                                     |   8 +-
 config-camtest.yml                            | 159 +++
 flake.nix                                     |   9 +-
 geometry-testpatch.yml                        |  30 +
 gui/CLAUDE.md                                 | 189 ++++
 gui/Makefile                                  |   5 +
 gui/cmd/ssl-vision-processor-gui/main.go      | 125 ++-
 gui/cmd/ssl-vision-processor-gui/main_test.go |  52 +
 gui/cmd/ssl-vision-processor-gui/routes.go    |  14 +-
 gui/cmd/ssl-vision-processor-gui/server.go    | 133 ++-
 .../ssl-vision-processor-gui/server_test.go   | 143 ++-
 .../testdata/geometry.yml                     |  23 +
 gui/frontend/README.md                        |  57 +-
 gui/frontend/dist/.gitkeep                    |   0
 gui/frontend/embed.go                         |   2 +-
 gui/frontend/eslint.config.js                 |  12 +
 gui/frontend/src/App.svelte                   | 150 ++-
 gui/frontend/src/lib/CornerPicker.svelte      | 249 +++++
 gui/frontend/src/lib/FieldEditor.svelte       | 385 ++++++++
 gui/frontend/src/lib/FieldSketch.svelte       | 131 +++
 .../config/ConfigCategoryPlaceholder.svelte   |  94 ++
 .../src/lib/config/GeometryPanel.svelte       |  82 ++
 gui/frontend/src/lib/fieldPresets.ts          |  62 ++
 gui/frontend/src/lib/fieldSplit.ts            |  62 ++
 gui/frontend/src/lib/geometry.svelte.ts       | 152 +++
 gui/frontend/src/lib/layout/ConfigNav.svelte  | 105 ++
 .../src/lib/layout/InstanceList.svelte        |  83 ++
 .../src/lib/layout/MainContent.svelte         |  28 +
 gui/frontend/src/lib/layout/Shell.svelte      | 107 ++
 gui/frontend/src/lib/layout/TabBar.svelte     |  68 ++
 .../src/lib/layout/configCategories.ts        | 158 +++
 gui/frontend/src/lib/layout/nav.svelte.ts     |  50 +
 gui/frontend/src/lib/wrapper-bus.ts           |   4 +-
 gui/frontend/vite.config.ts                   |   8 +
 gui/go.mod                                    |  11 +
 gui/go.sum                                    |  20 +
 gui/internal/geometry/configfile.go           | 116 +++
 gui/internal/geometry/field.go                |  87 ++
 gui/internal/geometry/field_config.go         | 245 +++++
 gui/internal/geometry/field_config_test.go    | 190 ++++
 gui/internal/geometry/geometry.go             | 149 +++
 gui/internal/geometry/geometry_test.go        | 198 ++++
 gui/internal/geometry/testdata/geometry.yml   |  23 +
 gui/internal/hub/hub.go                       |  71 ++
 gui/internal/hub/hub_test.go                  | 144 +++
 gui/internal/hub/websocket.go                 | 163 +++
 gui/internal/hub/websocket_test.go            | 118 +++
 gui/internal/multicast/bridge.go              |  70 ++
 gui/internal/multicast/bridge_test.go         |  70 ++
 gui/internal/snapshot/snapshot.go             | 151 +++
 gui/internal/snapshot/snapshot_test.go        | 160 +++
 pyproject.toml                                |  30 -
 start_wrapper.sh                              |   4 -
 uv.lock                                       | 924 ------------------
 wrapper_backend/CLAUDE.md                     |  42 -
 wrapper_backend/README.md                     |  85 --
 wrapper_backend/__init__.py                   |  39 -
 wrapper_backend/__main__.py                   |  79 --
 wrapper_backend/bus.py                        |  41 -
 wrapper_backend/geometry.py                   | 175 ----
 wrapper_backend/multicast.py                  | 107 --
 wrapper_backend/snapshot.py                   |  42 -
 wrapper_backend/websocket.py                  | 177 ----
 66 files changed, 4790 insertions(+), 1921 deletions(-)
 create mode 100644 config-camtest.yml
 create mode 100644 geometry-testpatch.yml
 create mode 100644 gui/CLAUDE.md
 create mode 100644 gui/cmd/ssl-vision-processor-gui/main_test.go
 create mode 100644 gui/cmd/ssl-vision-processor-gui/testdata/geometry.yml
 create mode 100644 gui/frontend/dist/.gitkeep
 create mode 100644 gui/frontend/src/lib/CornerPicker.svelte
 create mode 100644 gui/frontend/src/lib/FieldEditor.svelte
 create mode 100644 gui/frontend/src/lib/FieldSketch.svelte
 create mode 100644 gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
 create mode 100644 gui/frontend/src/lib/config/GeometryPanel.svelte
 create mode 100644 gui/frontend/src/lib/fieldPresets.ts
 create mode 100644 gui/frontend/src/lib/fieldSplit.ts
 create mode 100644 gui/frontend/src/lib/geometry.svelte.ts
 create mode 100644 gui/frontend/src/lib/layout/ConfigNav.svelte
 create mode 100644 gui/frontend/src/lib/layout/InstanceList.svelte
 create mode 100644 gui/frontend/src/lib/layout/MainContent.svelte
 create mode 100644 gui/frontend/src/lib/layout/Shell.svelte
 create mode 100644 gui/frontend/src/lib/layout/TabBar.svelte
 create mode 100644 gui/frontend/src/lib/layout/configCategories.ts
 create mode 100644 gui/frontend/src/lib/layout/nav.svelte.ts
 create mode 100644 gui/internal/geometry/configfile.go
 create mode 100644 gui/internal/geometry/field.go
 create mode 100644 gui/internal/geometry/field_config.go
 create mode 100644 gui/internal/geometry/field_config_test.go
 create mode 100644 gui/internal/geometry/geometry.go
 create mode 100644 gui/internal/geometry/geometry_test.go
 create mode 100644 gui/internal/geometry/testdata/geometry.yml
 create mode 100644 gui/internal/hub/hub.go
 create mode 100644 gui/internal/hub/hub_test.go
 create mode 100644 gui/internal/hub/websocket.go
 create mode 100644 gui/internal/hub/websocket_test.go
 create mode 100644 gui/internal/multicast/bridge.go
 create mode 100644 gui/internal/multicast/bridge_test.go
 create mode 100644 gui/internal/snapshot/snapshot.go
 create mode 100644 gui/internal/snapshot/snapshot_test.go
 delete mode 100644 pyproject.toml
 delete mode 100755 start_wrapper.sh
 delete mode 100644 uv.lock
 delete mode 100644 wrapper_backend/CLAUDE.md
 delete mode 100644 wrapper_backend/README.md
 delete mode 100644 wrapper_backend/__init__.py
 delete mode 100644 wrapper_backend/__main__.py
 delete mode 100644 wrapper_backend/bus.py
 delete mode 100644 wrapper_backend/geometry.py
 delete mode 100644 wrapper_backend/multicast.py
 delete mode 100644 wrapper_backend/snapshot.py
 delete mode 100644 wrapper_backend/websocket.py

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b044784..18a4f43 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -34,28 +34,26 @@ jobs:
             make -C build -j"$(nproc)" vision_processor geometry_benchmark blob_benchmark
           '
 
-  python:
-    name: Python (wrapper_backend)
+  gui-go:
+    name: Go (gui)
     runs-on: ubuntu-latest
     steps:
+      # No submodule checkout: gui/internal/{vision,gamecontroller} are
+      # generated Go bindings committed to the tree (see gui/buf.gen.yaml);
+      # only `make proto` touches the proto/ submodule.
       - uses: actions/checkout@v4
-        with:
-          submodules: recursive
 
       - uses: DeterminateSystems/nix-installer-action@main
       - uses: DeterminateSystems/magic-nix-cache-action@main
 
-      # Importing wrapper_backend runs protoc against the submodule and
-      # generates wrapper_backend/proto/, which mypy needs on its path even
-      # though it excludes the generated files themselves.
-      - name: Lint and type check
+      - name: Format, vet, test
         run: |
           nix develop --command bash -c '
-            uv sync --locked
-            uv run python -c "import wrapper_backend"
-            uv run ruff check wrapper_backend/
-            uv run ruff format --check wrapper_backend/
-            uv run mypy
+            cd gui
+            test -z "$(gofmt -l .)" || { gofmt -l .; exit 1; }
+            go vet ./cmd/... ./internal/... ./frontend
+            go build ./cmd/... ./internal/... ./frontend
+            go test ./cmd/... ./internal/... ./frontend -race
           '
 
   frontend:
diff --git a/.gitignore b/.gitignore
index ec838e8..ae7fe04 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,7 +3,6 @@
 /src/cl_kernels.S
 /src/proto
 /python/proto
-/wrapper_backend/proto
 __pycache__
 
 # Cam viewer
@@ -18,6 +17,7 @@ __pycache__
 vision_processor
 blob_benchmark
 geometry_benchmark
+/gui/bin
 
 # Makefile sentinel for the frontend build
 /gui/.frontend
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 8a74344..7c5856b 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,21 +1,6 @@
 repos:
-  - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.15.12
-    hooks:
-      - id: ruff
-        args: [--fix]
-        files: ^wrapper_backend/
-      - id: ruff-format
-        files: ^wrapper_backend/
   - repo: local
     hooks:
-      - id: mypy
-        name: mypy
-        entry: uv run mypy
-        language: system
-        types: [python]
-        files: ^wrapper_backend/
-        pass_filenames: false
       - id: eslint
         name: eslint
         entry: npm --prefix gui/frontend run lint
diff --git a/README.md b/README.md
index d903765..99f3d40 100644
--- a/README.md
+++ b/README.md
@@ -12,12 +12,12 @@ The geometry publisher `geom_publisher.py` publishes the field geometry
 for all vision_processors, teams and the game controller.
 `cam_viewer.py` opens the `mpv` video player with the camera streams from the vision_processor instances.
 
-## Wrapper
+## GUI
 
-A modular replacement for `geom_publisher.py` plus a browser UI:
+A Go host plus a browser UI, replacing `geom_publisher.py` for anyone running it:
 
-- `wrapper_backend/` — async Python (uv-managed). Owns the field geometry, absorbs incoming calibrations, exposes the bus over WebSocket. Run with `./start_wrapper.sh` (defaults to `geometry-divB.yml`). See [`wrapper_backend/README.md`](wrapper_backend/README.md).
-- `gui/frontend/` — Svelte 5 + TypeScript + Vite. Connects to the backend's WebSocket and renders the operator UI. Run with `cd gui/frontend && npm install && npm run dev`. See [`gui/frontend/README.md`](gui/frontend/README.md).
+- `gui/` — Go host (`cmd/ssl-vision-processor-gui`). Owns the field geometry, absorbs calibrations from vision processors over multicast, and serves the embedded frontend, JSON API, a WebSocket for live updates, and debug snapshot images all on one port. Run with `cd gui && make run` (defaults to `geometry-divB.yml`).
+- `gui/frontend/` — Svelte 5 + TypeScript + Vite, embedded into the Go binary. Run standalone with `cd gui/frontend && npm install && npm run dev` (proxies `/api` and `/ws` to the Go host), or serve it from the Go host directly with `make run`. See [`gui/frontend/README.md`](gui/frontend/README.md).
 
 ## Dependency installation and compilation
 
diff --git a/config-camtest.yml b/config-camtest.yml
new file mode 100644
index 0000000..88c8867
--- /dev/null
+++ b/config-camtest.yml
@@ -0,0 +1,159 @@
+# VisionProcessor configuration
+
+# Vision camera ID handled by this VisionProcessor instance.
+# On multi camera fields the IDs have to be ordered according to camera_ids.png.
+#cam_id: 0
+
+# Team bot heights yml file (heights in mm)
+#bot_heights_file: robot-heights.yml
+
+camera:
+  # Camera driver type. Availability depending on libraries installed.
+  # Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
+  driver: OPENCV
+
+  # Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
+  #id: 0
+  # OpenCV camera device, image or video file path (if unset id is used instead)
+  path: /dev/video0
+
+  # Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
+  # 0 = highest resolution supported by the camera
+  #width: 0
+  #height: 0
+
+  # Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
+  # Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
+  # 0.0 = automatic exposure
+  #exposure: 0.0
+  # Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
+  # Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
+  # 0.0 = automatic gain
+  #gain: 0.0
+  # Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
+  # Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
+  # 1.0 = no gamma
+  #gamma: 1.0
+
+  # Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
+  # (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
+  #white_balance: OUTDOOR
+  # If you want to set manual white balance values use this format:
+  #white_balance:
+  #  red: 1.0
+  #  blue: 1.0
+
+geometry:
+  # Total camera amount over the field
+  camera_amount: 2
+  # Camera height above field in mm
+  # 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
+  #camera_height: 0.0
+
+  # Field line crossings at the edges of the camera extent in pixels from the top left image corner.
+  # The first coordinate must be the edge with the smallest x and y field coordinate.
+  # Only the first point's identity matters -- GeomModel.cpp brute-forces the
+  # correct clockwise order for the other three. First point = the corner
+  # picker's marker 4, which touches the goal box (confirmed against
+  # img/0.geomcalib_input.png; marker 3 is the same goal-box edge's other end
+  # and would also be a valid choice). Left/right (marker 3 vs 4 first) is an
+  # arbitrary but so-far-unverified choice: doesn't matter with one camera,
+  # would need to agree with camera 1 if a second one joins.
+  line_corners:
+  - [398, 422]
+  - [247, 135]
+  - [455, 33]
+  - [564, 327]
+
+  # Enable field line pixel refinement.
+  # Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
+  #refinement: true
+
+  # Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
+  #field_line_threshold: 5
+  # Minimum length of line segments to ensure angular stability in pixels
+  #min_line_segment_length: 10.0
+  # Maximum perpendicular offset of line segments for merging in pixels
+  #max_line_segment_offset: 10.0
+  # Maximum relative angle of line segments for merging in °
+  #max_line_segment_angle: 3.0
+
+thresholds:
+  # Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
+  # High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
+  #circularity: 15.0
+  # Minimum circularity/(3*stddev) ball blob score
+  #score: 5.0
+
+  # Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
+  #blobs: 2000
+
+  # Minimum confidence (0.0 - 1.0)
+  #min_confidence: 0.2
+
+  # Min ball camera edge distance in mm
+  #min_cam_edge_distance: 170.0
+
+  # Maximum allowed clipping of two objects in mm
+  #clipping_tolerance: 10.0
+
+  # Added tolerance to geometry related operations in mm.
+  # Affects field border cutoff area and field line blob classification.
+  #geometry_tolerance: 10.0
+
+color:
+  # Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
+  #reference_force: 0.1
+  # Strength of the previous color during color updates (0.0 - 1.0-reference_force)
+  #history_force: 0.7
+
+  # Reference colors used for ball determination
+  #orange: [192, 128, 64]
+  #field: [128, 128, 128]
+  # Reference colors used for center blob determination
+  #yellow: [255, 128, 0]
+  #blue: [0, 128, 255]
+  # Reference colors used for side blob determination
+  #green: [0, 255, 128]
+  #pink: [255, 0, 128]
+
+tracking:
+  # Min tracking radius in mm
+  #min_tracking_radius: 20.0
+
+  # Max tracked bot acceleration in m/s^2
+  #max_bot_acceleration: 6.5
+
+network:
+  # Game controller multicast ip address
+  #gc_ip: "224.5.23.1"
+  # Game controller multicast port
+  #gc_port: 10003
+
+  # Vision multicast IP address
+  #vision_ip: "224.5.23.2"
+  # Vision multicast port
+  #vision_port: 10006
+
+stream:
+  # If false no network live stream will be encoded and sent
+  #active: true
+  # Only stream raw camera footage. Useful for recordings.
+  #raw_feed: false
+
+  # Camera stream ip prefix
+  #ip_base_prefix: 224.5.23.
+  # Camera stream ip end base (cam_id is added to maintain separation)
+  #ip_base_end: 100
+  # Camera stream port
+  #port: 10100
+
+debug:
+  # Ground truth file. Only used by blob and geometry benchmark.
+  #ground_truth: gt.yml
+  # Wait for geometry prior to processing frames
+  #wait_for_geometry: false
+  # Save additional debug images in img/.
+  #debug_images: false
+  # Periodically overwrite img/.sample.<camId>.png while calibration isn't accepted yet, every N milliseconds. 0 disables.
+  debug_stream_interval_ms: 3000
diff --git a/flake.nix b/flake.nix
index 18a6eae..b3243d2 100644
--- a/flake.nix
+++ b/flake.nix
@@ -18,8 +18,7 @@
         let
           pkgs = nixpkgs.legacyPackages.${system};
 
-          # Only what python/*.py needs at the system level. wrapper_backend/ is
-          # uv-managed (see pyproject.toml) and brings its own venv.
+          # Only what python/*.py needs at the system level.
           python = pkgs.python3.withPackages (ps: [
             ps.protobuf
             ps.pyyaml
@@ -42,6 +41,7 @@
               # here rather than in a second flake so that one `nix develop`
               # covers every language in the repo.
               go
+              gopls             # language server; VS Code formats and vets through it
               buf               # protobuf codegen for Go and TypeScript at once
               nodejs_22         # frontend build; .github/workflows/ci.yml pins 22
             ];
@@ -68,17 +68,12 @@
               openclRuntime
 
               python
-              uv                # wrapper_backend/
             ];
 
             # The ICD loader finds runtimes through this. Without it the loader
             # reports zero platforms and vision_processor exits at startup.
             OCL_ICD_VENDORS = "${openclRuntime}/etc/OpenCL/vendors";
 
-            # uv must not download its own interpreter inside the shell.
-            UV_PYTHON = python.interpreter;
-            UV_PYTHON_DOWNLOADS = "never";
-
             # The other league Go tools carry a `toolchain` line newer than the
             # `go` directive (ssl-vision-client: go 1.25.0, toolchain go1.27.1).
             # Left to itself Go would fetch that toolchain over the network,
diff --git a/geometry-testpatch.yml b/geometry-testpatch.yml
new file mode 100644
index 0000000..0eba29c
--- /dev/null
+++ b/geometry-testpatch.yml
@@ -0,0 +1,30 @@
+field:
+    field_length: 2160
+    field_width: 1680
+    goal_width: 280
+    goal_depth: 50
+    goal_height: 160
+    penalty_area_depth: 290
+    penalty_area_width: 570
+    goal_center_to_penalty_mark: 1440
+    boundary_width: 100
+    boundary_width_goal_line: 100
+    center_circle_radius: 140
+    line_thickness: 10
+    ball_radius: 22
+    max_robot_radius: 90
+    goal_substitution_area_width: 0
+models:
+    chip_fixed_loss:
+        damping_xy_first_hop: 0.55
+        damping_xy_other_hops: 0.88
+        damping_z: 0.54
+    straight_two_phase:
+        acc_roll: -0.45
+        acc_slide: -3.4
+        k_switch: 0.64
+optional_field_lines:
+    centercircle: false
+    goal2goal: false
+    halfway: true
+    penalty: true
diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
new file mode 100644
index 0000000..a39eff6
--- /dev/null
+++ b/gui/CLAUDE.md
@@ -0,0 +1,189 @@
+# CLAUDE.md — gui/
+
+Single Go binary plus an embedded Svelte frontend: the browser-facing host for
+vision-processor. Owns field geometry, absorbs calibrations from vision
+processor instances over multicast, and serves the frontend, a JSON API, a
+WebSocket, and debug snapshot images all on one port.
+
+Replaces `python/geom_publisher.py` for anyone running it. Does not replace it
+in `setup.sh` or for `python/dataset.py` / `overlap_benchmark.py` / `replay.py`,
+which still import it directly — do not delete `geom_publisher.py`.
+
+## Commands
+
+All run from `gui/`.
+
+```
+make run       # build frontend, run the Go host on :8085
+make test      # frontend check/lint/format + go test -race, all packages
+make install   # go install after a frontend build
+make proto     # buf generate: needs network, never run from a sandboxed build
+make clean     # wipe dist/ and the frontend-build sentinel
+```
+
+```
+cd frontend && npm run dev   # Vite HMR on :5173, proxies /api and /ws to :8085
+```
+
+## Repository layout
+
+```
+cmd/ssl-vision-processor-gui/   entry point: flags, wiring, HTTP server
+internal/
+  geometry/    field config + calibration merge + 1Hz publish loop
+  multicast/   bridge to the SSL vision multicast group
+  hub/         topic pub/sub + the /ws handler
+  snapshot/    debug image listing/serving
+  logging/     slog setup: tint console + lumberjack file
+  vision/      generated Go protobuf (DO NOT EDIT, see buf.gen.yaml)
+  gamecontroller/  generated Go protobuf
+frontend/      Svelte 5 + TypeScript + Vite, embedded via //go:embed
+buf.gen.yaml   generates both internal/{vision,gamecontroller} and
+               frontend/src/proto from ../proto/proto (the submodule, read
+               directly -- no vendored copy)
+```
+
+## Stack
+
+- **Go 1.22+ `net/http`**, no router library. Method-prefixed patterns
+  (`"GET /api/health"`) and `{wildcard}` path values do the routing;
+  `r.PathValue(...)` reads them.
+- **`gorilla/websocket`** for `/ws`. Not stdlib; there is no other serious
+  option (`golang.org/x/net/websocket` is legacy/incomplete).
+- **`ssl-go-tools/pkg/sslnet`** for multicast (`MulticastServer`, `UdpClient`)
+  rather than hand-rolled sockets, to match how the rest of the league already
+  handles multi-interface venue boxes.
+- **`google.golang.org/protobuf` + `protojson`**, never `encoding/json` on a
+  generated message (see Gotchas).
+- **Svelte 5 runes only**, no stores added beyond what predates this work
+  (`wrapper-bus.ts` still uses `svelte/store`'s `readable` -- not yet migrated,
+  not a blocker).
+
+## Architectural decisions
+
+**Single Go binary, not Go+Python.** The original plan was "Go host, keep the
+Python wrapper for geometry." That changed once it was clear the Python
+service (`wrapper_backend/geometry.py`, since deleted) did bookkeeping --
+merge calibrations, lay out field markings from YAML, republish at 1Hz -- and
+no calibration math. All calibration math stays in C++ (`src/calib/`). The
+bookkeeping is now `internal/geometry`, ported directly; `wrapper_backend/`
+is gone.
+
+**JSON to the browser, protojson specifically -- never raw protobuf bytes,
+never `encoding/json` on a proto message.** `encoding/json` on a generated
+struct compiles and looks like it works, then renders enums as integers,
+mishandles `oneof`, and ignores the well-known types. `protojson.Marshal` is
+what every other league tool's JSON output already agrees on. The one
+exception is the multicast wire itself (`Geometry.Encoded()`), which stays raw
+protobuf bytes because that's the SSL protocol.
+
+**`Geometry` is mutex-guarded, with a cached encoding, not a "reads don't need
+the lock" type.** `proto.Marshal` writes to the message's internal size cache,
+so even a read-only marshal is a mutation. `Absorb` re-marshals and caches the
+result; `Encoded()` and the WS hub publish just read the cached bytes.
+`Snapshot()` returns `proto.Clone` for anyone who needs the actual message.
+
+**Incoming calibrations are validated with `proto.CheckInitialized` before
+they touch stored state.** A calibration missing a required field (proto2, a
+dozen required floats) is logged and dropped, not merged -- merge-then-fail-to-
+encode would leave `Geometry`'s live message out of sync with its last-good
+`Encoded()` bytes.
+
+**The hub's `Subscribe`/`Publish` uses size-1, drop-stale channels** --
+deliberately mirroring the semantics of the retired Python `bus.py` (`Queue`
+of size 1, drain-then-put). A slow WebSocket client sees only the latest
+value, never a growing backlog.
+
+**`unsubscribe` closes the per-topic channel.** That's what lets a
+per-connection forwarding goroutine's `for data := range ch` exit cleanly when
+one topic is unsubscribed without tearing down the whole connection.
+
+**Snapshot serving assumes the Go host and the vision processor share a
+filesystem.** This is unchanged from the Python `snapshot.py` it replaces and
+is a known limitation, not an oversight -- it does not work once vision
+processors run on other hosts. See "Not yet built."
+
+**buf reads the proto submodule directly**: `inputs: [{directory:
+../proto/proto}]` in `buf.gen.yaml`. No vendored copy to drift. Generated
+output is committed (Nix builds are sandboxed/offline, so `make proto` cannot
+run inside one); `gui/frontend/dist/.gitkeep` exists for the same reason on
+the frontend side -- `//go:embed` fails to compile if `dist/` doesn't exist,
+so a fresh clone with no `npm run build` yet must still be able to `go test`.
+
+**Discovery is multicast-announce-based, config is host-owned** -- both
+still unimplemented; see below.
+
+## Gotchas
+
+- **proto2, not proto3.** Every field on the SSL messages is a pointer
+  (`*string`, `*float32`, ...) and most are `required`. Read through the
+  generated `Get*()` methods (nil-safe); write through `proto.String(...)`,
+  `proto.Float32(...)`, or a literal struct with pointer fields. A `required`
+  field left unset makes `proto.Marshal` return an error -- this is relied on
+  deliberately (see `CheckInitialized` above), not worked around.
+- **`go test ./...` from `gui/` will try to compile stray Go source inside
+  `frontend/node_modules`** (at least one npm package ships a `.go` file).
+  Use `go test ./cmd/... ./internal/... ./frontend`, which is what
+  `Makefile`'s `GO_PACKAGES` and CI already do. Don't `go test ./...` by hand.
+- **`GOTOOLCHAIN=local` is set in the root `flake.nix`.** Without it, Go
+  silently fetches whatever toolchain a dependency's `go.mod` names over the
+  network the moment it's newer than what's pinned, defeating the pin inside a
+  sandboxed build.
+- **`ReadHeaderTimeout` is set on the `http.Server`; `WriteTimeout` is not,**
+  and must not be. `WriteTimeout` is an absolute deadline on the whole
+  response and would kill every `/ws` connection (and any future video
+  stream) after N seconds.
+- **`ServeMux` route precedence is by specificity, not registration order.**
+  `/api/` is registered as a catch-all `NotFoundHandler` specifically so an
+  unrouted `/api/*` path 404s instead of falling through to the SPA handler
+  and returning HTML with status 200 -- which would otherwise break every
+  `fetch(...).json()` call against a typo'd endpoint.
+- **The WS hub pings every ~54s and sets read/write deadlines** so a client
+  that vanishes without a clean close (dead wifi, a closed laptop lid) is
+  detected and its goroutines cleaned up, rather than leaking for the life of
+  the process.
+- **`internal/snapshot` validates `camID`/`view` path segments against a
+  strict character set before they reach `filepath.Glob`.** An unvalidated
+  `view` of `*` would glob the entire snapshot directory; this is enforced and
+  tested (`TestHandleGetRejectsUnsafeSegments`), not just documented.
+- **`unsubscribe` in `internal/hub` must be called exactly once.** It closes
+  the channel; a second call panics on double-close, same as any Go channel.
+
+## Testing
+
+`go test -race` on every package, always -- this code is concurrent by
+construction (a mutex-guarded `Geometry`, a multi-goroutine WS hub) and the
+race detector has caught real bugs here before it shipped. Integration-style
+tests are preferred over mocks where the real thing is cheap to stand up:
+`internal/hub`'s WebSocket tests dial a real `httptest.Server` with a real
+`gorilla/websocket` client rather than faking the protocol; `internal/geometry`
+and `cmd/.../server_test.go` load real `testdata/*.yml` fixtures rather than
+constructing Go structs by hand.
+
+The full loop (this package's `Geometry`/`multicast.Bridge` against a real
+`vision_processor` binary and a real camera) has been manually verified once,
+end to end: the Go host published a field template, `vision_processor`
+calibrated against a real skewed webcam view, and the calibration came back
+and was absorbed with no wire-format surprises between C++ and Go protobuf.
+Not automated -- there is no CI hardware to run it on.
+
+## Not yet built
+
+- **`internal/discovery`** -- parsing `SSL_VPConfig` announces off multicast
+  into an instance table. The C++ side does not emit these yet.
+- **`internal/config`** -- the host-owned config store and the diff-based
+  reprovision loop (push desired config to an instance when its announced
+  config doesn't match, rather than trying to detect death). Blocked on
+  discovery above and on a C++-side HTTP config-apply endpoint (another
+  contributor's work, not started).
+- **Bootstrap identity.** `SSL_VPConfig.instance` is `required`, but the plan
+  drops VP-local config files entirely. Nothing yet decides what a freshly
+  started, unconfigured VP calls itself before it has ever been provisioned.
+- **Announce contents/cadence** -- whether the announce echoes the VP's full
+  current `SSL_VPConfig` (needed for diff-based reprovision to work at all) or
+  just identity, and how often.
+- **The imagery/video path for remote instances.** `internal/snapshot`'s
+  local-filesystem assumption is a known, explicitly accepted limitation, not
+  a solution. `src/rtpstreamer.cpp` already emits H.264 RTP with
+  per-instance `stream_ip`/`stream_port`; bridging that to WebRTC/WHEP in Go is
+  the likely direction but is undecided and unbuilt.
diff --git a/gui/Makefile b/gui/Makefile
index 2546dff..bbbdab8 100644
--- a/gui/Makefile
+++ b/gui/Makefile
@@ -15,8 +15,13 @@ all: install
 # Sentinel file, so npm reruns only when a frontend source is newer than the
 # last build. //go:embed resolves at compile time, which is why every Go target
 # below depends on this.
+#
+# `npm run build` empties dist/ first (Vite's emptyOutDir), which deletes
+# dist/.gitkeep along with any stale output. Restore it every time, or a build
+# run before a commit silently drops the tracked sentinel a fresh clone needs.
 .frontend: $(FRONTEND_SOURCES)
 	cd frontend && npm ci && npm run build
+	touch frontend/dist/.gitkeep
 	touch .frontend
 
 frontend: .frontend
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
index 0b88ba5..037c959 100644
--- a/gui/cmd/ssl-vision-processor-gui/main.go
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -4,24 +4,45 @@ import (
 	"context"
 	"errors"
 	"flag"
+	"fmt"
 	"log/slog"
 	"net/http"
 	"os"
 	"os/signal"
 	"strings"
+	"sync"
 	"syscall"
 	"time"
 
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/logging"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/multicast"
+	"google.golang.org/protobuf/encoding/protojson"
 )
 
 var address = flag.String("address", ":8085", "The address on which the vision processor GUI and API are served, default: :8085")
 var visionAddress = flag.String("visionAddress", "224.5.23.2:10006", "The multicast address of field vision, default: 224.5.23.2:10006")
 var skipInterfaces = flag.String("skipInterfaces", "", "Comma separated list of interface names to ignore when receiving multicast packets")
+
+// geometry-divA.yml/geometry-divB.yml are read-only rulebook presets (see
+// geometry.ReadOnlyFiles) -- the default here must never be one of them, or
+// the first Save in the Virtual Field editor would silently overwrite a
+// tracked competition preset instead of a working copy.
+var geometryFile = flag.String("geometryFile", "geometry.yml", "Field geometry config file, default: geometry.yml")
+var geometryPreset = flag.String("geometryPreset", "geometry-divB.yml", "Preset to seed -geometryFile from if it doesn't exist yet, default: geometry-divB.yml")
+var imgDir = flag.String("imgDir", "img", "Directory the vision processor writes debug snapshot images to, default: img")
 var logLevelFlag = flag.String("logLevel", "Info", "Log Level: Debug, Info, Warn, Error. Default: Info")
 var logFile = flag.String("logFile", "logs/vision-processor-gui.log", "Rotating log file to write alongside stderr, empty to disable. Default: logs/vision-processor-gui.log")
 
 func main() {
+	// Deferred cleanup (closeLog) must run even on a fatal startup error, which
+	// os.Exit would skip -- so main just reports run's exit code instead of
+	// exiting directly.
+	os.Exit(run())
+}
+
+func run() int {
 	flag.Parse()
 
 	// Parsed before Setup so that the level is known when the handler is built,
@@ -45,13 +66,39 @@ func main() {
 
 	slog.Info("Init VP GUI")
 
+	if err := bootstrapGeometryFile(*geometryFile, *geometryPreset); err != nil {
+		slog.Error("bootstrapping geometry file", "err", err)
+
+		return 1
+	}
+
+	geom, err := geometry.New(*geometryFile)
+	if err != nil {
+		slog.Error("loading geometry", "err", err)
+
+		return 1
+	}
+
 	// register Ctrl+C handler
 	ctx, stopSignals := signal.NotifyContext(context.Background(), os.Interrupt, syscall.SIGTERM)
 	defer stopSignals()
 
+	bridge := multicast.New(*visionAddress, splitInterfaces(*skipInterfaces), level == slog.LevelDebug)
+	wsHub := hub.New()
+
+	var wg sync.WaitGroup
+
+	runBackground(&wg, "multicast bridge", func() error { return bridge.Run(ctx, geom.Absorb) })
+	runBackground(&wg, "geometry publish loop", func() error {
+		return geom.Run(ctx, func(encoded []byte) {
+			bridge.Send(encoded)
+			publishGeometryToHub(wsHub, geom)
+		})
+	})
+
 	srv := &http.Server{
-		Addr: *address,
-		Handler: NewVisionServer(),
+		Addr:              *address,
+		Handler:           NewVisionServer(geom, wsHub, *imgDir),
 		ReadHeaderTimeout: 10 * time.Second,
 	}
 
@@ -76,8 +123,6 @@ func main() {
 
 	slog.Info("initiating graceful shutdown")
 
-	// Cleanup of the HTTP server, receivers and bus clients goes here, bounded
-	// by its own context so a wedged component cannot hang the process:
 	shutdownCtx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
 	defer cancel()
 
@@ -85,7 +130,79 @@ func main() {
 		slog.Error("http server failed to close gracefully", "err", err)
 	}
 
+	wg.Wait()
+
 	slog.Info("shutdown complete")
+
+	return 0
+}
+
+// bootstrapGeometryFile seeds path with a copy of preset if path doesn't
+// exist yet, so a fresh checkout with no working geometry.yml starts from a
+// real, complete config instead of failing at startup. A plain byte copy,
+// not a YAML round trip, so the preset's own comments survive into the new
+// working file. Never touches path if it already exists.
+func bootstrapGeometryFile(path, preset string) error {
+	if _, err := os.Stat(path); err == nil {
+		return nil // already exists, nothing to do
+	} else if !os.IsNotExist(err) {
+		return err
+	}
+
+	data, err := os.ReadFile(preset)
+	if err != nil {
+		return fmt.Errorf("read preset %s: %w", preset, err)
+	}
+
+	if err := os.WriteFile(path, data, 0o644); err != nil {
+		return fmt.Errorf("write %s: %w", path, err)
+	}
+
+	slog.Info("seeded a fresh geometry file from preset", "path", path, "preset", preset)
+
+	return nil
+}
+
+// wrapperPacketTopic is the hub topic name the frontend already subscribes to
+// (see gui/frontend/src/App.svelte).
+const wrapperPacketTopic = "wrapper_packet.out"
+
+// publishGeometryToHub re-encodes the current geometry as protojson and
+// publishes it to the browser-facing hub. Called once per publish tick
+// alongside the raw-bytes multicast send, so both destinations stay in sync.
+func publishGeometryToHub(wsHub *hub.Hub, geom *geometry.Geometry) {
+	data, err := protojson.Marshal(geom.Snapshot())
+	if err != nil {
+		slog.Error("marshalling geometry for websocket", "err", err)
+
+		return
+	}
+
+	wsHub.Publish(wrapperPacketTopic, data)
+}
+
+// runBackground runs task in its own goroutine tracked by wg, logging its
+// error unless it is the expected result of ctx being cancelled.
+func runBackground(wg *sync.WaitGroup, name string, task func() error) {
+	wg.Add(1)
+
+	go func() {
+		defer wg.Done()
+
+		if err := task(); err != nil && !errors.Is(err, context.Canceled) {
+			slog.Error(name+" stopped", "err", err)
+		}
+	}()
+}
+
+// splitInterfaces turns the comma separated flag value into a slice, or nil
+// when the flag is unset -- an unset flag must not become []string{""}.
+func splitInterfaces(flagValue string) []string {
+	if flagValue == "" {
+		return nil
+	}
+
+	return strings.Split(flagValue, ",")
 }
 
 func formattedAddress() string {
diff --git a/gui/cmd/ssl-vision-processor-gui/main_test.go b/gui/cmd/ssl-vision-processor-gui/main_test.go
new file mode 100644
index 0000000..9083bb1
--- /dev/null
+++ b/gui/cmd/ssl-vision-processor-gui/main_test.go
@@ -0,0 +1,52 @@
+package main
+
+import (
+	"os"
+	"path/filepath"
+	"testing"
+)
+
+func TestBootstrapGeometryFileSeedsFromPreset(t *testing.T) {
+	dir := t.TempDir()
+	path := filepath.Join(dir, "geometry.yml")
+
+	if err := bootstrapGeometryFile(path, "testdata/geometry.yml"); err != nil {
+		t.Fatalf("bootstrapGeometryFile: %v", err)
+	}
+
+	got, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	want, err := os.ReadFile("testdata/geometry.yml")
+	if err != nil {
+		t.Fatalf("ReadFile preset: %v", err)
+	}
+
+	if string(got) != string(want) {
+		t.Error("bootstrapped file does not match the preset byte-for-byte")
+	}
+}
+
+func TestBootstrapGeometryFileLeavesExistingFileAlone(t *testing.T) {
+	dir := t.TempDir()
+	path := filepath.Join(dir, "geometry.yml")
+
+	if err := os.WriteFile(path, []byte("already here"), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	if err := bootstrapGeometryFile(path, "testdata/geometry.yml"); err != nil {
+		t.Fatalf("bootstrapGeometryFile: %v", err)
+	}
+
+	got, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	if string(got) != "already here" {
+		t.Errorf("existing file was overwritten: %q", got)
+	}
+}
diff --git a/gui/cmd/ssl-vision-processor-gui/routes.go b/gui/cmd/ssl-vision-processor-gui/routes.go
index a393c6e..b7472ea 100644
--- a/gui/cmd/ssl-vision-processor-gui/routes.go
+++ b/gui/cmd/ssl-vision-processor-gui/routes.go
@@ -4,11 +4,21 @@ import (
 	"net/http"
 
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/frontend"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/snapshot"
 )
 
 func (s *VisionServer) addRoutes(mux *http.ServeMux) {
 	mux.Handle("GET /api/health", s.handleHealth())
+	mux.Handle("GET /api/geometry", s.handleGetGeometry())
+	mux.Handle("GET /api/geometry/field", s.handleGetFieldConfig())
+	mux.Handle("PUT /api/geometry/field", s.handlePutFieldConfig())
+	mux.Handle("GET /api/geometry/presets", s.handleGetFieldPresets())
+	mux.Handle("GET /api/snapshots", snapshot.HandleList(s.imgDir))
+	mux.Handle("GET /api/snapshot/{camID}/{view}", snapshot.HandleGet(s.imgDir))
 	mux.Handle("/api/", http.NotFoundHandler())
-	
+
+	mux.Handle("/ws", hub.HandleWebSocket(s.hub))
+
 	mux.Handle("/", frontend.HandleFrontend())
-}
\ No newline at end of file
+}
diff --git a/gui/cmd/ssl-vision-processor-gui/server.go b/gui/cmd/ssl-vision-processor-gui/server.go
index c6e88cb..2ad9297 100644
--- a/gui/cmd/ssl-vision-processor-gui/server.go
+++ b/gui/cmd/ssl-vision-processor-gui/server.go
@@ -2,16 +2,23 @@ package main
 
 import (
 	"encoding/json"
+	"errors"
 	"log/slog"
 	"net/http"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
+	"google.golang.org/protobuf/encoding/protojson"
 )
 
 type VisionServer struct {
-
+	geometry *geometry.Geometry
+	hub      *hub.Hub
+	imgDir   string
 }
 
-func NewVisionServer() http.Handler {
-	s := &VisionServer{}
+func NewVisionServer(geom *geometry.Geometry, wsHub *hub.Hub, imgDir string) http.Handler {
+	s := &VisionServer{geometry: geom, hub: wsHub, imgDir: imgDir}
 
 	mux := http.NewServeMux()
 	s.addRoutes(mux)
@@ -27,4 +34,122 @@ func (s *VisionServer) handleHealth() http.HandlerFunc {
 			slog.Error("writing health response", "err", err)
 		}
 	}
-}
\ No newline at end of file
+}
+
+// handleGetGeometry serves the current wrapper packet as canonical protojson,
+// matching the wire encoding the rest of the league already expects.
+func (s *VisionServer) handleGetGeometry() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		data, err := protojson.Marshal(s.geometry.Snapshot())
+		if err != nil {
+			slog.Error("marshalling geometry", "err", err)
+			http.Error(w, "internal error", http.StatusInternalServerError)
+
+			return
+		}
+
+		w.Header().Set("Content-Type", "application/json")
+
+		if _, err := w.Write(data); err != nil {
+			slog.Error("writing geometry response", "err", err)
+		}
+	}
+}
+
+// fieldConfigResponse is the "virtual field" shape: just the editable
+// dimensions and optional-line toggles, not the full wrapper packet (calib,
+// source, generated field_lines/arcs) that handleGetGeometry serves.
+type fieldConfigResponse struct {
+	Field              geometry.FieldConfig         `json:"field"`
+	OptionalFieldLines geometry.OptionalLinesConfig `json:"optionalFieldLines"`
+}
+
+func (s *VisionServer) handleGetFieldConfig() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		field, optional := s.geometry.FieldConfig()
+
+		w.Header().Set("Content-Type", "application/json")
+
+		if err := json.NewEncoder(w).Encode(fieldConfigResponse{Field: field, OptionalFieldLines: optional}); err != nil {
+			slog.Error("writing field config response", "err", err)
+		}
+	}
+}
+
+// handlePutFieldConfig edits the virtual field: dimensions and which optional
+// markings exist. Regenerates the derived field lines/arcs and persists to
+// geometry.yml -- see geometry.Geometry.UpdateField.
+func (s *VisionServer) handlePutFieldConfig() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		var req fieldConfigResponse
+		if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
+			http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
+
+			return
+		}
+
+		if err := s.geometry.UpdateField(req.Field, req.OptionalFieldLines); err != nil {
+			var validation *geometry.ValidationError
+			var readOnly *geometry.ReadOnlyError
+
+			switch {
+			case errors.As(err, &validation), errors.As(err, &readOnly):
+				http.Error(w, err.Error(), http.StatusBadRequest)
+			default:
+				slog.Error("updating field config", "err", err)
+				http.Error(w, "internal error", http.StatusInternalServerError)
+			}
+
+			return
+		}
+
+		w.WriteHeader(http.StatusNoContent)
+	}
+}
+
+// fieldPresets are the rulebook defaults, read live from the same files a
+// human would open (geometry-divA.yml, geometry-divB.yml at the repo root) --
+// not a copy that could drift from them. See geometry.ReadOnlyFiles: saves
+// through handlePutFieldConfig refuse to touch these paths.
+var fieldPresets = []struct {
+	Name string
+	Path string
+}{
+	{Name: "Division A", Path: "geometry-divA.yml"},
+	{Name: "Division B", Path: "geometry-divB.yml"},
+}
+
+type fieldPresetResponse struct {
+	Name string `json:"name"`
+	fieldConfigResponse
+}
+
+// handleGetFieldPresets serves the rulebook presets for the "start from a
+// preset" feature. A preset file that can't be read (wrong working
+// directory, for one) is skipped with a warning rather than failing the
+// whole request -- the other preset(s) are still useful.
+func (s *VisionServer) handleGetFieldPresets() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		presets := make([]fieldPresetResponse, 0, len(fieldPresets))
+
+		for _, p := range fieldPresets {
+			field, optional, err := geometry.LoadPreset(p.Path)
+			if err != nil {
+				slog.Warn("skipping unreadable field preset", "name", p.Name, "path", p.Path, "err", err)
+
+				continue
+			}
+
+			presets = append(presets, fieldPresetResponse{
+				Name:                p.Name,
+				fieldConfigResponse: fieldConfigResponse{Field: field, OptionalFieldLines: optional},
+			})
+		}
+
+		w.Header().Set("Content-Type", "application/json")
+
+		if err := json.NewEncoder(w).Encode(presets); err != nil {
+			slog.Error("writing field presets response", "err", err)
+		}
+	}
+}
diff --git a/gui/cmd/ssl-vision-processor-gui/server_test.go b/gui/cmd/ssl-vision-processor-gui/server_test.go
index 1a970c1..915e812 100644
--- a/gui/cmd/ssl-vision-processor-gui/server_test.go
+++ b/gui/cmd/ssl-vision-processor-gui/server_test.go
@@ -3,15 +3,45 @@ package main
 import (
 	"net/http"
 	"net/http/httptest"
+	"os"
+	"path/filepath"
 	"strings"
 	"testing"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
 )
 
+// testServer loads a *copy* of the fixture, never testdata/geometry.yml
+// directly -- the /api/geometry/field PUT handler writes back to whatever
+// path Geometry was loaded from, and would otherwise rewrite a tracked file
+// on every test run.
+func testServer(t *testing.T) http.Handler {
+	t.Helper()
+
+	src, err := os.ReadFile("testdata/geometry.yml")
+	if err != nil {
+		t.Fatalf("ReadFile fixture: %v", err)
+	}
+
+	path := filepath.Join(t.TempDir(), "geometry.yml")
+	if err := os.WriteFile(path, src, 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	geom, err := geometry.New(path)
+	if err != nil {
+		t.Fatalf("geometry.New: %v", err)
+	}
+
+	return NewVisionServer(geom, hub.New(), t.TempDir())
+}
+
 func TestHealthReturnsOK(t *testing.T) {
 	req := httptest.NewRequest(http.MethodGet, "/api/health", nil)
 	rec := httptest.NewRecorder()
 
-	NewVisionServer().ServeHTTP(rec, req)
+	testServer(t).ServeHTTP(rec, req)
 
 	if rec.Code != http.StatusOK {
 		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
@@ -27,6 +57,111 @@ func TestHealthReturnsOK(t *testing.T) {
 	}
 }
 
+func TestGeometryReturnsProtojson(t *testing.T) {
+	req := httptest.NewRequest(http.MethodGet, "/api/geometry", nil)
+	rec := httptest.NewRecorder()
+
+	testServer(t).ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusOK {
+		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
+	}
+
+	if got := rec.Header().Get("Content-Type"); got != "application/json" {
+		t.Errorf("Content-Type = %q, want application/json", got)
+	}
+
+	if !strings.Contains(rec.Body.String(), `"fieldLength"`) {
+		t.Errorf("body = %q, want it to contain fieldLength", rec.Body.String())
+	}
+}
+
+func TestGetFieldConfigReturnsCurrentValues(t *testing.T) {
+	req := httptest.NewRequest(http.MethodGet, "/api/geometry/field", nil)
+	rec := httptest.NewRecorder()
+
+	testServer(t).ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusOK {
+		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
+	}
+
+	if !strings.Contains(rec.Body.String(), `"fieldLength"`) || !strings.Contains(rec.Body.String(), `"optionalFieldLines"`) {
+		t.Errorf("body = %q, want fieldLength and optionalFieldLines", rec.Body.String())
+	}
+}
+
+func TestPutFieldConfigUpdatesAndPersists(t *testing.T) {
+	srv := testServer(t)
+
+	body := strings.NewReader(`{
+		"field": {"fieldLength": 2160, "fieldWidth": 1680, "goalWidth": 280, "goalDepth": 50, "boundaryWidth": 100, "lineThickness": 10},
+		"optionalFieldLines": {"halfway": true, "penalty": true}
+	}`)
+
+	putReq := httptest.NewRequest(http.MethodPut, "/api/geometry/field", body)
+	putRec := httptest.NewRecorder()
+	srv.ServeHTTP(putRec, putReq)
+
+	if putRec.Code != http.StatusNoContent {
+		t.Fatalf("PUT status = %d, want %d, body: %s", putRec.Code, http.StatusNoContent, putRec.Body.String())
+	}
+
+	getReq := httptest.NewRequest(http.MethodGet, "/api/geometry/field", nil)
+	getRec := httptest.NewRecorder()
+	srv.ServeHTTP(getRec, getReq)
+
+	if !strings.Contains(getRec.Body.String(), `"fieldLength":2160`) {
+		t.Errorf("after PUT, GET returned %q, want it to reflect the update", getRec.Body.String())
+	}
+}
+
+// A zero/negative dimension is the caller's mistake -- 400, not a 500, and
+// must not silently write anything to disk.
+func TestPutFieldConfigRejectsInvalidDimensions(t *testing.T) {
+	srv := testServer(t)
+
+	body := strings.NewReader(`{"field": {"fieldLength": 0}, "optionalFieldLines": {}}`)
+	req := httptest.NewRequest(http.MethodPut, "/api/geometry/field", body)
+	rec := httptest.NewRecorder()
+
+	srv.ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusBadRequest {
+		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	}
+}
+
+func TestPutFieldConfigRejectsMalformedJSON(t *testing.T) {
+	req := httptest.NewRequest(http.MethodPut, "/api/geometry/field", strings.NewReader(`not json`))
+	rec := httptest.NewRecorder()
+
+	testServer(t).ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusBadRequest {
+		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	}
+}
+
+// The preset endpoint reads the real repo-root files -- this test runs from
+// cmd/ssl-vision-processor-gui, so it doesn't see them and both are skipped.
+// It's still worth asserting the endpoint degrades to an empty list rather
+// than failing outright when a preset can't be read.
+func TestGetFieldPresetsDegradesGracefullyWhenFilesAreMissing(t *testing.T) {
+	req := httptest.NewRequest(http.MethodGet, "/api/geometry/presets", nil)
+	rec := httptest.NewRecorder()
+
+	testServer(t).ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusOK {
+		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
+	}
+
+	if strings.TrimSpace(rec.Body.String()) != "[]" {
+		t.Errorf("body = %q, want an empty array (no presets reachable from this cwd)", rec.Body.String())
+	}
+}
+
 // A wrong method is a 404 rather than a 405: the "/" catch-all matches every
 // method, so ServeMux never reaches its method-not-allowed path. What matters is
 // that the "/api/" subtree answers, instead of the request falling through to
@@ -36,7 +171,7 @@ func TestHealthRejectsNonGET(t *testing.T) {
 		req := httptest.NewRequest(method, "/api/health", nil)
 		rec := httptest.NewRecorder()
 
-		NewVisionServer().ServeHTTP(rec, req)
+		testServer(t).ServeHTTP(rec, req)
 
 		if rec.Code != http.StatusNotFound {
 			t.Errorf("%s /api/health = %d, want %d", method, rec.Code, http.StatusNotFound)
@@ -51,7 +186,7 @@ func TestUnknownAPIPathReturns404(t *testing.T) {
 	req := httptest.NewRequest(http.MethodGet, "/api/does-not-exist", nil)
 	rec := httptest.NewRecorder()
 
-	NewVisionServer().ServeHTTP(rec, req)
+	testServer(t).ServeHTTP(rec, req)
 
 	if rec.Code != http.StatusNotFound {
 		t.Errorf("status = %d, want %d", rec.Code, http.StatusNotFound)
@@ -68,7 +203,7 @@ func TestUnknownPathServesApp(t *testing.T) {
 	req := httptest.NewRequest(http.MethodGet, "/instances/cam0/calibration", nil)
 	rec := httptest.NewRecorder()
 
-	NewVisionServer().ServeHTTP(rec, req)
+	testServer(t).ServeHTTP(rec, req)
 
 	if rec.Code != http.StatusOK {
 		t.Errorf("status = %d, want %d", rec.Code, http.StatusOK)
diff --git a/gui/cmd/ssl-vision-processor-gui/testdata/geometry.yml b/gui/cmd/ssl-vision-processor-gui/testdata/geometry.yml
new file mode 100644
index 0000000..850c64a
--- /dev/null
+++ b/gui/cmd/ssl-vision-processor-gui/testdata/geometry.yml
@@ -0,0 +1,23 @@
+# Minimal fixture for geometry package tests. Not a real match config.
+optional_field_lines:
+  goal2goal: true
+  halfway: true
+  centercircle: true
+  penalty: true
+
+field:
+  field_length: 9000
+  field_width: 6000
+  goal_width: 1000
+  goal_depth: 180
+  goal_height: 160
+  penalty_area_depth: 1000
+  penalty_area_width: 2000
+  goal_center_to_penalty_mark: 6000
+  boundary_width: 300
+  boundary_width_goal_line: 300
+  center_circle_radius: 500
+  line_thickness: 10
+  ball_radius: 21.5
+  max_robot_radius: 90.0
+  goal_substitution_area_width: 0
diff --git a/gui/frontend/README.md b/gui/frontend/README.md
index 24efacf..40ca3ef 100644
--- a/gui/frontend/README.md
+++ b/gui/frontend/README.md
@@ -1,30 +1,31 @@
 # vision-processor-gui-frontend
 
-Browser UI for the vision-processor wrapper. Svelte 5 + TypeScript + Vite.
+Browser UI for the vision-processor GUI. Svelte 5 + TypeScript + Vite.
 
-Currently a skeleton: connects to `wrapper_backend`'s WebSocket at
-`ws://<host>:8765/ws`, asks the backend (via `GET /snapshots`) which
-debug images currently exist on disk, and renders an `<img>` for each
-one, refreshed once per second. A separate dev panel lets you subscribe
-to `wrapper_packet.out` and see the raw JSON.
+Currently a skeleton: connects to a WebSocket at `/ws` and asks the
+backend (via `GET /api/snapshots`) which debug images currently exist
+on disk (only meaningful when the browser and the vision processor
+share a filesystem -- see the root [README.md](../../README.md)).
 
 ## Run
 
-Two terminals from the repo root:
+Two options:
 
 ```
-# terminal 1 (the wrapper backend, with its WebSocket on :8765)
-./start_wrapper.sh
-
-# terminal 2 (the Vite dev server, on :5173 with HMR)
+# Standalone dev server with HMR (proxies /api and /ws to the Go host on :8085)
 cd gui/frontend
 npm install
 npm run dev
 ```
 
-Open <http://localhost:5173>. Whatever debug images the C++ side has
-written to `img/` will appear in the grid; click "Subscribe to
-wrapper_packet.out" to also see the raw JSON frames.
+```
+# Through the Go host itself, on its own port, no proxy involved
+cd gui
+make run
+```
+
+Either way the Go host in `gui/` must be running for the connection
+badge and snapshot grid to show anything.
 
 ## Architecture
 
@@ -34,13 +35,13 @@ wrapper_packet.out" to also see the raw JSON frames.
   reader, unsubscribes when the last reader goes away. Reconnects on
   close with exponential backoff (1s → 30s).
 - `src/App.svelte` — placeholder UI: connection badge + a grid of
-  `<img>` tags, one per entry returned by `GET /snapshots`. The list is
+  `<img>` tags, one per entry returned by `GET /api/snapshots`. The list is
   refreshed every 5 s; each `<img>` is refreshed once per second via a
   cache-busting `?t=<ms>` query. Plus a dev panel with a subscribe
   toggle + JSON dump for `wrapper_packet.out`.
 - `src/main.ts` — mounts `App` into `#app`.
 
-The WS wire format mirrors `wrapper_backend/websocket.py`'s envelope:
+The WS wire format (`gui/internal/hub`):
 
 ```jsonc
 // client -> server
@@ -48,14 +49,15 @@ The WS wire format mirrors `wrapper_backend/websocket.py`'s envelope:
 { "action": "unsubscribe", "topic": "wrapper_packet.out" }
 // server -> client
 { "topic": "wrapper_packet.out", "data": { ... } }
-{ "error": "unknown topic", "topic": "..." }
 ```
 
-Snapshot endpoints are plain HTTP: `GET /snapshots` returns the list of
-available `{cam_id, view}` entries as JSON; `GET /snapshot/<cam_id>/<view>`
-returns the actual `image/jpeg` or `image/png` (or 404 if missing).
-`<img>` tags don't trigger CORS for display, so cross-origin `:5173` ->
-`:8765` works in dev without a Vite proxy.
+`wrapper_packet.out` carries the current `SSL_WrapperPacket` as
+canonical protojson, republished once per second.
+
+Snapshot endpoints are plain HTTP: `GET /api/snapshots` returns the
+list of available `{cam_id, view}` entries as JSON;
+`GET /api/snapshot/<cam_id>/<view>` returns the actual `image/jpeg` or
+`image/png` (or 404 if missing).
 
 ## Scripts
 
@@ -69,15 +71,14 @@ npm run format        # prettier --write .
 npm run format:check  # prettier --check . (CI-style)
 ```
 
-`npm run check` is the rough analogue of `mypy` on the Python side.
-`npm run lint` + `npm run format` together cover what `ruff` does for
-Python. TypeScript is configured strict (`strict`,
+TypeScript is configured strict (`strict`,
 `noUncheckedIndexedAccess`, `noImplicitOverride`,
 `noPropertyAccessFromIndexSignature`, `noImplicitReturns`,
 `noFallthroughCasesInSwitch`).
 
 ## Production serving
 
-Currently not wired. `npm run build` produces `dist/`; the wrapper
-backend does not yet serve it. For now run `npm run dev` (or
-`npm run preview`) on a separate port.
+`npm run build` produces `dist/`, which the Go host in `gui/` embeds
+directly into its binary (`gui/frontend/embed.go`) and serves on its
+own port, with a fallback to `index.html` for client-side routes. See
+`make run` in the root [README.md](../../README.md).
diff --git a/gui/frontend/dist/.gitkeep b/gui/frontend/dist/.gitkeep
new file mode 100644
index 0000000..e69de29
diff --git a/gui/frontend/embed.go b/gui/frontend/embed.go
index 612e39c..61e9f67 100644
--- a/gui/frontend/embed.go
+++ b/gui/frontend/embed.go
@@ -37,4 +37,4 @@ func serveSPA(dist fs.FS, files http.Handler) http.HandlerFunc {
 
 		files.ServeHTTP(w, r)
 	}
-}
\ No newline at end of file
+}
diff --git a/gui/frontend/eslint.config.js b/gui/frontend/eslint.config.js
index 3b66399..22fe9ed 100644
--- a/gui/frontend/eslint.config.js
+++ b/gui/frontend/eslint.config.js
@@ -31,6 +31,18 @@ export default ts.config(
       parserOptions: { parser: ts.parser },
     },
   },
+  {
+    // eslint-plugin-svelte's own base config matches *.svelte.ts/*.svelte.js
+    // (the Svelte 5 "runes module" convention) and hands them to
+    // svelte-eslint-parser, but without delegating to the TS parser the way
+    // it does for *.svelte files above -- so a plain `import type { X }`
+    // fails to parse. Same fix as the .svelte override, for the same reason.
+    files: ["**/*.svelte.ts", "**/*.svelte.js"],
+    languageOptions: {
+      parser: svelteParser,
+      parserOptions: { parser: ts.parser },
+    },
+  },
   {
     ignores: [
       "dist/",
diff --git a/gui/frontend/src/App.svelte b/gui/frontend/src/App.svelte
index 3b305e1..c4844f5 100644
--- a/gui/frontend/src/App.svelte
+++ b/gui/frontend/src/App.svelte
@@ -1,11 +1,12 @@
 <script lang="ts">
   import { onMount } from "svelte";
-  import { connectionState, topic } from "./lib/wrapper-bus";
+  import { topic } from "./lib/wrapper-bus";
+  import Shell from "./lib/layout/Shell.svelte";
 
   let subscribed = $state(false);
   const wrapperPacket = topic<Record<string, unknown>>("wrapper_packet.out");
 
-  const apiBase = `http://${location.hostname}:8765`;
+  // Same-origin: the Go host serves /api itself, alongside /ws and the frontend.
   interface Snapshot {
     cam_id: string;
     view: string;
@@ -15,7 +16,7 @@
 
   async function refreshSnapshotList(): Promise<void> {
     try {
-      const response = await fetch(`${apiBase}/snapshots`);
+      const response = await fetch("/api/snapshots");
       if (response.ok) snapshots = (await response.json()) as Snapshot[];
     } catch {
       // ignore: next tick will retry
@@ -39,93 +40,64 @@
   }
 </script>
 
-<main>
-  <header>
-    <h1>vision-processor wrapper</h1>
-    <span class="badge" data-state={$connectionState}>
-      {$connectionState}
-    </span>
-  </header>
-
-  <section>
-    <h2>Snapshots</h2>
-    {#if snapshots.length === 0}
-      <p class="hint">No images in img/ yet.</p>
-    {:else}
-      <div class="grid">
-        {#each snapshots as snap (`${snap.cam_id}.${snap.view}`)}
-          <figure>
-            <img
-              src={`${apiBase}/snapshot/${snap.cam_id}/${snap.view}?t=${String(cacheBuster)}`}
-              alt={`cam ${snap.cam_id} ${snap.view}`}
-            />
-            <figcaption>cam {snap.cam_id} / {snap.view}</figcaption>
-          </figure>
-        {/each}
-      </div>
-    {/if}
-  </section>
-
-  <section>
-    <button onclick={toggleSubscribe}>
-      {subscribed ? "Unsubscribe" : "Subscribe to wrapper_packet.out"}
-    </button>
-
-    {#if subscribed}
-      {#if $wrapperPacket}
-        <pre>{JSON.stringify($wrapperPacket, null, 2)}</pre>
+<Shell>
+  {#snippet below()}
+    <!--
+      Everything in this snippet predates the two-column shell (see issue
+      #18) and doesn't belong to any config category -- it's a stand-in for
+      the mockup's Video + Debug Console panels, which aren't built yet
+      (WHEP/live video is still undecided; the Debug Console is a live log
+      viewer over internal/hub that hasn't been started). Lift it into those
+      once they exist rather than growing it further here.
+    -->
+    <p class="below-hint">
+      Temporary debug utilities -- see the note in this file's source.
+    </p>
+
+    <section>
+      <h2>Snapshots</h2>
+      {#if snapshots.length === 0}
+        <p class="hint">No images in img/ yet.</p>
       {:else}
-        <p class="hint">Waiting for first frame…</p>
+        <div class="grid">
+          {#each snapshots as snap (`${snap.cam_id}.${snap.view}`)}
+            <figure>
+              <img
+                src={`/api/snapshot/${snap.cam_id}/${snap.view}?t=${String(cacheBuster)}`}
+                alt={`cam ${snap.cam_id} ${snap.view}`}
+              />
+              <figcaption>cam {snap.cam_id} / {snap.view}</figcaption>
+            </figure>
+          {/each}
+        </div>
       {/if}
-    {/if}
-  </section>
-
-  <footer>wrapper-frontend dev skeleton</footer>
-</main>
+    </section>
+
+    <section>
+      <button onclick={toggleSubscribe}>
+        {subscribed ? "Unsubscribe" : "Subscribe to wrapper_packet.out"}
+      </button>
+
+      {#if subscribed}
+        {#if $wrapperPacket}
+          <pre>{JSON.stringify($wrapperPacket, null, 2)}</pre>
+        {:else}
+          <p class="hint">Waiting for first frame…</p>
+        {/if}
+      {/if}
+    </section>
+  {/snippet}
+</Shell>
 
 <style>
-  main {
-    max-width: 1024px;
-    margin: 0 auto;
-    padding: 1.5rem;
-    font-family: ui-sans-serif, system-ui, sans-serif;
-  }
-
-  header {
-    display: flex;
-    align-items: center;
-    gap: 1rem;
-    margin-bottom: 1rem;
-  }
-
-  h1 {
-    font-size: 1.25rem;
-    margin: 0;
-  }
-
-  .badge {
-    font-size: 0.75rem;
-    text-transform: uppercase;
-    letter-spacing: 0.05em;
-    padding: 0.2rem 0.5rem;
-    border-radius: 999px;
-    background: #ddd;
-    color: #333;
-  }
-
-  .badge[data-state="open"] {
-    background: #c8e6c9;
-    color: #1b5e20;
-  }
-
-  .badge[data-state="connecting"] {
-    background: #fff3cd;
-    color: #856404;
-  }
-
-  .badge[data-state="closed"] {
-    background: #f8d7da;
-    color: #721c24;
+  .below-hint {
+    color: #a15c00;
+    background: #fff6e5;
+    border: 1px solid #ffe1a8;
+    border-radius: 4px;
+    padding: 0.4rem 0.75rem;
+    font-size: 0.8rem;
+    margin: 0 0 1rem;
   }
 
   .grid {
@@ -169,10 +141,4 @@
     color: #666;
     font-style: italic;
   }
-
-  footer {
-    margin-top: 2rem;
-    color: #888;
-    font-size: 0.75rem;
-  }
 </style>
diff --git a/gui/frontend/src/lib/CornerPicker.svelte b/gui/frontend/src/lib/CornerPicker.svelte
new file mode 100644
index 0000000..7c48fb9
--- /dev/null
+++ b/gui/frontend/src/lib/CornerPicker.svelte
@@ -0,0 +1,249 @@
+<script lang="ts">
+  // Hacky first pass at the corner-drag picker from the calibration UI plan.
+  // Web-only: no C++ changes, camera hardcoded to 0 (no camera selector yet).
+  //
+  // Ordering, traced from src/calib/GeomModel.cpp's cornerCalibration: only
+  // the first point in line_corners matters. It must be the corner where the
+  // goal line meets the touchline at the field's (minX, minY) -- the other
+  // three can be in any order, since the algorithm brute-force searches every
+  // valid clockwise rotation of them and keeps whichever fits best. So this
+  // picker just needs the user to mark ONE corner, not sort all four.
+
+  const camId = "0";
+  const view = "geomcalib_input"; // GeomModel.cpp's calibration input snapshot
+
+  let cacheBuster = $state(Date.now());
+  let imageWidth = $state(0);
+  let imageHeight = $state(0);
+
+  // Default to an inset rectangle rather than the image edges, so all four
+  // handles are visible and draggable as soon as the image loads.
+  let corners = $state<{ x: number; y: number }[]>([]);
+
+  let svgEl: SVGSVGElement | undefined = $state();
+  let draggingIndex = $state<number | null>(null);
+
+  // Which marker is the (minX, minY) corner -- see the note above. Defaults
+  // to the first handle; click a different one to change it.
+  let originIndex = $state(0);
+
+  function handleImageLoad(img: HTMLImageElement): void {
+    imageWidth = img.naturalWidth;
+    imageHeight = img.naturalHeight;
+
+    if (corners.length === 0) {
+      const marginX = imageWidth * 0.15;
+      const marginY = imageHeight * 0.15;
+      corners = [
+        { x: marginX, y: marginY },
+        { x: imageWidth - marginX, y: marginY },
+        { x: imageWidth - marginX, y: imageHeight - marginY },
+        { x: marginX, y: imageHeight - marginY },
+      ];
+    }
+  }
+
+  // Screen pixels -> SVG user-space (== image pixel space, since viewBox is
+  // set to the image's natural dimensions). Using the SVG's own CTM handles
+  // however the browser has scaled it, rather than reimplementing that math.
+  function toImagePoint(
+    clientX: number,
+    clientY: number,
+  ): { x: number; y: number } {
+    if (!svgEl) return { x: 0, y: 0 };
+
+    const pt = svgEl.createSVGPoint();
+    pt.x = clientX;
+    pt.y = clientY;
+
+    const ctm = svgEl.getScreenCTM();
+    if (!ctm) return { x: 0, y: 0 };
+
+    const p = pt.matrixTransform(ctm.inverse());
+    return { x: p.x, y: p.y };
+  }
+
+  function startDrag(index: number, event: PointerEvent): void {
+    draggingIndex = index;
+    (event.target as Element).setPointerCapture(event.pointerId);
+  }
+
+  function onDrag(event: PointerEvent): void {
+    if (draggingIndex === null) return;
+
+    const p = toImagePoint(event.clientX, event.clientY);
+    corners[draggingIndex] = {
+      x: Math.round(Math.max(0, Math.min(imageWidth, p.x))),
+      y: Math.round(Math.max(0, Math.min(imageHeight, p.y))),
+    };
+  }
+
+  function endDrag(): void {
+    draggingIndex = null;
+  }
+
+  function refreshFrame(): void {
+    cacheBuster = Date.now();
+  }
+
+  // The chosen origin corner first, the other three following in whatever
+  // order they're already in -- correct per the note above, no sorting.
+  let orderedCorners = $derived.by(() => {
+    const origin = corners[originIndex];
+    if (!origin) return [];
+
+    return [origin, ...corners.filter((_, i) => i !== originIndex)];
+  });
+
+  let yamlSnippet = $derived(
+    "line_corners:\n" +
+      orderedCorners
+        .map((c) => `- [${String(c.x)}, ${String(c.y)}]`)
+        .join("\n"),
+  );
+</script>
+
+<section class="corner-picker">
+  <h2>Corner picker (hacky, cam 0 only)</h2>
+  <p class="hint">
+    Drag the four markers onto the real field corners in the image below, then
+    click the number on whichever one sits where the goal line meets the
+    touchline nearest this field's (0,0) corner -- that one turns green and
+    becomes first in the output. The other three can be in any order; the
+    calibration algorithm works that out itself. No camera selector yet.
+  </p>
+
+  <button type="button" onclick={refreshFrame}>Refresh frame</button>
+
+  <div
+    class="overlay-container"
+    onpointermove={onDrag}
+    onpointerup={endDrag}
+    onpointercancel={endDrag}
+  >
+    <img
+      src={`/api/snapshot/${camId}/${view}?t=${String(cacheBuster)}`}
+      alt={`cam ${camId} calibration input`}
+      onload={(e: Event) => {
+        handleImageLoad(e.currentTarget as HTMLImageElement);
+      }}
+    />
+
+    {#if imageWidth > 0}
+      <svg
+        bind:this={svgEl}
+        viewBox={`0 0 ${String(imageWidth)} ${String(imageHeight)}`}
+        preserveAspectRatio="none"
+      >
+        {#each corners as corner, index (index)}
+          <circle
+            cx={corner.x}
+            cy={corner.y}
+            r={Math.max(imageWidth, imageHeight) * 0.015}
+            class="handle"
+            class:origin={index === originIndex}
+            onpointerdown={(e) => {
+              startDrag(index, e);
+            }}
+          />
+          <text
+            x={corner.x}
+            y={corner.y}
+            dy={-12}
+            role="button"
+            tabindex="0"
+            onclick={() => {
+              originIndex = index;
+            }}
+            onkeydown={(e) => {
+              if (e.key === "Enter" || e.key === " ") originIndex = index;
+            }}
+          >
+            {index + 1}
+          </text>
+        {/each}
+        {#if corners.length === 4}
+          <polygon
+            points={corners
+              .map((c) => `${String(c.x)},${String(c.y)}`)
+              .join(" ")}
+          />
+        {/if}
+      </svg>
+    {/if}
+  </div>
+
+  <pre>{yamlSnippet}</pre>
+</section>
+
+<style>
+  .corner-picker {
+    max-width: 900px;
+    margin-top: 2rem;
+  }
+
+  .overlay-container {
+    position: relative;
+    max-width: 640px;
+    touch-action: none; /* dragging must not scroll the page on touch */
+  }
+
+  .overlay-container img {
+    display: block;
+    width: 100%;
+    height: auto;
+    background: #222;
+  }
+
+  .overlay-container svg {
+    position: absolute;
+    inset: 0;
+    width: 100%;
+    height: 100%;
+  }
+
+  .handle {
+    fill: orange;
+    stroke: black;
+    stroke-width: 2;
+    cursor: grab;
+  }
+
+  .handle.origin {
+    fill: #2ecc40;
+  }
+
+  .handle:active {
+    cursor: grabbing;
+  }
+
+  text {
+    fill: white;
+    font-size: 20px;
+    text-anchor: middle;
+    paint-order: stroke;
+    stroke: black;
+    stroke-width: 3px;
+    cursor: pointer;
+  }
+
+  polygon {
+    fill: rgba(255, 165, 0, 0.15);
+    stroke: orange;
+    stroke-width: 2;
+    pointer-events: none;
+  }
+
+  pre {
+    background: #f5f5f5;
+    padding: 0.75rem;
+    border-radius: 4px;
+    font-size: 0.85rem;
+  }
+
+  .hint {
+    color: #888;
+    font-size: 0.8rem;
+    font-style: italic;
+  }
+</style>
diff --git a/gui/frontend/src/lib/FieldEditor.svelte b/gui/frontend/src/lib/FieldEditor.svelte
new file mode 100644
index 0000000..61a7a81
--- /dev/null
+++ b/gui/frontend/src/lib/FieldEditor.svelte
@@ -0,0 +1,385 @@
+<script lang="ts">
+  import { onMount } from "svelte";
+  import {
+    virtualField,
+    loadVirtualField,
+    loadFieldPresets,
+    saveVirtualField,
+  } from "./geometry.svelte";
+  import FieldSketch from "./FieldSketch.svelte";
+  import { scalePreset } from "./fieldPresets";
+  import { computeFieldSlice } from "./fieldSplit";
+
+  // "Half field" is a data-entry convenience, not a wire concept: the backend
+  // (SSL_GeometryFieldSize.field_length) only ever means the FULL field.
+  // virtualField.field.fieldLength keeps that meaning always; this toggle
+  // just changes what the length input shows and how it's written back, so
+  // switching modes never silently mutates already-loaded data. See
+  // gui/CLAUDE.md and src/CameraModel.cpp's visibleFieldExtentEstimation for
+  // why length (not width) is what gets halved.
+  let fieldLayout = $state<"full" | "half">("full");
+
+  // camAmount here is informational only -- it belongs in each vision
+  // processor's own config.yml (SSL_VPConfigGeometry.camera_amount), which
+  // this host does not yet read, write, or push to any instance.
+  const CAMERA_COUNT_OPTIONS: Record<"full" | "half", number[]> = {
+    full: [1, 2, 4],
+    half: [1, 2],
+  };
+  let cameraCount = $state(1);
+  let cameraId = $state(0);
+
+  let cameraAmount = $derived(fieldLayout === "half" ? 2 : cameraCount);
+
+  // Which one this instance is, out of cameraAmount -- clamped so a stale
+  // selection (e.g. picked "camera 3 of 4" then switched to 2 cameras) can't
+  // point past the end.
+  let clampedCameraId = $derived(Math.min(cameraId, cameraAmount - 1));
+
+  let fieldSlice = $derived(
+    computeFieldSlice(
+      clampedCameraId,
+      cameraAmount,
+      virtualField.field.fieldLength ?? 0,
+      virtualField.field.fieldWidth ?? 0,
+    ),
+  );
+
+  let halfLength = $derived(
+    Math.round((virtualField.field.fieldLength ?? 0) / 2),
+  );
+
+  function setHalfLength(value: number): void {
+    virtualField.field.fieldLength = value * 2;
+    markDirty();
+  }
+
+  function setFieldLayout(layout: "full" | "half"): void {
+    fieldLayout = layout;
+
+    const options = CAMERA_COUNT_OPTIONS[layout];
+    if (!options.includes(cameraCount)) {
+      cameraCount = options[0] ?? 1;
+    }
+  }
+
+  let selectedPresetName = $state("Division B");
+  let scalePercent = $state(100);
+  let scaleHardware = $state(false);
+
+  function applyPreset(): void {
+    const preset = virtualField.presets.find(
+      (p) => p.name === selectedPresetName,
+    );
+    if (!preset) return;
+
+    virtualField.field = scalePreset(preset, scalePercent, scaleHardware);
+    markDirty();
+  }
+
+  // Dimension fields, paired with their FieldConfig key and a label. Order
+  // matches how someone would actually measure a field: outer boundary first,
+  // then the goal, then the penalty area, then the smaller markings.
+  // fieldLength is handled separately above (half/full aware).
+  const dimensionFields: {
+    key: keyof typeof virtualField.field;
+    label: string;
+  }[] = [
+    { key: "fieldWidth", label: "Field width" },
+    { key: "boundaryWidth", label: "Boundary width" },
+    { key: "boundaryWidthGoalLine", label: "Boundary width (goal line)" },
+    { key: "goalWidth", label: "Goal width" },
+    { key: "goalDepth", label: "Goal depth" },
+    { key: "goalHeight", label: "Goal height" },
+    { key: "penaltyAreaDepth", label: "Penalty area depth" },
+    { key: "penaltyAreaWidth", label: "Penalty area width" },
+    { key: "centerCircleRadius", label: "Center circle radius" },
+    { key: "lineThickness", label: "Line thickness" },
+    { key: "ballRadius", label: "Ball radius" },
+    { key: "maxRobotRadius", label: "Max robot radius" },
+  ];
+
+  const optionalLineFields: {
+    key: keyof typeof virtualField.optionalFieldLines;
+    label: string;
+  }[] = [
+    { key: "halfway", label: "Halfway line" },
+    { key: "goal2Goal", label: "Center line (goal-to-goal)" },
+    { key: "centerCircle", label: "Center circle" },
+    { key: "penalty", label: "Penalty area" },
+  ];
+
+  onMount(() => {
+    void loadVirtualField();
+    void loadFieldPresets();
+  });
+
+  function markDirty(): void {
+    virtualField.dirty = true;
+  }
+
+  function handleSave(): void {
+    void saveVirtualField();
+  }
+</script>
+
+<section class="field-editor">
+  <h2>Virtual field</h2>
+  <p class="hint">
+    Measured dimensions, in mm. Saving regenerates the field markings below and
+    writes them back to geometry.yml.
+  </p>
+
+  {#if virtualField.error}
+    <p class="error">Error: {virtualField.error}</p>
+  {/if}
+
+  <div class="layout">
+    <form
+      onsubmit={(e) => {
+        e.preventDefault();
+        handleSave();
+      }}
+    >
+      <fieldset disabled={virtualField.loading}>
+        <legend>Field layout</legend>
+
+        <label class="radio-row">
+          <span>
+            <input
+              type="radio"
+              name="fieldLayout"
+              checked={fieldLayout === "full"}
+              onchange={() => {
+                setFieldLayout("full");
+              }}
+            />
+            Full field (I measured the whole thing)
+          </span>
+          <span>
+            <input
+              type="radio"
+              name="fieldLayout"
+              checked={fieldLayout === "half"}
+              onchange={() => {
+                setFieldLayout("half");
+              }}
+            />
+            Half field (this camera only sees part of it)
+          </span>
+        </label>
+
+        {#if fieldLayout === "half"}
+          <label>
+            Half length (goal line to split line)
+            <input
+              type="number"
+              value={halfLength}
+              oninput={(e) => {
+                setHalfLength(e.currentTarget.valueAsNumber);
+              }}
+            />
+          </label>
+          <p class="hint">
+            Full field length is {virtualField.field.fieldLength ?? 0}mm (2x the
+            half above). Field width below is the full, unsplit width -- a
+            length-wise split still shows both touchlines.
+          </p>
+        {/if}
+
+        <label>
+          Cameras across the {fieldLayout === "half" ? "full" : ""} field
+          <select
+            value={cameraCount}
+            onchange={(e) => {
+              cameraCount = Number(e.currentTarget.value);
+            }}
+          >
+            {#each CAMERA_COUNT_OPTIONS[fieldLayout] as count (count)}
+              <option value={count}>{count}</option>
+            {/each}
+          </select>
+        </label>
+        <p class="hint">
+          camera_amount: {cameraAmount}. Not yet pushed anywhere -- set
+          <code>geometry.camera_amount: {cameraAmount}</code> in each vision processor's
+          own config.yml for now.
+        </p>
+
+        <label>
+          Which camera is this? (camera_id)
+          <select
+            value={clampedCameraId}
+            onchange={(e) => {
+              cameraId = Number(e.currentTarget.value);
+            }}
+          >
+            {#each Array.from(Array(cameraAmount).keys()) as id (id)}
+              <option value={id}>{id}</option>
+            {/each}
+          </select>
+        </label>
+        <p class="hint">
+          Highlighted below: what this specific camera is responsible for -- the
+          rest of the field's markings (e.g. the other goal's penalty box) are
+          dimmed, since this camera can't calibrate against them.
+        </p>
+      </fieldset>
+
+      <fieldset disabled={virtualField.loading}>
+        <legend>Start from a rulebook preset</legend>
+        {#if virtualField.presets.length === 0}
+          <p class="hint">
+            No presets available (geometry-divA.yml/geometry-divB.yml not found
+            from the host's working directory).
+          </p>
+        {/if}
+        <label>
+          Division
+          <select bind:value={selectedPresetName}>
+            {#each virtualField.presets as preset (preset.name)}
+              <option value={preset.name}>{preset.name}</option>
+            {/each}
+          </select>
+        </label>
+        <label>
+          Scale to
+          <span>
+            <input type="number" bind:value={scalePercent} min="1" max="200" />
+            %
+          </span>
+        </label>
+        <label class="checkbox">
+          <input type="checkbox" bind:checked={scaleHardware} />
+          Also scale ball/robot size (usually real hardware -- leave off)
+        </label>
+        <button type="button" onclick={applyPreset}>
+          Fill in dimensions from this preset
+        </button>
+        <p class="hint">
+          Overwrites the dimension fields below (not yet saved). Real SSL
+          penalty box, goal, and boundary sizes are fixed rulebook constants,
+          not derived from field size or camera count -- this is the actual
+          principled way to approximate them for a scaled-down field, rather
+          than guessing a ratio by hand.
+        </p>
+      </fieldset>
+
+      <fieldset disabled={virtualField.loading}>
+        <legend>Dimensions</legend>
+        {#each dimensionFields as { key, label } (key)}
+          <label>
+            {label}
+            <input
+              type="number"
+              bind:value={virtualField.field[key]}
+              oninput={markDirty}
+            />
+          </label>
+        {/each}
+      </fieldset>
+
+      <fieldset disabled={virtualField.loading}>
+        <legend>Markings present on this field</legend>
+        {#each optionalLineFields as { key, label } (key)}
+          <label class="checkbox">
+            <input
+              type="checkbox"
+              bind:checked={virtualField.optionalFieldLines[key]}
+              onchange={markDirty}
+            />
+            {label}
+          </label>
+        {/each}
+      </fieldset>
+
+      <button
+        type="submit"
+        disabled={virtualField.saving || !virtualField.dirty}
+      >
+        {virtualField.saving ? "Saving..." : "Save"}
+      </button>
+      {#if virtualField.dirty && !virtualField.saving}
+        <span class="hint">*new changes</span>
+      {/if}
+    </form>
+
+    <div class="sketch">
+      <FieldSketch
+        fieldLength={virtualField.field.fieldLength ?? 0}
+        fieldWidth={virtualField.field.fieldWidth ?? 0}
+        lines={virtualField.fieldLines}
+        arcs={virtualField.fieldArcs}
+        slice={fieldSlice}
+      />
+      <p class="hint">
+        Markings reflect the last saved dimensions; the highlighted region
+        updates live as you change camera count/id above.
+      </p>
+    </div>
+  </div>
+</section>
+
+<style>
+  .field-editor {
+    max-width: 900px;
+  }
+
+  .layout {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 1.5rem;
+    align-items: start;
+  }
+
+  fieldset {
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    margin-bottom: 1rem;
+  }
+
+  label {
+    display: flex;
+    justify-content: space-between;
+    gap: 0.5rem;
+    margin: 0.4rem 0;
+    font-size: 0.85rem;
+  }
+
+  label.checkbox {
+    justify-content: flex-start;
+  }
+
+  label.radio-row {
+    flex-direction: column;
+    align-items: flex-start;
+    gap: 0.2rem;
+  }
+
+  label.radio-row span {
+    display: flex;
+    align-items: center;
+    gap: 0.4rem;
+    font-weight: normal;
+  }
+
+  code {
+    background: #eee;
+    padding: 0.1rem 0.3rem;
+    border-radius: 3px;
+  }
+
+  input[type="number"] {
+    width: 6rem;
+  }
+
+  .error {
+    color: #b00020;
+  }
+
+  .hint {
+    color: #888;
+    font-size: 0.8rem;
+    font-style: italic;
+  }
+</style>
diff --git a/gui/frontend/src/lib/FieldSketch.svelte b/gui/frontend/src/lib/FieldSketch.svelte
new file mode 100644
index 0000000..966d17d
--- /dev/null
+++ b/gui/frontend/src/lib/FieldSketch.svelte
@@ -0,0 +1,131 @@
+<script lang="ts">
+  import type {
+    SSL_FieldLineSegmentJson,
+    SSL_FieldCircularArcJson,
+  } from "../proto/vision/ssl_vision_geometry_pb";
+  import { boxesOverlap, type FieldSlice } from "./fieldSplit";
+
+  interface Props {
+    fieldLength: number;
+    fieldWidth: number;
+    lines: SSL_FieldLineSegmentJson[];
+    arcs: SSL_FieldCircularArcJson[];
+    // When set, markings entirely outside this camera's slice of the field
+    // are dimmed and the slice itself is outlined -- so "I picked 2 cameras"
+    // visibly shows you get one penalty box, not both. Omit to show every
+    // marking at full brightness (the whole-field view).
+    slice?: FieldSlice;
+  }
+
+  let { fieldLength, fieldWidth, lines, arcs, slice }: Props = $props();
+
+  // Field coordinates: origin at center, +x toward one goal, +y toward one
+  // touchline (see gui/CLAUDE.md / internal/geometry/field.go). SVG is
+  // y-down, so the viewBox flips y to draw with +y pointing up, matching the
+  // physical convention instead of mirroring it.
+  const margin = 300; // mm, just so lines at the boundary aren't clipped
+
+  let halfLength = $derived((fieldLength || 1) / 2 + margin);
+  let halfWidth = $derived((fieldWidth || 1) / 2 + margin);
+  let viewBox = $derived(
+    `${String(-halfLength)} ${String(-halfWidth)} ${String(halfLength * 2)} ${String(halfWidth * 2)}`,
+  );
+
+  // protobuf-es's JSON type for float/double fields allows "NaN"/"Infinity"/
+  // "-Infinity" alongside plain numbers (the protobuf JSON spec's encoding
+  // for values a JSON number can't represent). Number() maps all three
+  // string forms to their real values, same as any ordinary numeric string.
+  function num(
+    value: number | "NaN" | "Infinity" | "-Infinity" | undefined,
+  ): number {
+    return Number(value ?? 0);
+  }
+
+  function lineInSlice(line: SSL_FieldLineSegmentJson): boolean {
+    if (!slice) return true;
+
+    const x1 = num(line.p1?.x);
+    const y1 = num(line.p1?.y);
+    const x2 = num(line.p2?.x);
+    const y2 = num(line.p2?.y);
+
+    return boxesOverlap(slice, {
+      minX: Math.min(x1, x2),
+      minY: Math.min(y1, y2),
+      maxX: Math.max(x1, x2),
+      maxY: Math.max(y1, y2),
+    });
+  }
+
+  function arcInSlice(arc: SSL_FieldCircularArcJson): boolean {
+    if (!slice) return true;
+
+    const cx = num(arc.center?.x);
+    const cy = num(arc.center?.y);
+    const r = num(arc.radius);
+
+    return boxesOverlap(slice, {
+      minX: cx - r,
+      minY: cy - r,
+      maxX: cx + r,
+      maxY: cy + r,
+    });
+  }
+</script>
+
+<svg {viewBox} transform="scale(1,-1)" role="img" aria-label="Field sketch">
+  {#if slice}
+    <rect
+      x={slice.minX}
+      y={slice.minY}
+      width={slice.maxX - slice.minX}
+      height={slice.maxY - slice.minY}
+      class="slice-outline"
+    />
+  {/if}
+
+  {#each lines as line (line.name)}
+    <line
+      x1={line.p1?.x ?? 0}
+      y1={line.p1?.y ?? 0}
+      x2={line.p2?.x ?? 0}
+      y2={line.p2?.y ?? 0}
+      stroke="white"
+      stroke-width={line.thickness ?? 10}
+      class:dimmed={!lineInSlice(line)}
+    />
+  {/each}
+
+  {#each arcs as arc (arc.name)}
+    <circle
+      cx={arc.center?.x ?? 0}
+      cy={arc.center?.y ?? 0}
+      r={arc.radius ?? 0}
+      fill="none"
+      stroke="white"
+      stroke-width={arc.thickness ?? 10}
+      class:dimmed={!arcInSlice(arc)}
+    />
+  {/each}
+</svg>
+
+<style>
+  svg {
+    width: 100%;
+    height: auto;
+    aspect-ratio: 1;
+    background: #0a5c2e;
+    border-radius: 4px;
+  }
+
+  .dimmed {
+    opacity: 0.25;
+  }
+
+  .slice-outline {
+    fill: rgba(255, 255, 255, 0.08);
+    stroke: orange;
+    stroke-width: 20;
+    stroke-dasharray: 60 30;
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte b/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
new file mode 100644
index 0000000..38de4ed
--- /dev/null
+++ b/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
@@ -0,0 +1,94 @@
+<script lang="ts">
+  import type { ConfigCategory } from "../layout/configCategories";
+  import type { VisionInstance } from "../layout/nav.svelte";
+
+  interface Props {
+    category: ConfigCategory;
+    instance: VisionInstance | undefined;
+  }
+
+  let { category, instance }: Props = $props();
+</script>
+
+<section class="placeholder">
+  <h2>{category.label}</h2>
+
+  {#if instance}
+    <p class="hint">
+      Editing {instance.host} / cam {instance.cameraId}'s
+      <code>{category.yamlKey}:</code>
+      block. Not wired to a backend yet -- there is nowhere to read or write a specific
+      instance's config.yml over the network. See
+      <code>internal/config</code> in gui/CLAUDE.md's "Not yet built".
+    </p>
+  {:else}
+    <p class="hint">Select a vision processor on the left first.</p>
+  {/if}
+
+  <p class="build-note">
+    Contributing this panel? Replace this file with a real form for the fields
+    below (see config.yml at the repo root for exact defaults/ranges).
+  </p>
+
+  <dl>
+    {#each category.fields as field (field.name)}
+      <div class="field">
+        <dt>{field.name}</dt>
+        <dd>{field.comment}</dd>
+      </div>
+    {/each}
+  </dl>
+</section>
+
+<style>
+  .placeholder {
+    max-width: 640px;
+  }
+
+  h2 {
+    margin: 0 0 0.5rem;
+  }
+
+  .hint {
+    color: #666;
+    font-size: 0.85rem;
+  }
+
+  .build-note {
+    color: #a15c00;
+    background: #fff6e5;
+    border: 1px solid #ffe1a8;
+    border-radius: 4px;
+    padding: 0.5rem 0.75rem;
+    font-size: 0.8rem;
+  }
+
+  dl {
+    margin: 1rem 0 0;
+  }
+
+  .field {
+    display: flex;
+    gap: 1rem;
+    padding: 0.35rem 0;
+    border-bottom: 1px solid #eee;
+    font-size: 0.85rem;
+  }
+
+  dt {
+    flex: 0 0 12rem;
+    font-family: monospace;
+    font-weight: 600;
+  }
+
+  dd {
+    margin: 0;
+    color: #555;
+  }
+
+  code {
+    background: #eee;
+    padding: 0.1rem 0.3rem;
+    border-radius: 3px;
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/GeometryPanel.svelte b/gui/frontend/src/lib/config/GeometryPanel.svelte
new file mode 100644
index 0000000..9646c19
--- /dev/null
+++ b/gui/frontend/src/lib/config/GeometryPanel.svelte
@@ -0,0 +1,82 @@
+<script lang="ts">
+  import type { ConfigCategory } from "../layout/configCategories";
+  import type { VisionInstance } from "../layout/nav.svelte";
+  import CornerPicker from "../CornerPicker.svelte";
+
+  interface Props {
+    category: ConfigCategory;
+    instance: VisionInstance | undefined;
+  }
+
+  let { category, instance }: Props = $props();
+</script>
+
+<section class="geometry">
+  <h2>Geometry</h2>
+
+  {#if instance}
+    <p class="hint">
+      {instance.host} / cam {instance.cameraId}. The numeric settings below
+      (config.yml's <code>geometry:</code> block) aren't wired to a backend yet; the
+      corner picker further down already is (writes to whichever config.yml you tell
+      it to, by hand -- see its own hint text).
+    </p>
+  {:else}
+    <p class="hint">Select a vision processor on the left first.</p>
+  {/if}
+
+  <dl>
+    {#each category.fields as field (field.name)}
+      <div class="field">
+        <dt>{field.name}</dt>
+        <dd>{field.comment}</dd>
+      </div>
+    {/each}
+  </dl>
+
+  <CornerPicker />
+</section>
+
+<style>
+  .geometry {
+    max-width: 900px;
+  }
+
+  h2 {
+    margin: 0 0 0.5rem;
+  }
+
+  .hint {
+    color: #666;
+    font-size: 0.85rem;
+  }
+
+  dl {
+    margin: 1rem 0;
+  }
+
+  .field {
+    display: flex;
+    gap: 1rem;
+    padding: 0.35rem 0;
+    border-bottom: 1px solid #eee;
+    font-size: 0.85rem;
+  }
+
+  dt {
+    flex: 0 0 12rem;
+    font-family: monospace;
+    font-weight: 600;
+  }
+
+  dd {
+    margin: 0;
+    color: #555;
+  }
+
+  code {
+    background: #eee;
+    padding: 0.1rem 0.3rem;
+    border-radius: 3px;
+  }
+</style>
diff --git a/gui/frontend/src/lib/fieldPresets.ts b/gui/frontend/src/lib/fieldPresets.ts
new file mode 100644
index 0000000..4fc8e66
--- /dev/null
+++ b/gui/frontend/src/lib/fieldPresets.ts
@@ -0,0 +1,62 @@
+// Rulebook preset math: scaling a preset by a percentage. The presets
+// themselves are read live from /api/geometry/presets (see
+// loadFieldPresets in geometry.svelte.ts) -- straight from the same
+// geometry-divA.yml/geometry-divB.yml a human would open, rather than a copy
+// kept here that could drift from them.
+import type { FieldConfig, FieldPreset } from "./geometry.svelte";
+
+export type { FieldPreset };
+
+// Fields it makes sense to shrink along with the field itself. ballRadius and
+// maxRobotRadius are deliberately excluded by default -- they describe real
+// hardware, which is usually not scaled down just because the field is.
+export const SCALABLE_KEYS: (keyof FieldConfig)[] = [
+  "fieldLength",
+  "fieldWidth",
+  "goalWidth",
+  "goalDepth",
+  "goalHeight",
+  "penaltyAreaDepth",
+  "penaltyAreaWidth",
+  "goalCenterToPenaltyMark",
+  "boundaryWidth",
+  "boundaryWidthGoalLine",
+  "centerCircleRadius",
+  "lineThickness",
+];
+
+export const HARDWARE_KEYS: (keyof FieldConfig)[] = [
+  "ballRadius",
+  "maxRobotRadius",
+];
+
+// Applies a preset at the given percentage scale (100 = actual rule-book
+// size) to a FieldConfig, returning a new object. scaleHardware controls
+// whether ballRadius/maxRobotRadius are scaled too, or left at the preset's
+// real-hardware value.
+export function scalePreset(
+  preset: FieldPreset,
+  scalePercent: number,
+  scaleHardware: boolean,
+): FieldConfig {
+  const factor = scalePercent / 100;
+  const result: FieldConfig = { ...preset.field };
+
+  for (const key of SCALABLE_KEYS) {
+    const value = preset.field[key];
+    if (typeof value === "number") {
+      result[key] = Math.round(value * factor);
+    }
+  }
+
+  if (scaleHardware) {
+    for (const key of HARDWARE_KEYS) {
+      const value = preset.field[key];
+      if (typeof value === "number") {
+        result[key] = Math.round(value * factor * 10) / 10;
+      }
+    }
+  }
+
+  return result;
+}
diff --git a/gui/frontend/src/lib/fieldSplit.ts b/gui/frontend/src/lib/fieldSplit.ts
new file mode 100644
index 0000000..61b0f12
--- /dev/null
+++ b/gui/frontend/src/lib/fieldSplit.ts
@@ -0,0 +1,62 @@
+// Mirrors src/CameraModel.cpp's visibleFieldExtentEstimation (the boundary-
+// free variant, matching PointGeometryFit's modelCorners in GeomModel.cpp) --
+// which portion of the field one camera in a camAmount-way split is
+// responsible for. Reimplemented here rather than fetched from the Go host
+// because it's pure geometry with no state, and the UI needs it live as the
+// user changes camera count/id, not round-tripped through an API call.
+export interface FieldSlice {
+  minX: number;
+  minY: number;
+  maxX: number;
+  maxY: number;
+}
+
+export function computeFieldSlice(
+  camId: number,
+  camAmount: number,
+  fieldLength: number,
+  fieldWidth: number,
+): FieldSlice {
+  const amount = Math.max(1, camAmount);
+
+  // Always halves whichever dimension is currently longer -- for a
+  // conventional SSL field (length > width) this means camAmount=2 splits
+  // along length first, camAmount=4 then also splits width, matching
+  // "Double camera field: -x/+x side" and "Quadruple: four quadrants" in
+  // SSL_VPConfig's own comment.
+  let sizeX = 1;
+  let sizeY = 1;
+  for (let i = amount; i > 1; i = Math.floor(i / 2)) {
+    if (fieldLength / sizeX >= fieldWidth / sizeY) {
+      sizeX *= 2;
+    } else {
+      sizeY *= 2;
+    }
+  }
+
+  let posX = 0;
+  let posY = 0;
+  for (let i = camId % amount; i > 0; i--) {
+    posY++;
+    if (posY === sizeY) {
+      posY = 0;
+      posX++;
+    }
+  }
+
+  const extentX = fieldLength / sizeX;
+  const extentY = fieldWidth / sizeY;
+  const minX = extentX * posX - fieldLength / 2;
+  const minY = extentY * posY - fieldWidth / 2;
+
+  return { minX, minY, maxX: minX + extentX, maxY: minY + extentY };
+}
+
+// Whether two axis-aligned boxes overlap at all -- used to decide if a field
+// marking is at least partially within a camera's slice, not just whether
+// it's fully contained (a marking straddling the boundary is still relevant).
+export function boxesOverlap(a: FieldSlice, b: FieldSlice): boolean {
+  return (
+    a.minX <= b.maxX && a.maxX >= b.minX && a.minY <= b.maxY && a.maxY >= b.minY
+  );
+}
diff --git a/gui/frontend/src/lib/geometry.svelte.ts b/gui/frontend/src/lib/geometry.svelte.ts
new file mode 100644
index 0000000..f3a958f
--- /dev/null
+++ b/gui/frontend/src/lib/geometry.svelte.ts
@@ -0,0 +1,152 @@
+// Shared state for the virtual field editor. A module-level $state object,
+// per the project convention (this replaces a store; see CLAUDE.md).
+import type {
+  SSL_GeometryFieldSizeJson,
+  SSL_FieldLineSegmentJson,
+  SSL_FieldCircularArcJson,
+} from "../proto/vision/ssl_vision_geometry_pb";
+
+// The editable dimensions: everything the generated field size carries except
+// fieldLines/fieldArcs, which are derived server-side and never hand-edited.
+export type FieldConfig = Omit<
+  SSL_GeometryFieldSizeJson,
+  "fieldLines" | "fieldArcs"
+>;
+
+export interface OptionalFieldLines {
+  goal2Goal: boolean;
+  halfway: boolean;
+  centerCircle: boolean;
+  penalty: boolean;
+}
+
+interface FieldConfigResponse {
+  field: FieldConfig;
+  optionalFieldLines: OptionalFieldLines;
+}
+
+// A rulebook preset, as served by GET /api/geometry/presets -- read live
+// from geometry-divA.yml/geometry-divB.yml on the Go host, not duplicated
+// here. See fieldPresets.ts for what's done with one once loaded.
+export interface FieldPreset extends FieldConfigResponse {
+  name: string;
+}
+
+// Just enough of the full /api/geometry response to render the sketch -- not
+// calib, not source, nothing else this editor doesn't need.
+interface GeometryResponse {
+  geometry?: {
+    field?: {
+      fieldLines?: SSL_FieldLineSegmentJson[];
+      fieldArcs?: SSL_FieldCircularArcJson[];
+    };
+  };
+}
+
+export const virtualField = $state<{
+  field: FieldConfig;
+  optionalFieldLines: OptionalFieldLines;
+  fieldLines: SSL_FieldLineSegmentJson[];
+  fieldArcs: SSL_FieldCircularArcJson[];
+  presets: FieldPreset[];
+  loading: boolean;
+  saving: boolean;
+  error: string | null;
+  dirty: boolean;
+}>({
+  field: {},
+  optionalFieldLines: {
+    goal2Goal: false,
+    halfway: false,
+    centerCircle: false,
+    penalty: false,
+  },
+  fieldLines: [],
+  fieldArcs: [],
+  presets: [],
+  loading: false,
+  saving: false,
+  error: null,
+  dirty: false,
+});
+
+// Presets are loaded separately from loadVirtualField: a preset endpoint that
+// can't be read (see the Go handler's graceful degradation) shouldn't stop
+// the actual field config from loading, and vice versa.
+export async function loadFieldPresets(): Promise<void> {
+  try {
+    const response = await fetch("/api/geometry/presets");
+    if (response.ok) {
+      virtualField.presets = (await response.json()) as FieldPreset[];
+    }
+  } catch {
+    // Presets are a convenience, not required for the editor to work -- an
+    // empty list just means the preset section has nothing to offer.
+  }
+}
+
+export async function loadVirtualField(): Promise<void> {
+  virtualField.loading = true;
+  virtualField.error = null;
+
+  try {
+    const [configRes, geometryRes] = await Promise.all([
+      fetch("/api/geometry/field"),
+      fetch("/api/geometry"),
+    ]);
+
+    if (!configRes.ok) {
+      throw new Error(`GET /api/geometry/field: ${String(configRes.status)}`);
+    }
+
+    const config = (await configRes.json()) as FieldConfigResponse;
+    virtualField.field = config.field;
+    virtualField.optionalFieldLines = config.optionalFieldLines;
+    virtualField.dirty = false;
+
+    if (geometryRes.ok) {
+      const geometry = (await geometryRes.json()) as GeometryResponse;
+      virtualField.fieldLines = geometry.geometry?.field?.fieldLines ?? [];
+      virtualField.fieldArcs = geometry.geometry?.field?.fieldArcs ?? [];
+    }
+  } catch (err) {
+    virtualField.error = err instanceof Error ? err.message : String(err);
+  } finally {
+    virtualField.loading = false;
+  }
+}
+
+export async function saveVirtualField(): Promise<void> {
+  virtualField.saving = true;
+  virtualField.error = null;
+
+  try {
+    const response = await fetch("/api/geometry/field", {
+      method: "PUT",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({
+        field: virtualField.field,
+        optionalFieldLines: virtualField.optionalFieldLines,
+      } satisfies FieldConfigResponse),
+    });
+
+    if (!response.ok) {
+      throw new Error(await response.text());
+    }
+
+    virtualField.dirty = false;
+
+    // The saved dimensions are also the source of truth for the sketch, and
+    // the server just regenerated fieldLines/fieldArcs from them.
+    const geometryRes = await fetch("/api/geometry");
+    if (geometryRes.ok) {
+      const geometry = (await geometryRes.json()) as GeometryResponse;
+      virtualField.fieldLines = geometry.geometry?.field?.fieldLines ?? [];
+      virtualField.fieldArcs = geometry.geometry?.field?.fieldArcs ?? [];
+    }
+  } catch (err) {
+    virtualField.error = err instanceof Error ? err.message : String(err);
+  } finally {
+    virtualField.saving = false;
+  }
+}
diff --git a/gui/frontend/src/lib/layout/ConfigNav.svelte b/gui/frontend/src/lib/layout/ConfigNav.svelte
new file mode 100644
index 0000000..ea19700
--- /dev/null
+++ b/gui/frontend/src/lib/layout/ConfigNav.svelte
@@ -0,0 +1,105 @@
+<script lang="ts">
+  import { nav, selectedInstance } from "./nav.svelte";
+  import { CONFIG_CATEGORIES } from "./configCategories";
+
+  let sharedCategories = $derived(
+    CONFIG_CATEGORIES.filter((c) => c.scope === "shared"),
+  );
+  let instanceCategories = $derived(
+    CONFIG_CATEGORIES.filter((c) => c.scope === "per-instance"),
+  );
+</script>
+
+<nav class="config-nav">
+  <h2>Shared</h2>
+  <ul>
+    {#each sharedCategories as category (category.id)}
+      <li>
+        <button
+          type="button"
+          class:selected={category.id === nav.selectedCategoryId}
+          onclick={() => {
+            nav.selectedCategoryId = category.id;
+          }}
+        >
+          {category.label}
+        </button>
+      </li>
+    {/each}
+  </ul>
+
+  <h2>
+    {#if selectedInstance()}
+      {selectedInstance()?.host} / cam {selectedInstance()?.cameraId}
+    {:else}
+      Per-instance (select one above)
+    {/if}
+  </h2>
+  <ul>
+    {#each instanceCategories as category (category.id)}
+      <li>
+        <button
+          type="button"
+          class:selected={category.id === nav.selectedCategoryId}
+          disabled={!selectedInstance()}
+          onclick={() => {
+            nav.selectedCategoryId = category.id;
+          }}
+        >
+          {category.label}
+        </button>
+      </li>
+    {/each}
+  </ul>
+</nav>
+
+<style>
+  .config-nav {
+    padding: 0.75rem;
+    overflow-y: auto;
+  }
+
+  h2 {
+    font-size: 0.85rem;
+    text-transform: uppercase;
+    letter-spacing: 0.05em;
+    margin: 0.75rem 0 0.4rem;
+    color: #555;
+  }
+
+  h2:first-child {
+    margin-top: 0;
+  }
+
+  ul {
+    list-style: none;
+    margin: 0;
+    padding: 0;
+  }
+
+  button {
+    display: block;
+    width: 100%;
+    padding: 0.35rem 0.5rem;
+    border: none;
+    background: none;
+    text-align: left;
+    font-size: 0.85rem;
+    border-radius: 4px;
+    cursor: pointer;
+  }
+
+  button:hover:not(:disabled) {
+    background: #f0f0f0;
+  }
+
+  button.selected {
+    background: #dbe9ff;
+    font-weight: 600;
+  }
+
+  button:disabled {
+    color: #bbb;
+    cursor: not-allowed;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/InstanceList.svelte b/gui/frontend/src/lib/layout/InstanceList.svelte
new file mode 100644
index 0000000..2e4b9a8
--- /dev/null
+++ b/gui/frontend/src/lib/layout/InstanceList.svelte
@@ -0,0 +1,83 @@
+<script lang="ts">
+  import { nav } from "./nav.svelte";
+</script>
+
+<section class="instance-list">
+  <h2>Vision processors</h2>
+  <p class="hint">
+    One row per camera role, not per machine -- a host running all 4 cameras of
+    a quad setup appears here 4 times. Mock data for now; see internal/discovery
+    in gui/CLAUDE.md's "Not yet built".
+  </p>
+
+  <ul>
+    {#each nav.instances as instance (instance.id)}
+      <li>
+        <button
+          type="button"
+          class:selected={instance.id === nav.selectedInstanceId}
+          onclick={() => {
+            nav.selectedInstanceId = instance.id;
+          }}
+        >
+          <span class="host">{instance.host}</span>
+          <span class="cam">cam {instance.cameraId}</span>
+        </button>
+      </li>
+    {/each}
+  </ul>
+</section>
+
+<style>
+  .instance-list {
+    padding: 0.75rem;
+    border-bottom: 1px solid #ddd;
+  }
+
+  h2 {
+    font-size: 0.85rem;
+    text-transform: uppercase;
+    letter-spacing: 0.05em;
+    margin: 0 0 0.4rem;
+    color: #555;
+  }
+
+  ul {
+    list-style: none;
+    margin: 0;
+    padding: 0;
+  }
+
+  button {
+    display: flex;
+    justify-content: space-between;
+    width: 100%;
+    padding: 0.4rem 0.5rem;
+    border: none;
+    background: none;
+    text-align: left;
+    font-size: 0.85rem;
+    border-radius: 4px;
+    cursor: pointer;
+  }
+
+  button:hover {
+    background: #f0f0f0;
+  }
+
+  button.selected {
+    background: #dbe9ff;
+    font-weight: 600;
+  }
+
+  .cam {
+    color: #666;
+  }
+
+  .hint {
+    color: #888;
+    font-size: 0.75rem;
+    font-style: italic;
+    margin: 0 0 0.5rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/MainContent.svelte b/gui/frontend/src/lib/layout/MainContent.svelte
new file mode 100644
index 0000000..b9f15be
--- /dev/null
+++ b/gui/frontend/src/lib/layout/MainContent.svelte
@@ -0,0 +1,28 @@
+<script lang="ts">
+  import { nav, selectedInstance, selectedCategory } from "./nav.svelte";
+  import TabBar from "./TabBar.svelte";
+  import FieldEditor from "../FieldEditor.svelte";
+  import GeometryPanel from "../config/GeometryPanel.svelte";
+  import ConfigCategoryPlaceholder from "../config/ConfigCategoryPlaceholder.svelte";
+
+  let category = $derived(selectedCategory());
+  let instance = $derived(selectedInstance());
+</script>
+
+<div class="main-content">
+  <TabBar />
+
+  {#if nav.selectedCategoryId === "field"}
+    <FieldEditor />
+  {:else if nav.selectedCategoryId === "geometry"}
+    <GeometryPanel {category} {instance} />
+  {:else}
+    <ConfigCategoryPlaceholder {category} {instance} />
+  {/if}
+</div>
+
+<style>
+  .main-content {
+    padding: 1rem 1.5rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/Shell.svelte b/gui/frontend/src/lib/layout/Shell.svelte
new file mode 100644
index 0000000..b06ae75
--- /dev/null
+++ b/gui/frontend/src/lib/layout/Shell.svelte
@@ -0,0 +1,107 @@
+<script lang="ts">
+  import { connectionState } from "../wrapper-bus";
+  import InstanceList from "./InstanceList.svelte";
+  import ConfigNav from "./ConfigNav.svelte";
+  import MainContent from "./MainContent.svelte";
+  import type { Snippet } from "svelte";
+
+  // `below` is where App.svelte puts the existing snapshot grid / WS dev
+  // panel for now, until they become the mockup's real Video + Debug Console
+  // (issue #18) -- see the note there. Keeping it a slot rather than baking
+  // it into this component so Shell stays just the layout, not a dumping
+  // ground for whatever hasn't found a permanent home yet.
+  interface Props {
+    below?: Snippet;
+  }
+
+  let { below }: Props = $props();
+</script>
+
+<div class="shell">
+  <header>
+    <h1>vision-processor</h1>
+    <span class="badge" data-state={$connectionState}>
+      {$connectionState}
+    </span>
+  </header>
+
+  <aside class="sidebar">
+    <InstanceList />
+    <ConfigNav />
+  </aside>
+
+  <main>
+    <MainContent />
+    {#if below}
+      <div class="below">
+        {@render below()}
+      </div>
+    {/if}
+  </main>
+</div>
+
+<style>
+  .shell {
+    display: grid;
+    grid-template-columns: 280px 1fr;
+    grid-template-rows: auto 1fr;
+    min-height: 100vh;
+    font-family: ui-sans-serif, system-ui, sans-serif;
+  }
+
+  header {
+    grid-column: 1 / -1;
+    display: flex;
+    align-items: center;
+    gap: 1rem;
+    padding: 0.75rem 1.5rem;
+    border-bottom: 1px solid #ddd;
+  }
+
+  h1 {
+    font-size: 1.1rem;
+    margin: 0;
+  }
+
+  .badge {
+    font-size: 0.75rem;
+    text-transform: uppercase;
+    letter-spacing: 0.05em;
+    padding: 0.2rem 0.5rem;
+    border-radius: 999px;
+    background: #ddd;
+    color: #333;
+  }
+
+  .badge[data-state="open"] {
+    background: #c8e6c9;
+    color: #1b5e20;
+  }
+
+  .badge[data-state="connecting"] {
+    background: #fff3cd;
+    color: #856404;
+  }
+
+  .badge[data-state="closed"] {
+    background: #f8d7da;
+    color: #721c24;
+  }
+
+  .sidebar {
+    display: flex;
+    flex-direction: column;
+    border-right: 1px solid #ddd;
+    overflow-y: auto;
+  }
+
+  main {
+    overflow-y: auto;
+  }
+
+  .below {
+    margin-top: 2rem;
+    padding: 1rem 1.5rem;
+    border-top: 1px solid #ddd;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/TabBar.svelte b/gui/frontend/src/lib/layout/TabBar.svelte
new file mode 100644
index 0000000..d59f48f
--- /dev/null
+++ b/gui/frontend/src/lib/layout/TabBar.svelte
@@ -0,0 +1,68 @@
+<script lang="ts">
+  import { nav } from "./nav.svelte";
+  import { CONFIG_CATEGORIES, TAB_CATEGORY_IDS } from "./configCategories";
+
+  // Same source data as the sidebar (CONFIG_CATEGORIES), just a curated
+  // subset in a fixed order -- both bind to nav.selectedCategoryId, so
+  // picking a tab here and picking the matching entry in the sidebar do the
+  // exact same thing and stay in sync automatically.
+  let tabs = $derived(
+    TAB_CATEGORY_IDS.map((id) =>
+      CONFIG_CATEGORIES.find((c) => c.id === id),
+    ).filter((c) => c !== undefined),
+  );
+</script>
+
+<div class="tab-bar" role="tablist">
+  {#each tabs as tab (tab.id)}
+    <button
+      type="button"
+      role="tab"
+      aria-selected={tab.id === nav.selectedCategoryId}
+      class:selected={tab.id === nav.selectedCategoryId}
+      class:shared={tab.scope === "shared"}
+      onclick={() => {
+        nav.selectedCategoryId = tab.id;
+      }}
+    >
+      {tab.label}
+    </button>
+  {/each}
+</div>
+
+<style>
+  .tab-bar {
+    display: flex;
+    gap: 0.25rem;
+    border-bottom: 1px solid #ddd;
+    margin-bottom: 1rem;
+  }
+
+  button {
+    padding: 0.5rem 1rem;
+    border: none;
+    border-bottom: 2px solid transparent;
+    background: none;
+    font-size: 0.9rem;
+    cursor: pointer;
+    color: #555;
+  }
+
+  button:hover {
+    color: #000;
+  }
+
+  button.selected {
+    color: #1a56db;
+    border-bottom-color: #1a56db;
+    font-weight: 600;
+  }
+
+  /* The one shared (non-per-instance) tab gets a visual break after it, so
+     it doesn't read as just another camera-specific setting. */
+  button.shared {
+    margin-right: 0.5rem;
+    padding-right: 1rem;
+    border-right: 1px solid #ddd;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/configCategories.ts b/gui/frontend/src/lib/layout/configCategories.ts
new file mode 100644
index 0000000..9afc2af
--- /dev/null
+++ b/gui/frontend/src/lib/layout/configCategories.ts
@@ -0,0 +1,158 @@
+// The left sidebar's lower nav list, one entry per config.yml top-level
+// section (see config.yml / config-camtest.yml at the repo root) plus one
+// for the shared field geometry. Field names/comments below are copied
+// straight from config.yml -- ground truth for whichever contributor builds
+// out a real form for a category, not invented.
+//
+// scope: "shared" categories are one thing for the whole deployment
+// (geometry.yml, edited by FieldEditor already). "per-instance" categories
+// are a single vision processor's own config.yml, which this host does not
+// yet read, write, or push to any instance -- see gui/CLAUDE.md's "Not yet
+// built". Their panels are placeholders until that exists.
+export type ConfigScope = "shared" | "per-instance";
+
+export interface ConfigField {
+  name: string;
+  comment: string;
+}
+
+export interface ConfigCategory {
+  id: string;
+  label: string;
+  scope: ConfigScope;
+  /** The config.yml top-level key this maps to, or null for the shared field geometry. */
+  yamlKey: string | null;
+  fields: ConfigField[];
+}
+
+export const CONFIG_CATEGORIES: ConfigCategory[] = [
+  {
+    id: "field",
+    label: "Virtual Field",
+    scope: "shared",
+    yamlKey: null, // geometry.yml's field: block, not config.yml
+    fields: [],
+  },
+  {
+    id: "camera",
+    label: "Camera",
+    scope: "per-instance",
+    yamlKey: "camera",
+    fields: [
+      { name: "driver", comment: "SPINNAKER, MVIMPACT, or OPENCV" },
+      { name: "id / path", comment: "Which camera device" },
+      { name: "width / height", comment: "0 = highest supported resolution" },
+      { name: "exposure", comment: "ms; 0.0 = automatic" },
+      { name: "gain", comment: "0.0 = automatic" },
+      { name: "gamma", comment: "1.0 = no gamma" },
+      { name: "white_balance", comment: "OUTDOOR/INDOOR, or manual red/blue" },
+    ],
+  },
+  {
+    id: "geometry",
+    label: "Geometry",
+    scope: "per-instance",
+    yamlKey: "geometry", // config.yml's geometry: block -- NOT geometry.yml's field:
+    fields: [
+      { name: "camera_amount", comment: "Total cameras over the field" },
+      {
+        name: "camera_height",
+        comment: "mm; 0.0 = automatic (fails if camera looks perpendicular)",
+      },
+      {
+        name: "line_corners",
+        comment:
+          "Pixel corners for calibration seeding -- this is what the Corner Picker below produces",
+      },
+      { name: "refinement", comment: "Field line pixel refinement toggle" },
+      { name: "field_line_threshold", comment: "0-255 brightness delta" },
+      { name: "min_line_segment_length", comment: "px" },
+      { name: "max_line_segment_offset", comment: "px" },
+      { name: "max_line_segment_angle", comment: "degrees" },
+    ],
+  },
+  {
+    id: "thresholds",
+    label: "Thresholds",
+    scope: "per-instance",
+    yamlKey: "thresholds",
+    fields: [
+      { name: "circularity", comment: "0 - 195075.0" },
+      { name: "score", comment: "min circularity/(3*stddev)" },
+      { name: "blobs", comment: "max blobs processed per frame" },
+      { name: "min_confidence", comment: "0.0 - 1.0" },
+      { name: "min_cam_edge_distance", comment: "mm" },
+      { name: "clipping_tolerance", comment: "mm" },
+      { name: "geometry_tolerance", comment: "mm" },
+    ],
+  },
+  {
+    id: "color",
+    label: "Color",
+    scope: "per-instance",
+    yamlKey: "color",
+    fields: [
+      { name: "reference_force", comment: "0.0 - 0.5-history_force/2" },
+      { name: "history_force", comment: "0.0 - 1.0-reference_force" },
+      { name: "orange / field", comment: "ball / carpet reference colors" },
+      { name: "yellow / blue", comment: "center blob reference colors" },
+      { name: "green / pink", comment: "side blob reference colors" },
+    ],
+  },
+  {
+    id: "tracking",
+    label: "Tracking",
+    scope: "per-instance",
+    yamlKey: "tracking",
+    fields: [
+      { name: "min_tracking_radius", comment: "mm" },
+      { name: "max_bot_acceleration", comment: "m/s^2" },
+    ],
+  },
+  {
+    id: "network",
+    label: "Network",
+    scope: "per-instance",
+    yamlKey: "network",
+    fields: [
+      { name: "gc_ip / gc_port", comment: "game controller multicast" },
+      { name: "vision_ip / vision_port", comment: "vision multicast" },
+    ],
+  },
+  {
+    id: "stream",
+    label: "Stream",
+    scope: "per-instance",
+    yamlKey: "stream",
+    fields: [
+      { name: "active", comment: "encode and send a live stream" },
+      { name: "raw_feed", comment: "raw camera footage only" },
+      { name: "ip_base_prefix / ip_base_end", comment: "stream destination" },
+      { name: "port", comment: "stream port" },
+    ],
+  },
+  {
+    id: "debug",
+    label: "Debug",
+    scope: "per-instance",
+    yamlKey: "debug",
+    // Not to be confused with the mockup's future "Debug Console" (a live log
+    // viewer over internal/hub) -- this is config.yml's debug: block, which
+    // controls the vision processor's own diagnostic image output.
+    fields: [
+      { name: "ground_truth", comment: "used by blob/geometry benchmarks" },
+      { name: "wait_for_geometry", comment: "hold frames until calibrated" },
+      { name: "debug_images", comment: "save additional debug images in img/" },
+      {
+        name: "debug_stream_interval_ms",
+        comment: "periodic img/.sample.<camId>.png while uncalibrated",
+      },
+    ],
+  },
+];
+
+// The main column's own horizontal tab bar: quick access to the categories
+// used constantly while working on one camera, separate from the sidebar's
+// full list of all nine. Start small and add to this as more categories earn
+// a spot -- it's deliberately a subset, not a duplicate of CONFIG_CATEGORIES.
+export const TAB_CATEGORY_IDS = ["field", "geometry", "color"];
diff --git a/gui/frontend/src/lib/layout/nav.svelte.ts b/gui/frontend/src/lib/layout/nav.svelte.ts
new file mode 100644
index 0000000..024a2c8
--- /dev/null
+++ b/gui/frontend/src/lib/layout/nav.svelte.ts
@@ -0,0 +1,50 @@
+// Shared navigation state for the two-column shell: which vision-role
+// instance and which config category are selected. A module-level $state
+// object, per the project convention (see CLAUDE.md).
+import { CONFIG_CATEGORIES, type ConfigCategory } from "./configCategories";
+
+// One row in the instance list: a single camera role on a single host, not a
+// machine. A host running all 4 cameras of a quad setup appears as 4 rows
+// sharing the same host, one per camera_id -- see the note in App.svelte
+// about internal/discovery not existing yet.
+export interface VisionInstance {
+  id: string;
+  host: string;
+  cameraId: number;
+}
+
+// TODO(discovery): mock data. Replace with instances built from SSL_VPConfig
+// announces once internal/discovery exists (see gui/CLAUDE.md's "Not yet
+// built"). Kept non-empty so the panel has something to click while that's
+// unbuilt, rather than looking broken.
+const MOCK_INSTANCES: VisionInstance[] = [
+  { id: "camtest:0", host: "camtest-host", cameraId: 0 },
+  { id: "camtest:1", host: "camtest-host", cameraId: 1 },
+];
+
+export const nav = $state<{
+  instances: VisionInstance[];
+  selectedInstanceId: string | null;
+  selectedCategoryId: string;
+}>({
+  instances: MOCK_INSTANCES,
+  selectedInstanceId: MOCK_INSTANCES[0]?.id ?? null,
+  selectedCategoryId: "field",
+});
+
+export function selectedInstance(): VisionInstance | undefined {
+  return nav.instances.find((i) => i.id === nav.selectedInstanceId);
+}
+
+export function selectedCategory(): ConfigCategory {
+  const found = CONFIG_CATEGORIES.find((c) => c.id === nav.selectedCategoryId);
+  if (found) return found;
+
+  // "field" is always present in CONFIG_CATEGORIES (see configCategories.ts);
+  // a thrown error here means that constant was edited to remove it, which
+  // is a real bug worth surfacing loudly rather than typing around.
+  const fallback = CONFIG_CATEGORIES.find((c) => c.id === "field");
+  if (fallback) return fallback;
+
+  throw new Error("CONFIG_CATEGORIES is missing the 'field' category");
+}
diff --git a/gui/frontend/src/lib/wrapper-bus.ts b/gui/frontend/src/lib/wrapper-bus.ts
index e6de7eb..d69f047 100644
--- a/gui/frontend/src/lib/wrapper-bus.ts
+++ b/gui/frontend/src/lib/wrapper-bus.ts
@@ -2,7 +2,9 @@ import { readable, type Readable } from "svelte/store";
 
 export type ConnectionState = "connecting" | "open" | "closed";
 
-const DEFAULT_URL = `ws://${location.hostname || "localhost"}:8765/ws`;
+// Same-origin: the Go host serves /ws itself, alongside /api and the frontend.
+// wss:// when the page itself was loaded over https.
+const DEFAULT_URL = `${location.protocol === "https:" ? "wss" : "ws"}://${location.host}/ws`;
 const BACKOFF_INITIAL_MS = 1_000;
 const BACKOFF_MAX_MS = 30_000;
 
diff --git a/gui/frontend/vite.config.ts b/gui/frontend/vite.config.ts
index 20d2272..a8c1525 100644
--- a/gui/frontend/vite.config.ts
+++ b/gui/frontend/vite.config.ts
@@ -4,4 +4,12 @@ import { svelte } from "@sveltejs/vite-plugin-svelte";
 // https://vite.dev/config/
 export default defineConfig({
   plugins: [svelte()],
+  server: {
+    // The Go host serves /api and /ws on :8085; everything else (this dev
+    // server) is same-origin so no CORS handling is needed on either side.
+    proxy: {
+      "/api": "http://localhost:8085",
+      "/ws": { target: "ws://localhost:8085", ws: true },
+    },
+  },
 });
diff --git a/gui/go.mod b/gui/go.mod
index 7282a95..619772b 100644
--- a/gui/go.mod
+++ b/gui/go.mod
@@ -7,3 +7,14 @@ require (
 	google.golang.org/protobuf v1.36.12
 	gopkg.in/natefinch/lumberjack.v2 v2.2.1
 )
+
+require gopkg.in/yaml.v3 v3.0.1
+
+require github.com/gorilla/websocket v1.5.3
+
+require (
+	github.com/RoboCup-SSL/ssl-go-tools v1.12.0
+	github.com/libp2p/go-reuseport v0.4.0 // indirect
+	golang.org/x/net v0.55.0 // indirect
+	golang.org/x/sys v0.45.0 // indirect
+)
diff --git a/gui/go.sum b/gui/go.sum
index 5ad9ae0..861e898 100644
--- a/gui/go.sum
+++ b/gui/go.sum
@@ -1,8 +1,28 @@
+github.com/RoboCup-SSL/ssl-go-tools v1.12.0 h1:sXN+VSlMSOtNdLD0MPCaig3vSlj3ZTz/KIi9uJR/dy0=
+github.com/RoboCup-SSL/ssl-go-tools v1.12.0/go.mod h1:Gqrqs0LAcXmCQD3Z+IPXxrqxS9xc9sWJolYQyi3AHbw=
+github.com/davecgh/go-spew v1.1.0 h1:ZDRjVQ15GmhC3fiQ8ni8+OwkZQO4DARzQgrnXU1Liz8=
+github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/google/go-cmp v0.7.0 h1:wk8382ETsv4JYUZwIsn6YpYiWiBsYLSJiTsyBybVuN8=
 github.com/google/go-cmp v0.7.0/go.mod h1:pXiqmnSA92OHEEa9HXL2W4E7lf9JzCmGVUdgjX3N/iU=
+github.com/gorilla/websocket v1.5.3 h1:saDtZ6Pbx/0u+bgYQ3q96pZgCzfhKXGPqt7kZ72aNNg=
+github.com/gorilla/websocket v1.5.3/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
+github.com/libp2p/go-reuseport v0.4.0 h1:nR5KU7hD0WxXCJbmw7r2rhRYruNRl2koHw8fQscQm2s=
+github.com/libp2p/go-reuseport v0.4.0/go.mod h1:ZtI03j/wO5hZVDFo2jKywN6bYKWLOy8Se6DrI2E1cLU=
 github.com/lmittmann/tint v1.2.0 h1:AogHRHy8HUJUnNJBHJlYa+fR4YY8mko2cnCp67xn9JY=
 github.com/lmittmann/tint v1.2.0/go.mod h1:HIS3gSy7qNwGCj+5oRjAutErFBl4BzdQP6cJZ0NfMwE=
+github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
+github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
+github.com/stretchr/testify v1.7.0 h1:nwc3DEeHmmLAfoZucVR881uASk0Mfjw8xYJ99tb5CcY=
+github.com/stretchr/testify v1.7.0/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
+golang.org/x/net v0.55.0 h1:bcvxaJn3e1U6InsFWt1JUq1aSjnRxLzT2rtD2KfkDF8=
+golang.org/x/net v0.55.0/go.mod h1:L5U2KuzuOe1lY7Z+aWVIKK6qEeJXnXV9yzGA+WCHJww=
+golang.org/x/sys v0.45.0 h1:dO4czNzziLiiXplLQgBCEpCvXQ3dnkn0SdaZSYdQ+FY=
+golang.org/x/sys v0.45.0/go.mod h1:4GL1E5IUh+htKOUEOaiffhrAeqysfVGipDYzABqnCmw=
 google.golang.org/protobuf v1.36.12 h1:pJOKDDOyeXErUroCihFAd5LQuwXBSpVnKGrj5o/fwxc=
 google.golang.org/protobuf v1.36.12/go.mod h1:HTf+CrKn2C3g5S8VImy6tdcUvCska2kB7j23XfzDpco=
+gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
+gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/natefinch/lumberjack.v2 v2.2.1 h1:bBRl1b0OH9s/DuPhuXpNl+VtCaJXFZ5/uEFST95x9zc=
 gopkg.in/natefinch/lumberjack.v2 v2.2.1/go.mod h1:YD8tP3GAjkrDg1eZH7EGmyESg/lsYskCTPBJVb9jqSc=
+gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA=
+gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
diff --git a/gui/internal/geometry/configfile.go b/gui/internal/geometry/configfile.go
new file mode 100644
index 0000000..3deadd9
--- /dev/null
+++ b/gui/internal/geometry/configfile.go
@@ -0,0 +1,116 @@
+package geometry
+
+import (
+	"bytes"
+	"encoding/json"
+	"errors"
+	"fmt"
+	"os"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/encoding/protojson"
+	"gopkg.in/yaml.v3"
+)
+
+type optionalLines struct {
+	Goal2Goal    *bool `yaml:"goal2goal"`
+	Halfway      *bool `yaml:"halfway"`
+	CenterCircle *bool `yaml:"centercircle"`
+	Penalty      *bool `yaml:"penalty"`
+}
+
+// Load reads path and returns the wrapper packet, the optional-line toggles
+// (not a proto field, so callers wanting to inspect or re-save them need it
+// separately), and whatever top-level YAML keys aren't "optional_field_lines"
+// or "field" (e.g. "models") so a later save can put them back unchanged.
+func Load(path string) (*vision.SSL_WrapperPacket, optionalLines, map[string]any, error) {
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return nil, optionalLines{}, nil, fmt.Errorf("read %s: %w", path, err)
+	}
+
+	var raw map[string]any
+	if err := yaml.Unmarshal(data, &raw); err != nil {
+		return nil, optionalLines{}, nil, fmt.Errorf("parse %s: %w", path, err)
+	}
+
+	lines, err := popOptionalLines(raw)
+	if err != nil {
+		return nil, optionalLines{}, nil, fmt.Errorf("%s: %w", path, err)
+	}
+
+	geometry, err := decodeGeometry(raw)
+	if err != nil {
+		return nil, optionalLines{}, nil, fmt.Errorf("%s: %w", path, err)
+	}
+
+	delete(raw, "field")
+
+	wrapper := &vision.SSL_WrapperPacket{
+		Geometry: geometry,
+		Source:   vision.SSL_Source_SSL_SOURCE_VISION_PROCESSOR.Enum(),
+	}
+
+	generateFieldMarkings(wrapper.GetGeometry().GetField(), lines)
+
+	return wrapper, lines, raw, nil
+}
+
+func popOptionalLines(raw map[string]any) (optionalLines, error) {
+	block, ok := raw["optional_field_lines"]
+	if !ok {
+		return optionalLines{}, errors.New("optional_field_lines: required block is missing")
+	}
+
+	delete(raw, "optional_field_lines")
+
+	return decodeOptionalLines(block)
+}
+
+func decodeOptionalLines(block any) (optionalLines, error) {
+	data, err := yaml.Marshal(block)
+	if err != nil {
+		return optionalLines{}, fmt.Errorf("optional_field_lines: %w", err)
+	}
+
+	decoder := yaml.NewDecoder(bytes.NewReader(data))
+	decoder.KnownFields(true)
+
+	var lines optionalLines
+	if err := decoder.Decode(&lines); err != nil {
+		return optionalLines{}, fmt.Errorf("optional_field_lines: %w", err)
+	}
+
+	return lines, lines.validate()
+}
+
+func (o optionalLines) validate() error {
+	var errs error
+
+	for key, value := range map[string]*bool{
+		"goal2goal":    o.Goal2Goal,
+		"halfway":      o.Halfway,
+		"centercircle": o.CenterCircle,
+		"penalty":      o.Penalty,
+	} {
+		if value == nil {
+			errs = errors.Join(errs, fmt.Errorf("optional_field_lines.%s: required", key))
+		}
+	}
+
+	return errs
+}
+
+func decodeGeometry(raw map[string]any) (*vision.SSL_GeometryData, error) {
+	data, err := json.Marshal(raw)
+	if err != nil {
+		return nil, fmt.Errorf("geometry: %w", err)
+	}
+
+	geometry := &vision.SSL_GeometryData{}
+	if err := protojson.Unmarshal(data, geometry); err != nil {
+		return nil, fmt.Errorf("geometry: %w", err)
+	}
+
+	return geometry, nil
+}
diff --git a/gui/internal/geometry/field.go b/gui/internal/geometry/field.go
new file mode 100644
index 0000000..2af0b05
--- /dev/null
+++ b/gui/internal/geometry/field.go
@@ -0,0 +1,87 @@
+package geometry
+
+import (
+	"math"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/proto"
+)
+
+// generateFieldMarkings appends the standard SSL lines and arcs derived from the
+// field dimensions. Markings the physical field lacks are skipped: publishing a
+// line the camera cannot see disturbs refinement calibration.
+//
+// Coordinates are in mm, with the origin at the field centre, +x towards the
+// right goal and +y towards the top touch line.
+func generateFieldMarkings(field *vision.SSL_GeometryFieldSize, optional optionalLines) {
+	var (
+		thickness     = float32(field.GetLineThickness())
+		halfLength    = float32(field.GetFieldLength()) / 2
+		halfWidth     = float32(field.GetFieldWidth()) / 2
+		penaltyLength = halfLength - float32(field.GetPenaltyAreaDepth())
+		halfPenalty   = float32(field.GetPenaltyAreaWidth()) / 2
+	)
+
+	addLine := func(shape vision.SSL_FieldShapeType, x1, y1, x2, y2 float32) {
+		field.FieldLines = append(field.FieldLines, &vision.SSL_FieldLineSegment{
+			// The name is the enum value's own spelling, which is what the rest
+			// of the league keys off.
+			Name:      proto.String(shape.String()),
+			P1:        &vision.Vector2F{X: proto.Float32(x1), Y: proto.Float32(y1)},
+			P2:        &vision.Vector2F{X: proto.Float32(x2), Y: proto.Float32(y2)},
+			Thickness: proto.Float32(thickness),
+			Type:      shape.Enum(),
+		})
+	}
+
+	// Touchlines and goal lines are always present: every field has them, and
+	// they bound the area the detector considers in play.
+	addLine(vision.SSL_FieldShapeType_TopTouchLine, -halfLength, halfWidth, halfLength, halfWidth)
+	addLine(vision.SSL_FieldShapeType_BottomTouchLine, -halfLength, -halfWidth, halfLength, -halfWidth)
+	addLine(vision.SSL_FieldShapeType_LeftGoalLine, -halfLength, -halfWidth, -halfLength, halfWidth)
+	addLine(vision.SSL_FieldShapeType_RightGoalLine, halfLength, -halfWidth, halfLength, halfWidth)
+
+	if optional.enabled(optional.Halfway) {
+		addLine(vision.SSL_FieldShapeType_HalfwayLine, 0, -halfWidth, 0, halfWidth)
+	}
+
+	if optional.enabled(optional.Goal2Goal) {
+		addLine(vision.SSL_FieldShapeType_CenterLine, -halfLength, 0, halfLength, 0)
+	}
+
+	if optional.enabled(optional.Penalty) {
+		addLine(vision.SSL_FieldShapeType_LeftPenaltyStretch,
+			-penaltyLength, -halfPenalty, -penaltyLength, halfPenalty)
+		addLine(vision.SSL_FieldShapeType_RightPenaltyStretch,
+			penaltyLength, -halfPenalty, penaltyLength, halfPenalty)
+		addLine(vision.SSL_FieldShapeType_LeftFieldLeftPenaltyStretch,
+			-halfLength, -halfPenalty, -penaltyLength, -halfPenalty)
+		addLine(vision.SSL_FieldShapeType_LeftFieldRightPenaltyStretch,
+			-halfLength, halfPenalty, -penaltyLength, halfPenalty)
+		addLine(vision.SSL_FieldShapeType_RightFieldLeftPenaltyStretch,
+			penaltyLength, halfPenalty, halfLength, halfPenalty)
+		addLine(vision.SSL_FieldShapeType_RightFieldRightPenaltyStretch,
+			penaltyLength, -halfPenalty, halfLength, -halfPenalty)
+	}
+
+	if optional.enabled(optional.CenterCircle) {
+		shape := vision.SSL_FieldShapeType_CenterCircle
+
+		field.FieldArcs = append(field.FieldArcs, &vision.SSL_FieldCircularArc{
+			Name:      proto.String(shape.String()),
+			Center:    &vision.Vector2F{X: proto.Float32(0), Y: proto.Float32(0)},
+			Radius:    proto.Float32(float32(field.GetCenterCircleRadius())),
+			A1:        proto.Float32(0),
+			A2:        proto.Float32(math.Pi * 2),
+			Thickness: proto.Float32(thickness),
+			Type:      shape.Enum(),
+		})
+	}
+}
+
+// enabled reads one of the optionalLines pointers. A nil pointer cannot occur
+// after validate, but treating it as off keeps a programming error from
+// publishing a marking the field does not have.
+func (o optionalLines) enabled(flag *bool) bool {
+	return flag != nil && *flag
+}
diff --git a/gui/internal/geometry/field_config.go b/gui/internal/geometry/field_config.go
new file mode 100644
index 0000000..1811032
--- /dev/null
+++ b/gui/internal/geometry/field_config.go
@@ -0,0 +1,245 @@
+package geometry
+
+import (
+	"errors"
+	"fmt"
+	"os"
+	"path/filepath"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/proto"
+	"gopkg.in/yaml.v3"
+)
+
+// ReadOnlyFiles are geometry files UpdateField refuses to overwrite: the
+// rulebook presets (see gui/frontend/src/lib/fieldPresets.ts, or rather --
+// once presets are read from these directly -- the sole source of truth for
+// them). Matched by base filename, wherever -geometryFile happens to point.
+//
+// This exists because it's an easy mistake to make once, not a hypothetical:
+// the default -geometryFile briefly was "geometry-divB.yml" itself, so the
+// very first Save in the Virtual Field editor would have silently overwritten
+// the tracked competition preset.
+var ReadOnlyFiles = map[string]bool{
+	"geometry-divA.yml": true,
+	"geometry-divB.yml": true,
+}
+
+// ReadOnlyError marks a save rejected because the target file is a protected
+// preset, not the caller's working config.
+type ReadOnlyError struct{ path string }
+
+func (e *ReadOnlyError) Error() string {
+	return fmt.Sprintf("%s is a read-only rulebook preset; point -geometryFile at a working copy instead", e.path)
+}
+
+// FieldConfig is the editable subset of SSL_GeometryFieldSize -- everything
+// except FieldLines/FieldArcs (generated, never hand-edited) and the fields
+// that live elsewhere (Calib is runtime state, not static config).
+type FieldConfig struct {
+	FieldLength               int32   `yaml:"field_length" json:"fieldLength"`
+	FieldWidth                int32   `yaml:"field_width" json:"fieldWidth"`
+	GoalWidth                 int32   `yaml:"goal_width" json:"goalWidth"`
+	GoalDepth                 int32   `yaml:"goal_depth" json:"goalDepth"`
+	GoalHeight                int32   `yaml:"goal_height" json:"goalHeight"`
+	PenaltyAreaDepth          int32   `yaml:"penalty_area_depth" json:"penaltyAreaDepth"`
+	PenaltyAreaWidth          int32   `yaml:"penalty_area_width" json:"penaltyAreaWidth"`
+	GoalCenterToPenaltyMark   int32   `yaml:"goal_center_to_penalty_mark" json:"goalCenterToPenaltyMark"`
+	BoundaryWidth             int32   `yaml:"boundary_width" json:"boundaryWidth"`
+	BoundaryWidthGoalLine     int32   `yaml:"boundary_width_goal_line" json:"boundaryWidthGoalLine"`
+	CenterCircleRadius        int32   `yaml:"center_circle_radius" json:"centerCircleRadius"`
+	LineThickness             int32   `yaml:"line_thickness" json:"lineThickness"`
+	BallRadius                float32 `yaml:"ball_radius" json:"ballRadius"`
+	MaxRobotRadius            float32 `yaml:"max_robot_radius" json:"maxRobotRadius"`
+	GoalSubstitutionAreaWidth int32   `yaml:"goal_substitution_area_width" json:"goalSubstitutionAreaWidth"`
+}
+
+// OptionalLinesConfig is optionalLines with concrete bools instead of
+// pointers -- an API request/response always supplies all four, so there's no
+// "missing" case to represent here the way there is when parsing a hand-edited
+// YAML file.
+type OptionalLinesConfig struct {
+	Goal2Goal    bool `json:"goal2Goal"`
+	Halfway      bool `json:"halfway"`
+	CenterCircle bool `json:"centerCircle"`
+	Penalty      bool `json:"penalty"`
+}
+
+// ValidationError marks a FieldConfig rejected by Validate -- the caller's
+// mistake, not ours. Callers such as the HTTP handler use errors.As to tell
+// this apart from an internal failure (e.g. a disk write error) and respond
+// 400 instead of 500.
+type ValidationError struct{ err error }
+
+func (v *ValidationError) Error() string { return v.err.Error() }
+func (v *ValidationError) Unwrap() error { return v.err }
+
+// Validate reports every dimension that can't be right, so a caller can
+// surface all of them at once rather than one failed PUT per typo.
+func (c FieldConfig) Validate() error {
+	var errs error
+
+	check := func(name string, value int32) {
+		if value <= 0 {
+			errs = errors.Join(errs, fmt.Errorf("%s: must be greater than 0, got %d", name, value))
+		}
+	}
+
+	check("field_length", c.FieldLength)
+	check("field_width", c.FieldWidth)
+	check("goal_width", c.GoalWidth)
+	check("goal_depth", c.GoalDepth)
+	check("boundary_width", c.BoundaryWidth)
+
+	if errs != nil {
+		return &ValidationError{errs}
+	}
+
+	return nil
+}
+
+// FieldConfig returns the current editable field dimensions and optional-line
+// toggles.
+func (g *Geometry) FieldConfig() (FieldConfig, OptionalLinesConfig) {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	return fieldConfigFrom(g.wrapper.GetGeometry().GetField(), g.optional)
+}
+
+// fieldConfigFrom reads a FieldConfig/OptionalLinesConfig pair out of a
+// decoded field size and its optional-line toggles. Shared by FieldConfig
+// (the live, held Geometry) and LoadPreset (an arbitrary file read fresh,
+// with no Geometry involved).
+func fieldConfigFrom(field *vision.SSL_GeometryFieldSize, optional optionalLines) (FieldConfig, OptionalLinesConfig) {
+	return FieldConfig{
+			FieldLength:               field.GetFieldLength(),
+			FieldWidth:                field.GetFieldWidth(),
+			GoalWidth:                 field.GetGoalWidth(),
+			GoalDepth:                 field.GetGoalDepth(),
+			GoalHeight:                field.GetGoalHeight(),
+			PenaltyAreaDepth:          field.GetPenaltyAreaDepth(),
+			PenaltyAreaWidth:          field.GetPenaltyAreaWidth(),
+			GoalCenterToPenaltyMark:   field.GetGoalCenterToPenaltyMark(),
+			BoundaryWidth:             field.GetBoundaryWidth(),
+			BoundaryWidthGoalLine:     field.GetBoundaryWidthGoalLine(),
+			CenterCircleRadius:        field.GetCenterCircleRadius(),
+			LineThickness:             field.GetLineThickness(),
+			BallRadius:                field.GetBallRadius(),
+			MaxRobotRadius:            field.GetMaxRobotRadius(),
+			GoalSubstitutionAreaWidth: field.GetGoalSubstitutionAreaWidth(),
+		}, OptionalLinesConfig{
+			Goal2Goal:    optional.enabled(optional.Goal2Goal),
+			Halfway:      optional.enabled(optional.Halfway),
+			CenterCircle: optional.enabled(optional.CenterCircle),
+			Penalty:      optional.enabled(optional.Penalty),
+		}
+}
+
+// LoadPreset reads a geometry YAML file fresh -- no Geometry instance, no
+// mutation of anything -- and returns its field dimensions and optional-line
+// toggles. Used to serve the rulebook presets (geometry-divA.yml,
+// geometry-divB.yml) straight from the same files a human would open, rather
+// than a copy that could drift from them.
+func LoadPreset(path string) (FieldConfig, OptionalLinesConfig, error) {
+	wrapper, optional, _, err := Load(path)
+	if err != nil {
+		return FieldConfig{}, OptionalLinesConfig{}, err
+	}
+
+	field, opt := fieldConfigFrom(wrapper.GetGeometry().GetField(), optional)
+
+	return field, opt, nil
+}
+
+// UpdateField replaces the field dimensions and optional-line toggles,
+// regenerates the derived field lines/arcs, and persists the change to the
+// file Geometry was loaded from. Existing calibrations are kept.
+//
+// Persisting rewrites the whole file, so hand-added comments in it do not
+// survive a save made through this path.
+func (g *Geometry) UpdateField(cfg FieldConfig, opt OptionalLinesConfig) error {
+	if err := cfg.Validate(); err != nil {
+		return err
+	}
+
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	// Checked before anything below mutates g.wrapper/g.optional: a rejected
+	// save must not leave the in-memory (and multicast-broadcast) state
+	// holding values that were never actually persisted.
+	if ReadOnlyFiles[filepath.Base(g.path)] {
+		return &ReadOnlyError{path: g.path}
+	}
+
+	field := &vision.SSL_GeometryFieldSize{
+		FieldLength:               proto.Int32(cfg.FieldLength),
+		FieldWidth:                proto.Int32(cfg.FieldWidth),
+		GoalWidth:                 proto.Int32(cfg.GoalWidth),
+		GoalDepth:                 proto.Int32(cfg.GoalDepth),
+		GoalHeight:                proto.Int32(cfg.GoalHeight),
+		PenaltyAreaDepth:          proto.Int32(cfg.PenaltyAreaDepth),
+		PenaltyAreaWidth:          proto.Int32(cfg.PenaltyAreaWidth),
+		GoalCenterToPenaltyMark:   proto.Int32(cfg.GoalCenterToPenaltyMark),
+		BoundaryWidth:             proto.Int32(cfg.BoundaryWidth),
+		BoundaryWidthGoalLine:     proto.Int32(cfg.BoundaryWidthGoalLine),
+		CenterCircleRadius:        proto.Int32(cfg.CenterCircleRadius),
+		LineThickness:             proto.Int32(cfg.LineThickness),
+		BallRadius:                proto.Float32(cfg.BallRadius),
+		MaxRobotRadius:            proto.Float32(cfg.MaxRobotRadius),
+		GoalSubstitutionAreaWidth: proto.Int32(cfg.GoalSubstitutionAreaWidth),
+	}
+
+	optional := optionalLines{
+		Goal2Goal:    &opt.Goal2Goal,
+		Halfway:      &opt.Halfway,
+		CenterCircle: &opt.CenterCircle,
+		Penalty:      &opt.Penalty,
+	}
+
+	generateFieldMarkings(field, optional)
+
+	g.wrapper.Geometry.Field = field
+	g.optional = optional
+
+	if err := g.reencode(); err != nil {
+		return fmt.Errorf("encode updated geometry: %w", err)
+	}
+
+	if err := g.saveYAML(cfg, opt); err != nil {
+		return fmt.Errorf("save %s: %w", g.path, err)
+	}
+
+	return nil
+}
+
+// saveYAML writes the current field config and optional-line toggles back to
+// g.path, merged with whatever other top-level keys (e.g. "models") were
+// present when it was loaded. Callers must hold mu.
+func (g *Geometry) saveYAML(cfg FieldConfig, opt OptionalLinesConfig) error {
+	if ReadOnlyFiles[filepath.Base(g.path)] {
+		return &ReadOnlyError{path: g.path}
+	}
+
+	out := map[string]any{
+		"optional_field_lines": map[string]bool{
+			"goal2goal":    opt.Goal2Goal,
+			"halfway":      opt.Halfway,
+			"centercircle": opt.CenterCircle,
+			"penalty":      opt.Penalty,
+		},
+		"field": cfg,
+	}
+
+	for k, v := range g.extra {
+		out[k] = v
+	}
+
+	data, err := yaml.Marshal(out)
+	if err != nil {
+		return err
+	}
+
+	return os.WriteFile(g.path, data, 0o644)
+}
diff --git a/gui/internal/geometry/field_config_test.go b/gui/internal/geometry/field_config_test.go
new file mode 100644
index 0000000..2eea80a
--- /dev/null
+++ b/gui/internal/geometry/field_config_test.go
@@ -0,0 +1,190 @@
+package geometry
+
+import (
+	"errors"
+	"os"
+	"path/filepath"
+	"testing"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+)
+
+func testConfig() FieldConfig {
+	return FieldConfig{
+		FieldLength:   2160,
+		FieldWidth:    1680,
+		GoalWidth:     280,
+		GoalDepth:     50,
+		BoundaryWidth: 100,
+		LineThickness: 10,
+	}
+}
+
+func testOptional() OptionalLinesConfig {
+	return OptionalLinesConfig{Halfway: true, Penalty: true}
+}
+
+func TestFieldConfigRoundTripsThroughGet(t *testing.T) {
+	g := testGeometry(t)
+
+	cfg := testConfig()
+	opt := testOptional()
+
+	if err := g.UpdateField(cfg, opt); err != nil {
+		t.Fatalf("UpdateField: %v", err)
+	}
+
+	gotCfg, gotOpt := g.FieldConfig()
+	if gotCfg != cfg {
+		t.Errorf("FieldConfig() = %+v, want %+v", gotCfg, cfg)
+	}
+
+	if gotOpt != opt {
+		t.Errorf("optional = %+v, want %+v", gotOpt, opt)
+	}
+}
+
+func TestUpdateFieldRegeneratesMarkings(t *testing.T) {
+	g := testGeometry(t)
+
+	if err := g.UpdateField(testConfig(), testOptional()); err != nil {
+		t.Fatalf("UpdateField: %v", err)
+	}
+
+	lines := g.Snapshot().GetGeometry().GetField().GetFieldLines()
+
+	// Halfway is on, goal2goal/centercircle are off: expect the 4 mandatory
+	// lines + HalfwayLine + the 6 penalty stretches, nothing else.
+	if len(lines) != 11 {
+		t.Fatalf("field lines = %d, want 11 (got %v)", len(lines), lines)
+	}
+}
+
+func TestUpdateFieldRejectsNonsenseDimensions(t *testing.T) {
+	g := testGeometry(t)
+
+	cfg := testConfig()
+	cfg.FieldLength = 0
+
+	if err := g.UpdateField(cfg, testOptional()); err == nil {
+		t.Fatal("UpdateField accepted a zero field_length")
+	}
+}
+
+func TestUpdateFieldKeepsExistingCalibrations(t *testing.T) {
+	g := testGeometry(t)
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400)}})
+
+	if err := g.UpdateField(testConfig(), testOptional()); err != nil {
+		t.Fatalf("UpdateField: %v", err)
+	}
+
+	if got := g.Snapshot().GetGeometry().GetCalib(); len(got) != 1 {
+		t.Fatalf("calib = %v, want the pre-existing entry kept", got)
+	}
+}
+
+// UpdateField persists to the file Geometry was loaded from. A second Load of
+// that same file must see the new dimensions, and "models" (which UpdateField
+// never touches) must have survived the round trip unchanged.
+func TestUpdateFieldPersistsAndPreservesExtraKeys(t *testing.T) {
+	dir := t.TempDir()
+	path := filepath.Join(dir, "geometry.yml")
+
+	src, err := os.ReadFile("testdata/geometry.yml")
+	if err != nil {
+		t.Fatalf("ReadFile fixture: %v", err)
+	}
+
+	fixtureWithModels := string(src) + "\nmodels:\n  straight_two_phase:\n    acc_slide: -3.4\n    acc_roll: -0.45\n    k_switch: 0.64\n"
+	if err := os.WriteFile(path, []byte(fixtureWithModels), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	g, err := New(path)
+	if err != nil {
+		t.Fatalf("New: %v", err)
+	}
+
+	cfg := testConfig()
+	if err := g.UpdateField(cfg, testOptional()); err != nil {
+		t.Fatalf("UpdateField: %v", err)
+	}
+
+	reloaded, err := New(path)
+	if err != nil {
+		t.Fatalf("New (reload): %v", err)
+	}
+
+	gotCfg, _ := reloaded.FieldConfig()
+	if gotCfg.FieldLength != cfg.FieldLength {
+		t.Errorf("reloaded field_length = %d, want %d", gotCfg.FieldLength, cfg.FieldLength)
+	}
+
+	models := reloaded.Snapshot().GetGeometry().GetModels()
+	if models.GetStraightTwoPhase().GetAccSlide() != -3.4 {
+		t.Errorf("models.straight_two_phase.acc_slide did not survive the save: %v", models)
+	}
+}
+
+// UpdateField must refuse to overwrite a file whose name matches a protected
+// rulebook preset -- and must not mutate any in-memory state on the way to
+// refusing, since a rejected save that still changed what's held in memory
+// would get broadcast over multicast despite never reaching disk.
+func TestUpdateFieldRefusesToOverwriteAPreset(t *testing.T) {
+	src, err := os.ReadFile("testdata/geometry.yml")
+	if err != nil {
+		t.Fatalf("ReadFile fixture: %v", err)
+	}
+
+	path := filepath.Join(t.TempDir(), "geometry-divB.yml")
+	if err := os.WriteFile(path, src, 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	g, err := New(path)
+	if err != nil {
+		t.Fatalf("New: %v", err)
+	}
+
+	before, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile before: %v", err)
+	}
+
+	beforeCfg, _ := g.FieldConfig()
+
+	var readOnly *ReadOnlyError
+	if err := g.UpdateField(testConfig(), testOptional()); !errors.As(err, &readOnly) {
+		t.Fatalf("UpdateField err = %v, want a *ReadOnlyError", err)
+	}
+
+	after, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile after: %v", err)
+	}
+
+	if string(before) != string(after) {
+		t.Error("file was modified despite the rejected save")
+	}
+
+	afterCfg, _ := g.FieldConfig()
+	if afterCfg != beforeCfg {
+		t.Errorf("in-memory config changed despite the rejected save: got %+v, want %+v", afterCfg, beforeCfg)
+	}
+}
+
+func TestLoadPresetReadsWithoutAGeometryInstance(t *testing.T) {
+	cfg, opt, err := LoadPreset("testdata/geometry.yml")
+	if err != nil {
+		t.Fatalf("LoadPreset: %v", err)
+	}
+
+	if cfg.FieldLength != 9000 {
+		t.Errorf("field_length = %d, want 9000", cfg.FieldLength)
+	}
+
+	if !opt.Halfway {
+		t.Error("halfway = false, want true (per the fixture)")
+	}
+}
diff --git a/gui/internal/geometry/geometry.go b/gui/internal/geometry/geometry.go
new file mode 100644
index 0000000..f639bf3
--- /dev/null
+++ b/gui/internal/geometry/geometry.go
@@ -0,0 +1,149 @@
+package geometry
+
+import (
+	"context"
+	"log/slog"
+	"sync"
+	"time"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/proto"
+)
+
+// PublishInterval is how often the merged wrapper packet is republished.
+const PublishInterval = time.Second
+
+// Geometry owns the field configuration and per-camera calibrations absorbed
+// from vision processors on the network.
+//
+// proto.Marshal writes to the message's size cache, so this is not a
+// read-without-locking type. mu guards every access to wrapper. encoded is the
+// last marshalled snapshot, kept so Run never has to marshal on its own.
+type Geometry struct {
+	mu       sync.Mutex
+	wrapper  *vision.SSL_WrapperPacket
+	encoded  []byte
+	path     string         // source file, for UpdateField's save-back
+	optional optionalLines  // retained so it can be read back and re-saved
+	extra    map[string]any // top-level YAML keys besides optional_field_lines/field (e.g. models), preserved verbatim on save
+}
+
+// New loads geometry.yml at path.
+func New(path string) (*Geometry, error) {
+	wrapper, optional, extra, err := Load(path)
+	if err != nil {
+		return nil, err
+	}
+
+	g := &Geometry{wrapper: wrapper, path: path, optional: optional, extra: extra}
+	if err := g.reencode(); err != nil {
+		return nil, err
+	}
+
+	slog.Info("loaded geometry", "path", path, "calibrations", len(wrapper.GetGeometry().GetCalib()))
+
+	return g, nil
+}
+
+// reencode refreshes encoded. Callers must hold mu.
+func (g *Geometry) reencode() error {
+	data, err := proto.Marshal(g.wrapper)
+	if err != nil {
+		return err
+	}
+
+	g.encoded = data
+
+	return nil
+}
+
+// Encoded returns the last marshalled SSL_WrapperPacket.
+func (g *Geometry) Encoded() []byte {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	return g.encoded
+}
+
+// Snapshot returns a deep copy of the current wrapper packet.
+func (g *Geometry) Snapshot() *vision.SSL_WrapperPacket {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	return proto.Clone(g.wrapper).(*vision.SSL_WrapperPacket)
+}
+
+// Absorb merges one incoming SSL_GeometryData into the held wrapper packet.
+// Unknown camera IDs are appended, unchanged ones are left alone, changed ones
+// are replaced. A calibration missing required fields is rejected before it
+// can touch stored state, so a bad message never desyncs wrapper from encoded.
+func (g *Geometry) Absorb(incoming *vision.SSL_GeometryData) {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	changed := false
+
+	for _, camera := range incoming.GetCalib() {
+		if err := proto.CheckInitialized(camera); err != nil {
+			slog.Warn("dropping incomplete calibration", "cam", camera.GetCameraId(), "err", err)
+			continue
+		}
+
+		if g.mergeCalib(camera) {
+			changed = true
+		}
+	}
+
+	if !changed {
+		return
+	}
+
+	if err := g.reencode(); err != nil {
+		slog.Error("re-encoding wrapper packet", "err", err)
+	}
+}
+
+// mergeCalib applies one camera's calibration, reporting whether it changed
+// anything. Callers must hold mu.
+func (g *Geometry) mergeCalib(camera *vision.SSL_GeometryCameraCalibration) bool {
+	calib := g.wrapper.GetGeometry().GetCalib()
+
+	for i, existing := range calib {
+		if existing.GetCameraId() != camera.GetCameraId() {
+			continue
+		}
+
+		if proto.Equal(existing, camera) {
+			return false
+		}
+
+		calib[i] = proto.Clone(camera).(*vision.SSL_GeometryCameraCalibration)
+		slog.Info("updated camera calibration", "cam", camera.GetCameraId())
+
+		return true
+	}
+
+	g.wrapper.Geometry.Calib = append(calib, proto.Clone(camera).(*vision.SSL_GeometryCameraCalibration))
+	slog.Info("added camera calibration", "cam", camera.GetCameraId())
+
+	return true
+}
+
+// Run republishes via publish once per PublishInterval until ctx is cancelled.
+func (g *Geometry) Run(ctx context.Context, publish func([]byte)) error {
+	return g.run(ctx, PublishInterval, publish)
+}
+
+func (g *Geometry) run(ctx context.Context, interval time.Duration, publish func([]byte)) error {
+	ticker := time.NewTicker(interval)
+	defer ticker.Stop()
+
+	for {
+		select {
+		case <-ctx.Done():
+			return ctx.Err()
+		case <-ticker.C:
+			publish(g.Encoded())
+		}
+	}
+}
diff --git a/gui/internal/geometry/geometry_test.go b/gui/internal/geometry/geometry_test.go
new file mode 100644
index 0000000..9b8f807
--- /dev/null
+++ b/gui/internal/geometry/geometry_test.go
@@ -0,0 +1,198 @@
+package geometry
+
+import (
+	"context"
+	"os"
+	"path/filepath"
+	"sync"
+	"testing"
+	"time"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/proto"
+)
+
+// testGeometry loads a *copy* of the fixture into a temp dir, never the
+// checked-in testdata/geometry.yml directly -- UpdateField writes back to
+// whatever path it was loaded from, and a test calling it against the shared
+// fixture would silently rewrite a tracked file on every run.
+func testGeometry(t *testing.T) *Geometry {
+	t.Helper()
+
+	src, err := os.ReadFile("testdata/geometry.yml")
+	if err != nil {
+		t.Fatalf("ReadFile fixture: %v", err)
+	}
+
+	path := filepath.Join(t.TempDir(), "geometry.yml")
+	if err := os.WriteFile(path, src, 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	g, err := New(path)
+	if err != nil {
+		t.Fatalf("New: %v", err)
+	}
+
+	return g
+}
+
+// calib builds a fully populated calibration: SSL_GeometryCameraCalibration
+// has a dozen required fields, and an incomplete one is rejected by Absorb.
+func calib(camID uint32, focalLength float32) *vision.SSL_GeometryCameraCalibration {
+	return &vision.SSL_GeometryCameraCalibration{
+		CameraId:        proto.Uint32(camID),
+		FocalLength:     proto.Float32(focalLength),
+		PrincipalPointX: proto.Float32(0),
+		PrincipalPointY: proto.Float32(0),
+		Distortion:      proto.Float32(0),
+		Q0:              proto.Float32(0),
+		Q1:              proto.Float32(0),
+		Q2:              proto.Float32(0),
+		Q3:              proto.Float32(1),
+		Tx:              proto.Float32(0),
+		Ty:              proto.Float32(0),
+		Tz:              proto.Float32(5000),
+	}
+}
+
+func TestAbsorbAppendsUnknownCamera(t *testing.T) {
+	g := testGeometry(t)
+
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400)}})
+
+	got := g.Snapshot().GetGeometry().GetCalib()
+	if len(got) != 1 || got[0].GetCameraId() != 0 || got[0].GetFocalLength() != 400 {
+		t.Fatalf("calib = %v, want one entry for camera 0", got)
+	}
+}
+
+func TestAbsorbReplacesChangedCamera(t *testing.T) {
+	g := testGeometry(t)
+
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400)}})
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 500)}})
+
+	got := g.Snapshot().GetGeometry().GetCalib()
+	if len(got) != 1 || got[0].GetFocalLength() != 500 {
+		t.Fatalf("calib = %v, want camera 0 updated to 500", got)
+	}
+}
+
+func TestAbsorbLeavesUnchangedCameraAlone(t *testing.T) {
+	g := testGeometry(t)
+
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400)}})
+	before := g.Encoded()
+
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400)}})
+	after := g.Encoded()
+
+	if string(before) != string(after) {
+		t.Fatalf("encoding changed on a no-op absorb")
+	}
+}
+
+func TestAbsorbHandlesMultipleCameras(t *testing.T) {
+	g := testGeometry(t)
+
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400), calib(1, 410)}})
+
+	got := g.Snapshot().GetGeometry().GetCalib()
+	if len(got) != 2 {
+		t.Fatalf("calib = %v, want 2 cameras", got)
+	}
+}
+
+func TestAbsorbRejectsIncompleteCalibration(t *testing.T) {
+	g := testGeometry(t)
+
+	incomplete := &vision.SSL_GeometryCameraCalibration{CameraId: proto.Uint32(0)}
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{incomplete}})
+
+	if got := g.Snapshot().GetGeometry().GetCalib(); len(got) != 0 {
+		t.Fatalf("calib = %v, want incomplete calibration dropped", got)
+	}
+}
+
+func TestEncodedMatchesSnapshot(t *testing.T) {
+	g := testGeometry(t)
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400)}})
+
+	var fromWire vision.SSL_WrapperPacket
+	if err := proto.Unmarshal(g.Encoded(), &fromWire); err != nil {
+		t.Fatalf("Unmarshal: %v", err)
+	}
+
+	if !proto.Equal(&fromWire, g.Snapshot()) {
+		t.Fatalf("Encoded() does not round-trip to Snapshot()")
+	}
+}
+
+// Exercises the concurrency contract under -race: Absorb, Encoded and Snapshot
+// from many goroutines at once.
+func TestConcurrentAbsorbAndRead(t *testing.T) {
+	g := testGeometry(t)
+
+	var wg sync.WaitGroup
+
+	for camID := range uint32(8) {
+		wg.Add(1)
+
+		go func() {
+			defer wg.Done()
+
+			for i := range 20 {
+				g.Absorb(&vision.SSL_GeometryData{
+					Calib: []*vision.SSL_GeometryCameraCalibration{calib(camID, float32(400+i))},
+				})
+			}
+		}()
+	}
+
+	for range 4 {
+		wg.Add(1)
+
+		go func() {
+			defer wg.Done()
+
+			for range 50 {
+				_ = g.Encoded()
+				_ = g.Snapshot()
+			}
+		}()
+	}
+
+	wg.Wait()
+
+	if got := len(g.Snapshot().GetGeometry().GetCalib()); got != 8 {
+		t.Fatalf("calib count = %d, want 8", got)
+	}
+}
+
+func TestRunPublishesUntilCancelled(t *testing.T) {
+	g := testGeometry(t)
+
+	ctx, cancel := context.WithCancel(context.Background())
+	published := make(chan []byte, 8)
+
+	done := make(chan error, 1)
+	go func() { done <- g.run(ctx, time.Millisecond, func(b []byte) { published <- b }) }()
+
+	select {
+	case <-published:
+	case <-time.After(time.Second):
+		t.Fatal("Run did not publish before timeout")
+	}
+
+	cancel()
+
+	select {
+	case err := <-done:
+		if err != context.Canceled {
+			t.Fatalf("Run returned %v, want context.Canceled", err)
+		}
+	case <-time.After(time.Second):
+		t.Fatal("Run did not exit after cancel")
+	}
+}
diff --git a/gui/internal/geometry/testdata/geometry.yml b/gui/internal/geometry/testdata/geometry.yml
new file mode 100644
index 0000000..850c64a
--- /dev/null
+++ b/gui/internal/geometry/testdata/geometry.yml
@@ -0,0 +1,23 @@
+# Minimal fixture for geometry package tests. Not a real match config.
+optional_field_lines:
+  goal2goal: true
+  halfway: true
+  centercircle: true
+  penalty: true
+
+field:
+  field_length: 9000
+  field_width: 6000
+  goal_width: 1000
+  goal_depth: 180
+  goal_height: 160
+  penalty_area_depth: 1000
+  penalty_area_width: 2000
+  goal_center_to_penalty_mark: 6000
+  boundary_width: 300
+  boundary_width_goal_line: 300
+  center_circle_radius: 500
+  line_thickness: 10
+  ball_radius: 21.5
+  max_robot_radius: 90.0
+  goal_substitution_area_width: 0
diff --git a/gui/internal/hub/hub.go b/gui/internal/hub/hub.go
new file mode 100644
index 0000000..f557d30
--- /dev/null
+++ b/gui/internal/hub/hub.go
@@ -0,0 +1,71 @@
+// Package hub is an in-process topic pub/sub for the browser-facing
+// WebSocket: Publish pushes JSON-encoded data onto a topic, Subscribe hands
+// back a size-1 channel of it. A slow subscriber sees only the latest value.
+package hub
+
+import "sync"
+
+// Hub fans published data out to subscribers by topic.
+type Hub struct {
+	mu   sync.Mutex
+	subs map[string]map[chan []byte]struct{}
+}
+
+// New returns an empty Hub.
+func New() *Hub {
+	return &Hub{subs: make(map[string]map[chan []byte]struct{})}
+}
+
+// Subscribe returns a channel of future values published to topic, and an
+// unsubscribe function the caller must call exactly once when done.
+func (h *Hub) Subscribe(topic string) (<-chan []byte, func()) {
+	ch := make(chan []byte, 1)
+
+	h.mu.Lock()
+	if h.subs[topic] == nil {
+		h.subs[topic] = make(map[chan []byte]struct{})
+	}
+	h.subs[topic][ch] = struct{}{}
+	h.mu.Unlock()
+
+	unsubscribe := func() {
+		h.mu.Lock()
+		defer h.mu.Unlock()
+
+		delete(h.subs[topic], ch)
+		if len(h.subs[topic]) == 0 {
+			delete(h.subs, topic)
+		}
+
+		// Closing under the same lock that removes ch from subs means Publish
+		// can never be mid-send to a channel this is about to close.
+		close(ch)
+	}
+
+	return ch, unsubscribe
+}
+
+// Publish sends data to every current subscriber of topic. A subscriber whose
+// channel is still holding an unread value has that value replaced, not
+// queued -- matching the size-1, drop-stale semantics the rest of the host
+// uses for anything published faster than a slow reader drains it.
+func (h *Hub) Publish(topic string, data []byte) {
+	h.mu.Lock()
+	defer h.mu.Unlock()
+
+	for ch := range h.subs[topic] {
+		select {
+		case ch <- data:
+		default:
+			select {
+			case <-ch:
+			default:
+			}
+
+			select {
+			case ch <- data:
+			default:
+			}
+		}
+	}
+}
diff --git a/gui/internal/hub/hub_test.go b/gui/internal/hub/hub_test.go
new file mode 100644
index 0000000..2e5da76
--- /dev/null
+++ b/gui/internal/hub/hub_test.go
@@ -0,0 +1,144 @@
+package hub
+
+import (
+	"sync"
+	"testing"
+	"time"
+)
+
+func TestPublishToNoSubscribersDoesNotPanic(t *testing.T) {
+	h := New()
+	h.Publish("nobody-listening", []byte("x"))
+}
+
+func TestSubscribeReceivesPublishedValue(t *testing.T) {
+	h := New()
+	ch, unsubscribe := h.Subscribe("geometry")
+	defer unsubscribe()
+
+	h.Publish("geometry", []byte(`{"a":1}`))
+
+	select {
+	case got := <-ch:
+		if string(got) != `{"a":1}` {
+			t.Errorf("got %q", got)
+		}
+	case <-time.After(time.Second):
+		t.Fatal("did not receive published value")
+	}
+}
+
+func TestPublishReachesEverySubscriber(t *testing.T) {
+	h := New()
+	ch1, unsub1 := h.Subscribe("geometry")
+	defer unsub1()
+	ch2, unsub2 := h.Subscribe("geometry")
+	defer unsub2()
+
+	h.Publish("geometry", []byte("v"))
+
+	for _, ch := range []<-chan []byte{ch1, ch2} {
+		select {
+		case <-ch:
+		case <-time.After(time.Second):
+			t.Fatal("a subscriber did not receive the value")
+		}
+	}
+}
+
+func TestPublishIsIsolatedByTopic(t *testing.T) {
+	h := New()
+	ch, unsubscribe := h.Subscribe("a")
+	defer unsubscribe()
+
+	h.Publish("b", []byte("for b"))
+
+	select {
+	case got := <-ch:
+		t.Fatalf("subscriber to a received %q, a publish to b", got)
+	case <-time.After(50 * time.Millisecond):
+	}
+}
+
+// unsubscribe closes the channel, giving a forwarding goroutine reading it a
+// clean stop signal instead of one that just goes quiet.
+func TestUnsubscribeClosesTheChannel(t *testing.T) {
+	h := New()
+	ch, unsubscribe := h.Subscribe("geometry")
+	unsubscribe()
+
+	select {
+	case got, ok := <-ch:
+		if ok {
+			t.Fatalf("channel not closed, received %q", got)
+		}
+	case <-time.After(time.Second):
+		t.Fatal("read from closed channel should not block")
+	}
+}
+
+// A slow subscriber sees only the latest value, matching the pattern used
+// elsewhere in the host (Geometry.Encoded, the Python bus this replaces).
+func TestSlowSubscriberSeesOnlyLatestValue(t *testing.T) {
+	h := New()
+	ch, unsubscribe := h.Subscribe("geometry")
+	defer unsubscribe()
+
+	h.Publish("geometry", []byte("first"))
+	h.Publish("geometry", []byte("second"))
+
+	select {
+	case got := <-ch:
+		if string(got) != "second" {
+			t.Fatalf("got %q, want the latest value only", got)
+		}
+	case <-time.After(time.Second):
+		t.Fatal("did not receive a value")
+	}
+
+	select {
+	case got := <-ch:
+		t.Fatalf("received a second value %q, want the dropped first one gone for good", got)
+	case <-time.After(50 * time.Millisecond):
+	}
+}
+
+func TestConcurrentSubscribePublishUnsubscribe(t *testing.T) {
+	h := New()
+
+	var wg sync.WaitGroup
+
+	for range 8 {
+		wg.Add(1)
+
+		go func() {
+			defer wg.Done()
+
+			for range 50 {
+				ch, unsubscribe := h.Subscribe("geometry")
+				h.Publish("geometry", []byte("v"))
+
+				select {
+				case <-ch:
+				default:
+				}
+
+				unsubscribe()
+			}
+		}()
+	}
+
+	for range 4 {
+		wg.Add(1)
+
+		go func() {
+			defer wg.Done()
+
+			for range 50 {
+				h.Publish("geometry", []byte("v"))
+			}
+		}()
+	}
+
+	wg.Wait()
+}
diff --git a/gui/internal/hub/websocket.go b/gui/internal/hub/websocket.go
new file mode 100644
index 0000000..fd112e6
--- /dev/null
+++ b/gui/internal/hub/websocket.go
@@ -0,0 +1,163 @@
+package hub
+
+import (
+	"encoding/json"
+	"log/slog"
+	"net/http"
+	"sync"
+	"time"
+
+	"github.com/gorilla/websocket"
+)
+
+const (
+	pongWait   = 60 * time.Second
+	pingPeriod = (pongWait * 9) / 10
+	writeWait  = 10 * time.Second
+)
+
+var upgrader = websocket.Upgrader{}
+
+// clientMessage is what a browser sends: {"action": "subscribe"|"unsubscribe", "topic": "..."}.
+type clientMessage struct {
+	Action string `json:"action"`
+	Topic  string `json:"topic"`
+}
+
+// serverMessage is what a browser receives: {"topic": "...", "data": <value>}.
+// Data is a RawMessage so an already-JSON-encoded publish is embedded as-is,
+// not re-encoded as a string.
+type serverMessage struct {
+	Topic string          `json:"topic"`
+	Data  json.RawMessage `json:"data"`
+}
+
+// HandleWebSocket upgrades the request and lets the client subscribe to and
+// unsubscribe from hub topics for the life of the connection.
+func HandleWebSocket(h *Hub) http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		conn, err := upgrader.Upgrade(w, r, nil)
+		if err != nil {
+			slog.Warn("websocket upgrade failed", "err", err)
+			return
+		}
+
+		serveConnection(h, conn)
+	}
+}
+
+// serveConnection owns one connection end to end: it reads client messages
+// itself, and runs exactly one other goroutine (writePump) that is the only
+// caller of conn.WriteMessage -- concurrent writers on one *websocket.Conn is
+// a data race, not just a bad idea.
+func serveConnection(h *Hub, conn *websocket.Conn) {
+	defer conn.Close()
+
+	outbound := make(chan []byte, 16)
+	unsubscribers := make(map[string]func())
+
+	var topics sync.WaitGroup
+
+	writeDone := make(chan struct{})
+	go func() {
+		writePump(conn, outbound)
+		close(writeDone)
+	}()
+
+	defer func() {
+		for _, unsubscribe := range unsubscribers {
+			unsubscribe()
+		}
+		// Every forwardTopic loop above now exits (its hub channel just
+		// closed), so nothing sends to outbound after this.
+		topics.Wait()
+		close(outbound)
+		<-writeDone
+	}()
+
+	conn.SetReadDeadline(time.Now().Add(pongWait))
+	conn.SetPongHandler(func(string) error {
+		return conn.SetReadDeadline(time.Now().Add(pongWait))
+	})
+
+	for {
+		var msg clientMessage
+		if err := conn.ReadJSON(&msg); err != nil {
+			return
+		}
+
+		switch msg.Action {
+		case "subscribe":
+			if _, already := unsubscribers[msg.Topic]; already {
+				continue
+			}
+
+			ch, unsubscribe := h.Subscribe(msg.Topic)
+			unsubscribers[msg.Topic] = unsubscribe
+
+			topics.Add(1)
+
+			go func(topic string, ch <-chan []byte) {
+				defer topics.Done()
+				forwardTopic(topic, ch, outbound)
+			}(msg.Topic, ch)
+		case "unsubscribe":
+			if unsubscribe, ok := unsubscribers[msg.Topic]; ok {
+				unsubscribe()
+				delete(unsubscribers, msg.Topic)
+			}
+		default:
+			slog.Warn("unknown websocket action", "action", msg.Action)
+		}
+	}
+}
+
+// forwardTopic relays one hub topic's values onto outbound until the topic is
+// unsubscribed (the hub channel closes).
+func forwardTopic(topic string, ch <-chan []byte, outbound chan<- []byte) {
+	for data := range ch {
+		envelope, err := json.Marshal(serverMessage{Topic: topic, Data: data})
+		if err != nil {
+			slog.Error("marshalling websocket envelope", "topic", topic, "err", err)
+			continue
+		}
+
+		select {
+		case outbound <- envelope:
+		default:
+			// This connection is behind; drop rather than block every other
+			// topic (and every other connection sharing the hub) on one slow
+			// client.
+		}
+	}
+}
+
+// writePump is the sole writer to conn: outbound messages plus a periodic
+// ping, so a client that vanished without a clean close (dead wifi, closed
+// laptop lid) is detected and this connection's goroutines get cleaned up
+// instead of leaking for the life of the process.
+func writePump(conn *websocket.Conn, outbound <-chan []byte) {
+	ticker := time.NewTicker(pingPeriod)
+	defer ticker.Stop()
+
+	for {
+		select {
+		case data, ok := <-outbound:
+			if !ok {
+				return
+			}
+
+			conn.SetWriteDeadline(time.Now().Add(writeWait))
+
+			if err := conn.WriteMessage(websocket.TextMessage, data); err != nil {
+				return
+			}
+		case <-ticker.C:
+			conn.SetWriteDeadline(time.Now().Add(writeWait))
+
+			if err := conn.WriteMessage(websocket.PingMessage, nil); err != nil {
+				return
+			}
+		}
+	}
+}
diff --git a/gui/internal/hub/websocket_test.go b/gui/internal/hub/websocket_test.go
new file mode 100644
index 0000000..96d5e4f
--- /dev/null
+++ b/gui/internal/hub/websocket_test.go
@@ -0,0 +1,118 @@
+package hub
+
+import (
+	"encoding/json"
+	"net/http/httptest"
+	"strings"
+	"testing"
+	"time"
+
+	"github.com/gorilla/websocket"
+)
+
+// dialTestServer starts an httptest server on HandleWebSocket(h) and returns a
+// connected client plus a closer.
+func dialTestServer(t *testing.T, h *Hub) *websocket.Conn {
+	t.Helper()
+
+	srv := httptest.NewServer(HandleWebSocket(h))
+	t.Cleanup(srv.Close)
+
+	wsURL := "ws" + strings.TrimPrefix(srv.URL, "http")
+
+	conn, _, err := websocket.DefaultDialer.Dial(wsURL, nil)
+	if err != nil {
+		t.Fatalf("Dial: %v", err)
+	}
+
+	t.Cleanup(func() { conn.Close() })
+
+	return conn
+}
+
+func readEnvelope(t *testing.T, conn *websocket.Conn) serverMessage {
+	t.Helper()
+
+	conn.SetReadDeadline(time.Now().Add(2 * time.Second))
+
+	var msg serverMessage
+	if err := conn.ReadJSON(&msg); err != nil {
+		t.Fatalf("ReadJSON: %v", err)
+	}
+
+	return msg
+}
+
+func TestWebSocketDeliversPublishedData(t *testing.T) {
+	h := New()
+	conn := dialTestServer(t, h)
+
+	if err := conn.WriteJSON(clientMessage{Action: "subscribe", Topic: "geometry"}); err != nil {
+		t.Fatalf("WriteJSON: %v", err)
+	}
+
+	// Subscribe is handled by the connection's read loop; give it a moment to
+	// register with the hub before publishing, or the publish can race ahead
+	// of it.
+	time.Sleep(50 * time.Millisecond)
+
+	h.Publish("geometry", []byte(`{"fieldLength":9000}`))
+
+	got := readEnvelope(t, conn)
+	if got.Topic != "geometry" {
+		t.Errorf("topic = %q, want geometry", got.Topic)
+	}
+
+	if string(got.Data) != `{"fieldLength":9000}` {
+		t.Errorf("data = %s, want the published bytes unchanged", got.Data)
+	}
+}
+
+func TestWebSocketUnsubscribeStopsDelivery(t *testing.T) {
+	h := New()
+	conn := dialTestServer(t, h)
+
+	if err := conn.WriteJSON(clientMessage{Action: "subscribe", Topic: "geometry"}); err != nil {
+		t.Fatalf("WriteJSON: %v", err)
+	}
+
+	time.Sleep(50 * time.Millisecond)
+
+	if err := conn.WriteJSON(clientMessage{Action: "unsubscribe", Topic: "geometry"}); err != nil {
+		t.Fatalf("WriteJSON: %v", err)
+	}
+
+	time.Sleep(50 * time.Millisecond)
+
+	h.Publish("geometry", []byte(`{"x":1}`))
+
+	conn.SetReadDeadline(time.Now().Add(200 * time.Millisecond))
+
+	var msg json.RawMessage
+	if err := conn.ReadJSON(&msg); err == nil {
+		t.Fatalf("received a message after unsubscribe: %s", msg)
+	}
+}
+
+func TestWebSocketTwoConnectionsOnSameTopic(t *testing.T) {
+	h := New()
+	a := dialTestServer(t, h)
+	b := dialTestServer(t, h)
+
+	for _, conn := range []*websocket.Conn{a, b} {
+		if err := conn.WriteJSON(clientMessage{Action: "subscribe", Topic: "geometry"}); err != nil {
+			t.Fatalf("WriteJSON: %v", err)
+		}
+	}
+
+	time.Sleep(50 * time.Millisecond)
+
+	h.Publish("geometry", []byte(`{"x":1}`))
+
+	for _, conn := range []*websocket.Conn{a, b} {
+		got := readEnvelope(t, conn)
+		if got.Topic != "geometry" {
+			t.Errorf("topic = %q, want geometry", got.Topic)
+		}
+	}
+}
diff --git a/gui/internal/multicast/bridge.go b/gui/internal/multicast/bridge.go
new file mode 100644
index 0000000..0c7a1da
--- /dev/null
+++ b/gui/internal/multicast/bridge.go
@@ -0,0 +1,70 @@
+// Package multicast wires the SSL vision multicast group to the geometry
+// service: inbound SSL_WrapperPacket.geometry is handed to an absorb callback,
+// and outbound bytes are sent back onto the same group.
+package multicast
+
+import (
+	"context"
+	"log/slog"
+	"net"
+
+	"github.com/RoboCup-SSL/ssl-go-tools/pkg/sslnet"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/proto"
+)
+
+// Bridge pairs a receiver and a sender on one multicast address. Our own
+// outbound packets loop back to the receiver (multicast loopback is on by
+// default); Absorb is idempotent, so this is harmless rather than special-cased.
+type Bridge struct {
+	server *sslnet.MulticastServer
+	client *sslnet.UdpClient
+}
+
+// New prepares a bridge on address (e.g. "224.5.23.2:10006"). skipInterfaces
+// excludes named network interfaces from both receive and send.
+func New(address string, skipInterfaces []string, verbose bool) *Bridge {
+	server := sslnet.NewMulticastServer(address)
+	server.SkipInterfaces = skipInterfaces
+	server.Verbose = verbose
+
+	client := sslnet.NewUdpClient(address, "")
+
+	return &Bridge{server: server, client: client}
+}
+
+// Run starts receiving until ctx is cancelled, calling absorb with the
+// geometry from every wrapper packet that carries one.
+func (b *Bridge) Run(ctx context.Context, absorb func(*vision.SSL_GeometryData)) error {
+	b.server.Consumer = func(data []byte, _ *net.UDPAddr) {
+		b.handleDatagram(data, absorb)
+	}
+
+	b.server.Start()
+	b.client.Start()
+
+	<-ctx.Done()
+
+	b.server.Stop()
+	b.client.Stop()
+
+	return ctx.Err()
+}
+
+// handleDatagram parses one datagram and, if it carries geometry, calls absorb.
+func (b *Bridge) handleDatagram(data []byte, absorb func(*vision.SSL_GeometryData)) {
+	var packet vision.SSL_WrapperPacket
+	if err := proto.Unmarshal(data, &packet); err != nil {
+		slog.Warn("dropping malformed wrapper packet", "err", err)
+		return
+	}
+
+	if geometry := packet.GetGeometry(); geometry != nil {
+		absorb(geometry)
+	}
+}
+
+// Send publishes data onto the multicast group.
+func (b *Bridge) Send(data []byte) {
+	b.client.Send(data)
+}
diff --git a/gui/internal/multicast/bridge_test.go b/gui/internal/multicast/bridge_test.go
new file mode 100644
index 0000000..8b7be4d
--- /dev/null
+++ b/gui/internal/multicast/bridge_test.go
@@ -0,0 +1,70 @@
+package multicast
+
+import (
+	"testing"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/proto"
+)
+
+// handleDatagram is exercised directly rather than through Run/Start, so these
+// tests need no real socket -- useful in sandboxes where multicast join may be
+// blocked.
+
+func TestHandleDatagramCallsAbsorbForGeometry(t *testing.T) {
+	b := New("224.5.23.2:10006", nil, false)
+
+	// SSL_GeometryData.field is a required proto2 field, so Marshal needs a
+	// complete SSL_GeometryFieldSize even though calib is what this test cares
+	// about; calib itself has 12 required fields per entry and is left empty.
+	packet := &vision.SSL_WrapperPacket{
+		Geometry: &vision.SSL_GeometryData{
+			Field: &vision.SSL_GeometryFieldSize{
+				FieldLength:   proto.Int32(9000),
+				FieldWidth:    proto.Int32(6000),
+				GoalWidth:     proto.Int32(1000),
+				GoalDepth:     proto.Int32(180),
+				BoundaryWidth: proto.Int32(300),
+			},
+		},
+	}
+
+	data, err := proto.Marshal(packet)
+	if err != nil {
+		t.Fatalf("Marshal: %v", err)
+	}
+
+	var got *vision.SSL_GeometryData
+	b.handleDatagram(data, func(g *vision.SSL_GeometryData) { got = g })
+
+	if got == nil || got.GetField().GetFieldLength() != 9000 {
+		t.Fatalf("absorb called with %v, want field_length 9000", got)
+	}
+}
+
+func TestHandleDatagramIgnoresPacketWithoutGeometry(t *testing.T) {
+	b := New("224.5.23.2:10006", nil, false)
+
+	data, err := proto.Marshal(&vision.SSL_WrapperPacket{})
+	if err != nil {
+		t.Fatalf("Marshal: %v", err)
+	}
+
+	called := false
+	b.handleDatagram(data, func(*vision.SSL_GeometryData) { called = true })
+
+	if called {
+		t.Fatal("absorb called for a packet with no geometry")
+	}
+}
+
+func TestHandleDatagramDropsMalformedData(t *testing.T) {
+	b := New("224.5.23.2:10006", nil, false)
+
+	called := false
+	b.handleDatagram([]byte("not a protobuf message"), func(*vision.SSL_GeometryData) { called = true })
+
+	if called {
+		t.Fatal("absorb called for malformed data")
+	}
+}
diff --git a/gui/internal/snapshot/snapshot.go b/gui/internal/snapshot/snapshot.go
new file mode 100644
index 0000000..a770774
--- /dev/null
+++ b/gui/internal/snapshot/snapshot.go
@@ -0,0 +1,151 @@
+// Package snapshot serves the debug images the C++ vision processor writes to
+// disk as <cam_id>.<view>.{jpg,png}, via tmp-then-rename so reads never see a
+// torn frame.
+//
+// This assumes the Go host and the vision processor share a filesystem, which
+// only holds for a single-host setup; it does not work for a remote instance.
+package snapshot
+
+import (
+	"encoding/json"
+	"log/slog"
+	"net/http"
+	"os"
+	"path/filepath"
+	"regexp"
+	"sort"
+)
+
+// filename matches "<cam_id>.<view>.<ext>", e.g. "0.raw.jpg". Both captured
+// groups are also validated against this same character set before use in a
+// filepath.Glob, since Glob treats *, ?, and [ as metacharacters and an
+// unvalidated view name could turn a lookup into a directory listing.
+var filename = regexp.MustCompile(`^(\d+)\.([a-zA-Z0-9_-]+)\.(?:jpg|jpeg|png)$`)
+
+// Entry identifies one available snapshot. Field names match what the
+// frontend already expects.
+type Entry struct {
+	CamID string `json:"cam_id"`
+	View  string `json:"view"`
+}
+
+// HandleList serves the set of snapshots currently on disk in dir.
+func HandleList(dir string) http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		entries, err := list(dir)
+		if err != nil {
+			slog.Error("listing snapshots", "dir", dir, "err", err)
+			http.Error(w, "internal error", http.StatusInternalServerError)
+
+			return
+		}
+
+		w.Header().Set("Content-Type", "application/json")
+
+		if err := json.NewEncoder(w).Encode(entries); err != nil {
+			slog.Error("writing snapshot list response", "err", err)
+		}
+	}
+}
+
+func list(dir string) ([]Entry, error) {
+	files, err := os.ReadDir(dir)
+	if os.IsNotExist(err) {
+		return []Entry{}, nil
+	}
+
+	if err != nil {
+		return nil, err
+	}
+
+	seen := make(map[Entry]struct{})
+
+	for _, f := range files {
+		m := filename.FindStringSubmatch(f.Name())
+		if m == nil {
+			continue
+		}
+
+		seen[Entry{CamID: m[1], View: m[2]}] = struct{}{}
+	}
+
+	entries := make([]Entry, 0, len(seen))
+	for e := range seen {
+		entries = append(entries, e)
+	}
+
+	// os.ReadDir order is directory-entry order, not usefully sorted for a UI,
+	// and map iteration is randomised on top of that -- fix an order so the
+	// grid does not reshuffle itself every 5s poll.
+	sort.Slice(entries, func(i, j int) bool {
+		if entries[i].CamID != entries[j].CamID {
+			return entries[i].CamID < entries[j].CamID
+		}
+
+		return entries[i].View < entries[j].View
+	})
+
+	return entries, nil
+}
+
+// validSegment matches one path-value component of a snapshot request: digits
+// for a camera id, or the same character set the filename itself uses for a
+// view name.
+var validSegment = regexp.MustCompile(`^[a-zA-Z0-9_-]+$`)
+
+// HandleGet serves the most recently written {camID}.{view}.* file in dir.
+func HandleGet(dir string) http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		camID := r.PathValue("camID")
+		view := r.PathValue("view")
+
+		if !validSegment.MatchString(camID) || !validSegment.MatchString(view) {
+			http.NotFound(w, r)
+
+			return
+		}
+
+		path, err := latest(dir, camID, view)
+		if err != nil {
+			slog.Error("finding snapshot", "cam", camID, "view", view, "err", err)
+			http.Error(w, "internal error", http.StatusInternalServerError)
+
+			return
+		}
+
+		if path == "" {
+			http.NotFound(w, r)
+
+			return
+		}
+
+		http.ServeFile(w, r, path)
+	}
+}
+
+// latest returns the most recently modified file matching dir/camID.view.*, or
+// "" if none exists.
+func latest(dir, camID, view string) (string, error) {
+	matches, err := filepath.Glob(filepath.Join(dir, camID+"."+view+".*"))
+	if err != nil {
+		return "", err
+	}
+
+	var (
+		newest     string
+		newestTime int64
+	)
+
+	for _, path := range matches {
+		info, err := os.Stat(path)
+		if err != nil {
+			continue
+		}
+
+		if t := info.ModTime().UnixNano(); t > newestTime {
+			newest, newestTime = path, t
+		}
+	}
+
+	return newest, nil
+}
diff --git a/gui/internal/snapshot/snapshot_test.go b/gui/internal/snapshot/snapshot_test.go
new file mode 100644
index 0000000..bcb188c
--- /dev/null
+++ b/gui/internal/snapshot/snapshot_test.go
@@ -0,0 +1,160 @@
+package snapshot
+
+import (
+	"encoding/json"
+	"net/http"
+	"net/http/httptest"
+	"os"
+	"path/filepath"
+	"testing"
+	"time"
+)
+
+func writeFile(t *testing.T, dir, name string) {
+	t.Helper()
+
+	if err := os.WriteFile(filepath.Join(dir, name), []byte(name), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+}
+
+func TestListReturnsEmptyForMissingDir(t *testing.T) {
+	entries, err := list(filepath.Join(t.TempDir(), "does-not-exist"))
+	if err != nil {
+		t.Fatalf("list: %v", err)
+	}
+
+	if len(entries) != 0 {
+		t.Errorf("entries = %v, want empty", entries)
+	}
+}
+
+func TestListFindsMatchingFilesAndSkipsOthers(t *testing.T) {
+	dir := t.TempDir()
+	writeFile(t, dir, "0.raw.jpg")
+	writeFile(t, dir, "1.calib.png")
+	writeFile(t, dir, "not-a-snapshot.txt")
+	writeFile(t, dir, "0.calib.json") // legacy / non-image extension
+
+	entries, err := list(dir)
+	if err != nil {
+		t.Fatalf("list: %v", err)
+	}
+
+	want := []Entry{{CamID: "0", View: "raw"}, {CamID: "1", View: "calib"}}
+	if len(entries) != len(want) {
+		t.Fatalf("entries = %v, want %v", entries, want)
+	}
+
+	for i, e := range want {
+		if entries[i] != e {
+			t.Errorf("entries[%d] = %v, want %v", i, entries[i], e)
+		}
+	}
+}
+
+func TestListDedupesSameCameraAndView(t *testing.T) {
+	dir := t.TempDir()
+	writeFile(t, dir, "0.raw.jpg")
+	writeFile(t, dir, "0.raw.png")
+
+	entries, err := list(dir)
+	if err != nil {
+		t.Fatalf("list: %v", err)
+	}
+
+	if len(entries) != 1 {
+		t.Fatalf("entries = %v, want a single deduped entry", entries)
+	}
+}
+
+func TestHandleListServesJSON(t *testing.T) {
+	dir := t.TempDir()
+	writeFile(t, dir, "0.raw.jpg")
+
+	rec := httptest.NewRecorder()
+	HandleList(dir).ServeHTTP(rec, httptest.NewRequest(http.MethodGet, "/api/snapshots", nil))
+
+	if rec.Code != http.StatusOK {
+		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
+	}
+
+	var got []Entry
+	if err := json.Unmarshal(rec.Body.Bytes(), &got); err != nil {
+		t.Fatalf("Unmarshal: %v", err)
+	}
+
+	if len(got) != 1 || got[0] != (Entry{CamID: "0", View: "raw"}) {
+		t.Errorf("got %v", got)
+	}
+}
+
+func snapshotMux(dir string) http.Handler {
+	mux := http.NewServeMux()
+	mux.Handle("GET /api/snapshot/{camID}/{view}", HandleGet(dir))
+
+	return mux
+}
+
+func TestHandleGetServesTheFile(t *testing.T) {
+	dir := t.TempDir()
+	writeFile(t, dir, "0.raw.jpg")
+
+	rec := httptest.NewRecorder()
+	snapshotMux(dir).ServeHTTP(rec, httptest.NewRequest(http.MethodGet, "/api/snapshot/0/raw", nil))
+
+	if rec.Code != http.StatusOK {
+		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
+	}
+
+	if rec.Body.String() != "0.raw.jpg" {
+		t.Errorf("body = %q, want file contents", rec.Body.String())
+	}
+}
+
+func TestHandleGetServesTheMostRecentlyModifiedMatch(t *testing.T) {
+	dir := t.TempDir()
+	writeFile(t, dir, "0.raw.jpg")
+
+	oldPath := filepath.Join(dir, "0.raw.jpg")
+	if err := os.Chtimes(oldPath, time.Now().Add(-time.Hour), time.Now().Add(-time.Hour)); err != nil {
+		t.Fatalf("Chtimes: %v", err)
+	}
+
+	writeFile(t, dir, "0.raw.png") // written just now, newer
+
+	rec := httptest.NewRecorder()
+	snapshotMux(dir).ServeHTTP(rec, httptest.NewRequest(http.MethodGet, "/api/snapshot/0/raw", nil))
+
+	if rec.Body.String() != "0.raw.png" {
+		t.Errorf("body = %q, want the newer file", rec.Body.String())
+	}
+}
+
+func TestHandleGetReturns404ForNoMatch(t *testing.T) {
+	dir := t.TempDir()
+
+	rec := httptest.NewRecorder()
+	snapshotMux(dir).ServeHTTP(rec, httptest.NewRequest(http.MethodGet, "/api/snapshot/9/raw", nil))
+
+	if rec.Code != http.StatusNotFound {
+		t.Errorf("status = %d, want %d", rec.Code, http.StatusNotFound)
+	}
+}
+
+// A view name containing glob metacharacters must not turn into a directory
+// listing, and must not escape dir via a crafted segment.
+func TestHandleGetRejectsUnsafeSegments(t *testing.T) {
+	dir := t.TempDir()
+	writeFile(t, dir, "0.raw.jpg")
+
+	for _, view := range []string{"*", "..", "raw/../../etc"} {
+		req := httptest.NewRequest(http.MethodGet, "/api/snapshot/0/"+view, nil)
+		rec := httptest.NewRecorder()
+		snapshotMux(dir).ServeHTTP(rec, req)
+
+		if rec.Code == http.StatusOK {
+			t.Errorf("view=%q: status = 200, want rejected", view)
+		}
+	}
+}
diff --git a/pyproject.toml b/pyproject.toml
deleted file mode 100644
index f52c3e2..0000000
--- a/pyproject.toml
+++ /dev/null
@@ -1,30 +0,0 @@
-[project]
-name = "vision-wrapper"
-version = "0.1.0"
-requires-python = ">=3.12"
-dependencies = [
-    "aiohttp>=3.10",
-    "protobuf>=7.34.1",
-    "pyyaml>=6.0.3",
-]
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-dev = [
-    "mypy>=2.0.0",
-    "pre-commit>=4.6.0",
-    "ruff>=0.15.12",
-    "types-protobuf>=7.34.1.20260503",
-    "types-pyyaml>=6.0.12.20260408",
-]
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-[tool.mypy]
-files = ["wrapper_backend"]
-exclude = ["wrapper_backend/proto/"]
-mypy_path = "wrapper_backend"
-
-[[tool.mypy.overrides]]
-module = "python_bindings"
-ignore_missing_imports = true
-
-[tool.ruff]
-src = ["wrapper_backend"]
diff --git a/start_wrapper.sh b/start_wrapper.sh
deleted file mode 100755
index bd5e7dc..0000000
--- a/start_wrapper.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-cd "$(dirname "$0")"
-exec uv run python -m wrapper_backend "${1:-geometry-divB.yml}" "${@:2}"
diff --git a/uv.lock b/uv.lock
deleted file mode 100644
index e936951..0000000
--- a/uv.lock
+++ /dev/null
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diff --git a/wrapper_backend/CLAUDE.md b/wrapper_backend/CLAUDE.md
deleted file mode 100644
index cc36d53..0000000
--- a/wrapper_backend/CLAUDE.md
+++ /dev/null
@@ -1,42 +0,0 @@
-# CLAUDE.md — wrapper_backend
-
-Async Python application replacing `python/geom_publisher.py`. Owned by uv; managed via `pyproject.toml` at repo root.
-
-## Commands
-
-All run from repo root.
-
-- Run: `./start_wrapper.sh [geometry-X.yml]` (or `uv run python -m wrapper_backend geometry.yml`)
-- Type check: `uv run mypy wrapper_backend/`
-- Lint: `uv run ruff check wrapper_backend/`
-- Format: `uv run ruff format wrapper_backend/`
-- Pre-commit (manual run on wrapper files): `uv run pre-commit run --files wrapper_backend/*.py`
-
-## Architecture
-
-An `aiohttp.web.Application` owns the listener (default `:8765`). Each feature module exposes `register(http_app, ...)` which adds its routes and any cleanup hooks. `__main__.py` builds the app, calls each `register`, runs an `AppRunner` + `TCPSite`, and then drives the geometry publisher loop. Modules:
-
-- `bus.py` — every `subscribe(topic)` returns its own size-1 `asyncio.Queue`. `publish` drains-then-puts; slow subscribers see only the latest value.
-- `multicast.py` — `asyncio.DatagramProtocol` UDP. Inbound parses `SSL_WrapperPacket` and demuxes into `geometry.in` / `detection.in`. Outbound subscribes to `wrapper_packet.out` (bytes) and `sendto`s.
-- `geometry.py` — owns `geometry.yml` + in-memory `SSL_WrapperPacket`. Two tasks: `_absorb_loop` (replace-or-append calibs) and `_publish_loop` (1 Hz emit). Both share `self._wrapper`; no locks because asyncio doesn't preempt between non-`await` statements. Publisher serialises to bytes before publishing so the snapshot is locked-in before the multicast adapter awaits.
-- `websocket.py` — aiohttp WS at `/ws`. Lazy per-topic bus subscription: a channel's bus-reader task starts when the first client joins and stops when the last leaves. Each connected client owns its own size-1 outbound queue (slow clients drop intermediate frames). Read-only for now; envelope (`{"topic": ..., "data": ...}` and `{"action": ..., "topic": ...}`) is symmetric so inbound commands can be added later without breaking the wire format. Topic-to-JSON encoders live in `_TOPIC_ENCODERS`.
-- `snapshot.py` — two aiohttp routes. `GET /snapshots` walks `img/` and returns matching `<cam_id>.<view>.{jpg,png}` filenames as a JSON list of `{cam_id, view}` (legacy / non-matching files are filtered by a regex). `GET /snapshot/{cam_id}/{view}` globs `img/{cam_id}.{view}.*` and streams the most-recently-modified match via `web.FileResponse` (sendfile-backed, 404 when nothing matches). The C++ `SnapshotWriter` writes those files via `tmp → rename`, so reads are torn-frame-free without coordination.
-
-Topics: `geometry.in`, `detection.in` (inbound demuxed), `wrapper_packet.out` (outbound bytes).
-
-## Gotchas
-
-- `ParseDict` runs strict (no `ignore_unknown_fields`). A typo in `geometry.yml` raises at startup. Don't add forgiveness.
-- `optional_field_lines:` controls the SSL markings that may be absent on lab/exhibition carpets: `goal2goal` (CenterLine), `halfway` (HalfwayLine), `centercircle` (CenterCircle arc), `penalty` (the six penalty-area stretches). Touchlines and goal lines are always emitted. The block and all four keys are required — `load_geometry` pops the block before `ParseDict` so strict parse still rejects typos elsewhere, and missing keys raise `KeyError` rather than silently defaulting.
-- Two `# type: ignore[assignment]` on `SSL_FieldShapeType.Value(...)` calls are unavoidable: `types-protobuf` types `Value()` as `int` while proto enum fields are typed as the enum.
-- Protocol definitions live in the `proto/` git submodule (`RoboCup-SSL/ssl-protocol-defs`, `main`); the `.proto` sources are under `proto/proto/vision/`. Generated proto bindings are NOT committed. `wrapper_backend/__init__.py` calls the submodule's shared generator `proto/python/python_bindings.py` on first import if `wrapper_backend/proto/vision/ssl_vision_wrapper_pb2.py` is missing; that helper nests the bindings under `proto` and rewrites protoc's generated cross-imports (`from vision import ...` -> `from proto.vision import ...`), which is what makes them importable. It then prepends `wrapper_backend/` to `sys.path` so `from proto.vision.* import ...` resolves to `wrapper_backend/proto/vision/`. mypy uses `mypy_path = "wrapper_backend"` and excludes `wrapper_backend/proto/` to mirror this.
-- `python/` scripts (`geom_publisher.py`, `cam_viewer.py`, benchmarks) are NOT covered by the wrapper's tooling. They keep running on system Python; never modify them as part of wrapper work unless explicitly asked.
-- Pre-commit hooks are scoped to `^wrapper_backend/` for ruff. Don't widen the scope without reason — would reformat all the legacy `python/` files.
-
-## CLI flags
-
-Dash form only: `--vision-ip`, `--vision-port`, `--host`, `--port`. `geom_publisher.py`'s underscore form is dropped.
-
-## Out-of-scope (planned but not yet built)
-
-`vision_processor` subprocess supervisor, calib persistence to `geometry.yml`, production static-build serving (Svelte `dist/` mounted as `web.static('/')`). Each will be an additive module subscribing to the bus or registering routes — don't restructure existing modules to anticipate them.
diff --git a/wrapper_backend/README.md b/wrapper_backend/README.md
deleted file mode 100644
index 2fea25a..0000000
--- a/wrapper_backend/README.md
+++ /dev/null
@@ -1,85 +0,0 @@
-# wrapper_backend
-
-Python application that owns the field geometry and (eventually) the browser-based calibration UI for `vision_processor`. Replaces `python/geom_publisher.py` with a modular asyncio base that other modules — web server, WebSocket bridge, `vision_processor` supervisor — can plug into without touching existing code.
-
-## Run
-
-```
-./start_wrapper.sh                          # uses geometry-divB.yml
-./start_wrapper.sh geometry-divA.yml        # different config
-./start_wrapper.sh geometry-divB.yml --vision-port 10100
-./start_wrapper.sh geometry-divB.yml --port 9000
-```
-
-The wrapper loads the given `geometry-*.yml`, broadcasts an `SSL_WrapperPacket` at 1 Hz on the multicast bus (default `224.5.23.2:10006`), and absorbs incoming per-camera calibrations into its in-memory state. Logs go to stderr.
-
-## Architecture
-
-The wrapper is a single asyncio process listening on `:8765`. Inside,
-modules don't call each other directly; they talk through an in-process
-pub/sub bus. From the outside, this is what it does:
-
-- Listens for SSL vision multicast traffic on UDP and parses it.
-- Folds incoming per-camera calibrations into one merged geometry state.
-- Re-broadcasts that merged state back onto the multicast group at 1 Hz.
-- Exposes the same internal topics to the browser frontend over WebSocket.
-- Serves the debug images that the C++ side writes to disk.
-
-### Files
-
-Each file is one module. In rough "outside-in" order:
-
-- **`multicast.py`** — the UDP I/O layer. Receives `SSL_WrapperPacket`s
-  from the multicast group, splits them into geometry / detection topics,
-  and sends our own merged packets back out.
-- **`geometry.py`** — the brains. Holds one in-memory `SSL_WrapperPacket`,
-  replaces or appends per-camera calibrations as they arrive, and emits
-  the current state once a second.
-- **`websocket.py`** — the WebSocket endpoint at `/ws`. Lets browser
-  clients subscribe to any bus topic and receive frames as JSON. Client
-  side lives in `wrapper-frontend/src/lib/wrapper-bus.ts`.
-- **`snapshot.py`** — the debug-image endpoints. `GET /snapshots`
-  returns the list of `{cam_id, view}` entries currently on disk;
-  `GET /snapshot/<cam_id>/<view>` serves the JPEG/PNG itself. Files are
-  written by the C++ `SnapshotWriter` into `img/`, which is hardcoded on
-  both sides (relative to each process's cwd).
-- **`bus.py`** — the pub/sub bus everything else talks through. Each
-  subscriber gets its own size-1 queue, so slow readers see only the
-  latest message and never block publishers.
-- **`__main__.py`** — entry point. Parses CLI args, sets up logging, and
-  wires all the modules above onto one aiohttp app.
-
-### Topics on the bus
-
-| Topic | Payload | Written by | Read by |
-|---|---|---|---|
-| `geometry.in` | `SSL_GeometryData` | `multicast.py` (inbound) | `geometry.py` |
-| `detection.in` | `SSL_DetectionFrame` | `multicast.py` (inbound) | (none yet) |
-| `wrapper_packet.out` | serialised `SSL_WrapperPacket` bytes | `geometry.py` | `multicast.py` (outbound), `websocket.py` |
-
-## Development
-
-Project is managed by [uv](https://astral.sh/uv). On a fresh clone:
-
-```
-uv sync                       # install deps + dev deps
-uv run pre-commit install     # enable git hooks
-```
-
-Day-to-day:
-
-```
-uv run mypy wrapper_backend/
-uv run ruff check wrapper_backend/
-uv run ruff format wrapper_backend/
-```
-
-The pre-commit hook runs ruff (`--fix` + format) scoped to `wrapper_backend/` and mypy on every commit. Existing `python/` scripts are not subject to the new tooling and keep running against the system Python.
-
-Type stubs for `protobuf` and `pyyaml` are dev deps. The two `# type: ignore[assignment]` on `SSL_FieldShapeType.Value(...)` calls in `geometry.py` work around an upstream `types-protobuf` stub mismatch (`Value()` is typed as returning `int` while proto enum fields are typed as the enum).
-
-## Behavioural deltas vs `python/geom_publisher.py`
-
-- **Strict YAML parsing.** `ParseDict` runs without `ignore_unknown_fields`, so a typo in `geometry.yml` raises at startup instead of being silently dropped.
-- **`default_lines:` renamed to `optional_field_lines:`** with all four toggles required. See `wrapper_backend/CLAUDE.md` for details.
-- **Dash-form CLI flags only** (`--vision-ip`, `--vision-port`, `--host`, `--port`). The underscore form is dropped.
diff --git a/wrapper_backend/__init__.py b/wrapper_backend/__init__.py
deleted file mode 100644
index b669cde..0000000
--- a/wrapper_backend/__init__.py
+++ /dev/null
@@ -1,39 +0,0 @@
-from __future__ import annotations
-
-import pathlib
-import sys
-
-_BACKEND_DIR = pathlib.Path(__file__).resolve().parent
-_REPO_ROOT = _BACKEND_DIR.parent
-_PROTO_DEFS = _REPO_ROOT / "proto"
-_PROTO_SRC = _PROTO_DEFS / "proto" / "vision"
-_PROTO_OUT = _BACKEND_DIR / "proto" / "vision"
-
-sys.path.insert(0, str(_PROTO_DEFS / "python"))
-from python_bindings import generate_python_bindings  # noqa: E402
-
-
-def _bindings_are_stale() -> bool:
-    outputs = list(_PROTO_OUT.glob("*_pb2.py"))
-    if not outputs:
-        return True
-    sources = list(_PROTO_SRC.glob("*.proto"))
-    if not sources:
-        return True
-    oldest_out = min(o.stat().st_mtime for o in outputs)
-    newest_src = max(s.stat().st_mtime for s in sources)
-    return newest_src > oldest_out
-
-
-if _bindings_are_stale():
-    print("Compiling Protobuf files...", file=sys.stderr)
-    # The generator nests everything under `proto` and rewrites the generated
-    # cross-imports to match; see proto/python/python_bindings.py for why bare
-    # `--python_out` is not enough.
-    generate_python_bindings(
-        out_dir=_BACKEND_DIR, package="proto", includes=["vision", "gamecontroller"]
-    )
-
-# The generated package is `wrapper_backend/proto/`, so `wrapper_backend/` must
-# be on sys.path for `from proto.vision.* import ...` to resolve.
-sys.path.insert(0, str(_BACKEND_DIR))
diff --git a/wrapper_backend/__main__.py b/wrapper_backend/__main__.py
deleted file mode 100644
index 06e2aab..0000000
--- a/wrapper_backend/__main__.py
+++ /dev/null
@@ -1,79 +0,0 @@
-"""CLI entrypoint for the wrapper.
-
-Run with:
-
-    uv run python -m wrapper_backend geometry.yml
-"""
-
-from __future__ import annotations
-
-import argparse
-import asyncio
-import logging
-from pathlib import Path
-
-from collections.abc import Awaitable, Callable
-
-from aiohttp import web
-
-from wrapper_backend import snapshot, websocket
-from wrapper_backend.bus import Bus
-from wrapper_backend.geometry import Geometry
-from wrapper_backend.multicast import Multicast
-
-log = logging.getLogger("wrapper_backend")
-
-
-@web.middleware
-async def _cors_middleware(
-    request: web.Request,
-    handler: Callable[[web.Request], Awaitable[web.StreamResponse]],
-) -> web.StreamResponse:
-    # Dev-mode wide-open CORS so the Vite dev server on :5173 can call
-    # /snapshots and /ws from a different origin. Tighten before prod.
-    response = await handler(request)
-    response.headers["Access-Control-Allow-Origin"] = "*"
-    return response
-
-
-async def _main() -> None:
-    parser = argparse.ArgumentParser(prog="wrapper")
-    parser.add_argument("geometry", type=Path, help="geometry.yml path")
-    parser.add_argument("--vision-ip", default="224.5.23.2")
-    parser.add_argument("--vision-port", type=int, default=10006)
-    parser.add_argument("--host", default="0.0.0.0")
-    parser.add_argument("--port", type=int, default=8765)
-    args = parser.parse_args()
-
-    bus = Bus()
-    multicast = Multicast(bus, args.vision_ip, args.vision_port)
-    geometry = Geometry(bus, args.geometry)
-
-    http_app = web.Application(middlewares=[_cors_middleware])
-    websocket.register(http_app, bus)
-    snapshot.register(http_app, Path("img"))
-
-    http_runner = web.AppRunner(http_app)
-    await http_runner.setup()
-    http_site = web.TCPSite(http_runner, args.host, args.port)
-    await http_site.start()
-    log.info("http+ws listening on %s:%d", args.host, args.port)
-
-    try:
-        await multicast.start()
-        await geometry.run()
-    finally:
-        await http_runner.cleanup()
-        await multicast.close()
-
-
-def main() -> None:
-    logging.basicConfig(
-        level=logging.INFO,
-        format="%(asctime)s %(name)s %(levelname)s %(message)s",
-    )
-    asyncio.run(_main())
-
-
-if __name__ == "__main__":
-    main()
diff --git a/wrapper_backend/bus.py b/wrapper_backend/bus.py
deleted file mode 100644
index c79c912..0000000
--- a/wrapper_backend/bus.py
+++ /dev/null
@@ -1,41 +0,0 @@
-"""In-process async pub/sub with watch-channel semantics.
-
-Each subscriber gets its own size-1 asyncio.Queue. On publish, every
-subscriber's queue is drained-then-filled with the new message. Slow
-subscribers see only the latest value at the time they wake up;
-intermediate values are dropped.
-"""
-
-from __future__ import annotations
-
-import asyncio
-from typing import Any
-
-
-class Bus:
-    def __init__(self) -> None:
-        self._subs: dict[str, list[asyncio.Queue[Any]]] = {}
-
-    def subscribe(self, topic: str) -> asyncio.Queue[Any]:
-        queue: asyncio.Queue[Any] = asyncio.Queue(maxsize=1)
-        self._subs.setdefault(topic, []).append(queue)
-        return queue
-
-    def publish(self, topic: str, msg: Any) -> None:
-        for queue in self._subs.get(topic, ()):
-            try:
-                queue.get_nowait()
-            except asyncio.QueueEmpty:
-                pass
-            queue.put_nowait(msg)
-
-    def unsubscribe(self, topic: str, queue: asyncio.Queue[Any]) -> None:
-        subs = self._subs.get(topic)
-        if subs is None:
-            return
-        try:
-            subs.remove(queue)
-        except ValueError:
-            return
-        if not subs:
-            del self._subs[topic]
diff --git a/wrapper_backend/geometry.py b/wrapper_backend/geometry.py
deleted file mode 100644
index ec2e023..0000000
--- a/wrapper_backend/geometry.py
+++ /dev/null
@@ -1,175 +0,0 @@
-"""Owns geometry.yml + the in-memory SSL_WrapperPacket.
-
-Two concurrent tasks:
-- _absorb_loop: subscribe to geometry.in, replace-or-append per-camera
-  calibrations into the SSL_WrapperPacket.
-- _publish_loop: every second, the SSL_WrapperPacket on wrapper_packet.out.
-"""
-
-from __future__ import annotations
-
-import asyncio
-import logging
-import math
-from pathlib import Path
-
-import yaml
-from google.protobuf.json_format import ParseDict
-
-from proto.vision.ssl_vision_geometry_pb2 import (
-    SSL_FieldShapeType,
-    SSL_GeometryData,
-)
-from proto.vision.ssl_vision_wrapper_pb2 import (
-    SSL_SOURCE_VISION_PROCESSOR,
-    SSL_WrapperPacket,
-)
-from wrapper_backend.bus import Bus
-
-log = logging.getLogger("wrapper_backend.geometry")
-
-PUBLISH_INTERVAL_S = 1.0
-
-
-def _generate_field_markings(
-    wrapper: SSL_WrapperPacket, field: dict, optional_lines: dict
-) -> None:
-    lines = wrapper.geometry.field.field_lines
-
-    thickness = field["line_thickness"]
-    half_length = field["field_length"] / 2
-    half_width = field["field_width"] / 2
-    penalty_length = half_length - field["penalty_area_depth"]
-    half_penalty = field["penalty_area_width"] / 2
-
-    def add_line(name: str, x1: float, y1: float, x2: float, y2: float) -> None:
-        line = lines.add()
-        line.name = name
-        line.p1.x = x1
-        line.p1.y = y1
-        line.p2.x = x2
-        line.p2.y = y2
-        line.thickness = thickness
-        line.type = SSL_FieldShapeType.Value(name)  # type: ignore[assignment]
-
-    add_line("TopTouchLine", -half_length, half_width, half_length, half_width)
-    add_line("BottomTouchLine", -half_length, -half_width, half_length, -half_width)
-    add_line("LeftGoalLine", -half_length, -half_width, -half_length, half_width)
-    add_line("RightGoalLine", half_length, -half_width, half_length, half_width)
-    if optional_lines["halfway"]:
-        add_line("HalfwayLine", 0, -half_width, 0, half_width)
-    if optional_lines["goal2goal"]:
-        add_line("CenterLine", -half_length, 0, half_length, 0)
-    if optional_lines["penalty"]:
-        add_line(
-            "LeftPenaltyStretch",
-            -penalty_length,
-            -half_penalty,
-            -penalty_length,
-            half_penalty,
-        )
-        add_line(
-            "RightPenaltyStretch",
-            penalty_length,
-            -half_penalty,
-            penalty_length,
-            half_penalty,
-        )
-        add_line(
-            "LeftFieldLeftPenaltyStretch",
-            -half_length,
-            -half_penalty,
-            -penalty_length,
-            -half_penalty,
-        )
-        add_line(
-            "LeftFieldRightPenaltyStretch",
-            -half_length,
-            half_penalty,
-            -penalty_length,
-            half_penalty,
-        )
-        add_line(
-            "RightFieldLeftPenaltyStretch",
-            penalty_length,
-            half_penalty,
-            half_length,
-            half_penalty,
-        )
-        add_line(
-            "RightFieldRightPenaltyStretch",
-            penalty_length,
-            -half_penalty,
-            half_length,
-            -half_penalty,
-        )
-
-    if optional_lines["centercircle"]:
-        arc = wrapper.geometry.field.field_arcs.add()
-        arc.name = "CenterCircle"
-        arc.type = SSL_FieldShapeType.Value(arc.name)  # type: ignore[assignment]
-        arc.center.x = 0.0
-        arc.center.y = 0.0
-        arc.radius = field["center_circle_radius"]
-        arc.a1 = 0
-        arc.a2 = math.tau
-        arc.thickness = thickness
-
-
-def load_geometry(path: Path) -> SSL_WrapperPacket:
-    with path.open("r") as f:
-        config = yaml.safe_load(f)
-
-    optional_lines = config.pop("optional_field_lines")
-    wrapper = SSL_WrapperPacket()
-    ParseDict(config, wrapper.geometry)
-    _generate_field_markings(wrapper, config["field"], optional_lines)
-    wrapper.source = SSL_SOURCE_VISION_PROCESSOR
-    return wrapper
-
-
-class Geometry:
-    def __init__(self, bus: Bus, geometry_yml_path: Path) -> None:
-        self._bus = bus
-        self._wrapper = load_geometry(geometry_yml_path)
-        log.info(
-            "loaded %s with %d initial calib(s)",
-            geometry_yml_path,
-            len(self._wrapper.geometry.calib),
-        )
-
-    async def run(self) -> None:
-        await asyncio.gather(
-            self._absorb_loop(),
-            self._publish_loop(),
-        )
-
-    async def _absorb_loop(self) -> None:
-        queue = self._bus.subscribe("geometry.in")
-        while True:
-            incoming: SSL_GeometryData = await queue.get()
-            self._merge_calibs(incoming)
-
-    async def _publish_loop(self) -> None:
-        while True:
-            self._bus.publish("wrapper_packet.out", self._wrapper.SerializeToString())
-            await asyncio.sleep(PUBLISH_INTERVAL_S)
-
-    def _merge_calibs(self, incoming: SSL_GeometryData) -> None:
-        calib = self._wrapper.geometry.calib
-        by_id = {c.camera_id: c for c in calib}
-        for camera in incoming.calib:
-            existing = by_id.get(camera.camera_id)
-
-            # Initial calibration received for camera. Store it
-            if existing is None:
-                calib.append(camera)
-                log.info("Added camera %d calibration", camera.camera_id)
-                continue
-            incoming_bytes = camera.SerializeToString(deterministic=True)
-
-            # Don't update if nothing changed
-            if existing.SerializeToString(deterministic=True) == incoming_bytes:
-                continue
-            existing.CopyFrom(camera)
-            log.info("Updated camera %d calibration", camera.camera_id)
diff --git a/wrapper_backend/multicast.py b/wrapper_backend/multicast.py
deleted file mode 100644
index 0c306d1..0000000
--- a/wrapper_backend/multicast.py
+++ /dev/null
@@ -1,107 +0,0 @@
-"""Async multicast UDP I/O.
-
-Inbound: parse SSL_WrapperPacket and demux to geometry.in / detection.in.
-Outbound: subscribe to wrapper_packet.out, sendto raw bytes.
-"""
-
-from __future__ import annotations
-
-import asyncio
-import logging
-import socket
-import struct
-
-from google.protobuf.message import DecodeError
-
-from proto.vision.ssl_vision_wrapper_pb2 import SSL_WrapperPacket
-from wrapper_backend.bus import Bus
-
-log = logging.getLogger("wrapper_backend.multicast")
-
-
-class _MulticastToBus(asyncio.DatagramProtocol):
-    def __init__(self, bus: Bus) -> None:
-        self._bus = bus
-
-    def datagram_received(self, data: bytes, addr: tuple[str, int]) -> None:
-        packet = SSL_WrapperPacket()
-        try:
-            packet.ParseFromString(data)
-        except DecodeError as exc:
-            log.warning("dropping malformed datagram from %s: %s", addr, exc)
-            return
-
-        if packet.HasField("geometry"):
-            self._bus.publish("geometry.in", packet.geometry)
-        if packet.HasField("detection"):
-            self._bus.publish("detection.in", packet.detection)
-
-
-class _BusToMulticast:
-    def __init__(
-        self,
-        bus: Bus,
-        transport: asyncio.DatagramTransport,
-        target: tuple[str, int],
-    ) -> None:
-        self._bus = bus
-        self._transport = transport
-        self._target = target
-
-    async def run(self) -> None:
-        queue = self._bus.subscribe("wrapper_packet.out")
-        while True:
-            payload: bytes = await queue.get()
-            self._transport.sendto(payload, self._target)
-
-
-class Multicast:
-    def __init__(self, bus: Bus, group: str, port: int) -> None:
-        self._bus = bus
-        self._group = group
-        self._port = port
-        self._transport: asyncio.DatagramTransport | None = None
-        self._bus_to_multicast: asyncio.Task[None] | None = None
-
-    async def start(self) -> None:
-        # Join multicast
-        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
-        sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 32)
-        sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-        sock.bind((self._group, self._port))
-        sock.setsockopt(
-            socket.IPPROTO_IP,
-            socket.IP_ADD_MEMBERSHIP,
-            struct.pack("4sl", socket.inet_aton(self._group), socket.INADDR_ANY),
-        )
-
-        loop = asyncio.get_running_loop()
-
-        # Start multicast -> bus task
-        transport, _protocol = await loop.create_datagram_endpoint(
-            lambda: _MulticastToBus(self._bus),
-            sock=sock,
-        )
-        self._transport = transport
-
-        # Start bus -> multicast task
-        self._bus_to_multicast = asyncio.create_task(
-            _BusToMulticast(self._bus, transport, (self._group, self._port)).run(),
-            name="multicast-tx",
-        )
-
-        log.info("multicast bound to %s:%d", self._group, self._port)
-
-    async def close(self) -> None:
-        # Cancel bus -> multicast task
-        if self._bus_to_multicast is not None:
-            self._bus_to_multicast.cancel()
-            try:
-                await self._bus_to_multicast
-            except asyncio.CancelledError:
-                pass
-            self._bus_to_multicast = None
-        # Cancel mutlicast -> bus task
-        if self._transport is not None:
-            self._transport.close()
-            self._transport = None
diff --git a/wrapper_backend/snapshot.py b/wrapper_backend/snapshot.py
deleted file mode 100644
index d7bd360..0000000
--- a/wrapper_backend/snapshot.py
+++ /dev/null
@@ -1,42 +0,0 @@
-"""HTTP endpoints for the debug images the C++ vision_processor writes to disk.
-
-Filenames follow ``<cam_id>.<view>.{jpg,png}``. ``view`` may contain dots
-(e.g. ``pixels.corner``). Non-image files and anything that doesn't match
-the scheme (legacy ``rtsp:__...`` dumps, ``.calib.json`` sidecars) are
-ignored.
-"""
-
-from __future__ import annotations
-
-import re
-from pathlib import Path
-
-from aiohttp import web
-
-_FILENAME_RE = re.compile(r"^(?P<cam_id>\d+)\.(?P<view>.+)\.(?P<ext>jpg|jpeg|png)$")
-
-
-def register(http_app: web.Application, img_dir: Path) -> None:
-    async def list_handler(_: web.Request) -> web.Response:
-        entries: list[dict[str, str]] = []
-        if img_dir.is_dir():
-            for path in img_dir.iterdir():
-                if not path.is_file():
-                    continue
-                match = _FILENAME_RE.match(path.name)
-                if match is None:
-                    continue
-                entries.append({"cam_id": match["cam_id"], "view": match["view"]})
-        entries.sort(key=lambda e: (int(e["cam_id"]), e["view"]))
-        return web.json_response(entries)
-
-    async def file_handler(request: web.Request) -> web.FileResponse:
-        cam_id = request.match_info["cam_id"]
-        view = request.match_info["view"]
-        matches = list(img_dir.glob(f"{cam_id}.{view}.*"))
-        if not matches:
-            raise web.HTTPNotFound
-        return web.FileResponse(max(matches, key=lambda p: p.stat().st_mtime))
-
-    http_app.router.add_get("/snapshots", list_handler)
-    http_app.router.add_get("/snapshot/{cam_id}/{view}", file_handler)
diff --git a/wrapper_backend/websocket.py b/wrapper_backend/websocket.py
deleted file mode 100644
index 64e04da..0000000
--- a/wrapper_backend/websocket.py
+++ /dev/null
@@ -1,177 +0,0 @@
-"""WebSocket bridge from the bus to browser clients.
-
-Each connected client owns a size-1 outbound queue (slow clients drop
-intermediate frames, matching the bus's watch-channel semantics).
-
-A "channel" represents one bus topic. The bus is read lazily: when the
-first client joins a channel its bus-reader task starts; when the last
-client leaves it stops. Topics nobody is listening to cost nothing.
-
-Wire protocol (JSON, both directions):
-
-    client -> server   {"action": "subscribe",   "topic": "..."}
-    client -> server   {"action": "unsubscribe", "topic": "..."}
-    server -> client   {"topic": "...", "data": {...}}
-    server -> client   {"error": "...", "topic": "..."}
-"""
-
-from __future__ import annotations
-
-import asyncio
-import json
-import logging
-from typing import Any, Callable
-
-from aiohttp import WSMsgType, web
-from google.protobuf.json_format import MessageToDict
-
-from proto.vision.ssl_vision_wrapper_pb2 import SSL_WrapperPacket
-from wrapper_backend.bus import Bus
-
-log = logging.getLogger("wrapper_backend.websocket")
-
-
-def _encode_wrapper_packet(payload: bytes) -> dict[str, Any]:
-    packet = SSL_WrapperPacket()
-    packet.ParseFromString(payload)
-    return MessageToDict(packet, preserving_proto_field_name=True)
-
-
-# Encoders convert the raw bus payload for a topic into a JSON-serialisable
-# dict. Topics not present here cannot be exposed to clients.
-_TOPIC_ENCODERS: dict[str, Callable[[Any], dict[str, Any]]] = {
-    "wrapper_packet.out": _encode_wrapper_packet,
-}
-
-
-class _Client:
-    def __init__(self, websocket: web.WebSocketResponse) -> None:
-        self._websocket = websocket
-        self._outbox: asyncio.Queue[str] = asyncio.Queue(maxsize=1)
-        self.topics: set[str] = set()
-
-    def post(self, frame: str) -> None:
-        try:
-            self._outbox.get_nowait()
-        except asyncio.QueueEmpty:
-            pass
-        self._outbox.put_nowait(frame)
-
-    async def send_error(self, message: str, topic: str | None = None) -> None:
-        payload: dict[str, str] = {"error": message}
-        if topic is not None:
-            payload["topic"] = topic
-        await self._websocket.send_str(json.dumps(payload))
-
-    async def deliver_forever(self) -> None:
-        while True:
-            frame = await self._outbox.get()
-            if self._websocket.closed:
-                return
-            await self._websocket.send_str(frame)
-
-
-class _Channel:
-    def __init__(self, task: asyncio.Task[None]) -> None:
-        self.clients: set[_Client] = set()
-        self.task = task
-
-
-class _TopicBridge:
-    def __init__(self, bus: Bus) -> None:
-        self._bus = bus
-        self._channels: dict[str, _Channel] = {}
-
-    async def handle(self, request: web.Request) -> web.WebSocketResponse:
-        websocket = web.WebSocketResponse()
-        await websocket.prepare(request)
-        client = _Client(websocket)
-        peer = request.remote
-        log.info("client connected: %s", peer)
-        delivery = asyncio.create_task(client.deliver_forever(), name="ws-deliver")
-        try:
-            async for message in websocket:
-                if message.type == WSMsgType.TEXT:
-                    await self._on_client_message(client, message.data)
-        finally:
-            for topic in list(client.topics):
-                self._leave(client, topic)
-            delivery.cancel()
-            try:
-                await delivery
-            except asyncio.CancelledError:
-                pass
-            log.info("client disconnected: %s", peer)
-        return websocket
-
-    async def shutdown(self, _: web.Application) -> None:
-        for topic, channel in list(self._channels.items()):
-            channel.task.cancel()
-            try:
-                await channel.task
-            except asyncio.CancelledError:
-                pass
-            self._channels.pop(topic, None)
-
-    async def _on_client_message(self, client: _Client, raw: str) -> None:
-        try:
-            request = json.loads(raw)
-            action = request["action"]
-            topic = request["topic"]
-        except (json.JSONDecodeError, KeyError, TypeError):
-            await client.send_error("malformed request")
-            return
-
-        if action == "subscribe":
-            if topic not in _TOPIC_ENCODERS:
-                await client.send_error("unknown topic", topic)
-                return
-            self._join(client, topic)
-        elif action == "unsubscribe":
-            self._leave(client, topic)
-        else:
-            await client.send_error("unknown action", topic)
-
-    def _join(self, client: _Client, topic: str) -> None:
-        channel = self._channels.get(topic)
-        if channel is None:
-            task = asyncio.create_task(
-                self._forward_topic(topic), name=f"ws-forward-{topic}"
-            )
-            channel = self._channels[topic] = _Channel(task)
-            log.info("opened channel %s", topic)
-        channel.clients.add(client)
-        client.topics.add(topic)
-
-    def _leave(self, client: _Client, topic: str) -> None:
-        channel = self._channels.get(topic)
-        if channel is None or client not in channel.clients:
-            return
-        channel.clients.discard(client)
-        client.topics.discard(topic)
-        if not channel.clients:
-            channel.task.cancel()
-            del self._channels[topic]
-            log.info("closed channel %s", topic)
-
-    async def _forward_topic(self, topic: str) -> None:
-        encode = _TOPIC_ENCODERS[topic]
-        queue = self._bus.subscribe(topic)
-        try:
-            while True:
-                payload = await queue.get()
-                try:
-                    frame = json.dumps({"topic": topic, "data": encode(payload)})
-                except Exception:
-                    log.exception("dropping unencodable payload on %s", topic)
-                    continue
-                for client in self._channels[topic].clients:
-                    client.post(frame)
-        finally:
-            self._bus.unsubscribe(topic, queue)
-
-
-def register(http_app: web.Application, bus: Bus) -> None:
-    bridge = _TopicBridge(bus)
-    http_app.router.add_get("/ws", bridge.handle)
-    http_app.on_cleanup.append(bridge.shutdown)

From b080617f8d187d30a141eb8a05b450839ff48e6a Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Tue, 22 Sep 2026 18:15:43 -0400
Subject: [PATCH 06/23] add load/save/save-as, clean up vfield

---
 .gitignore                                    |   1 +
 gui/cmd/ssl-vision-processor-gui/routes.go    |   2 +
 gui/cmd/ssl-vision-processor-gui/server.go    |  89 +++++++++-
 .../ssl-vision-processor-gui/server_test.go   |  85 ++++++++++
 gui/frontend/src/lib/FieldEditor.svelte       | 157 +++++++++++-------
 gui/frontend/src/lib/fieldPresets.ts          |  20 +--
 gui/frontend/src/lib/geometry.svelte.ts       | 110 +++++++++---
 gui/internal/geometry/field_config.go         | 121 +++++++++++---
 gui/internal/geometry/field_config_test.go    |  74 +++++++++
 9 files changed, 532 insertions(+), 127 deletions(-)

diff --git a/.gitignore b/.gitignore
index ae7fe04..35e2149 100644
--- a/.gitignore
+++ b/.gitignore
@@ -18,6 +18,7 @@ vision_processor
 blob_benchmark
 geometry_benchmark
 /gui/bin
+/gui/ssl-vision-processor-gui
 
 # Makefile sentinel for the frontend build
 /gui/.frontend
diff --git a/gui/cmd/ssl-vision-processor-gui/routes.go b/gui/cmd/ssl-vision-processor-gui/routes.go
index b7472ea..a6d3829 100644
--- a/gui/cmd/ssl-vision-processor-gui/routes.go
+++ b/gui/cmd/ssl-vision-processor-gui/routes.go
@@ -13,6 +13,8 @@ func (s *VisionServer) addRoutes(mux *http.ServeMux) {
 	mux.Handle("GET /api/geometry", s.handleGetGeometry())
 	mux.Handle("GET /api/geometry/field", s.handleGetFieldConfig())
 	mux.Handle("PUT /api/geometry/field", s.handlePutFieldConfig())
+	mux.Handle("POST /api/geometry/field/save-as", s.handlePostSaveAs())
+	mux.Handle("POST /api/geometry/field/load", s.handlePostLoad())
 	mux.Handle("GET /api/geometry/presets", s.handleGetFieldPresets())
 	mux.Handle("GET /api/snapshots", snapshot.HandleList(s.imgDir))
 	mux.Handle("GET /api/snapshot/{camID}/{view}", snapshot.HandleGet(s.imgDir))
diff --git a/gui/cmd/ssl-vision-processor-gui/server.go b/gui/cmd/ssl-vision-processor-gui/server.go
index 2ad9297..804f7a0 100644
--- a/gui/cmd/ssl-vision-processor-gui/server.go
+++ b/gui/cmd/ssl-vision-processor-gui/server.go
@@ -58,8 +58,11 @@ func (s *VisionServer) handleGetGeometry() http.HandlerFunc {
 
 // fieldConfigResponse is the "virtual field" shape: just the editable
 // dimensions and optional-line toggles, not the full wrapper packet (calib,
-// source, generated field_lines/arcs) that handleGetGeometry serves.
+// source, generated field_lines/arcs) that handleGetGeometry serves. Path is
+// which file this came from / would be saved to -- omitted on requests where
+// it doesn't apply (PUT), populated on every response.
 type fieldConfigResponse struct {
+	Path               string                       `json:"path,omitempty"`
 	Field              geometry.FieldConfig         `json:"field"`
 	OptionalFieldLines geometry.OptionalLinesConfig `json:"optionalFieldLines"`
 }
@@ -70,7 +73,8 @@ func (s *VisionServer) handleGetFieldConfig() http.HandlerFunc {
 
 		w.Header().Set("Content-Type", "application/json")
 
-		if err := json.NewEncoder(w).Encode(fieldConfigResponse{Field: field, OptionalFieldLines: optional}); err != nil {
+		resp := fieldConfigResponse{Path: s.geometry.Path(), Field: field, OptionalFieldLines: optional}
+		if err := json.NewEncoder(w).Encode(resp); err != nil {
 			slog.Error("writing field config response", "err", err)
 		}
 	}
@@ -107,6 +111,87 @@ func (s *VisionServer) handlePutFieldConfig() http.HandlerFunc {
 	}
 }
 
+// saveAsRequest is fieldConfigResponse's shape with Path meaning "save here"
+// instead of "loaded from here" -- same fields, different direction, kept as
+// a distinct type so the two aren't confused at the call site.
+type saveAsRequest = fieldConfigResponse
+
+// handlePostSaveAs writes the given field config to Path and switches
+// Geometry to editing that file from now on -- see geometry.Geometry.SaveAs.
+func (s *VisionServer) handlePostSaveAs() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		var req saveAsRequest
+		if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
+			http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
+
+			return
+		}
+
+		if req.Path == "" {
+			http.Error(w, "path: required", http.StatusBadRequest)
+
+			return
+		}
+
+		if err := s.geometry.SaveAs(req.Path, req.Field, req.OptionalFieldLines); err != nil {
+			var validation *geometry.ValidationError
+			var readOnly *geometry.ReadOnlyError
+
+			switch {
+			case errors.As(err, &validation), errors.As(err, &readOnly):
+				http.Error(w, err.Error(), http.StatusBadRequest)
+			default:
+				slog.Error("saving field config as", "path", req.Path, "err", err)
+				http.Error(w, "internal error", http.StatusInternalServerError)
+			}
+
+			return
+		}
+
+		w.WriteHeader(http.StatusNoContent)
+	}
+}
+
+type loadRequest struct {
+	Path string `json:"path"`
+}
+
+// handlePostLoad replaces the live geometry with whatever's in the given
+// path and returns it, so the frontend doesn't need a second round trip --
+// see geometry.Geometry.LoadFrom. Any failure to load is reported as 400:
+// it's about the path the caller gave, not an internal failure on our part.
+func (s *VisionServer) handlePostLoad() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		var req loadRequest
+		if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
+			http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
+
+			return
+		}
+
+		if req.Path == "" {
+			http.Error(w, "path: required", http.StatusBadRequest)
+
+			return
+		}
+
+		if err := s.geometry.LoadFrom(req.Path); err != nil {
+			http.Error(w, err.Error(), http.StatusBadRequest)
+
+			return
+		}
+
+		field, optional := s.geometry.FieldConfig()
+
+		w.Header().Set("Content-Type", "application/json")
+
+		resp := fieldConfigResponse{Path: s.geometry.Path(), Field: field, OptionalFieldLines: optional}
+		if err := json.NewEncoder(w).Encode(resp); err != nil {
+			slog.Error("writing load response", "err", err)
+		}
+	}
+}
+
 // fieldPresets are the rulebook defaults, read live from the same files a
 // human would open (geometry-divA.yml, geometry-divB.yml at the repo root) --
 // not a copy that could drift from them. See geometry.ReadOnlyFiles: saves
diff --git a/gui/cmd/ssl-vision-processor-gui/server_test.go b/gui/cmd/ssl-vision-processor-gui/server_test.go
index 915e812..c1c58b1 100644
--- a/gui/cmd/ssl-vision-processor-gui/server_test.go
+++ b/gui/cmd/ssl-vision-processor-gui/server_test.go
@@ -162,6 +162,91 @@ func TestGetFieldPresetsDegradesGracefullyWhenFilesAreMissing(t *testing.T) {
 	}
 }
 
+func TestSaveAsWritesANewFileAndGetReflectsIt(t *testing.T) {
+	srv := testServer(t)
+
+	newPath := filepath.Join(t.TempDir(), "renamed.yml")
+	body := strings.NewReader(`{
+		"path": "` + newPath + `",
+		"field": {"fieldLength": 2160, "fieldWidth": 1680, "goalWidth": 280, "goalDepth": 50, "boundaryWidth": 100, "lineThickness": 10},
+		"optionalFieldLines": {"halfway": true, "penalty": true}
+	}`)
+
+	postReq := httptest.NewRequest(http.MethodPost, "/api/geometry/field/save-as", body)
+	postRec := httptest.NewRecorder()
+	srv.ServeHTTP(postRec, postReq)
+
+	if postRec.Code != http.StatusNoContent {
+		t.Fatalf("save-as status = %d, want %d, body: %s", postRec.Code, http.StatusNoContent, postRec.Body.String())
+	}
+
+	if _, err := os.Stat(newPath); err != nil {
+		t.Fatalf("Stat(newPath): %v", err)
+	}
+
+	getRec := httptest.NewRecorder()
+	srv.ServeHTTP(getRec, httptest.NewRequest(http.MethodGet, "/api/geometry/field", nil))
+
+	if !strings.Contains(getRec.Body.String(), `"fieldLength":2160`) {
+		t.Errorf("GET after save-as returned %q, want it to reflect the new values", getRec.Body.String())
+	}
+
+	if !strings.Contains(getRec.Body.String(), newPath) {
+		t.Errorf("GET after save-as path = %q, want it to contain %q", getRec.Body.String(), newPath)
+	}
+}
+
+func TestSaveAsRejectsAPresetTarget(t *testing.T) {
+	body := strings.NewReader(`{
+		"path": "geometry-divB.yml",
+		"field": {"fieldLength": 2160, "fieldWidth": 1680, "goalWidth": 280, "goalDepth": 50, "boundaryWidth": 100},
+		"optionalFieldLines": {}
+	}`)
+
+	req := httptest.NewRequest(http.MethodPost, "/api/geometry/field/save-as", body)
+	rec := httptest.NewRecorder()
+
+	testServer(t).ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusBadRequest {
+		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	}
+}
+
+func TestLoadReplacesTheActiveFieldAndReturnsIt(t *testing.T) {
+	otherPath := filepath.Join(t.TempDir(), "other.yml")
+	if err := os.WriteFile(otherPath, []byte(
+		"optional_field_lines:\n  goal2goal: false\n  halfway: false\n  centercircle: false\n  penalty: false\n"+
+			"field:\n  field_length: 3000\n  field_width: 2000\n  goal_width: 300\n  goal_depth: 60\n  boundary_width: 120\n",
+	), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	req := httptest.NewRequest(http.MethodPost, "/api/geometry/field/load", strings.NewReader(`{"path":"`+otherPath+`"}`))
+	rec := httptest.NewRecorder()
+
+	testServer(t).ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusOK {
+		t.Fatalf("status = %d, want %d, body: %s", rec.Code, http.StatusOK, rec.Body.String())
+	}
+
+	if !strings.Contains(rec.Body.String(), `"fieldLength":3000`) {
+		t.Errorf("body = %q, want it to reflect the loaded file", rec.Body.String())
+	}
+}
+
+func TestLoadOfAMissingFileReturns400(t *testing.T) {
+	req := httptest.NewRequest(http.MethodPost, "/api/geometry/field/load", strings.NewReader(`{"path":"does-not-exist.yml"}`))
+	rec := httptest.NewRecorder()
+
+	testServer(t).ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusBadRequest {
+		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	}
+}
+
 // A wrong method is a 404 rather than a 405: the "/" catch-all matches every
 // method, so ServeMux never reaches its method-not-allowed path. What matters is
 // that the "/api/" subtree answers, instead of the request falling through to
diff --git a/gui/frontend/src/lib/FieldEditor.svelte b/gui/frontend/src/lib/FieldEditor.svelte
index 61a7a81..36f9da6 100644
--- a/gui/frontend/src/lib/FieldEditor.svelte
+++ b/gui/frontend/src/lib/FieldEditor.svelte
@@ -5,6 +5,8 @@
     loadVirtualField,
     loadFieldPresets,
     saveVirtualField,
+    saveVirtualFieldAs,
+    loadVirtualFieldFrom,
   } from "./geometry.svelte";
   import FieldSketch from "./FieldSketch.svelte";
   import { scalePreset } from "./fieldPresets";
@@ -36,6 +38,9 @@
   // point past the end.
   let clampedCameraId = $derived(Math.min(cameraId, cameraAmount - 1));
 
+  // The FieldSketch highlight: which portion of the field cameraId is
+  // responsible for out of cameraAmount, so the rest of the markings (e.g.
+  // the other goal's penalty box) render dimmed.
   let fieldSlice = $derived(
     computeFieldSlice(
       clampedCameraId,
@@ -65,7 +70,6 @@
 
   let selectedPresetName = $state("Division B");
   let scalePercent = $state(100);
-  let scaleHardware = $state(false);
 
   function applyPreset(): void {
     const preset = virtualField.presets.find(
@@ -73,10 +77,26 @@
     );
     if (!preset) return;
 
-    virtualField.field = scalePreset(preset, scalePercent, scaleHardware);
+    // Ball/robot size are real hardware, not scaled with a shrunk field --
+    // scalePreset always leaves them at the preset's own value.
+    virtualField.field = scalePreset(preset, scalePercent);
     markDirty();
   }
 
+  let saveAsPath = $state("");
+  let loadPath = $state("");
+
+  function handleSaveAs(): void {
+    if (!saveAsPath) return;
+    void saveVirtualFieldAs(saveAsPath);
+  }
+
+  function handleLoad(): void {
+    if (!loadPath) return;
+    if (virtualField.dirty && !confirm("Discard unsaved changes?")) return;
+    void loadVirtualFieldFrom(loadPath);
+  }
+
   // Dimension fields, paired with their FieldConfig key and a label. Order
   // matches how someone would actually measure a field: outer boundary first,
   // then the goal, then the penalty area, then the smaller markings.
@@ -124,11 +144,10 @@
 </script>
 
 <section class="field-editor">
-  <h2>Virtual field</h2>
-  <p class="hint">
-    Measured dimensions, in mm. Saving regenerates the field markings below and
-    writes them back to geometry.yml.
-  </p>
+  <div class="title-row">
+    <h2>Virtual field</h2>
+    <span class="path">{virtualField.path || "(unsaved)"}</span>
+  </div>
 
   {#if virtualField.error}
     <p class="error">Error: {virtualField.error}</p>
@@ -141,6 +160,41 @@
         handleSave();
       }}
     >
+      <fieldset disabled={virtualField.loading}>
+        <legend>File</legend>
+        <div class="file-actions">
+          <button
+            type="submit"
+            disabled={virtualField.saving || !virtualField.dirty}
+          >
+            {virtualField.saving ? "Saving..." : "Save"}
+          </button>
+          {#if virtualField.dirty && !virtualField.saving}
+            <span class="hint">*new changes</span>
+          {/if}
+        </div>
+
+        <label>
+          Save as
+          <span>
+            <input type="text" bind:value={saveAsPath} placeholder="path.yml" />
+            <button type="button" onclick={handleSaveAs} disabled={!saveAsPath}
+              >Save as</button
+            >
+          </span>
+        </label>
+
+        <label>
+          Load
+          <span>
+            <input type="text" bind:value={loadPath} placeholder="path.yml" />
+            <button type="button" onclick={handleLoad} disabled={!loadPath}
+              >Load</button
+            >
+          </span>
+        </label>
+      </fieldset>
+
       <fieldset disabled={virtualField.loading}>
         <legend>Field layout</legend>
 
@@ -154,7 +208,7 @@
                 setFieldLayout("full");
               }}
             />
-            Full field (I measured the whole thing)
+            Full field
           </span>
           <span>
             <input
@@ -165,13 +219,13 @@
                 setFieldLayout("half");
               }}
             />
-            Half field (this camera only sees part of it)
+            Half field
           </span>
         </label>
 
         {#if fieldLayout === "half"}
           <label>
-            Half length (goal line to split line)
+            Half length (full: {virtualField.field.fieldLength ?? 0}mm)
             <input
               type="number"
               value={halfLength}
@@ -180,15 +234,10 @@
               }}
             />
           </label>
-          <p class="hint">
-            Full field length is {virtualField.field.fieldLength ?? 0}mm (2x the
-            half above). Field width below is the full, unsplit width -- a
-            length-wise split still shows both touchlines.
-          </p>
         {/if}
 
         <label>
-          Cameras across the {fieldLayout === "half" ? "full" : ""} field
+          Cameras (camera_amount: {cameraAmount})
           <select
             value={cameraCount}
             onchange={(e) => {
@@ -200,14 +249,9 @@
             {/each}
           </select>
         </label>
-        <p class="hint">
-          camera_amount: {cameraAmount}. Not yet pushed anywhere -- set
-          <code>geometry.camera_amount: {cameraAmount}</code> in each vision processor's
-          own config.yml for now.
-        </p>
 
         <label>
-          Which camera is this? (camera_id)
+          This camera (camera_id)
           <select
             value={clampedCameraId}
             onchange={(e) => {
@@ -219,20 +263,12 @@
             {/each}
           </select>
         </label>
-        <p class="hint">
-          Highlighted below: what this specific camera is responsible for -- the
-          rest of the field's markings (e.g. the other goal's penalty box) are
-          dimmed, since this camera can't calibrate against them.
-        </p>
       </fieldset>
 
       <fieldset disabled={virtualField.loading}>
         <legend>Start from a rulebook preset</legend>
         {#if virtualField.presets.length === 0}
-          <p class="hint">
-            No presets available (geometry-divA.yml/geometry-divB.yml not found
-            from the host's working directory).
-          </p>
+          <p class="hint">No presets available.</p>
         {/if}
         <label>
           Division
@@ -249,20 +285,9 @@
             %
           </span>
         </label>
-        <label class="checkbox">
-          <input type="checkbox" bind:checked={scaleHardware} />
-          Also scale ball/robot size (usually real hardware -- leave off)
-        </label>
         <button type="button" onclick={applyPreset}>
           Fill in dimensions from this preset
         </button>
-        <p class="hint">
-          Overwrites the dimension fields below (not yet saved). Real SSL
-          penalty box, goal, and boundary sizes are fixed rulebook constants,
-          not derived from field size or camera count -- this is the actual
-          principled way to approximate them for a scaled-down field, rather
-          than guessing a ratio by hand.
-        </p>
       </fieldset>
 
       <fieldset disabled={virtualField.loading}>
@@ -292,16 +317,6 @@
           </label>
         {/each}
       </fieldset>
-
-      <button
-        type="submit"
-        disabled={virtualField.saving || !virtualField.dirty}
-      >
-        {virtualField.saving ? "Saving..." : "Save"}
-      </button>
-      {#if virtualField.dirty && !virtualField.saving}
-        <span class="hint">*new changes</span>
-      {/if}
     </form>
 
     <div class="sketch">
@@ -312,10 +327,6 @@
         arcs={virtualField.fieldArcs}
         slice={fieldSlice}
       />
-      <p class="hint">
-        Markings reflect the last saved dimensions; the highlighted region
-        updates live as you change camera count/id above.
-      </p>
     </div>
   </div>
 </section>
@@ -325,6 +336,23 @@
     max-width: 900px;
   }
 
+  .title-row {
+    display: flex;
+    align-items: baseline;
+    gap: 0.75rem;
+    margin-bottom: 0.5rem;
+  }
+
+  .title-row h2 {
+    margin: 0;
+  }
+
+  .path {
+    font-family: monospace;
+    font-size: 0.8rem;
+    color: #666;
+  }
+
   .layout {
     display: grid;
     grid-template-columns: 1fr 1fr;
@@ -363,16 +391,21 @@
     font-weight: normal;
   }
 
-  code {
-    background: #eee;
-    padding: 0.1rem 0.3rem;
-    border-radius: 3px;
-  }
-
   input[type="number"] {
     width: 6rem;
   }
 
+  input[type="text"] {
+    width: 10rem;
+  }
+
+  .file-actions {
+    display: flex;
+    align-items: center;
+    gap: 0.5rem;
+    margin: 0.4rem 0;
+  }
+
   .error {
     color: #b00020;
   }
diff --git a/gui/frontend/src/lib/fieldPresets.ts b/gui/frontend/src/lib/fieldPresets.ts
index 4fc8e66..57721fd 100644
--- a/gui/frontend/src/lib/fieldPresets.ts
+++ b/gui/frontend/src/lib/fieldPresets.ts
@@ -25,19 +25,12 @@ export const SCALABLE_KEYS: (keyof FieldConfig)[] = [
   "lineThickness",
 ];
 
-export const HARDWARE_KEYS: (keyof FieldConfig)[] = [
-  "ballRadius",
-  "maxRobotRadius",
-];
-
 // Applies a preset at the given percentage scale (100 = actual rule-book
-// size) to a FieldConfig, returning a new object. scaleHardware controls
-// whether ballRadius/maxRobotRadius are scaled too, or left at the preset's
-// real-hardware value.
+// size) to a FieldConfig, returning a new object. ballRadius/maxRobotRadius
+// are real hardware and always left at the preset's value.
 export function scalePreset(
   preset: FieldPreset,
   scalePercent: number,
-  scaleHardware: boolean,
 ): FieldConfig {
   const factor = scalePercent / 100;
   const result: FieldConfig = { ...preset.field };
@@ -49,14 +42,5 @@ export function scalePreset(
     }
   }
 
-  if (scaleHardware) {
-    for (const key of HARDWARE_KEYS) {
-      const value = preset.field[key];
-      if (typeof value === "number") {
-        result[key] = Math.round(value * factor * 10) / 10;
-      }
-    }
-  }
-
   return result;
 }
diff --git a/gui/frontend/src/lib/geometry.svelte.ts b/gui/frontend/src/lib/geometry.svelte.ts
index f3a958f..e39eee1 100644
--- a/gui/frontend/src/lib/geometry.svelte.ts
+++ b/gui/frontend/src/lib/geometry.svelte.ts
@@ -21,6 +21,7 @@ export interface OptionalFieldLines {
 }
 
 interface FieldConfigResponse {
+  path?: string;
   field: FieldConfig;
   optionalFieldLines: OptionalFieldLines;
 }
@@ -44,6 +45,7 @@ interface GeometryResponse {
 }
 
 export const virtualField = $state<{
+  path: string;
   field: FieldConfig;
   optionalFieldLines: OptionalFieldLines;
   fieldLines: SSL_FieldLineSegmentJson[];
@@ -54,6 +56,7 @@ export const virtualField = $state<{
   error: string | null;
   dirty: boolean;
 }>({
+  path: "",
   field: {},
   optionalFieldLines: {
     goal2Goal: false,
@@ -85,30 +88,38 @@ export async function loadFieldPresets(): Promise<void> {
   }
 }
 
+// Refreshes fieldLines/fieldArcs from /api/geometry -- the field-config
+// endpoints don't carry the generated markings themselves, and every one of
+// them (load, save, save-as) leaves the server having just regenerated these
+// from whatever field config is now active.
+async function refreshFieldMarkings(): Promise<void> {
+  const response = await fetch("/api/geometry");
+  if (!response.ok) return;
+
+  const geometry = (await response.json()) as GeometryResponse;
+  virtualField.fieldLines = geometry.geometry?.field?.fieldLines ?? [];
+  virtualField.fieldArcs = geometry.geometry?.field?.fieldArcs ?? [];
+}
+
+function applyFieldConfigResponse(config: FieldConfigResponse): void {
+  virtualField.path = config.path ?? "";
+  virtualField.field = config.field;
+  virtualField.optionalFieldLines = config.optionalFieldLines;
+  virtualField.dirty = false;
+}
+
 export async function loadVirtualField(): Promise<void> {
   virtualField.loading = true;
   virtualField.error = null;
 
   try {
-    const [configRes, geometryRes] = await Promise.all([
-      fetch("/api/geometry/field"),
-      fetch("/api/geometry"),
-    ]);
-
-    if (!configRes.ok) {
-      throw new Error(`GET /api/geometry/field: ${String(configRes.status)}`);
+    const response = await fetch("/api/geometry/field");
+    if (!response.ok) {
+      throw new Error(`GET /api/geometry/field: ${String(response.status)}`);
     }
 
-    const config = (await configRes.json()) as FieldConfigResponse;
-    virtualField.field = config.field;
-    virtualField.optionalFieldLines = config.optionalFieldLines;
-    virtualField.dirty = false;
-
-    if (geometryRes.ok) {
-      const geometry = (await geometryRes.json()) as GeometryResponse;
-      virtualField.fieldLines = geometry.geometry?.field?.fieldLines ?? [];
-      virtualField.fieldArcs = geometry.geometry?.field?.fieldArcs ?? [];
-    }
+    applyFieldConfigResponse((await response.json()) as FieldConfigResponse);
+    await refreshFieldMarkings();
   } catch (err) {
     virtualField.error = err instanceof Error ? err.message : String(err);
   } finally {
@@ -135,18 +146,69 @@ export async function saveVirtualField(): Promise<void> {
     }
 
     virtualField.dirty = false;
+    await refreshFieldMarkings();
+  } catch (err) {
+    virtualField.error = err instanceof Error ? err.message : String(err);
+  } finally {
+    virtualField.saving = false;
+  }
+}
+
+// Writes the current field config to a new path and switches to editing that
+// file (see geometry.Geometry.SaveAs) -- subsequent saveVirtualField calls go
+// there, not wherever this session started out.
+export async function saveVirtualFieldAs(path: string): Promise<void> {
+  virtualField.saving = true;
+  virtualField.error = null;
+
+  try {
+    const response = await fetch("/api/geometry/field/save-as", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({
+        path,
+        field: virtualField.field,
+        optionalFieldLines: virtualField.optionalFieldLines,
+      } satisfies FieldConfigResponse),
+    });
 
-    // The saved dimensions are also the source of truth for the sketch, and
-    // the server just regenerated fieldLines/fieldArcs from them.
-    const geometryRes = await fetch("/api/geometry");
-    if (geometryRes.ok) {
-      const geometry = (await geometryRes.json()) as GeometryResponse;
-      virtualField.fieldLines = geometry.geometry?.field?.fieldLines ?? [];
-      virtualField.fieldArcs = geometry.geometry?.field?.fieldArcs ?? [];
+    if (!response.ok) {
+      throw new Error(await response.text());
     }
+
+    virtualField.path = path;
+    virtualField.dirty = false;
+    await refreshFieldMarkings();
   } catch (err) {
     virtualField.error = err instanceof Error ? err.message : String(err);
   } finally {
     virtualField.saving = false;
   }
 }
+
+// Discards the current field config and replaces it with whatever's at path
+// (see geometry.Geometry.LoadFrom). Existing calibrations are dropped
+// server-side -- they belonged to the field this used to be.
+export async function loadVirtualFieldFrom(path: string): Promise<void> {
+  virtualField.loading = true;
+  virtualField.error = null;
+
+  try {
+    const response = await fetch("/api/geometry/field/load", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ path }),
+    });
+
+    if (!response.ok) {
+      throw new Error(await response.text());
+    }
+
+    applyFieldConfigResponse((await response.json()) as FieldConfigResponse);
+    await refreshFieldMarkings();
+  } catch (err) {
+    virtualField.error = err instanceof Error ? err.message : String(err);
+  } finally {
+    virtualField.loading = false;
+  }
+}
diff --git a/gui/internal/geometry/field_config.go b/gui/internal/geometry/field_config.go
index 1811032..0e02c96 100644
--- a/gui/internal/geometry/field_config.go
+++ b/gui/internal/geometry/field_config.go
@@ -152,27 +152,12 @@ func LoadPreset(path string) (FieldConfig, OptionalLinesConfig, error) {
 	return field, opt, nil
 }
 
-// UpdateField replaces the field dimensions and optional-line toggles,
-// regenerates the derived field lines/arcs, and persists the change to the
-// file Geometry was loaded from. Existing calibrations are kept.
-//
-// Persisting rewrites the whole file, so hand-added comments in it do not
-// survive a save made through this path.
-func (g *Geometry) UpdateField(cfg FieldConfig, opt OptionalLinesConfig) error {
-	if err := cfg.Validate(); err != nil {
-		return err
-	}
-
-	g.mu.Lock()
-	defer g.mu.Unlock()
-
-	// Checked before anything below mutates g.wrapper/g.optional: a rejected
-	// save must not leave the in-memory (and multicast-broadcast) state
-	// holding values that were never actually persisted.
-	if ReadOnlyFiles[filepath.Base(g.path)] {
-		return &ReadOnlyError{path: g.path}
-	}
-
+// applyFieldConfig builds a field message from cfg, regenerates its derived
+// markings, and installs both it and opt onto g. Callers must hold mu and
+// must have already validated cfg and checked ReadOnlyFiles for whichever
+// path they're about to write to -- this never fails, so it's only safe to
+// call once nothing left can reject the operation.
+func (g *Geometry) applyFieldConfig(cfg FieldConfig, opt OptionalLinesConfig) {
 	field := &vision.SSL_GeometryFieldSize{
 		FieldLength:               proto.Int32(cfg.FieldLength),
 		FieldWidth:                proto.Int32(cfg.FieldWidth),
@@ -202,6 +187,30 @@ func (g *Geometry) UpdateField(cfg FieldConfig, opt OptionalLinesConfig) error {
 
 	g.wrapper.Geometry.Field = field
 	g.optional = optional
+}
+
+// UpdateField replaces the field dimensions and optional-line toggles,
+// regenerates the derived field lines/arcs, and persists the change to the
+// file Geometry was loaded from. Existing calibrations are kept.
+//
+// Persisting rewrites the whole file, so hand-added comments in it do not
+// survive a save made through this path.
+func (g *Geometry) UpdateField(cfg FieldConfig, opt OptionalLinesConfig) error {
+	if err := cfg.Validate(); err != nil {
+		return err
+	}
+
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	// Checked before anything below mutates g.wrapper/g.optional: a rejected
+	// save must not leave the in-memory (and multicast-broadcast) state
+	// holding values that were never actually persisted.
+	if ReadOnlyFiles[filepath.Base(g.path)] {
+		return &ReadOnlyError{path: g.path}
+	}
+
+	g.applyFieldConfig(cfg, opt)
 
 	if err := g.reencode(); err != nil {
 		return fmt.Errorf("encode updated geometry: %w", err)
@@ -214,6 +223,76 @@ func (g *Geometry) UpdateField(cfg FieldConfig, opt OptionalLinesConfig) error {
 	return nil
 }
 
+// SaveAs is UpdateField plus switching which file Geometry edits: it writes
+// cfg/opt to path rather than the current file, and -- once that write
+// succeeds -- every subsequent Save (UpdateField) goes to path too. Whatever
+// non-field content the current file carried (e.g. "models") comes along
+// unchanged; existing calibrations are kept, same as UpdateField.
+func (g *Geometry) SaveAs(path string, cfg FieldConfig, opt OptionalLinesConfig) error {
+	if err := cfg.Validate(); err != nil {
+		return err
+	}
+
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	if ReadOnlyFiles[filepath.Base(path)] {
+		return &ReadOnlyError{path: path}
+	}
+
+	g.applyFieldConfig(cfg, opt)
+
+	if err := g.reencode(); err != nil {
+		return fmt.Errorf("encode updated geometry: %w", err)
+	}
+
+	// g.path only changes once we're past validation and encoding, so a
+	// rejected SaveAs never leaves Geometry claiming to be a file nothing was
+	// actually written to.
+	previousPath := g.path
+	g.path = path
+
+	if err := g.saveYAML(cfg, opt); err != nil {
+		g.path = previousPath
+
+		return fmt.Errorf("save %s: %w", path, err)
+	}
+
+	return nil
+}
+
+// LoadFrom replaces this Geometry's entire state -- field config, optional
+// lines, and whatever else the file carries (e.g. "models") -- with what's in
+// path, and starts editing that file: subsequent Save calls go there.
+//
+// Existing calibrations are discarded, not carried over: they were computed
+// against the field this Geometry used to hold, and are meaningless against
+// whatever was just loaded (which may not even be the same size).
+func (g *Geometry) LoadFrom(path string) error {
+	wrapper, optional, extra, err := Load(path)
+	if err != nil {
+		return err
+	}
+
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	g.wrapper = wrapper
+	g.path = path
+	g.optional = optional
+	g.extra = extra
+
+	return g.reencode()
+}
+
+// Path reports the file Geometry currently reads from and saves to.
+func (g *Geometry) Path() string {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	return g.path
+}
+
 // saveYAML writes the current field config and optional-line toggles back to
 // g.path, merged with whatever other top-level keys (e.g. "models") were
 // present when it was loaded. Callers must hold mu.
diff --git a/gui/internal/geometry/field_config_test.go b/gui/internal/geometry/field_config_test.go
index 2eea80a..b8404cc 100644
--- a/gui/internal/geometry/field_config_test.go
+++ b/gui/internal/geometry/field_config_test.go
@@ -188,3 +188,77 @@ func TestLoadPresetReadsWithoutAGeometryInstance(t *testing.T) {
 		t.Error("halfway = false, want true (per the fixture)")
 	}
 }
+
+func TestSaveAsWritesToTheNewPathAndSwitchesToIt(t *testing.T) {
+	g := testGeometry(t)
+
+	newPath := filepath.Join(t.TempDir(), "new-name.yml")
+	cfg := testConfig()
+
+	if err := g.SaveAs(newPath, cfg, testOptional()); err != nil {
+		t.Fatalf("SaveAs: %v", err)
+	}
+
+	if g.Path() != newPath {
+		t.Errorf("Path() = %q, want %q", g.Path(), newPath)
+	}
+
+	if _, err := os.Stat(newPath); err != nil {
+		t.Fatalf("Stat(newPath): %v", err)
+	}
+
+	gotCfg, _ := g.FieldConfig()
+	if gotCfg != cfg {
+		t.Errorf("FieldConfig() = %+v, want %+v", gotCfg, cfg)
+	}
+
+	// A plain Save afterward must go to the new path, not the original one.
+	if err := g.UpdateField(cfg, testOptional()); err != nil {
+		t.Fatalf("UpdateField after SaveAs: %v", err)
+	}
+}
+
+func TestSaveAsRefusesAPresetTarget(t *testing.T) {
+	g := testGeometry(t)
+
+	before := g.Path()
+
+	var readOnly *ReadOnlyError
+	if err := g.SaveAs("geometry-divB.yml", testConfig(), testOptional()); !errors.As(err, &readOnly) {
+		t.Fatalf("SaveAs err = %v, want a *ReadOnlyError", err)
+	}
+
+	if g.Path() != before {
+		t.Errorf("Path() = %q, want unchanged %q", g.Path(), before)
+	}
+}
+
+func TestLoadFromReplacesStateAndDiscardsCalibrations(t *testing.T) {
+	g := testGeometry(t)
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400)}})
+
+	otherPath := filepath.Join(t.TempDir(), "other.yml")
+	if err := os.WriteFile(otherPath, []byte(
+		"optional_field_lines:\n  goal2goal: false\n  halfway: false\n  centercircle: false\n  penalty: false\n"+
+			"field:\n  field_length: 3000\n  field_width: 2000\n  goal_width: 300\n  goal_depth: 60\n  boundary_width: 120\n",
+	), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	if err := g.LoadFrom(otherPath); err != nil {
+		t.Fatalf("LoadFrom: %v", err)
+	}
+
+	if g.Path() != otherPath {
+		t.Errorf("Path() = %q, want %q", g.Path(), otherPath)
+	}
+
+	cfg, _ := g.FieldConfig()
+	if cfg.FieldLength != 3000 {
+		t.Errorf("field_length = %d, want 3000 (from the newly loaded file)", cfg.FieldLength)
+	}
+
+	if got := g.Snapshot().GetGeometry().GetCalib(); len(got) != 0 {
+		t.Errorf("calib = %v, want discarded after loading a different file", got)
+	}
+}

From 9e4070580689ec49278d2060074a1f725d0565b1 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Thu, 24 Sep 2026 20:52:39 -0400
Subject: [PATCH 07/23] make corner picker persistent

---
 config-testpatch.yml                          | 159 ++++++++++
 gui/CLAUDE.md                                 |  11 +
 gui/cmd/ssl-vision-processor-gui/main.go      |  53 +++-
 gui/cmd/ssl-vision-processor-gui/main_test.go |  30 ++
 gui/cmd/ssl-vision-processor-gui/routes.go    |   2 +
 gui/cmd/ssl-vision-processor-gui/server.go    |  82 +++++-
 .../ssl-vision-processor-gui/server_test.go   | 148 +++++++++-
 .../testdata/config.yml                       | 159 ++++++++++
 gui/config.yml                                | 157 ++++++++++
 gui/frontend/src/App.svelte                   |  49 ++--
 gui/frontend/src/lib/CornerPicker.svelte      | 116 +++++++-
 gui/frontend/src/lib/layout/Shell.svelte      |   2 +-
 gui/internal/geometry/instance_config.go      | 271 ++++++++++++++++++
 gui/internal/geometry/instance_config_test.go | 252 ++++++++++++++++
 gui/internal/geometry/testdata/config.yml     | 159 ++++++++++
 15 files changed, 1614 insertions(+), 36 deletions(-)
 create mode 100644 config-testpatch.yml
 create mode 100644 gui/cmd/ssl-vision-processor-gui/testdata/config.yml
 create mode 100644 gui/config.yml
 create mode 100644 gui/internal/geometry/instance_config.go
 create mode 100644 gui/internal/geometry/instance_config_test.go
 create mode 100644 gui/internal/geometry/testdata/config.yml

diff --git a/config-testpatch.yml b/config-testpatch.yml
new file mode 100644
index 0000000..25a7d77
--- /dev/null
+++ b/config-testpatch.yml
@@ -0,0 +1,159 @@
+# VisionProcessor configuration
+
+# Vision camera ID handled by this VisionProcessor instance.
+# On multi camera fields the IDs have to be ordered according to camera_ids.png.
+#cam_id: 0
+
+# Team bot heights yml file (heights in mm)
+#bot_heights_file: robot-heights.yml
+
+camera:
+  # Camera driver type. Availability depending on libraries installed.
+  # Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
+  #driver: SPINNAKER
+
+  # Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
+  #id: 0
+  # OpenCV camera device, image or video file path (if unset id is used instead)
+  #path: /dev/video0
+
+  # Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
+  # 0 = highest resolution supported by the camera
+  #width: 0
+  #height: 0
+
+  # Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
+  # Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
+  # 0.0 = automatic exposure
+  #exposure: 0.0
+  # Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
+  # Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
+  # 0.0 = automatic gain
+  #gain: 0.0
+  # Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
+  # Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
+  # 1.0 = no gamma
+  #gamma: 1.0
+
+  # Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
+  # (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
+  #white_balance: OUTDOOR
+  # If you want to set manual white balance values use this format:
+  #white_balance:
+  #  red: 1.0
+  #  blue: 1.0
+
+geometry:
+  line_corners:
+  - [1134, 948]
+  - [1509, 729]
+  - [1266, 69]
+  - [798, 300]
+  # Total camera amount over the field
+  #camera_amount: 1
+  # Camera height above field in mm
+  # 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
+  #camera_height: 0.0
+
+  # Field line crossings at the edges of the camera extent in pixels from the top left image corner.
+  # The first coordinate must be the edge with the smallest x and y field coordinate.
+  #line_corners:
+  #- [0 , 1000]
+  #- [0 , 0]
+  #- [1000, 0]
+  #- [1000, 1000]
+
+  # Enable field line pixel refinement.
+  # Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
+  #refinement: true
+
+  # Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
+  #field_line_threshold: 5
+  # Minimum length of line segments to ensure angular stability in pixels
+  #min_line_segment_length: 10.0
+  # Maximum perpendicular offset of line segments for merging in pixels
+  #max_line_segment_offset: 10.0
+  # Maximum relative angle of line segments for merging in °
+  #max_line_segment_angle: 3.0
+
+  # Which corner-picker marker (1-4, its on-screen number) was chosen as the goal-side corner. Not read by vision_processor -- record only.
+  goal_side_marker: 1
+thresholds:
+  # Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
+  # High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
+  #circularity: 15.0
+  # Minimum circularity/(3*stddev) ball blob score
+  #score: 5.0
+
+  # Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
+  #blobs: 2000
+
+  # Minimum confidence (0.0 - 1.0)
+  #min_confidence: 0.2
+
+  # Min ball camera edge distance in mm
+  #min_cam_edge_distance: 170.0
+
+  # Maximum allowed clipping of two objects in mm
+  #clipping_tolerance: 10.0
+
+  # Added tolerance to geometry related operations in mm.
+  # Affects field border cutoff area and field line blob classification.
+  #geometry_tolerance: 10.0
+
+color:
+  # Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
+  #reference_force: 0.1
+  # Strength of the previous color during color updates (0.0 - 1.0-reference_force)
+  #history_force: 0.7
+
+  # Reference colors used for ball determination
+  #orange: [192, 128, 64]
+  #field: [128, 128, 128]
+  # Reference colors used for center blob determination
+  #yellow: [255, 128, 0]
+  #blue: [0, 128, 255]
+  # Reference colors used for side blob determination
+  #green: [0, 255, 128]
+  #pink: [255, 0, 128]
+
+tracking:
+  # Min tracking radius in mm
+  #min_tracking_radius: 20.0
+
+  # Max tracked bot acceleration in m/s^2
+  #max_bot_acceleration: 6.5
+
+network:
+  # Game controller multicast ip address
+  #gc_ip: "224.5.23.1"
+  # Game controller multicast port
+  #gc_port: 10003
+
+  # Vision multicast IP address
+  #vision_ip: "224.5.23.2"
+  # Vision multicast port
+  #vision_port: 10006
+
+stream:
+  # If false no network live stream will be encoded and sent
+  #active: true
+  # Only stream raw camera footage. Useful for recordings.
+  #raw_feed: false
+
+  # Camera stream ip prefix
+  #ip_base_prefix: 224.5.23.
+  # Camera stream ip end base (cam_id is added to maintain separation)
+  #ip_base_end: 100
+  # Camera stream port
+  #port: 10100
+
+debug:
+  # Ground truth file. Only used by blob and geometry benchmark.
+  #ground_truth: gt.yml
+  # Wait for geometry prior to processing frames
+  #wait_for_geometry: false
+  # Save additional debug images in img/.
+  #debug_images: false
+  # Periodically overwrite img/.sample.<camId>.png while calibration isn't accepted yet, every N milliseconds. 0 disables.
+  #debug_stream_interval_ms: 0
diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
index a39eff6..4ccc033 100644
--- a/gui/CLAUDE.md
+++ b/gui/CLAUDE.md
@@ -103,6 +103,17 @@ filesystem.** This is unchanged from the Python `snapshot.py` it replaces and
 is a known limitation, not an oversight -- it does not work once vision
 processors run on other hosts. See "Not yet built."
 
+**`internal/geometry.WriteLineCorners` edits vision_processor's per-instance
+`config.yml` as text, not as decoded/re-encoded YAML.** That file ships full
+of comments and commented-out example values meant to be hand-read; a
+decode/re-encode round trip through `gopkg.in/yaml.v3` (confirmed while
+building this) drops comments elsewhere in the document and drifts
+indentation. A line-based splice around the `line_corners:` key touches
+nothing else. This is a stand-in for the not-yet-built `internal/config`
+(single, same-host instance, matching `-imgDir`'s assumption) -- see "Not yet
+built" -- kept in `internal/geometry` for now since the corner picker needed
+it working immediately; move it if/when `internal/config` exists.
+
 **buf reads the proto submodule directly**: `inputs: [{directory:
 ../proto/proto}]` in `buf.gen.yaml`. No vendored copy to drift. Generated
 output is committed (Nix builds are sandboxed/offline, so `make proto` cannot
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
index 037c959..fd2ce5e 100644
--- a/gui/cmd/ssl-vision-processor-gui/main.go
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -6,6 +6,7 @@ import (
 	"flag"
 	"fmt"
 	"log/slog"
+	"net"
 	"net/http"
 	"os"
 	"os/signal"
@@ -32,6 +33,13 @@ var skipInterfaces = flag.String("skipInterfaces", "", "Comma separated list of
 var geometryFile = flag.String("geometryFile", "geometry.yml", "Field geometry config file, default: geometry.yml")
 var geometryPreset = flag.String("geometryPreset", "geometry-divB.yml", "Preset to seed -geometryFile from if it doesn't exist yet, default: geometry-divB.yml")
 var imgDir = flag.String("imgDir", "img", "Directory the vision processor writes debug snapshot images to, default: img")
+
+// The vision_processor instance's own config file -- distinct from
+// -geometryFile (the shared field template). Matches vision_processor's own
+// default (argv[1] falling back to "config.yml", see src/main.cpp). Assumes
+// a single, same-host instance, same as -imgDir; see gui/CLAUDE.md's
+// "internal/discovery"/"internal/config" notes for the multi-instance plan.
+var configFile = flag.String("configFile", "config.yml", "vision_processor instance config file to write calibration values into, default: config.yml")
 var logLevelFlag = flag.String("logLevel", "Info", "Log Level: Debug, Info, Warn, Error. Default: Info")
 var logFile = flag.String("logFile", "logs/vision-processor-gui.log", "Rotating log file to write alongside stderr, empty to disable. Default: logs/vision-processor-gui.log")
 
@@ -98,7 +106,7 @@ func run() int {
 
 	srv := &http.Server{
 		Addr:              *address,
-		Handler:           NewVisionServer(geom, wsHub, *imgDir),
+		Handler:           NewVisionServer(geom, wsHub, *imgDir, *configFile),
 		ReadHeaderTimeout: 10 * time.Second,
 	}
 
@@ -113,7 +121,7 @@ func run() int {
 		}
 	}()
 
-	slog.Info("UI is available", "url", formattedAddress())
+	slog.Info("UI is available", "url", formattedAddress(*address))
 
 	<-ctx.Done()
 
@@ -205,10 +213,43 @@ func splitInterfaces(flagValue string) []string {
 	return strings.Split(flagValue, ",")
 }
 
-func formattedAddress() string {
-	if strings.HasPrefix(*address, ":") {
-		return "http://localhost" + *address
+// formattedAddress turns -address into a URL a person can actually open. A
+// bind-all host (empty, "0.0.0.0", "::") isn't itself reachable -- printing
+// the LAN-facing IP instead of "localhost" is what makes this useful to
+// someone else on the venue network, not just the machine running it.
+// localhost is only the fallback if that IP can't be determined.
+func formattedAddress(addr string) string {
+	host, port, err := net.SplitHostPort(addr)
+	if err != nil {
+		return "http://" + addr
+	}
+
+	if host != "" && host != "0.0.0.0" && host != "::" {
+		return "http://" + net.JoinHostPort(host, port)
+	}
+
+	if ip, err := outboundIP(); err == nil {
+		return "http://" + net.JoinHostPort(ip, port)
+	}
+
+	return "http://" + net.JoinHostPort("localhost", port)
+}
+
+// outboundIP reports this host's IP as seen by external routing. Dialing UDP
+// doesn't send a packet, just consults the routing table for which local
+// interface/address would be used -- so this works without real
+// connectivity, only a route to the internet.
+func outboundIP() (string, error) {
+	conn, err := net.Dial("udp", "8.8.8.8:80")
+	if err != nil {
+		return "", err
+	}
+	defer conn.Close()
+
+	addr, ok := conn.LocalAddr().(*net.UDPAddr)
+	if !ok {
+		return "", fmt.Errorf("unexpected local address type %T", conn.LocalAddr())
 	}
 
-	return "http://" + *address
+	return addr.IP.String(), nil
 }
diff --git a/gui/cmd/ssl-vision-processor-gui/main_test.go b/gui/cmd/ssl-vision-processor-gui/main_test.go
index 9083bb1..30062c0 100644
--- a/gui/cmd/ssl-vision-processor-gui/main_test.go
+++ b/gui/cmd/ssl-vision-processor-gui/main_test.go
@@ -3,6 +3,7 @@ package main
 import (
 	"os"
 	"path/filepath"
+	"strings"
 	"testing"
 )
 
@@ -50,3 +51,32 @@ func TestBootstrapGeometryFileLeavesExistingFileAlone(t *testing.T) {
 		t.Errorf("existing file was overwritten: %q", got)
 	}
 }
+
+func TestFormattedAddressUsesAnExplicitHostAsIs(t *testing.T) {
+	got := formattedAddress("192.168.1.50:8085")
+	want := "http://192.168.1.50:8085"
+
+	if got != want {
+		t.Errorf("formattedAddress = %q, want %q", got, want)
+	}
+}
+
+// A bind-all host has no single deterministic answer in a test environment
+// (LAN IP if one's reachable, localhost otherwise) -- what's worth asserting
+// is that it always resolves to a well-formed URL on the right port.
+func TestFormattedAddressResolvesABindAllHostToAURL(t *testing.T) {
+	got := formattedAddress(":8085")
+
+	if !strings.HasPrefix(got, "http://") || !strings.HasSuffix(got, ":8085") {
+		t.Errorf("formattedAddress(%q) = %q, want an http://<host>:8085 URL", ":8085", got)
+	}
+}
+
+func TestFormattedAddressFallsBackOnUnparseableInput(t *testing.T) {
+	got := formattedAddress("not-a-host-port")
+	want := "http://not-a-host-port"
+
+	if got != want {
+		t.Errorf("formattedAddress = %q, want %q", got, want)
+	}
+}
diff --git a/gui/cmd/ssl-vision-processor-gui/routes.go b/gui/cmd/ssl-vision-processor-gui/routes.go
index a6d3829..3cdd5b4 100644
--- a/gui/cmd/ssl-vision-processor-gui/routes.go
+++ b/gui/cmd/ssl-vision-processor-gui/routes.go
@@ -16,6 +16,8 @@ func (s *VisionServer) addRoutes(mux *http.ServeMux) {
 	mux.Handle("POST /api/geometry/field/save-as", s.handlePostSaveAs())
 	mux.Handle("POST /api/geometry/field/load", s.handlePostLoad())
 	mux.Handle("GET /api/geometry/presets", s.handleGetFieldPresets())
+	mux.Handle("GET /api/config/line-corners", s.handleGetLineCorners())
+	mux.Handle("PUT /api/config/line-corners", s.handlePutLineCorners())
 	mux.Handle("GET /api/snapshots", snapshot.HandleList(s.imgDir))
 	mux.Handle("GET /api/snapshot/{camID}/{view}", snapshot.HandleGet(s.imgDir))
 	mux.Handle("/api/", http.NotFoundHandler())
diff --git a/gui/cmd/ssl-vision-processor-gui/server.go b/gui/cmd/ssl-vision-processor-gui/server.go
index 804f7a0..48aa0bd 100644
--- a/gui/cmd/ssl-vision-processor-gui/server.go
+++ b/gui/cmd/ssl-vision-processor-gui/server.go
@@ -12,13 +12,14 @@ import (
 )
 
 type VisionServer struct {
-	geometry *geometry.Geometry
-	hub      *hub.Hub
-	imgDir   string
+	geometry   *geometry.Geometry
+	hub        *hub.Hub
+	imgDir     string
+	configFile string
 }
 
-func NewVisionServer(geom *geometry.Geometry, wsHub *hub.Hub, imgDir string) http.Handler {
-	s := &VisionServer{geometry: geom, hub: wsHub, imgDir: imgDir}
+func NewVisionServer(geom *geometry.Geometry, wsHub *hub.Hub, imgDir, configFile string) http.Handler {
+	s := &VisionServer{geometry: geom, hub: wsHub, imgDir: imgDir, configFile: configFile}
 
 	mux := http.NewServeMux()
 	s.addRoutes(mux)
@@ -192,6 +193,77 @@ func (s *VisionServer) handlePostLoad() http.HandlerFunc {
 	}
 }
 
+type lineCornersRequest struct {
+	Corners []geometry.Corner `json:"corners"`
+	// GoalSideMarker is 1-based, matching the corner picker's on-screen
+	// number for whichever marker was chosen as the goal-side corner.
+	GoalSideMarker int `json:"goalSideMarker"`
+}
+
+// handleGetLineCorners reads back whatever was last written to the
+// instance's config.yml (see geometry.ReadLineCorners), so the corner picker
+// can restore its markers instead of always starting from the default inset
+// rectangle. A file with nothing saved yet -- or that can't be read at all --
+// degrades to an empty response rather than an error: not being calibrated
+// yet is the normal state, not a failure.
+func (s *VisionServer) handleGetLineCorners() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		corners, marker, err := geometry.ReadLineCorners(s.configFile)
+		if err != nil {
+			slog.Warn("no existing line corners to load", "path", s.configFile, "err", err)
+
+			corners, marker = nil, 0
+		}
+
+		w.Header().Set("Content-Type", "application/json")
+
+		resp := lineCornersRequest{Corners: corners, GoalSideMarker: marker}
+		if err := json.NewEncoder(w).Encode(resp); err != nil {
+			slog.Error("writing line corners response", "err", err)
+		}
+	}
+}
+
+// handlePutLineCorners writes the corner picker's calibration hint into the
+// instance's own config.yml (geometry.line_corners) -- see
+// geometry.WriteLineCorners. This isn't part of the shared field template
+// (Geometry/geometry.yml); it's a stand-in for the not-yet-built
+// internal/config (see gui/CLAUDE.md's "Not yet built"), kept in
+// internal/geometry for now since it's already of immediate use.
+func (s *VisionServer) handlePutLineCorners() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		var req lineCornersRequest
+		if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
+			http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
+
+			return
+		}
+
+		if len(req.Corners) != 4 {
+			http.Error(w, "corners: exactly 4 required", http.StatusBadRequest)
+
+			return
+		}
+
+		if req.GoalSideMarker < 1 || req.GoalSideMarker > len(req.Corners) {
+			http.Error(w, "goalSideMarker: must identify one of the given corners", http.StatusBadRequest)
+
+			return
+		}
+
+		// s.configFile is server config, not part of the request -- a
+		// failure here is our problem, not the caller's, so 500.
+		if err := geometry.WriteLineCorners(s.configFile, req.Corners, req.GoalSideMarker); err != nil {
+			slog.Error("writing line corners", "path", s.configFile, "err", err)
+			http.Error(w, "internal error", http.StatusInternalServerError)
+
+			return
+		}
+
+		w.WriteHeader(http.StatusNoContent)
+	}
+}
+
 // fieldPresets are the rulebook defaults, read live from the same files a
 // human would open (geometry-divA.yml, geometry-divB.yml at the repo root) --
 // not a copy that could drift from them. See geometry.ReadOnlyFiles: saves
diff --git a/gui/cmd/ssl-vision-processor-gui/server_test.go b/gui/cmd/ssl-vision-processor-gui/server_test.go
index c1c58b1..8d47f62 100644
--- a/gui/cmd/ssl-vision-processor-gui/server_test.go
+++ b/gui/cmd/ssl-vision-processor-gui/server_test.go
@@ -34,7 +34,41 @@ func testServer(t *testing.T) http.Handler {
 		t.Fatalf("geometry.New: %v", err)
 	}
 
-	return NewVisionServer(geom, hub.New(), t.TempDir())
+	return NewVisionServer(geom, hub.New(), t.TempDir(), filepath.Join(t.TempDir(), "config.yml"))
+}
+
+// testServerWithConfig is testServer plus a real, writable copy of
+// testdata/config.yml -- for the line-corners tests, which need to read back
+// what was written.
+func testServerWithConfig(t *testing.T) (http.Handler, string) {
+	t.Helper()
+
+	geomSrc, err := os.ReadFile("testdata/geometry.yml")
+	if err != nil {
+		t.Fatalf("ReadFile geometry fixture: %v", err)
+	}
+
+	geomPath := filepath.Join(t.TempDir(), "geometry.yml")
+	if err := os.WriteFile(geomPath, geomSrc, 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	geom, err := geometry.New(geomPath)
+	if err != nil {
+		t.Fatalf("geometry.New: %v", err)
+	}
+
+	configSrc, err := os.ReadFile("testdata/config.yml")
+	if err != nil {
+		t.Fatalf("ReadFile config fixture: %v", err)
+	}
+
+	configPath := filepath.Join(t.TempDir(), "config.yml")
+	if err := os.WriteFile(configPath, configSrc, 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	return NewVisionServer(geom, hub.New(), t.TempDir(), configPath), configPath
 }
 
 func TestHealthReturnsOK(t *testing.T) {
@@ -247,6 +281,118 @@ func TestLoadOfAMissingFileReturns400(t *testing.T) {
 	}
 }
 
+func TestGetLineCornersReturnsWhatWasWritten(t *testing.T) {
+	srv, _ := testServerWithConfig(t)
+
+	putBody := strings.NewReader(`{"corners": [{"x":1,"y":2},{"x":3,"y":4},{"x":5,"y":6},{"x":7,"y":8}], "goalSideMarker": 2}`)
+	putReq := httptest.NewRequest(http.MethodPut, "/api/config/line-corners", putBody)
+	putRec := httptest.NewRecorder()
+	srv.ServeHTTP(putRec, putReq)
+
+	if putRec.Code != http.StatusNoContent {
+		t.Fatalf("PUT status = %d, want %d, body: %s", putRec.Code, http.StatusNoContent, putRec.Body.String())
+	}
+
+	getReq := httptest.NewRequest(http.MethodGet, "/api/config/line-corners", nil)
+	getRec := httptest.NewRecorder()
+	srv.ServeHTTP(getRec, getReq)
+
+	if getRec.Code != http.StatusOK {
+		t.Fatalf("GET status = %d, want %d, body: %s", getRec.Code, http.StatusOK, getRec.Body.String())
+	}
+
+	body := getRec.Body.String()
+	if !strings.Contains(body, `"x":1`) || !strings.Contains(body, `"goalSideMarker":2`) {
+		t.Errorf("GET body = %q, want it to reflect the PUT", body)
+	}
+}
+
+func TestGetLineCornersDegradesGracefullyWithNothingSavedYet(t *testing.T) {
+	// testServer's configFile path doesn't exist at all.
+	srv := testServer(t)
+
+	req := httptest.NewRequest(http.MethodGet, "/api/config/line-corners", nil)
+	rec := httptest.NewRecorder()
+
+	srv.ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusOK {
+		t.Fatalf("status = %d, want %d, body: %s", rec.Code, http.StatusOK, rec.Body.String())
+	}
+
+	if !strings.Contains(rec.Body.String(), `"goalSideMarker":0`) {
+		t.Errorf("body = %q, want a zero-value response", rec.Body.String())
+	}
+}
+
+func TestPutLineCornersWritesToConfigFile(t *testing.T) {
+	srv, configPath := testServerWithConfig(t)
+
+	body := strings.NewReader(`{"corners": [{"x":1,"y":2},{"x":3,"y":4},{"x":5,"y":6},{"x":7,"y":8}], "goalSideMarker": 3}`)
+	req := httptest.NewRequest(http.MethodPut, "/api/config/line-corners", body)
+	rec := httptest.NewRecorder()
+
+	srv.ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusNoContent {
+		t.Fatalf("status = %d, want %d, body: %s", rec.Code, http.StatusNoContent, rec.Body.String())
+	}
+
+	got, err := os.ReadFile(configPath)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	if !strings.Contains(string(got), "- [1, 2]") {
+		t.Errorf("config.yml was not updated: %s", got)
+	}
+
+	if !strings.Contains(string(got), "goal_side_marker: 3") {
+		t.Errorf("goal_side_marker was not recorded: %s", got)
+	}
+}
+
+func TestPutLineCornersRejectsAnOutOfRangeGoalSideMarker(t *testing.T) {
+	srv, _ := testServerWithConfig(t)
+
+	body := strings.NewReader(`{"corners": [{"x":1,"y":2},{"x":3,"y":4},{"x":5,"y":6},{"x":7,"y":8}], "goalSideMarker": 5}`)
+	req := httptest.NewRequest(http.MethodPut, "/api/config/line-corners", body)
+	rec := httptest.NewRecorder()
+
+	srv.ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusBadRequest {
+		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	}
+}
+
+func TestPutLineCornersRejectsTheWrongCornerCount(t *testing.T) {
+	srv, _ := testServerWithConfig(t)
+
+	body := strings.NewReader(`{"corners": [{"x":1,"y":2}]}`)
+	req := httptest.NewRequest(http.MethodPut, "/api/config/line-corners", body)
+	rec := httptest.NewRecorder()
+
+	srv.ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusBadRequest {
+		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	}
+}
+
+func TestPutLineCornersRejectsMalformedJSON(t *testing.T) {
+	srv, _ := testServerWithConfig(t)
+
+	req := httptest.NewRequest(http.MethodPut, "/api/config/line-corners", strings.NewReader(`not json`))
+	rec := httptest.NewRecorder()
+
+	srv.ServeHTTP(rec, req)
+
+	if rec.Code != http.StatusBadRequest {
+		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	}
+}
+
 // A wrong method is a 404 rather than a 405: the "/" catch-all matches every
 // method, so ServeMux never reaches its method-not-allowed path. What matters is
 // that the "/api/" subtree answers, instead of the request falling through to
diff --git a/gui/cmd/ssl-vision-processor-gui/testdata/config.yml b/gui/cmd/ssl-vision-processor-gui/testdata/config.yml
new file mode 100644
index 0000000..88c8867
--- /dev/null
+++ b/gui/cmd/ssl-vision-processor-gui/testdata/config.yml
@@ -0,0 +1,159 @@
+# VisionProcessor configuration
+
+# Vision camera ID handled by this VisionProcessor instance.
+# On multi camera fields the IDs have to be ordered according to camera_ids.png.
+#cam_id: 0
+
+# Team bot heights yml file (heights in mm)
+#bot_heights_file: robot-heights.yml
+
+camera:
+  # Camera driver type. Availability depending on libraries installed.
+  # Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
+  driver: OPENCV
+
+  # Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
+  #id: 0
+  # OpenCV camera device, image or video file path (if unset id is used instead)
+  path: /dev/video0
+
+  # Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
+  # 0 = highest resolution supported by the camera
+  #width: 0
+  #height: 0
+
+  # Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
+  # Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
+  # 0.0 = automatic exposure
+  #exposure: 0.0
+  # Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
+  # Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
+  # 0.0 = automatic gain
+  #gain: 0.0
+  # Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
+  # Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
+  # 1.0 = no gamma
+  #gamma: 1.0
+
+  # Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
+  # (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
+  #white_balance: OUTDOOR
+  # If you want to set manual white balance values use this format:
+  #white_balance:
+  #  red: 1.0
+  #  blue: 1.0
+
+geometry:
+  # Total camera amount over the field
+  camera_amount: 2
+  # Camera height above field in mm
+  # 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
+  #camera_height: 0.0
+
+  # Field line crossings at the edges of the camera extent in pixels from the top left image corner.
+  # The first coordinate must be the edge with the smallest x and y field coordinate.
+  # Only the first point's identity matters -- GeomModel.cpp brute-forces the
+  # correct clockwise order for the other three. First point = the corner
+  # picker's marker 4, which touches the goal box (confirmed against
+  # img/0.geomcalib_input.png; marker 3 is the same goal-box edge's other end
+  # and would also be a valid choice). Left/right (marker 3 vs 4 first) is an
+  # arbitrary but so-far-unverified choice: doesn't matter with one camera,
+  # would need to agree with camera 1 if a second one joins.
+  line_corners:
+  - [398, 422]
+  - [247, 135]
+  - [455, 33]
+  - [564, 327]
+
+  # Enable field line pixel refinement.
+  # Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
+  #refinement: true
+
+  # Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
+  #field_line_threshold: 5
+  # Minimum length of line segments to ensure angular stability in pixels
+  #min_line_segment_length: 10.0
+  # Maximum perpendicular offset of line segments for merging in pixels
+  #max_line_segment_offset: 10.0
+  # Maximum relative angle of line segments for merging in °
+  #max_line_segment_angle: 3.0
+
+thresholds:
+  # Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
+  # High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
+  #circularity: 15.0
+  # Minimum circularity/(3*stddev) ball blob score
+  #score: 5.0
+
+  # Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
+  #blobs: 2000
+
+  # Minimum confidence (0.0 - 1.0)
+  #min_confidence: 0.2
+
+  # Min ball camera edge distance in mm
+  #min_cam_edge_distance: 170.0
+
+  # Maximum allowed clipping of two objects in mm
+  #clipping_tolerance: 10.0
+
+  # Added tolerance to geometry related operations in mm.
+  # Affects field border cutoff area and field line blob classification.
+  #geometry_tolerance: 10.0
+
+color:
+  # Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
+  #reference_force: 0.1
+  # Strength of the previous color during color updates (0.0 - 1.0-reference_force)
+  #history_force: 0.7
+
+  # Reference colors used for ball determination
+  #orange: [192, 128, 64]
+  #field: [128, 128, 128]
+  # Reference colors used for center blob determination
+  #yellow: [255, 128, 0]
+  #blue: [0, 128, 255]
+  # Reference colors used for side blob determination
+  #green: [0, 255, 128]
+  #pink: [255, 0, 128]
+
+tracking:
+  # Min tracking radius in mm
+  #min_tracking_radius: 20.0
+
+  # Max tracked bot acceleration in m/s^2
+  #max_bot_acceleration: 6.5
+
+network:
+  # Game controller multicast ip address
+  #gc_ip: "224.5.23.1"
+  # Game controller multicast port
+  #gc_port: 10003
+
+  # Vision multicast IP address
+  #vision_ip: "224.5.23.2"
+  # Vision multicast port
+  #vision_port: 10006
+
+stream:
+  # If false no network live stream will be encoded and sent
+  #active: true
+  # Only stream raw camera footage. Useful for recordings.
+  #raw_feed: false
+
+  # Camera stream ip prefix
+  #ip_base_prefix: 224.5.23.
+  # Camera stream ip end base (cam_id is added to maintain separation)
+  #ip_base_end: 100
+  # Camera stream port
+  #port: 10100
+
+debug:
+  # Ground truth file. Only used by blob and geometry benchmark.
+  #ground_truth: gt.yml
+  # Wait for geometry prior to processing frames
+  #wait_for_geometry: false
+  # Save additional debug images in img/.
+  #debug_images: false
+  # Periodically overwrite img/.sample.<camId>.png while calibration isn't accepted yet, every N milliseconds. 0 disables.
+  debug_stream_interval_ms: 3000
diff --git a/gui/config.yml b/gui/config.yml
new file mode 100644
index 0000000..7892dcc
--- /dev/null
+++ b/gui/config.yml
@@ -0,0 +1,157 @@
+# VisionProcessor configuration
+
+# Vision camera ID handled by this VisionProcessor instance.
+# On multi camera fields the IDs have to be ordered according to camera_ids.png.
+#cam_id: 0
+
+# Team bot heights yml file (heights in mm)
+#bot_heights_file: robot-heights.yml
+
+camera:
+  # Camera driver type. Availability depending on libraries installed.
+  # Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
+  #driver: SPINNAKER
+
+  # Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
+  #id: 0
+  # OpenCV camera device, image or video file path (if unset id is used instead)
+  #path: /dev/video0
+
+  # Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
+  # 0 = highest resolution supported by the camera
+  #width: 0
+  #height: 0
+
+  # Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
+  # Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
+  # 0.0 = automatic exposure
+  #exposure: 0.0
+  # Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
+  # Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
+  # 0.0 = automatic gain
+  #gain: 0.0
+  # Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
+  # Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
+  # 1.0 = no gamma
+  #gamma: 1.0
+
+  # Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
+  # (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
+  #white_balance: OUTDOOR
+  # If you want to set manual white balance values use this format:
+  #white_balance:
+  #  red: 1.0
+  #  blue: 1.0
+
+geometry:
+  line_corners:
+  - [1131, 945]
+  - [1263, 69]
+  - [1509, 726]
+  - [792, 300]
+  # Total camera amount over the field
+  #camera_amount: 1
+  # Camera height above field in mm
+  # 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
+  #camera_height: 0.0
+
+  # Field line crossings at the edges of the camera extent in pixels from the top left image corner.
+  # The first coordinate must be the edge with the smallest x and y field coordinate.
+  #line_corners:
+  #- [0 , 1000]
+  #- [0 , 0]
+  #- [1000, 0]
+  #- [1000, 1000]
+
+  # Enable field line pixel refinement.
+  # Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
+  #refinement: true
+
+  # Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
+  #field_line_threshold: 5
+  # Minimum length of line segments to ensure angular stability in pixels
+  #min_line_segment_length: 10.0
+  # Maximum perpendicular offset of line segments for merging in pixels
+  #max_line_segment_offset: 10.0
+  # Maximum relative angle of line segments for merging in °
+  #max_line_segment_angle: 3.0
+
+thresholds:
+  # Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
+  # High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
+  #circularity: 15.0
+  # Minimum circularity/(3*stddev) ball blob score
+  #score: 5.0
+
+  # Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
+  #blobs: 2000
+
+  # Minimum confidence (0.0 - 1.0)
+  #min_confidence: 0.2
+
+  # Min ball camera edge distance in mm
+  #min_cam_edge_distance: 170.0
+
+  # Maximum allowed clipping of two objects in mm
+  #clipping_tolerance: 10.0
+
+  # Added tolerance to geometry related operations in mm.
+  # Affects field border cutoff area and field line blob classification.
+  #geometry_tolerance: 10.0
+
+color:
+  # Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
+  #reference_force: 0.1
+  # Strength of the previous color during color updates (0.0 - 1.0-reference_force)
+  #history_force: 0.7
+
+  # Reference colors used for ball determination
+  #orange: [192, 128, 64]
+  #field: [128, 128, 128]
+  # Reference colors used for center blob determination
+  #yellow: [255, 128, 0]
+  #blue: [0, 128, 255]
+  # Reference colors used for side blob determination
+  #green: [0, 255, 128]
+  #pink: [255, 0, 128]
+
+tracking:
+  # Min tracking radius in mm
+  #min_tracking_radius: 20.0
+
+  # Max tracked bot acceleration in m/s^2
+  #max_bot_acceleration: 6.5
+
+network:
+  # Game controller multicast ip address
+  #gc_ip: "224.5.23.1"
+  # Game controller multicast port
+  #gc_port: 10003
+
+  # Vision multicast IP address
+  #vision_ip: "224.5.23.2"
+  # Vision multicast port
+  #vision_port: 10006
+
+stream:
+  # If false no network live stream will be encoded and sent
+  #active: true
+  # Only stream raw camera footage. Useful for recordings.
+  #raw_feed: false
+
+  # Camera stream ip prefix
+  #ip_base_prefix: 224.5.23.
+  # Camera stream ip end base (cam_id is added to maintain separation)
+  #ip_base_end: 100
+  # Camera stream port
+  #port: 10100
+
+debug:
+  # Ground truth file. Only used by blob and geometry benchmark.
+  #ground_truth: gt.yml
+  # Wait for geometry prior to processing frames
+  #wait_for_geometry: false
+  # Save additional debug images in img/.
+  #debug_images: false
+  # Periodically overwrite img/.sample.<camId>.png while calibration isn't accepted yet, every N milliseconds. 0 disables.
+  #debug_stream_interval_ms: 0
diff --git a/gui/frontend/src/App.svelte b/gui/frontend/src/App.svelte
index c4844f5..700555f 100644
--- a/gui/frontend/src/App.svelte
+++ b/gui/frontend/src/App.svelte
@@ -2,6 +2,7 @@
   import { onMount } from "svelte";
   import { topic } from "./lib/wrapper-bus";
   import Shell from "./lib/layout/Shell.svelte";
+  import { nav } from "./lib/layout/nav.svelte";
 
   let subscribed = $state(false);
   const wrapperPacket = topic<Record<string, unknown>>("wrapper_packet.out");
@@ -14,6 +15,16 @@
   let snapshots = $state<Snapshot[]>([]);
   let cacheBuster = $state(0);
 
+  // flat/gradient/blob are ball-detection debug views (see src/main.cpp) --
+  // color-tuning territory, not relevant to a geometry calibration.
+  const COLOR_ONLY_VIEWS = new Set(["flat", "gradient", "blob"]);
+
+  let visibleSnapshots = $derived(
+    nav.selectedCategoryId === "geometry"
+      ? snapshots.filter((s) => !COLOR_ONLY_VIEWS.has(s.view))
+      : snapshots,
+  );
+
   async function refreshSnapshotList(): Promise<void> {
     try {
       const response = await fetch("/api/snapshots");
@@ -54,24 +65,26 @@
       Temporary debug utilities -- see the note in this file's source.
     </p>
 
-    <section>
-      <h2>Snapshots</h2>
-      {#if snapshots.length === 0}
-        <p class="hint">No images in img/ yet.</p>
-      {:else}
-        <div class="grid">
-          {#each snapshots as snap (`${snap.cam_id}.${snap.view}`)}
-            <figure>
-              <img
-                src={`/api/snapshot/${snap.cam_id}/${snap.view}?t=${String(cacheBuster)}`}
-                alt={`cam ${snap.cam_id} ${snap.view}`}
-              />
-              <figcaption>cam {snap.cam_id} / {snap.view}</figcaption>
-            </figure>
-          {/each}
-        </div>
-      {/if}
-    </section>
+    {#if nav.selectedCategoryId !== "field"}
+      <section>
+        <h2>Snapshots</h2>
+        {#if visibleSnapshots.length === 0}
+          <p class="hint">No images in img/ yet.</p>
+        {:else}
+          <div class="grid">
+            {#each visibleSnapshots as snap (`${snap.cam_id}.${snap.view}`)}
+              <figure>
+                <img
+                  src={`/api/snapshot/${snap.cam_id}/${snap.view}?t=${String(cacheBuster)}`}
+                  alt={`cam ${snap.cam_id} ${snap.view}`}
+                />
+                <figcaption>cam {snap.cam_id} / {snap.view}</figcaption>
+              </figure>
+            {/each}
+          </div>
+        {/if}
+      </section>
+    {/if}
 
     <section>
       <button onclick={toggleSubscribe}>
diff --git a/gui/frontend/src/lib/CornerPicker.svelte b/gui/frontend/src/lib/CornerPicker.svelte
index 7c48fb9..12bd77e 100644
--- a/gui/frontend/src/lib/CornerPicker.svelte
+++ b/gui/frontend/src/lib/CornerPicker.svelte
@@ -1,4 +1,6 @@
 <script lang="ts">
+  import { onMount } from "svelte";
+
   // Hacky first pass at the corner-drag picker from the calibration UI plan.
   // Web-only: no C++ changes, camera hardcoded to 0 (no camera selector yet).
   //
@@ -76,6 +78,7 @@
       x: Math.round(Math.max(0, Math.min(imageWidth, p.x))),
       y: Math.round(Math.max(0, Math.min(imageHeight, p.y))),
     };
+    savedAt = null;
   }
 
   function endDrag(): void {
@@ -101,6 +104,76 @@
         .map((c) => `- [${String(c.x)}, ${String(c.y)}]`)
         .join("\n"),
   );
+
+  let saving = $state(false);
+  let saveError = $state<string | null>(null);
+  let savedAt = $state<number | null>(null);
+
+  // The label/stroke sizes below are SVG user-space units, i.e. image
+  // pixels (viewBox == the image's natural size) -- not screen pixels. They
+  // must scale with image resolution the same way the handle radius already
+  // does, or they shrink toward invisible on a higher-res camera feed than
+  // whatever this was last tuned against.
+  let handleRadius = $derived(Math.max(imageWidth, imageHeight) * 0.015);
+  let handleStrokeWidth = $derived(handleRadius * 0.2);
+  let labelFontSize = $derived(handleRadius * 2.5);
+  let labelDy = $derived(-(handleRadius * 1.8));
+  let labelStrokeWidth = $derived(handleRadius * 0.3);
+
+  // Load whatever was last saved so a reload shows the real calibration
+  // instead of always resetting to the default inset rectangle. Only applied
+  // if nothing's been placed yet (corners.length === 0) and the file has a
+  // full set of 4 -- a partial/absent save just leaves the default in place.
+  onMount(() => {
+    void loadExistingLineCorners();
+  });
+
+  async function loadExistingLineCorners(): Promise<void> {
+    try {
+      const response = await fetch("/api/config/line-corners");
+      if (!response.ok) return;
+
+      const data = (await response.json()) as {
+        corners?: { x: number; y: number }[];
+      };
+
+      // saveLineCorners always sends the origin corner first (see
+      // orderedCorners) -- what comes back is that same saved order, so the
+      // origin is always index 0 here. goalSideMarker is not it: that's the
+      // *original*, pre-reorder marker number, kept only as a record in
+      // config.yml, and doesn't describe this already-reordered array.
+      if (corners.length === 0 && data.corners?.length === 4) {
+        corners = data.corners;
+        originIndex = 0;
+      }
+    } catch {
+      // Nothing saved yet, or it couldn't be read -- the default inset
+      // rectangle is a fine starting point.
+    }
+  }
+
+  async function saveLineCorners(): Promise<void> {
+    saving = true;
+    saveError = null;
+
+    try {
+      const response = await fetch("/api/config/line-corners", {
+        method: "PUT",
+        headers: { "Content-Type": "application/json" },
+        body: JSON.stringify({
+          corners: orderedCorners,
+          goalSideMarker: originIndex + 1,
+        }),
+      });
+
+      if (!response.ok) throw new Error(await response.text());
+      savedAt = Date.now();
+    } catch (err) {
+      saveError = err instanceof Error ? err.message : String(err);
+    } finally {
+      saving = false;
+    }
+  }
 </script>
 
 <section class="corner-picker">
@@ -139,7 +212,8 @@
           <circle
             cx={corner.x}
             cy={corner.y}
-            r={Math.max(imageWidth, imageHeight) * 0.015}
+            r={handleRadius}
+            stroke-width={handleStrokeWidth}
             class="handle"
             class:origin={index === originIndex}
             onpointerdown={(e) => {
@@ -149,7 +223,9 @@
           <text
             x={corner.x}
             y={corner.y}
-            dy={-12}
+            dy={labelDy}
+            font-size={labelFontSize}
+            stroke-width={labelStrokeWidth}
             role="button"
             tabindex="0"
             onclick={() => {
@@ -174,6 +250,22 @@
   </div>
 
   <pre>{yamlSnippet}</pre>
+
+  <div class="save-row">
+    <button
+      type="button"
+      onclick={saveLineCorners}
+      disabled={saving || orderedCorners.length !== 4}
+    >
+      {saving ? "Saving..." : "Save to config.yml"}
+    </button>
+    {#if savedAt}
+      <span class="saved">Saved.</span>
+    {/if}
+    {#if saveError}
+      <span class="error">Error: {saveError}</span>
+    {/if}
+  </div>
 </section>
 
 <style>
@@ -205,7 +297,6 @@
   .handle {
     fill: orange;
     stroke: black;
-    stroke-width: 2;
     cursor: grab;
   }
 
@@ -219,11 +310,9 @@
 
   text {
     fill: white;
-    font-size: 20px;
     text-anchor: middle;
     paint-order: stroke;
     stroke: black;
-    stroke-width: 3px;
     cursor: pointer;
   }
 
@@ -246,4 +335,21 @@
     font-size: 0.8rem;
     font-style: italic;
   }
+
+  .save-row {
+    display: flex;
+    align-items: center;
+    gap: 0.5rem;
+    margin-top: 0.5rem;
+  }
+
+  .saved {
+    color: #1b5e20;
+    font-size: 0.85rem;
+  }
+
+  .error {
+    color: #b00020;
+    font-size: 0.85rem;
+  }
 </style>
diff --git a/gui/frontend/src/lib/layout/Shell.svelte b/gui/frontend/src/lib/layout/Shell.svelte
index b06ae75..e63c2c4 100644
--- a/gui/frontend/src/lib/layout/Shell.svelte
+++ b/gui/frontend/src/lib/layout/Shell.svelte
@@ -21,7 +21,7 @@
   <header>
     <h1>vision-processor</h1>
     <span class="badge" data-state={$connectionState}>
-      {$connectionState}
+      {$connectionState.toUpperCase()} ({location.host})
     </span>
   </header>
 
diff --git a/gui/internal/geometry/instance_config.go b/gui/internal/geometry/instance_config.go
new file mode 100644
index 0000000..0243dfb
--- /dev/null
+++ b/gui/internal/geometry/instance_config.go
@@ -0,0 +1,271 @@
+package geometry
+
+import (
+	"fmt"
+	"os"
+	"regexp"
+	"strings"
+
+	"gopkg.in/yaml.v3"
+)
+
+// Corner is one point in image pixel coordinates, as produced by the corner
+// picker. Only the first element of a slice passed to WriteLineCorners is
+// meaningful to src/calib/GeomModel.cpp's cornerCalibration -- it must be the
+// field's (minX, minY) corner. The other three may be in any order.
+type Corner struct {
+	X int `json:"x"`
+	Y int `json:"y"`
+}
+
+var (
+	geometryHeader   = regexp.MustCompile(`^geometry:\s*$`)
+	lineCornersKey   = regexp.MustCompile(`^(\s*)line_corners:\s*$`)
+	goalSideMarkerKV = regexp.MustCompile(`^(\s*)goal_side_marker:.*$`)
+)
+
+// WriteLineCorners updates geometry.line_corners in the vision_processor
+// instance config at path, in place, along with a goal_side_marker record of
+// which corner-picker marker (1-4, matching its on-screen number) was chosen
+// as the goal-side corner -- vision_processor itself never reads
+// goal_side_marker (yaml-cpp's Node["key"] lookups ignore unknown keys), it's
+// purely a record for whoever looks at this file next.
+//
+// This edits the text directly rather than decoding/re-encoding the file as
+// YAML (contrast Geometry.saveYAML for geometry.yml): config.yml ships full
+// of comments and commented-out example values meant to be hand-read, and
+// gopkg.in/yaml.v3 does not reliably preserve those across a decode/re-encode
+// round trip (confirmed while building this -- entire comment blocks
+// elsewhere in the file were dropped and indentation drifted). A line-based
+// splice touches nothing outside the two keys it's asked to set.
+func WriteLineCorners(path string, corners []Corner, goalSideMarker int) error {
+	if len(corners) == 0 {
+		return fmt.Errorf("no corners given")
+	}
+
+	if goalSideMarker < 1 || goalSideMarker > len(corners) {
+		return fmt.Errorf("goalSideMarker must identify one of the %d corners, got %d", len(corners), goalSideMarker)
+	}
+
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return fmt.Errorf("read %s: %w", path, err)
+	}
+
+	updated, err := spliceLineCorners(string(data), corners)
+	if err != nil {
+		return fmt.Errorf("%s: %w", path, err)
+	}
+
+	updated, err = spliceGoalSideMarker(updated, goalSideMarker)
+	if err != nil {
+		return fmt.Errorf("%s: %w", path, err)
+	}
+
+	if err := os.WriteFile(path, []byte(updated), 0o644); err != nil {
+		return fmt.Errorf("write %s: %w", path, err)
+	}
+
+	return nil
+}
+
+// instanceConfig mirrors just the two geometry fields WriteLineCorners
+// writes. Unlike WriteLineCorners, reading doesn't need to preserve
+// anything -- nothing gets written back -- so a plain yaml.Unmarshal is fine
+// here even though it isn't for the write path.
+type instanceConfig struct {
+	Geometry struct {
+		LineCorners    [][]int `yaml:"line_corners"`
+		GoalSideMarker int     `yaml:"goal_side_marker"`
+	} `yaml:"geometry"`
+}
+
+// ReadLineCorners reads back whatever WriteLineCorners last saved to path.
+// Returns a nil/empty corners slice and a zero marker (not an error) if the
+// file has no line_corners yet -- that's the normal, not-yet-calibrated
+// state, not a failure.
+func ReadLineCorners(path string) ([]Corner, int, error) {
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return nil, 0, fmt.Errorf("read %s: %w", path, err)
+	}
+
+	var cfg instanceConfig
+	if err := yaml.Unmarshal(data, &cfg); err != nil {
+		return nil, 0, fmt.Errorf("parse %s: %w", path, err)
+	}
+
+	corners := make([]Corner, len(cfg.Geometry.LineCorners))
+
+	for i, pair := range cfg.Geometry.LineCorners {
+		if len(pair) != 2 {
+			return nil, 0, fmt.Errorf("%s: geometry.line_corners[%d] has %d values, want 2", path, i, len(pair))
+		}
+
+		corners[i] = Corner{X: pair[0], Y: pair[1]}
+	}
+
+	return corners, cfg.Geometry.GoalSideMarker, nil
+}
+
+// geometrySectionBounds finds the 'geometry:' top-level key and the line
+// index where its section ends (the next top-level key, or len(lines)).
+func geometrySectionBounds(lines []string) (start, end int, err error) {
+	start = -1
+
+	for i, line := range lines {
+		if geometryHeader.MatchString(line) {
+			start = i
+
+			break
+		}
+	}
+
+	if start == -1 {
+		return 0, 0, fmt.Errorf("missing top-level 'geometry' section")
+	}
+
+	end = len(lines)
+
+	for i := start + 1; i < len(lines); i++ {
+		if isTopLevelKeyLine(lines[i]) {
+			end = i
+
+			break
+		}
+	}
+
+	return start, end, nil
+}
+
+// spliceLineCorners is the pure text transform behind WriteLineCorners' list
+// value, split out so it's testable without touching disk.
+func spliceLineCorners(doc string, corners []Corner) (string, error) {
+	lines, trailingNewline := splitDoc(doc)
+
+	geometryAt, sectionEnd, err := geometrySectionBounds(lines)
+	if err != nil {
+		return "", err
+	}
+
+	keyAt := -1
+	indent := ""
+
+	for i := geometryAt + 1; i < sectionEnd; i++ {
+		if m := lineCornersKey.FindStringSubmatch(lines[i]); m != nil {
+			keyAt = i
+			indent = m[1]
+
+			break
+		}
+	}
+
+	items := make([]string, len(corners))
+
+	if keyAt == -1 {
+		indent = firstChildIndent(lines[geometryAt+1 : sectionEnd])
+
+		for i, c := range corners {
+			items[i] = fmt.Sprintf("%s- [%d, %d]", indent, c.X, c.Y)
+		}
+
+		out := make([]string, 0, len(lines)+len(items)+1)
+		out = append(out, lines[:geometryAt+1]...)
+		out = append(out, indent+"line_corners:")
+		out = append(out, items...)
+		out = append(out, lines[geometryAt+1:]...)
+
+		return joinLines(out, trailingNewline), nil
+	}
+
+	// Consume any existing list items (real or commented-out placeholders)
+	// immediately following the key -- everything after that, including
+	// blank lines and the next section's comments, is left untouched.
+	itemLine := regexp.MustCompile(`^` + regexp.QuoteMeta(indent) + `#?-`)
+	end := keyAt + 1
+	for end < sectionEnd && itemLine.MatchString(lines[end]) {
+		end++
+	}
+
+	for i, c := range corners {
+		items[i] = fmt.Sprintf("%s- [%d, %d]", indent, c.X, c.Y)
+	}
+
+	out := make([]string, 0, len(lines)+len(items))
+	out = append(out, lines[:keyAt+1]...)
+	out = append(out, items...)
+	out = append(out, lines[end:]...)
+
+	return joinLines(out, trailingNewline), nil
+}
+
+// spliceGoalSideMarker is the pure text transform for the goal_side_marker
+// scalar. A one-line explanatory comment is added the first time the key is
+// created; updating an existing value leaves whatever's around it alone.
+func spliceGoalSideMarker(doc string, marker int) (string, error) {
+	lines, trailingNewline := splitDoc(doc)
+
+	geometryAt, sectionEnd, err := geometrySectionBounds(lines)
+	if err != nil {
+		return "", err
+	}
+
+	for i := geometryAt + 1; i < sectionEnd; i++ {
+		if m := goalSideMarkerKV.FindStringSubmatch(lines[i]); m != nil {
+			lines[i] = fmt.Sprintf("%sgoal_side_marker: %d", m[1], marker)
+
+			return joinLines(lines, trailingNewline), nil
+		}
+	}
+
+	indent := firstChildIndent(lines[geometryAt+1 : sectionEnd])
+	comment := indent + "# Which corner-picker marker (1-4, its on-screen number) was chosen as the goal-side corner. Not read by vision_processor -- record only."
+
+	out := make([]string, 0, len(lines)+2)
+	out = append(out, lines[:sectionEnd]...)
+	out = append(out, comment, fmt.Sprintf("%sgoal_side_marker: %d", indent, marker))
+	out = append(out, lines[sectionEnd:]...)
+
+	return joinLines(out, trailingNewline), nil
+}
+
+// isTopLevelKeyLine reports whether line starts a new root-level YAML key
+// (unindented, not blank, not a comment) -- the boundary of the 'geometry'
+// section.
+func isTopLevelKeyLine(line string) bool {
+	if line == "" {
+		return false
+	}
+
+	return line[0] != ' ' && line[0] != '\t' && line[0] != '#'
+}
+
+// firstChildIndent finds the leading whitespace of the first real (non-blank,
+// non-comment) line in a section, for a key that needs to be appended fresh.
+// Falls back to two spaces -- the indent every shipped config.yml template
+// uses -- if the section has no other real keys yet.
+func firstChildIndent(sectionLines []string) string {
+	for _, line := range sectionLines {
+		trimmed := strings.TrimSpace(line)
+		if trimmed == "" || strings.HasPrefix(trimmed, "#") {
+			continue
+		}
+
+		return line[:len(line)-len(strings.TrimLeft(line, " \t"))]
+	}
+
+	return "  "
+}
+
+func splitDoc(doc string) (lines []string, trailingNewline bool) {
+	return strings.Split(strings.TrimSuffix(doc, "\n"), "\n"), strings.HasSuffix(doc, "\n")
+}
+
+func joinLines(lines []string, trailingNewline bool) string {
+	out := strings.Join(lines, "\n")
+	if trailingNewline {
+		out += "\n"
+	}
+
+	return out
+}
diff --git a/gui/internal/geometry/instance_config_test.go b/gui/internal/geometry/instance_config_test.go
new file mode 100644
index 0000000..b375362
--- /dev/null
+++ b/gui/internal/geometry/instance_config_test.go
@@ -0,0 +1,252 @@
+package geometry
+
+import (
+	"os"
+	"path/filepath"
+	"strings"
+	"testing"
+)
+
+// testConfigFile copies testdata/config.yml into t.TempDir() so tests can
+// freely write to it without touching the tracked fixture -- same discipline
+// as testGeometry in geometry_test.go.
+func testConfigFile(t *testing.T) string {
+	t.Helper()
+
+	src, err := os.ReadFile("testdata/config.yml")
+	if err != nil {
+		t.Fatalf("ReadFile fixture: %v", err)
+	}
+
+	path := filepath.Join(t.TempDir(), "config.yml")
+	if err := os.WriteFile(path, src, 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	return path
+}
+
+func TestWriteLineCornersUpdatesValuesInPlace(t *testing.T) {
+	path := testConfigFile(t)
+
+	corners := []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}
+	if err := WriteLineCorners(path, corners, 1); err != nil {
+		t.Fatalf("WriteLineCorners: %v", err)
+	}
+
+	got, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	want := "line_corners:\n  - [1, 2]\n  - [3, 4]\n  - [5, 6]\n  - [7, 8]\n"
+	if !strings.Contains(string(got), want) {
+		t.Errorf("output does not contain the new corners as a block sequence of flow tuples:\n%s", got)
+	}
+
+	if strings.Contains(string(got), "398, 422") {
+		t.Error("old corner values are still present")
+	}
+}
+
+func TestWriteLineCornersPreservesComments(t *testing.T) {
+	path := testConfigFile(t)
+
+	before, err := os.ReadFile("testdata/config.yml")
+	if err != nil {
+		t.Fatalf("ReadFile fixture: %v", err)
+	}
+
+	if err := WriteLineCorners(path, []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}, 1); err != nil {
+		t.Fatalf("WriteLineCorners: %v", err)
+	}
+
+	after, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	// Every comment line and every other section is untouched -- only the
+	// line_corners value itself should have changed.
+	for _, line := range strings.Split(string(before), "\n") {
+		trimmed := strings.TrimSpace(line)
+		if trimmed == "" || !strings.HasPrefix(trimmed, "#") {
+			continue
+		}
+
+		if !strings.Contains(string(after), line) {
+			t.Errorf("comment line lost: %q", line)
+		}
+	}
+
+	if !strings.Contains(string(after), "camera_amount: 2") {
+		t.Error("unrelated 'camera_amount' key was disturbed")
+	}
+
+	if !strings.Contains(string(after), "color:") {
+		t.Error("unrelated 'color' section was disturbed")
+	}
+}
+
+func TestWriteLineCornersAppendsTheKeyWhenAbsent(t *testing.T) {
+	path := filepath.Join(t.TempDir(), "config.yml")
+	data := "geometry:\n  camera_amount: 1\n"
+	if err := os.WriteFile(path, []byte(data), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	if err := WriteLineCorners(path, []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}, 1); err != nil {
+		t.Fatalf("WriteLineCorners: %v", err)
+	}
+
+	got, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	if !strings.Contains(string(got), "line_corners:") {
+		t.Errorf("line_corners key was not appended:\n%s", got)
+	}
+
+	if !strings.Contains(string(got), "camera_amount: 1") {
+		t.Error("existing key was disturbed")
+	}
+}
+
+func TestWriteLineCornersErrorsWithoutAGeometrySection(t *testing.T) {
+	path := filepath.Join(t.TempDir(), "config.yml")
+	if err := os.WriteFile(path, []byte("camera:\n  driver: OPENCV\n"), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	err := WriteLineCorners(path, []Corner{{X: 1, Y: 2}}, 1)
+	if err == nil {
+		t.Fatal("expected an error, got nil")
+	}
+}
+
+func TestWriteLineCornersErrorsOnAMissingFile(t *testing.T) {
+	err := WriteLineCorners(filepath.Join(t.TempDir(), "does-not-exist.yml"), []Corner{{X: 1, Y: 2}}, 1)
+	if err == nil {
+		t.Fatal("expected an error, got nil")
+	}
+}
+
+func TestWriteLineCornersErrorsWithNoCorners(t *testing.T) {
+	path := testConfigFile(t)
+
+	if err := WriteLineCorners(path, nil, 1); err == nil {
+		t.Fatal("expected an error, got nil")
+	}
+}
+
+func TestWriteLineCornersErrorsWhenGoalSideMarkerIsOutOfRange(t *testing.T) {
+	path := testConfigFile(t)
+
+	corners := []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}
+
+	for _, marker := range []int{0, 5, -1} {
+		if err := WriteLineCorners(path, corners, marker); err == nil {
+			t.Errorf("goalSideMarker=%d: expected an error, got nil", marker)
+		}
+	}
+}
+
+func TestWriteLineCornersRecordsTheGoalSideMarker(t *testing.T) {
+	path := testConfigFile(t)
+
+	corners := []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}
+	if err := WriteLineCorners(path, corners, 3); err != nil {
+		t.Fatalf("WriteLineCorners: %v", err)
+	}
+
+	got, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	if !strings.Contains(string(got), "goal_side_marker: 3") {
+		t.Errorf("goal_side_marker was not recorded:\n%s", got)
+	}
+}
+
+func TestReadLineCornersRoundTripsWhatWriteLineCornersSaved(t *testing.T) {
+	path := testConfigFile(t)
+
+	corners := []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}
+	if err := WriteLineCorners(path, corners, 3); err != nil {
+		t.Fatalf("WriteLineCorners: %v", err)
+	}
+
+	gotCorners, gotMarker, err := ReadLineCorners(path)
+	if err != nil {
+		t.Fatalf("ReadLineCorners: %v", err)
+	}
+
+	if len(gotCorners) != len(corners) {
+		t.Fatalf("got %d corners, want %d", len(gotCorners), len(corners))
+	}
+
+	for i, c := range corners {
+		if gotCorners[i] != c {
+			t.Errorf("corner %d = %+v, want %+v", i, gotCorners[i], c)
+		}
+	}
+
+	if gotMarker != 3 {
+		t.Errorf("goalSideMarker = %d, want 3", gotMarker)
+	}
+}
+
+func TestReadLineCornersReturnsEmptyWhenNothingSavedYet(t *testing.T) {
+	path := filepath.Join(t.TempDir(), "config.yml")
+	if err := os.WriteFile(path, []byte("geometry:\n  camera_amount: 1\n"), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	corners, marker, err := ReadLineCorners(path)
+	if err != nil {
+		t.Fatalf("ReadLineCorners: %v", err)
+	}
+
+	if len(corners) != 0 {
+		t.Errorf("corners = %+v, want none", corners)
+	}
+
+	if marker != 0 {
+		t.Errorf("goalSideMarker = %d, want 0", marker)
+	}
+}
+
+func TestReadLineCornersErrorsOnAMissingFile(t *testing.T) {
+	_, _, err := ReadLineCorners(filepath.Join(t.TempDir(), "does-not-exist.yml"))
+	if err == nil {
+		t.Fatal("expected an error, got nil")
+	}
+}
+
+func TestWriteLineCornersUpdatesAnExistingGoalSideMarkerInPlace(t *testing.T) {
+	path := testConfigFile(t)
+
+	corners := []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}
+	if err := WriteLineCorners(path, corners, 2); err != nil {
+		t.Fatalf("WriteLineCorners: %v", err)
+	}
+
+	if err := WriteLineCorners(path, corners, 4); err != nil {
+		t.Fatalf("WriteLineCorners: %v", err)
+	}
+
+	got, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	if strings.Count(string(got), "goal_side_marker:") != 1 {
+		t.Errorf("expected exactly one goal_side_marker key, got:\n%s", got)
+	}
+
+	if !strings.Contains(string(got), "goal_side_marker: 4") {
+		t.Errorf("goal_side_marker was not updated to the new value:\n%s", got)
+	}
+}
diff --git a/gui/internal/geometry/testdata/config.yml b/gui/internal/geometry/testdata/config.yml
new file mode 100644
index 0000000..88c8867
--- /dev/null
+++ b/gui/internal/geometry/testdata/config.yml
@@ -0,0 +1,159 @@
+# VisionProcessor configuration
+
+# Vision camera ID handled by this VisionProcessor instance.
+# On multi camera fields the IDs have to be ordered according to camera_ids.png.
+#cam_id: 0
+
+# Team bot heights yml file (heights in mm)
+#bot_heights_file: robot-heights.yml
+
+camera:
+  # Camera driver type. Availability depending on libraries installed.
+  # Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
+  driver: OPENCV
+
+  # Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
+  #id: 0
+  # OpenCV camera device, image or video file path (if unset id is used instead)
+  path: /dev/video0
+
+  # Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
+  # 0 = highest resolution supported by the camera
+  #width: 0
+  #height: 0
+
+  # Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
+  # Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
+  # 0.0 = automatic exposure
+  #exposure: 0.0
+  # Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
+  # Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
+  # 0.0 = automatic gain
+  #gain: 0.0
+  # Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
+  # Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
+  # 1.0 = no gamma
+  #gamma: 1.0
+
+  # Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
+  # (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
+  #white_balance: OUTDOOR
+  # If you want to set manual white balance values use this format:
+  #white_balance:
+  #  red: 1.0
+  #  blue: 1.0
+
+geometry:
+  # Total camera amount over the field
+  camera_amount: 2
+  # Camera height above field in mm
+  # 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
+  #camera_height: 0.0
+
+  # Field line crossings at the edges of the camera extent in pixels from the top left image corner.
+  # The first coordinate must be the edge with the smallest x and y field coordinate.
+  # Only the first point's identity matters -- GeomModel.cpp brute-forces the
+  # correct clockwise order for the other three. First point = the corner
+  # picker's marker 4, which touches the goal box (confirmed against
+  # img/0.geomcalib_input.png; marker 3 is the same goal-box edge's other end
+  # and would also be a valid choice). Left/right (marker 3 vs 4 first) is an
+  # arbitrary but so-far-unverified choice: doesn't matter with one camera,
+  # would need to agree with camera 1 if a second one joins.
+  line_corners:
+  - [398, 422]
+  - [247, 135]
+  - [455, 33]
+  - [564, 327]
+
+  # Enable field line pixel refinement.
+  # Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
+  #refinement: true
+
+  # Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
+  #field_line_threshold: 5
+  # Minimum length of line segments to ensure angular stability in pixels
+  #min_line_segment_length: 10.0
+  # Maximum perpendicular offset of line segments for merging in pixels
+  #max_line_segment_offset: 10.0
+  # Maximum relative angle of line segments for merging in °
+  #max_line_segment_angle: 3.0
+
+thresholds:
+  # Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
+  # High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
+  #circularity: 15.0
+  # Minimum circularity/(3*stddev) ball blob score
+  #score: 5.0
+
+  # Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
+  #blobs: 2000
+
+  # Minimum confidence (0.0 - 1.0)
+  #min_confidence: 0.2
+
+  # Min ball camera edge distance in mm
+  #min_cam_edge_distance: 170.0
+
+  # Maximum allowed clipping of two objects in mm
+  #clipping_tolerance: 10.0
+
+  # Added tolerance to geometry related operations in mm.
+  # Affects field border cutoff area and field line blob classification.
+  #geometry_tolerance: 10.0
+
+color:
+  # Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
+  #reference_force: 0.1
+  # Strength of the previous color during color updates (0.0 - 1.0-reference_force)
+  #history_force: 0.7
+
+  # Reference colors used for ball determination
+  #orange: [192, 128, 64]
+  #field: [128, 128, 128]
+  # Reference colors used for center blob determination
+  #yellow: [255, 128, 0]
+  #blue: [0, 128, 255]
+  # Reference colors used for side blob determination
+  #green: [0, 255, 128]
+  #pink: [255, 0, 128]
+
+tracking:
+  # Min tracking radius in mm
+  #min_tracking_radius: 20.0
+
+  # Max tracked bot acceleration in m/s^2
+  #max_bot_acceleration: 6.5
+
+network:
+  # Game controller multicast ip address
+  #gc_ip: "224.5.23.1"
+  # Game controller multicast port
+  #gc_port: 10003
+
+  # Vision multicast IP address
+  #vision_ip: "224.5.23.2"
+  # Vision multicast port
+  #vision_port: 10006
+
+stream:
+  # If false no network live stream will be encoded and sent
+  #active: true
+  # Only stream raw camera footage. Useful for recordings.
+  #raw_feed: false
+
+  # Camera stream ip prefix
+  #ip_base_prefix: 224.5.23.
+  # Camera stream ip end base (cam_id is added to maintain separation)
+  #ip_base_end: 100
+  # Camera stream port
+  #port: 10100
+
+debug:
+  # Ground truth file. Only used by blob and geometry benchmark.
+  #ground_truth: gt.yml
+  # Wait for geometry prior to processing frames
+  #wait_for_geometry: false
+  # Save additional debug images in img/.
+  #debug_images: false
+  # Periodically overwrite img/.sample.<camId>.png while calibration isn't accepted yet, every N milliseconds. 0 disables.
+  debug_stream_interval_ms: 3000

From 3cb7d85bef7db5df936d3bfb4ea98c65402a8c5a Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Fri, 25 Sep 2026 10:47:28 -0400
Subject: [PATCH 08/23] make pb generated code transient

---
 .github/workflows/ci.yml                      |   41 +-
 .gitignore                                    |    6 +-
 README.md                                     |    2 +-
 gui/CLAUDE.md                                 |   40 +-
 gui/Makefile                                  |   33 +-
 gui/buf.gen.yaml                              |    9 +-
 gui/frontend/README.md                        |    3 +-
 gui/frontend/package-lock.json                |   71 +-
 gui/frontend/package.json                     |    1 +
 .../proto/gamecontroller/ssl_gc_common_pb.ts  |  139 -
 .../gamecontroller/ssl_gc_game_event_pb.ts    | 3850 --------------
 .../gamecontroller/ssl_gc_geometry_pb.ts      |  106 -
 .../gamecontroller/ssl_gc_rcon_autoref_pb.ts  |  157 -
 .../proto/gamecontroller/ssl_gc_rcon_pb.ts    |  208 -
 .../ssl_gc_rcon_remotecontrol_pb.ts           |  565 ---
 .../gamecontroller/ssl_gc_rcon_team_pb.ts     |  264 -
 .../ssl_gc_referee_message_pb.ts              | 1055 ----
 .../proto/vision/ssl_vision_detection_pb.ts   |  403 --
 .../vision/ssl_vision_detection_tracked_pb.ts |  448 --
 .../proto/vision/ssl_vision_geometry_pb.ts    | 1031 ----
 .../src/proto/vision/ssl_vision_wrapper_pb.ts |  123 -
 .../vision/ssl_vision_wrapper_tracked_pb.ts   |   83 -
 .../src/proto/vision/ssl_vp_config_pb.ts      |  951 ----
 gui/go.mod                                    |    2 +
 .../gamecontroller/ssl_gc_common.pb.go        |  271 -
 .../gamecontroller/ssl_gc_game_event.pb.go    | 4459 -----------------
 .../gamecontroller/ssl_gc_geometry.pb.go      |  198 -
 gui/internal/gamecontroller/ssl_gc_rcon.pb.go |  352 --
 .../gamecontroller/ssl_gc_rcon_autoref.pb.go  |  283 --
 .../ssl_gc_rcon_remotecontrol.pb.go           |  718 ---
 .../gamecontroller/ssl_gc_rcon_team.pb.go     |  442 --
 .../ssl_gc_referee_message.pb.go              | 1113 ----
 .../vision/ssl_vision_detection.pb.go         |  439 --
 .../vision/ssl_vision_detection_tracked.pb.go |  544 --
 gui/internal/vision/ssl_vision_geometry.pb.go | 1135 -----
 gui/internal/vision/ssl_vision_wrapper.pb.go  |  238 -
 .../vision/ssl_vision_wrapper_tracked.pb.go   |  150 -
 gui/internal/vision/ssl_vp_config.pb.go       | 1230 -----
 38 files changed, 162 insertions(+), 21001 deletions(-)
 delete mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_common_pb.ts
 delete mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_game_event_pb.ts
 delete mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_geometry_pb.ts
 delete mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_autoref_pb.ts
 delete mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_pb.ts
 delete mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_remotecontrol_pb.ts
 delete mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_team_pb.ts
 delete mode 100644 gui/frontend/src/proto/gamecontroller/ssl_gc_referee_message_pb.ts
 delete mode 100644 gui/frontend/src/proto/vision/ssl_vision_detection_pb.ts
 delete mode 100644 gui/frontend/src/proto/vision/ssl_vision_detection_tracked_pb.ts
 delete mode 100644 gui/frontend/src/proto/vision/ssl_vision_geometry_pb.ts
 delete mode 100644 gui/frontend/src/proto/vision/ssl_vision_wrapper_pb.ts
 delete mode 100644 gui/frontend/src/proto/vision/ssl_vision_wrapper_tracked_pb.ts
 delete mode 100644 gui/frontend/src/proto/vision/ssl_vp_config_pb.ts
 delete mode 100644 gui/internal/gamecontroller/ssl_gc_common.pb.go
 delete mode 100644 gui/internal/gamecontroller/ssl_gc_game_event.pb.go
 delete mode 100644 gui/internal/gamecontroller/ssl_gc_geometry.pb.go
 delete mode 100644 gui/internal/gamecontroller/ssl_gc_rcon.pb.go
 delete mode 100644 gui/internal/gamecontroller/ssl_gc_rcon_autoref.pb.go
 delete mode 100644 gui/internal/gamecontroller/ssl_gc_rcon_remotecontrol.pb.go
 delete mode 100644 gui/internal/gamecontroller/ssl_gc_rcon_team.pb.go
 delete mode 100644 gui/internal/gamecontroller/ssl_gc_referee_message.pb.go
 delete mode 100644 gui/internal/vision/ssl_vision_detection.pb.go
 delete mode 100644 gui/internal/vision/ssl_vision_detection_tracked.pb.go
 delete mode 100644 gui/internal/vision/ssl_vision_geometry.pb.go
 delete mode 100644 gui/internal/vision/ssl_vision_wrapper.pb.go
 delete mode 100644 gui/internal/vision/ssl_vision_wrapper_tracked.pb.go
 delete mode 100644 gui/internal/vision/ssl_vp_config.pb.go

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 18a4f43..c617dde 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -38,10 +38,13 @@ jobs:
     name: Go (gui)
     runs-on: ubuntu-latest
     steps:
-      # No submodule checkout: gui/internal/{vision,gamecontroller} are
-      # generated Go bindings committed to the tree (see gui/buf.gen.yaml);
-      # only `make proto` touches the proto/ submodule.
+      # gui/internal/{vision,gamecontroller} are generated, not committed (see
+      # gui/buf.gen.yaml) -- the proto/ submodule and a `buf generate` (via
+      # `make .proto`, local plugins, no network needed) are needed before
+      # anything here builds.
       - uses: actions/checkout@v4
+        with:
+          submodules: recursive
 
       - uses: DeterminateSystems/nix-installer-action@main
       - uses: DeterminateSystems/magic-nix-cache-action@main
@@ -50,6 +53,7 @@ jobs:
         run: |
           nix develop --command bash -c '
             cd gui
+            make .proto
             test -z "$(gofmt -l .)" || { gofmt -l .; exit 1; }
             go vet ./cmd/... ./internal/... ./frontend
             go build ./cmd/... ./internal/... ./frontend
@@ -59,24 +63,23 @@ jobs:
   frontend:
     name: Frontend (gui/frontend)
     runs-on: ubuntu-latest
-    defaults:
-      run:
-        working-directory: gui/frontend
     steps:
+      # frontend/src/proto is generated, not committed (see gui/buf.gen.yaml)
+      # -- this job now needs the proto/ submodule and buf/go (hence nix,
+      # same as gui-go) to produce it before npm can build against it.
       - uses: actions/checkout@v4
-
-      - uses: actions/setup-node@v4
         with:
-          node-version: 22
-          cache: npm
-          cache-dependency-path: gui/frontend/package-lock.json
-
-      - run: npm ci
-
-      - run: npm run lint
-
-      - run: npm run format:check
+          submodules: recursive
 
-      - run: npm run check
+      - uses: DeterminateSystems/nix-installer-action@main
+      - uses: DeterminateSystems/magic-nix-cache-action@main
 
-      - run: npm run build
+      - name: Lint, check, build
+        run: |
+          nix develop --command bash -c '
+            cd gui && make .proto && cd frontend
+            npm run lint
+            npm run format:check
+            npm run check
+            npm run build
+          '
diff --git a/.gitignore b/.gitignore
index 35e2149..c1fc702 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,6 +3,9 @@
 /src/cl_kernels.S
 /src/proto
 /python/proto
+/gui/internal/vision
+/gui/internal/gamecontroller
+/gui/frontend/src/proto
 __pycache__
 
 # Cam viewer
@@ -20,8 +23,9 @@ geometry_benchmark
 /gui/bin
 /gui/ssl-vision-processor-gui
 
-# Makefile sentinel for the frontend build
+# Makefile sentinels for the frontend build and protobuf codegen
 /gui/.frontend
+/gui/.proto
 
 #CMake files
 /build
diff --git a/README.md b/README.md
index 99f3d40..16aca7e 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@ for all vision_processors, teams and the game controller.
 A Go host plus a browser UI, replacing `geom_publisher.py` for anyone running it:
 
 - `gui/` — Go host (`cmd/ssl-vision-processor-gui`). Owns the field geometry, absorbs calibrations from vision processors over multicast, and serves the embedded frontend, JSON API, a WebSocket for live updates, and debug snapshot images all on one port. Run with `cd gui && make run` (defaults to `geometry-divB.yml`).
-- `gui/frontend/` — Svelte 5 + TypeScript + Vite, embedded into the Go binary. Run standalone with `cd gui/frontend && npm install && npm run dev` (proxies `/api` and `/ws` to the Go host), or serve it from the Go host directly with `make run`. See [`gui/frontend/README.md`](gui/frontend/README.md).
+- `gui/frontend/` — Svelte 5 + TypeScript + Vite, embedded into the Go binary. Run standalone with `cd gui && make proto && cd frontend && npm install && npm run dev` (proxies `/api` and `/ws` to the Go host), or serve it from the Go host directly with `make run`. `make proto` regenerates the protobuf bindings the frontend imports (not committed to git; needs `buf`, or use `nix develop`, see [`gui/CLAUDE.md`](gui/CLAUDE.md)) and only needs to be rerun after the `proto/` submodule changes. See [`gui/frontend/README.md`](gui/frontend/README.md).
 
 ## Dependency installation and compilation
 
diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
index 4ccc033..1b225ca 100644
--- a/gui/CLAUDE.md
+++ b/gui/CLAUDE.md
@@ -14,13 +14,22 @@ which still import it directly — do not delete `geom_publisher.py`.
 All run from `gui/`.
 
 ```
-make run       # build frontend, run the Go host on :8085
+make run       # regenerate proto, build frontend, run the Go host on :8085
 make test      # frontend check/lint/format + go test -race, all packages
 make install   # go install after a frontend build
-make proto     # buf generate: needs network, never run from a sandboxed build
-make clean     # wipe dist/ and the frontend-build sentinel
+make proto     # regenerate internal/{vision,gamecontroller} and frontend/src/proto
+make clean     # wipe dist/, internal/{vision,gamecontroller}, frontend/src/proto
 ```
 
+`proto` (and by extension `run`/`test`/`install`, which all depend on it)
+needs `git submodule update --init` to have been run at least once, but no
+network beyond that: `buf generate`'s two plugins are both local, not
+buf.build remotes. Not using `nix develop`? You need `buf` itself, plus:
+`go get -tool google.golang.org/protobuf/cmd/protoc-gen-go` (records the
+version in `go.mod`; already a direct dependency so this needs no extra
+network fetch) and `npm ci` in `frontend/` (installs `@bufbuild/protoc-gen-es`
+from `package.json`).
+
 ```
 cd frontend && npm run dev   # Vite HMR on :5173, proxies /api and /ws to :8085
 ```
@@ -35,9 +44,10 @@ internal/
   hub/         topic pub/sub + the /ws handler
   snapshot/    debug image listing/serving
   logging/     slog setup: tint console + lumberjack file
-  vision/      generated Go protobuf (DO NOT EDIT, see buf.gen.yaml)
-  gamecontroller/  generated Go protobuf
+  vision/      generated Go protobuf, not committed -- run `make proto` (DO NOT EDIT)
+  gamecontroller/  generated Go protobuf, not committed
 frontend/      Svelte 5 + TypeScript + Vite, embedded via //go:embed
+               (src/proto/ is generated, not committed)
 buf.gen.yaml   generates both internal/{vision,gamecontroller} and
                frontend/src/proto from ../proto/proto (the submodule, read
                directly -- no vendored copy)
@@ -116,10 +126,22 @@ it working immediately; move it if/when `internal/config` exists.
 
 **buf reads the proto submodule directly**: `inputs: [{directory:
 ../proto/proto}]` in `buf.gen.yaml`. No vendored copy to drift. Generated
-output is committed (Nix builds are sandboxed/offline, so `make proto` cannot
-run inside one); `gui/frontend/dist/.gitkeep` exists for the same reason on
-the frontend side -- `//go:embed` fails to compile if `dist/` doesn't exist,
-so a fresh clone with no `npm run build` yet must still be able to `go test`.
+output (`internal/vision`, `internal/gamecontroller`, `frontend/src/proto`) is
+*not* committed -- `buf.gen.yaml`'s plugins are both `local:` (`go tool
+protoc-gen-go`; `frontend/node_modules/.bin/protoc-gen-es`), not buf.build
+remotes, so `make proto` needs no network beyond the already-checked-out
+`proto/` submodule and runs as an ordinary Makefile prerequisite (a `.proto`
+sentinel, same technique as `.frontend` below) rather than a separate manual
+step. This used to be committed when the plugins were remote (buf.build
+codegen calls, real network dependency); switching to local plugins removed
+the reason to.
+
+`gui/frontend/dist/.gitkeep` exists for a similar but distinct reason on the
+frontend side -- `//go:embed` fails to compile if `dist/` doesn't exist, so a
+fresh clone with no `npm run build` yet must still be able to `go test`. That
+one stays committed: `dist/` is the frontend's actual build *output*, not
+codegen from a source of truth already in the tree, so there's nothing to
+regenerate it from without first running the build it's the output of.
 
 **Discovery is multicast-announce-based, config is host-owned** -- both
 still unimplemented; see below.
diff --git a/gui/Makefile b/gui/Makefile
index bbbdab8..bbf09eb 100644
--- a/gui/Makefile
+++ b/gui/Makefile
@@ -6,21 +6,39 @@ GO_PACKAGES = ./cmd/... ./internal/... ./frontend
 
 FRONTEND_SOURCES = $(shell find frontend -type f \
 	-not -path "frontend/node_modules/*" \
-	-not -path "frontend/dist/*")
+	-not -path "frontend/dist/*" \
+	-not -path "frontend/src/proto/*")
+
+PROTO_SOURCES = $(shell find ../proto/proto -type f 2>/dev/null)
 
 .PHONY: all frontend install test run proto clean
 
 all: install
 
+# Sentinel file: internal/vision, internal/gamecontroller and
+# frontend/src/proto are generated, not committed (see buf.gen.yaml and
+# .gitignore), so every Go and frontend target needs this to have run first.
+# Both of buf.gen.yaml's plugins are local (go tool protoc-gen-go;
+# frontend/node_modules/.bin/protoc-gen-es), so this needs no network beyond
+# the already-checked-out proto/ submodule -- npm ci runs first only to make
+# sure the protoc-gen-es binary exists before buf calls it.
+.proto: buf.gen.yaml go.mod $(PROTO_SOURCES)
+	cd frontend && npm ci
+	buf generate
+	touch .proto
+
+proto: .proto
+
 # Sentinel file, so npm reruns only when a frontend source is newer than the
 # last build. //go:embed resolves at compile time, which is why every Go target
-# below depends on this.
+# below depends on this. Depends on .proto first: the build imports the
+# generated frontend/src/proto types.
 #
 # `npm run build` empties dist/ first (Vite's emptyOutDir), which deletes
 # dist/.gitkeep along with any stale output. Restore it every time, or a build
 # run before a commit silently drops the tracked sentinel a fresh clone needs.
-.frontend: $(FRONTEND_SOURCES)
-	cd frontend && npm ci && npm run build
+.frontend: .proto $(FRONTEND_SOURCES)
+	cd frontend && npm run build
 	touch frontend/dist/.gitkeep
 	touch .frontend
 
@@ -36,12 +54,7 @@ test: frontend
 run: frontend
 	go run ./cmd/$(BINARY)
 
-# Regenerates Go and TypeScript protobuf bindings. Needs network access for
-# buf's remote plugins, so it never runs as part of a build.
-proto:
-	buf generate
-
 clean:
-	rm -rf frontend/dist .frontend
+	rm -rf frontend/dist frontend/src/proto internal/vision internal/gamecontroller .frontend .proto
 	mkdir -p frontend/dist
 	touch frontend/dist/.gitkeep
diff --git a/gui/buf.gen.yaml b/gui/buf.gen.yaml
index dac8bde..aa906a7 100644
--- a/gui/buf.gen.yaml
+++ b/gui/buf.gen.yaml
@@ -20,8 +20,13 @@ managed:
     - file_option: go_package_prefix
       value: github.com/RoboCup-SSL/ssl-vision-processor/gui/internal
 
+# Local plugins, not buf.build remotes: generation needs no network beyond the
+# already-checked-out proto/ submodule. Versions come from go.mod's `tool`
+# directive and frontend/package.json's devDependency, not a pin here, so
+# generated code never drifts from whatever protobuf runtime version the rest
+# of the code actually builds against.
 plugins:
-  - remote: buf.build/protocolbuffers/go:v1.36.6
+  - local: [go, tool, protoc-gen-go]
     out: internal
     opt:
       - paths=source_relative
@@ -29,7 +34,7 @@ plugins:
   # json_types emits the canonical protojson shape of each message, which is
   # what the Go side sends over the wire. 64-bit fields come out as strings
   # there, and these types say so.
-  - remote: buf.build/bufbuild/es:v2.2.5
+  - local: ./frontend/node_modules/.bin/protoc-gen-es
     out: frontend/src/proto
     opt:
       - target=ts
diff --git a/gui/frontend/README.md b/gui/frontend/README.md
index 40ca3ef..3071a21 100644
--- a/gui/frontend/README.md
+++ b/gui/frontend/README.md
@@ -13,7 +13,8 @@ Two options:
 
 ```
 # Standalone dev server with HMR (proxies /api and /ws to the Go host on :8085)
-cd gui/frontend
+cd gui && make proto   # regenerates src/proto -- not committed to git, see gui/CLAUDE.md
+cd frontend
 npm install
 npm run dev
 ```
diff --git a/gui/frontend/package-lock.json b/gui/frontend/package-lock.json
index 4d4b690..3aa8502 100644
--- a/gui/frontend/package-lock.json
+++ b/gui/frontend/package-lock.json
@@ -11,6 +11,7 @@
         "@bufbuild/protobuf": "^2.14.1"
       },
       "devDependencies": {
+        "@bufbuild/protoc-gen-es": "^2.14.1",
         "@eslint/js": "^10.0.1",
         "@sveltejs/vite-plugin-svelte": "^7.1.2",
         "@tsconfig/svelte": "^5.0.8",
@@ -30,11 +31,62 @@
       }
     },
     "node_modules/@bufbuild/protobuf": {
-      "version": "2.14.1",
-      "resolved": "https://registry.npmjs.org/@bufbuild/protobuf/-/protobuf-2.14.1.tgz",
-      "integrity": "sha512-agRJn3+EJDUe8AvxTx/LnHA/GErvLE62pSaSk7+MwFOtOv8eWBu/qCq2qoZjBjVZ3C2aiFJCveuSs17KMkYGOw==",
+      "version": "2.15.0",
+      "resolved": "https://registry.npmjs.org/@bufbuild/protobuf/-/protobuf-2.15.0.tgz",
+      "integrity": "sha512-DAheWUkVr/SJTWCc+lg9dhY0eN4SaWlf4+bG1KzHeXbnqt0AfB/NX0Z+VunGlM1ki1B4zVvye27MpKh/svySUA==",
       "license": "(Apache-2.0 AND BSD-3-Clause)"
     },
+    "node_modules/@bufbuild/protoc-gen-es": {
+      "version": "2.15.0",
+      "resolved": "https://registry.npmjs.org/@bufbuild/protoc-gen-es/-/protoc-gen-es-2.15.0.tgz",
+      "integrity": "sha512-FRhNTAZEXW6arWx2JxgtpuazhmewYctXugu5SfXGpXpLLCInDT1005fSKDzEM/70Es2oIn07PM4RvpwvDvR/fg==",
+      "dev": true,
+      "license": "Apache-2.0",
+      "dependencies": {
+        "@bufbuild/protobuf": "2.15.0",
+        "@bufbuild/protoplugin": "2.15.0"
+      },
+      "bin": {
+        "protoc-gen-es": "bin/protoc-gen-es"
+      },
+      "engines": {
+        "node": ">=22"
+      },
+      "peerDependencies": {
+        "@bufbuild/protobuf": "2.15.0"
+      },
+      "peerDependenciesMeta": {
+        "@bufbuild/protobuf": {
+          "optional": true
+        }
+      }
+    },
+    "node_modules/@bufbuild/protoplugin": {
+      "version": "2.15.0",
+      "resolved": "https://registry.npmjs.org/@bufbuild/protoplugin/-/protoplugin-2.15.0.tgz",
+      "integrity": "sha512-vZhRoqB/jTHATqItRvJQf1zbxdrGRRhiusGty4+lKcfEFODG0PMXky2Ezv4WHHS6oSxq+5qShITuE7K1/82SuQ==",
+      "dev": true,
+      "license": "Apache-2.0",
+      "dependencies": {
+        "@bufbuild/protobuf": "2.15.0",
+        "@typescript/vfs": "^1.6.2",
+        "typescript": "5.4.5"
+      }
+    },
+    "node_modules/@bufbuild/protoplugin/node_modules/typescript": {
+      "version": "5.4.5",
+      "resolved": "https://registry.npmjs.org/typescript/-/typescript-5.4.5.tgz",
+      "integrity": "sha512-vcI4UpRgg81oIRUFwR0WSIHKt11nJ7SAVlYNIu+QpqeyXP+gpQJy/Z4+F0aGxSE4MqwjyXvW/TzgkLAx2AGHwQ==",
+      "dev": true,
+      "license": "Apache-2.0",
+      "bin": {
+        "tsc": "bin/tsc",
+        "tsserver": "bin/tsserver"
+      },
+      "engines": {
+        "node": ">=14.17"
+      }
+    },
     "node_modules/@emnapi/core": {
       "version": "1.10.0",
       "resolved": "https://registry.npmjs.org/@emnapi/core/-/core-1.10.0.tgz",
@@ -922,6 +974,19 @@
         "url": "https://opencollective.com/typescript-eslint"
       }
     },
+    "node_modules/@typescript/vfs": {
+      "version": "1.6.5",
+      "resolved": "https://registry.npmjs.org/@typescript/vfs/-/vfs-1.6.5.tgz",
+      "integrity": "sha512-gobLHQLmvQGJInFk31NvgMd1uYzRXsd8qgnOssyLD055R2QPnw1ubRbBQ4+T+5qC7IQVuYXdvNDE2G7tMDVHgw==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "debug": "^4.4.3"
+      },
+      "peerDependencies": {
+        "typescript": "*"
+      }
+    },
     "node_modules/acorn": {
       "version": "8.16.0",
       "resolved": "https://registry.npmjs.org/acorn/-/acorn-8.16.0.tgz",
diff --git a/gui/frontend/package.json b/gui/frontend/package.json
index 57596b1..59a8072 100644
--- a/gui/frontend/package.json
+++ b/gui/frontend/package.json
@@ -13,6 +13,7 @@
     "format:check": "prettier --check ."
   },
   "devDependencies": {
+    "@bufbuild/protoc-gen-es": "^2.14.1",
     "@eslint/js": "^10.0.1",
     "@sveltejs/vite-plugin-svelte": "^7.1.2",
     "@tsconfig/svelte": "^5.0.8",
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_common_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_common_pb.ts
deleted file mode 100644
index bb16105..0000000
--- a/gui/frontend/src/proto/gamecontroller/ssl_gc_common_pb.ts
+++ /dev/null
@@ -1,139 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file gamecontroller/ssl_gc_common.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file gamecontroller/ssl_gc_common.proto.
- */
-export const file_gamecontroller_ssl_gc_common: GenFile = /*@__PURE__*/
-  fileDesc("CiJnYW1lY29udHJvbGxlci9zc2xfZ2NfY29tbW9uLnByb3RvIioKB1JvYm90SWQSCgoCaWQYASABKA0SEwoEdGVhbRgCIAEoDjIFLlRlYW0qKQoEVGVhbRILCgdVTktOT1dOEAASCgoGWUVMTE9XEAESCAoEQkxVRRACKjEKCERpdmlzaW9uEg8KC0RJVl9VTktOT1dOEAASCQoFRElWX0EQARIJCgVESVZfQhACQl1CEFNzbEdjQ29tbW9uUHJvdG9QAVpHZ2l0aHViLmNvbS9Sb2JvQ3VwLVNTTC9zc2wtdmlzaW9uLXByb2Nlc3Nvci9ndWkvaW50ZXJuYWwvZ2FtZWNvbnRyb2xsZXI");
-
-/**
- * RobotId is the combination of a team and a robot id
- *
- * @generated from message RobotId
- */
-export type RobotId = Message<"RobotId"> & {
-  /**
-   * the robot number
-   *
-   * @generated from field: optional uint32 id = 1;
-   */
-  id: number;
-
-  /**
-   * the team that the robot belongs to
-   *
-   * @generated from field: optional Team team = 2;
-   */
-  team: Team;
-};
-
-/**
- * RobotId is the combination of a team and a robot id
- *
- * @generated from message RobotId
- */
-export type RobotIdJson = {
-  /**
-   * the robot number
-   *
-   * @generated from field: optional uint32 id = 1;
-   */
-  id?: number;
-
-  /**
-   * the team that the robot belongs to
-   *
-   * @generated from field: optional Team team = 2;
-   */
-  team?: TeamJson;
-};
-
-/**
- * Describes the message RobotId.
- * Use `create(RobotIdSchema)` to create a new message.
- */
-export const RobotIdSchema: GenMessage<RobotId, RobotIdJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_common, 0);
-
-/**
- * Team is either blue or yellow
- *
- * @generated from enum Team
- */
-export enum Team {
-  /**
-   * team not set
-   *
-   * @generated from enum value: UNKNOWN = 0;
-   */
-  UNKNOWN = 0,
-
-  /**
-   * yellow team
-   *
-   * @generated from enum value: YELLOW = 1;
-   */
-  YELLOW = 1,
-
-  /**
-   * blue team
-   *
-   * @generated from enum value: BLUE = 2;
-   */
-  BLUE = 2,
-}
-
-/**
- * Team is either blue or yellow
- *
- * @generated from enum Team
- */
-export type TeamJson = "UNKNOWN" | "YELLOW" | "BLUE";
-
-/**
- * Describes the enum Team.
- */
-export const TeamSchema: GenEnum<Team, TeamJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_common, 0);
-
-/**
- * Division denotes the current division, which influences some rules
- *
- * @generated from enum Division
- */
-export enum Division {
-  /**
-   * @generated from enum value: DIV_UNKNOWN = 0;
-   */
-  DIV_UNKNOWN = 0,
-
-  /**
-   * @generated from enum value: DIV_A = 1;
-   */
-  DIV_A = 1,
-
-  /**
-   * @generated from enum value: DIV_B = 2;
-   */
-  DIV_B = 2,
-}
-
-/**
- * Division denotes the current division, which influences some rules
- *
- * @generated from enum Division
- */
-export type DivisionJson = "DIV_UNKNOWN" | "DIV_A" | "DIV_B";
-
-/**
- * Describes the enum Division.
- */
-export const DivisionSchema: GenEnum<Division, DivisionJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_common, 1);
-
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_game_event_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_game_event_pb.ts
deleted file mode 100644
index 4666b62..0000000
--- a/gui/frontend/src/proto/gamecontroller/ssl_gc_game_event_pb.ts
+++ /dev/null
@@ -1,3850 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file gamecontroller/ssl_gc_game_event.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { Team, TeamJson } from "./ssl_gc_common_pb";
-import { file_gamecontroller_ssl_gc_common } from "./ssl_gc_common_pb";
-import type { Vector2, Vector2Json } from "./ssl_gc_geometry_pb";
-import { file_gamecontroller_ssl_gc_geometry } from "./ssl_gc_geometry_pb";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file gamecontroller/ssl_gc_game_event.proto.
- */
-export const file_gamecontroller_ssl_gc_game_event: GenFile = /*@__PURE__*/
-  fileDesc("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", [file_gamecontroller_ssl_gc_common, file_gamecontroller_ssl_gc_geometry]);
-
-/**
- * GameEvent contains exactly one game event
- * Each game event has optional and required fields. The required fields are mandatory to process the event.
- * Some optional fields are only used for visualization, others are required to determine the ball placement position.
- * If fields are missing that are required for the ball placement position, no ball placement command will be issued.
- * Fields are marked optional to make testing and extending of the protocol easier.
- * An autoRef should ideally set all fields, except if there are good reasons to not do so.
- *
- * @generated from message GameEvent
- */
-export type GameEvent = Message<"GameEvent"> & {
-  /**
-   * A globally unique id of the game event.
-   *
-   * @generated from field: optional string id = 50;
-   */
-  id: string;
-
-  /**
-   * The type of the game event.
-   *
-   * @generated from field: optional GameEvent.Type type = 40;
-   */
-  type: GameEvent_Type;
-
-  /**
-   * The origins of this game event.
-   * Empty, if it originates from game controller.
-   * Contains autoRef name(s), if it originates from one or more autoRefs.
-   * Ignored if sent by autoRef to game controller.
-   *
-   * @generated from field: repeated string origin = 41;
-   */
-  origin: string[];
-
-  /**
-   * Unix timestamp in microseconds when the event was created.
-   *
-   * @generated from field: optional uint64 created_timestamp = 49;
-   */
-  createdTimestamp: bigint;
-
-  /**
-   * the event that occurred
-   *
-   * @generated from oneof GameEvent.event
-   */
-  event: {
-    /**
-     * @generated from field: GameEvent.BallLeftField ball_left_field_touch_line = 6;
-     */
-    value: GameEvent_BallLeftField;
-    case: "ballLeftFieldTouchLine";
-  } | {
-    /**
-     * @generated from field: GameEvent.BallLeftField ball_left_field_goal_line = 7;
-     */
-    value: GameEvent_BallLeftField;
-    case: "ballLeftFieldGoalLine";
-  } | {
-    /**
-     * @generated from field: GameEvent.AimlessKick aimless_kick = 11;
-     */
-    value: GameEvent_AimlessKick;
-    case: "aimlessKick";
-  } | {
-    /**
-     * @generated from field: GameEvent.AttackerTooCloseToDefenseArea attacker_too_close_to_defense_area = 19;
-     */
-    value: GameEvent_AttackerTooCloseToDefenseArea;
-    case: "attackerTooCloseToDefenseArea";
-  } | {
-    /**
-     * @generated from field: GameEvent.DefenderInDefenseArea defender_in_defense_area = 31;
-     */
-    value: GameEvent_DefenderInDefenseArea;
-    case: "defenderInDefenseArea";
-  } | {
-    /**
-     * @generated from field: GameEvent.BoundaryCrossing boundary_crossing = 43;
-     */
-    value: GameEvent_BoundaryCrossing;
-    case: "boundaryCrossing";
-  } | {
-    /**
-     * @generated from field: GameEvent.KeeperHeldBall keeper_held_ball = 13;
-     */
-    value: GameEvent_KeeperHeldBall;
-    case: "keeperHeldBall";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotDribbledBallTooFar bot_dribbled_ball_too_far = 17;
-     */
-    value: GameEvent_BotDribbledBallTooFar;
-    case: "botDribbledBallTooFar";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotPushedBot bot_pushed_bot = 24;
-     */
-    value: GameEvent_BotPushedBot;
-    case: "botPushedBot";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotHeldBallDeliberately bot_held_ball_deliberately = 26;
-     */
-    value: GameEvent_BotHeldBallDeliberately;
-    case: "botHeldBallDeliberately";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotTippedOver bot_tipped_over = 27;
-     */
-    value: GameEvent_BotTippedOver;
-    case: "botTippedOver";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotDroppedParts bot_dropped_parts = 51;
-     */
-    value: GameEvent_BotDroppedParts;
-    case: "botDroppedParts";
-  } | {
-    /**
-     * @generated from field: GameEvent.AttackerTouchedBallInDefenseArea attacker_touched_ball_in_defense_area = 15;
-     */
-    value: GameEvent_AttackerTouchedBallInDefenseArea;
-    case: "attackerTouchedBallInDefenseArea";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotKickedBallTooFast bot_kicked_ball_too_fast = 18;
-     */
-    value: GameEvent_BotKickedBallTooFast;
-    case: "botKickedBallTooFast";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotCrashUnique bot_crash_unique = 22;
-     */
-    value: GameEvent_BotCrashUnique;
-    case: "botCrashUnique";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotCrashDrawn bot_crash_drawn = 21;
-     */
-    value: GameEvent_BotCrashDrawn;
-    case: "botCrashDrawn";
-  } | {
-    /**
-     * @generated from field: GameEvent.DefenderTooCloseToKickPoint defender_too_close_to_kick_point = 29;
-     */
-    value: GameEvent_DefenderTooCloseToKickPoint;
-    case: "defenderTooCloseToKickPoint";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotTooFastInStop bot_too_fast_in_stop = 28;
-     */
-    value: GameEvent_BotTooFastInStop;
-    case: "botTooFastInStop";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotInterferedPlacement bot_interfered_placement = 20;
-     */
-    value: GameEvent_BotInterferedPlacement;
-    case: "botInterferedPlacement";
-  } | {
-    /**
-     * @generated from field: GameEvent.Goal possible_goal = 39;
-     */
-    value: GameEvent_Goal;
-    case: "possibleGoal";
-  } | {
-    /**
-     * @generated from field: GameEvent.Goal goal = 8;
-     */
-    value: GameEvent_Goal;
-    case: "goal";
-  } | {
-    /**
-     * @generated from field: GameEvent.Goal invalid_goal = 44;
-     */
-    value: GameEvent_Goal;
-    case: "invalidGoal";
-  } | {
-    /**
-     * @generated from field: GameEvent.AttackerDoubleTouchedBall attacker_double_touched_ball = 14;
-     */
-    value: GameEvent_AttackerDoubleTouchedBall;
-    case: "attackerDoubleTouchedBall";
-  } | {
-    /**
-     * @generated from field: GameEvent.PlacementSucceeded placement_succeeded = 5;
-     */
-    value: GameEvent_PlacementSucceeded;
-    case: "placementSucceeded";
-  } | {
-    /**
-     * @generated from field: GameEvent.PenaltyKickFailed penalty_kick_failed = 45;
-     */
-    value: GameEvent_PenaltyKickFailed;
-    case: "penaltyKickFailed";
-  } | {
-    /**
-     * @generated from field: GameEvent.NoProgressInGame no_progress_in_game = 2;
-     */
-    value: GameEvent_NoProgressInGame;
-    case: "noProgressInGame";
-  } | {
-    /**
-     * @generated from field: GameEvent.PlacementFailed placement_failed = 3;
-     */
-    value: GameEvent_PlacementFailed;
-    case: "placementFailed";
-  } | {
-    /**
-     * @generated from field: GameEvent.MultipleCards multiple_cards = 32;
-     */
-    value: GameEvent_MultipleCards;
-    case: "multipleCards";
-  } | {
-    /**
-     * @generated from field: GameEvent.MultipleFouls multiple_fouls = 34;
-     */
-    value: GameEvent_MultipleFouls;
-    case: "multipleFouls";
-  } | {
-    /**
-     * @generated from field: GameEvent.BotSubstitution bot_substitution = 37;
-     */
-    value: GameEvent_BotSubstitution;
-    case: "botSubstitution";
-  } | {
-    /**
-     * @generated from field: GameEvent.ExcessiveBotSubstitution excessive_bot_substitution = 52;
-     */
-    value: GameEvent_ExcessiveBotSubstitution;
-    case: "excessiveBotSubstitution";
-  } | {
-    /**
-     * @generated from field: GameEvent.TooManyRobots too_many_robots = 38;
-     */
-    value: GameEvent_TooManyRobots;
-    case: "tooManyRobots";
-  } | {
-    /**
-     * @generated from field: GameEvent.ChallengeFlag challenge_flag = 46;
-     */
-    value: GameEvent_ChallengeFlag;
-    case: "challengeFlag";
-  } | {
-    /**
-     * @generated from field: GameEvent.ChallengeFlagHandled challenge_flag_handled = 48;
-     */
-    value: GameEvent_ChallengeFlagHandled;
-    case: "challengeFlagHandled";
-  } | {
-    /**
-     * @generated from field: GameEvent.EmergencyStop emergency_stop = 47;
-     */
-    value: GameEvent_EmergencyStop;
-    case: "emergencyStop";
-  } | {
-    /**
-     * @generated from field: GameEvent.UnsportingBehaviorMinor unsporting_behavior_minor = 35;
-     */
-    value: GameEvent_UnsportingBehaviorMinor;
-    case: "unsportingBehaviorMinor";
-  } | {
-    /**
-     * @generated from field: GameEvent.UnsportingBehaviorMajor unsporting_behavior_major = 36;
-     */
-    value: GameEvent_UnsportingBehaviorMajor;
-    case: "unsportingBehaviorMajor";
-  } | {
-    /**
-     * replaced by ready_to_continue flag
-     *
-     * @generated from field: GameEvent.Prepared prepared = 1 [deprecated = true];
-     * @deprecated
-     */
-    value: GameEvent_Prepared;
-    case: "prepared";
-  } | {
-    /**
-     * obsolete
-     *
-     * @generated from field: GameEvent.IndirectGoal indirect_goal = 9 [deprecated = true];
-     * @deprecated
-     */
-    value: GameEvent_IndirectGoal;
-    case: "indirectGoal";
-  } | {
-    /**
-     * replaced by the meta-information in the possible_goal event
-     *
-     * @generated from field: GameEvent.ChippedGoal chipped_goal = 10 [deprecated = true];
-     * @deprecated
-     */
-    value: GameEvent_ChippedGoal;
-    case: "chippedGoal";
-  } | {
-    /**
-     * obsolete
-     *
-     * @generated from field: GameEvent.KickTimeout kick_timeout = 12 [deprecated = true];
-     * @deprecated
-     */
-    value: GameEvent_KickTimeout;
-    case: "kickTimeout";
-  } | {
-    /**
-     * rule removed
-     *
-     * @generated from field: GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area = 16 [deprecated = true];
-     * @deprecated
-     */
-    value: GameEvent_AttackerTouchedOpponentInDefenseArea;
-    case: "attackerTouchedOpponentInDefenseArea";
-  } | {
-    /**
-     * obsolete
-     *
-     * @generated from field: GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area_skipped = 42 [deprecated = true];
-     * @deprecated
-     */
-    value: GameEvent_AttackerTouchedOpponentInDefenseArea;
-    case: "attackerTouchedOpponentInDefenseAreaSkipped";
-  } | {
-    /**
-     * obsolete
-     *
-     * @generated from field: GameEvent.BotCrashUnique bot_crash_unique_skipped = 23 [deprecated = true];
-     * @deprecated
-     */
-    value: GameEvent_BotCrashUnique;
-    case: "botCrashUniqueSkipped";
-  } | {
-    /**
-     * can not be used as long as autoRefs do not judge pushing
-     *
-     * @generated from field: GameEvent.BotPushedBot bot_pushed_bot_skipped = 25 [deprecated = true];
-     * @deprecated
-     */
-    value: GameEvent_BotPushedBot;
-    case: "botPushedBotSkipped";
-  } | {
-    /**
-     * rule removed
-     *
-     * @generated from field: GameEvent.DefenderInDefenseAreaPartially defender_in_defense_area_partially = 30 [deprecated = true];
-     * @deprecated
-     */
-    value: GameEvent_DefenderInDefenseAreaPartially;
-    case: "defenderInDefenseAreaPartially";
-  } | {
-    /**
-     * the referee msg already indicates this
-     *
-     * @generated from field: GameEvent.MultiplePlacementFailures multiple_placement_failures = 33 [deprecated = true];
-     * @deprecated
-     */
-    value: GameEvent_MultiplePlacementFailures;
-    case: "multiplePlacementFailures";
-  } | { case: undefined; value?: undefined };
-};
-
-/**
- * GameEvent contains exactly one game event
- * Each game event has optional and required fields. The required fields are mandatory to process the event.
- * Some optional fields are only used for visualization, others are required to determine the ball placement position.
- * If fields are missing that are required for the ball placement position, no ball placement command will be issued.
- * Fields are marked optional to make testing and extending of the protocol easier.
- * An autoRef should ideally set all fields, except if there are good reasons to not do so.
- *
- * @generated from message GameEvent
- */
-export type GameEventJson = {
-  /**
-   * A globally unique id of the game event.
-   *
-   * @generated from field: optional string id = 50;
-   */
-  id?: string;
-
-  /**
-   * The type of the game event.
-   *
-   * @generated from field: optional GameEvent.Type type = 40;
-   */
-  type?: GameEvent_TypeJson;
-
-  /**
-   * The origins of this game event.
-   * Empty, if it originates from game controller.
-   * Contains autoRef name(s), if it originates from one or more autoRefs.
-   * Ignored if sent by autoRef to game controller.
-   *
-   * @generated from field: repeated string origin = 41;
-   */
-  origin?: string[];
-
-  /**
-   * Unix timestamp in microseconds when the event was created.
-   *
-   * @generated from field: optional uint64 created_timestamp = 49;
-   */
-  createdTimestamp?: string;
-
-  /**
-   * @generated from field: GameEvent.BallLeftField ball_left_field_touch_line = 6;
-   */
-  ballLeftFieldTouchLine?: GameEvent_BallLeftFieldJson;
-
-  /**
-   * @generated from field: GameEvent.BallLeftField ball_left_field_goal_line = 7;
-   */
-  ballLeftFieldGoalLine?: GameEvent_BallLeftFieldJson;
-
-  /**
-   * @generated from field: GameEvent.AimlessKick aimless_kick = 11;
-   */
-  aimlessKick?: GameEvent_AimlessKickJson;
-
-  /**
-   * @generated from field: GameEvent.AttackerTooCloseToDefenseArea attacker_too_close_to_defense_area = 19;
-   */
-  attackerTooCloseToDefenseArea?: GameEvent_AttackerTooCloseToDefenseAreaJson;
-
-  /**
-   * @generated from field: GameEvent.DefenderInDefenseArea defender_in_defense_area = 31;
-   */
-  defenderInDefenseArea?: GameEvent_DefenderInDefenseAreaJson;
-
-  /**
-   * @generated from field: GameEvent.BoundaryCrossing boundary_crossing = 43;
-   */
-  boundaryCrossing?: GameEvent_BoundaryCrossingJson;
-
-  /**
-   * @generated from field: GameEvent.KeeperHeldBall keeper_held_ball = 13;
-   */
-  keeperHeldBall?: GameEvent_KeeperHeldBallJson;
-
-  /**
-   * @generated from field: GameEvent.BotDribbledBallTooFar bot_dribbled_ball_too_far = 17;
-   */
-  botDribbledBallTooFar?: GameEvent_BotDribbledBallTooFarJson;
-
-  /**
-   * @generated from field: GameEvent.BotPushedBot bot_pushed_bot = 24;
-   */
-  botPushedBot?: GameEvent_BotPushedBotJson;
-
-  /**
-   * @generated from field: GameEvent.BotHeldBallDeliberately bot_held_ball_deliberately = 26;
-   */
-  botHeldBallDeliberately?: GameEvent_BotHeldBallDeliberatelyJson;
-
-  /**
-   * @generated from field: GameEvent.BotTippedOver bot_tipped_over = 27;
-   */
-  botTippedOver?: GameEvent_BotTippedOverJson;
-
-  /**
-   * @generated from field: GameEvent.BotDroppedParts bot_dropped_parts = 51;
-   */
-  botDroppedParts?: GameEvent_BotDroppedPartsJson;
-
-  /**
-   * @generated from field: GameEvent.AttackerTouchedBallInDefenseArea attacker_touched_ball_in_defense_area = 15;
-   */
-  attackerTouchedBallInDefenseArea?: GameEvent_AttackerTouchedBallInDefenseAreaJson;
-
-  /**
-   * @generated from field: GameEvent.BotKickedBallTooFast bot_kicked_ball_too_fast = 18;
-   */
-  botKickedBallTooFast?: GameEvent_BotKickedBallTooFastJson;
-
-  /**
-   * @generated from field: GameEvent.BotCrashUnique bot_crash_unique = 22;
-   */
-  botCrashUnique?: GameEvent_BotCrashUniqueJson;
-
-  /**
-   * @generated from field: GameEvent.BotCrashDrawn bot_crash_drawn = 21;
-   */
-  botCrashDrawn?: GameEvent_BotCrashDrawnJson;
-
-  /**
-   * @generated from field: GameEvent.DefenderTooCloseToKickPoint defender_too_close_to_kick_point = 29;
-   */
-  defenderTooCloseToKickPoint?: GameEvent_DefenderTooCloseToKickPointJson;
-
-  /**
-   * @generated from field: GameEvent.BotTooFastInStop bot_too_fast_in_stop = 28;
-   */
-  botTooFastInStop?: GameEvent_BotTooFastInStopJson;
-
-  /**
-   * @generated from field: GameEvent.BotInterferedPlacement bot_interfered_placement = 20;
-   */
-  botInterferedPlacement?: GameEvent_BotInterferedPlacementJson;
-
-  /**
-   * @generated from field: GameEvent.Goal possible_goal = 39;
-   */
-  possibleGoal?: GameEvent_GoalJson;
-
-  /**
-   * @generated from field: GameEvent.Goal goal = 8;
-   */
-  goal?: GameEvent_GoalJson;
-
-  /**
-   * @generated from field: GameEvent.Goal invalid_goal = 44;
-   */
-  invalidGoal?: GameEvent_GoalJson;
-
-  /**
-   * @generated from field: GameEvent.AttackerDoubleTouchedBall attacker_double_touched_ball = 14;
-   */
-  attackerDoubleTouchedBall?: GameEvent_AttackerDoubleTouchedBallJson;
-
-  /**
-   * @generated from field: GameEvent.PlacementSucceeded placement_succeeded = 5;
-   */
-  placementSucceeded?: GameEvent_PlacementSucceededJson;
-
-  /**
-   * @generated from field: GameEvent.PenaltyKickFailed penalty_kick_failed = 45;
-   */
-  penaltyKickFailed?: GameEvent_PenaltyKickFailedJson;
-
-  /**
-   * @generated from field: GameEvent.NoProgressInGame no_progress_in_game = 2;
-   */
-  noProgressInGame?: GameEvent_NoProgressInGameJson;
-
-  /**
-   * @generated from field: GameEvent.PlacementFailed placement_failed = 3;
-   */
-  placementFailed?: GameEvent_PlacementFailedJson;
-
-  /**
-   * @generated from field: GameEvent.MultipleCards multiple_cards = 32;
-   */
-  multipleCards?: GameEvent_MultipleCardsJson;
-
-  /**
-   * @generated from field: GameEvent.MultipleFouls multiple_fouls = 34;
-   */
-  multipleFouls?: GameEvent_MultipleFoulsJson;
-
-  /**
-   * @generated from field: GameEvent.BotSubstitution bot_substitution = 37;
-   */
-  botSubstitution?: GameEvent_BotSubstitutionJson;
-
-  /**
-   * @generated from field: GameEvent.ExcessiveBotSubstitution excessive_bot_substitution = 52;
-   */
-  excessiveBotSubstitution?: GameEvent_ExcessiveBotSubstitutionJson;
-
-  /**
-   * @generated from field: GameEvent.TooManyRobots too_many_robots = 38;
-   */
-  tooManyRobots?: GameEvent_TooManyRobotsJson;
-
-  /**
-   * @generated from field: GameEvent.ChallengeFlag challenge_flag = 46;
-   */
-  challengeFlag?: GameEvent_ChallengeFlagJson;
-
-  /**
-   * @generated from field: GameEvent.ChallengeFlagHandled challenge_flag_handled = 48;
-   */
-  challengeFlagHandled?: GameEvent_ChallengeFlagHandledJson;
-
-  /**
-   * @generated from field: GameEvent.EmergencyStop emergency_stop = 47;
-   */
-  emergencyStop?: GameEvent_EmergencyStopJson;
-
-  /**
-   * @generated from field: GameEvent.UnsportingBehaviorMinor unsporting_behavior_minor = 35;
-   */
-  unsportingBehaviorMinor?: GameEvent_UnsportingBehaviorMinorJson;
-
-  /**
-   * @generated from field: GameEvent.UnsportingBehaviorMajor unsporting_behavior_major = 36;
-   */
-  unsportingBehaviorMajor?: GameEvent_UnsportingBehaviorMajorJson;
-
-  /**
-   * replaced by ready_to_continue flag
-   *
-   * @generated from field: GameEvent.Prepared prepared = 1 [deprecated = true];
-   * @deprecated
-   */
-  prepared?: GameEvent_PreparedJson;
-
-  /**
-   * obsolete
-   *
-   * @generated from field: GameEvent.IndirectGoal indirect_goal = 9 [deprecated = true];
-   * @deprecated
-   */
-  indirectGoal?: GameEvent_IndirectGoalJson;
-
-  /**
-   * replaced by the meta-information in the possible_goal event
-   *
-   * @generated from field: GameEvent.ChippedGoal chipped_goal = 10 [deprecated = true];
-   * @deprecated
-   */
-  chippedGoal?: GameEvent_ChippedGoalJson;
-
-  /**
-   * obsolete
-   *
-   * @generated from field: GameEvent.KickTimeout kick_timeout = 12 [deprecated = true];
-   * @deprecated
-   */
-  kickTimeout?: GameEvent_KickTimeoutJson;
-
-  /**
-   * rule removed
-   *
-   * @generated from field: GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area = 16 [deprecated = true];
-   * @deprecated
-   */
-  attackerTouchedOpponentInDefenseArea?: GameEvent_AttackerTouchedOpponentInDefenseAreaJson;
-
-  /**
-   * obsolete
-   *
-   * @generated from field: GameEvent.AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area_skipped = 42 [deprecated = true];
-   * @deprecated
-   */
-  attackerTouchedOpponentInDefenseAreaSkipped?: GameEvent_AttackerTouchedOpponentInDefenseAreaJson;
-
-  /**
-   * obsolete
-   *
-   * @generated from field: GameEvent.BotCrashUnique bot_crash_unique_skipped = 23 [deprecated = true];
-   * @deprecated
-   */
-  botCrashUniqueSkipped?: GameEvent_BotCrashUniqueJson;
-
-  /**
-   * can not be used as long as autoRefs do not judge pushing
-   *
-   * @generated from field: GameEvent.BotPushedBot bot_pushed_bot_skipped = 25 [deprecated = true];
-   * @deprecated
-   */
-  botPushedBotSkipped?: GameEvent_BotPushedBotJson;
-
-  /**
-   * rule removed
-   *
-   * @generated from field: GameEvent.DefenderInDefenseAreaPartially defender_in_defense_area_partially = 30 [deprecated = true];
-   * @deprecated
-   */
-  defenderInDefenseAreaPartially?: GameEvent_DefenderInDefenseAreaPartiallyJson;
-
-  /**
-   * the referee msg already indicates this
-   *
-   * @generated from field: GameEvent.MultiplePlacementFailures multiple_placement_failures = 33 [deprecated = true];
-   * @deprecated
-   */
-  multiplePlacementFailures?: GameEvent_MultiplePlacementFailuresJson;
-};
-
-/**
- * Describes the message GameEvent.
- * Use `create(GameEventSchema)` to create a new message.
- */
-export const GameEventSchema: GenMessage<GameEvent, GameEventJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0);
-
-/**
- * the ball left the field normally
- *
- * @generated from message GameEvent.BallLeftField
- */
-export type GameEvent_BallLeftField = Message<"GameEvent.BallLeftField"> & {
-  /**
-   * the team that last touched the ball
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that last touched the ball
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location where the ball left the field [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-};
-
-/**
- * the ball left the field normally
- *
- * @generated from message GameEvent.BallLeftField
- */
-export type GameEvent_BallLeftFieldJson = {
-  /**
-   * the team that last touched the ball
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that last touched the ball
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location where the ball left the field [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.BallLeftField.
- * Use `create(GameEvent_BallLeftFieldSchema)` to create a new message.
- */
-export const GameEvent_BallLeftFieldSchema: GenMessage<GameEvent_BallLeftField, GameEvent_BallLeftFieldJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 0);
-
-/**
- * the ball left the field via goal line and a team committed an aimless kick
- *
- * @generated from message GameEvent.AimlessKick
- */
-export type GameEvent_AimlessKick = Message<"GameEvent.AimlessKick"> & {
-  /**
-   * the team that last touched the ball
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that last touched the ball
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location where the ball left the field [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the location where the ball was last touched [m]
-   *
-   * @generated from field: optional Vector2 kick_location = 4;
-   */
-  kickLocation?: Vector2;
-};
-
-/**
- * the ball left the field via goal line and a team committed an aimless kick
- *
- * @generated from message GameEvent.AimlessKick
- */
-export type GameEvent_AimlessKickJson = {
-  /**
-   * the team that last touched the ball
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that last touched the ball
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location where the ball left the field [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the location where the ball was last touched [m]
-   *
-   * @generated from field: optional Vector2 kick_location = 4;
-   */
-  kickLocation?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.AimlessKick.
- * Use `create(GameEvent_AimlessKickSchema)` to create a new message.
- */
-export const GameEvent_AimlessKickSchema: GenMessage<GameEvent_AimlessKick, GameEvent_AimlessKickJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 1);
-
-/**
- * a team shot a goal
- *
- * @generated from message GameEvent.Goal
- */
-export type GameEvent_Goal = Message<"GameEvent.Goal"> & {
-  /**
-   * the team that scored the goal
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the team that shot the goal (different from by_team for own goals)
-   *
-   * @generated from field: optional Team kicking_team = 6;
-   */
-  kickingTeam: Team;
-
-  /**
-   * the bot that shot the goal
-   *
-   * @generated from field: optional uint32 kicking_bot = 2;
-   */
-  kickingBot: number;
-
-  /**
-   * the location where the ball entered the goal [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the location where the ball was kicked (for deciding if this was a valid goal) [m]
-   *
-   * @generated from field: optional Vector2 kick_location = 4;
-   */
-  kickLocation?: Vector2;
-
-  /**
-   * the maximum height the ball reached during the goal kick (for deciding if this was a valid goal) [m]
-   *
-   * @generated from field: optional float max_ball_height = 5;
-   */
-  maxBallHeight: number;
-
-  /**
-   * number of robots of scoring team when the ball entered the goal (for deciding if this was a valid goal)
-   *
-   * @generated from field: optional uint32 num_robots_by_team = 7;
-   */
-  numRobotsByTeam: number;
-
-  /**
-   * The UNIX timestamp [μs] when the scoring team last touched the ball
-   *
-   * @generated from field: optional uint64 last_touch_by_team = 8;
-   */
-  lastTouchByTeam: bigint;
-
-  /**
-   * An additional message with e.g. a reason for invalid goals
-   *
-   * @generated from field: optional string message = 9;
-   */
-  message: string;
-};
-
-/**
- * a team shot a goal
- *
- * @generated from message GameEvent.Goal
- */
-export type GameEvent_GoalJson = {
-  /**
-   * the team that scored the goal
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the team that shot the goal (different from by_team for own goals)
-   *
-   * @generated from field: optional Team kicking_team = 6;
-   */
-  kickingTeam?: TeamJson;
-
-  /**
-   * the bot that shot the goal
-   *
-   * @generated from field: optional uint32 kicking_bot = 2;
-   */
-  kickingBot?: number;
-
-  /**
-   * the location where the ball entered the goal [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the location where the ball was kicked (for deciding if this was a valid goal) [m]
-   *
-   * @generated from field: optional Vector2 kick_location = 4;
-   */
-  kickLocation?: Vector2Json;
-
-  /**
-   * the maximum height the ball reached during the goal kick (for deciding if this was a valid goal) [m]
-   *
-   * @generated from field: optional float max_ball_height = 5;
-   */
-  maxBallHeight?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * number of robots of scoring team when the ball entered the goal (for deciding if this was a valid goal)
-   *
-   * @generated from field: optional uint32 num_robots_by_team = 7;
-   */
-  numRobotsByTeam?: number;
-
-  /**
-   * The UNIX timestamp [μs] when the scoring team last touched the ball
-   *
-   * @generated from field: optional uint64 last_touch_by_team = 8;
-   */
-  lastTouchByTeam?: string;
-
-  /**
-   * An additional message with e.g. a reason for invalid goals
-   *
-   * @generated from field: optional string message = 9;
-   */
-  message?: string;
-};
-
-/**
- * Describes the message GameEvent.Goal.
- * Use `create(GameEvent_GoalSchema)` to create a new message.
- */
-export const GameEvent_GoalSchema: GenMessage<GameEvent_Goal, GameEvent_GoalJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 2);
-
-/**
- * the ball entered the goal directly during an indirect free kick
- *
- * @generated from message GameEvent.IndirectGoal
- */
-export type GameEvent_IndirectGoal = Message<"GameEvent.IndirectGoal"> & {
-  /**
-   * the team that tried to shoot the goal
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that kicked the ball - at least the team must be set
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location where the ball entered the goal [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the location where the ball was kicked [m]
-   *
-   * @generated from field: optional Vector2 kick_location = 4;
-   */
-  kickLocation?: Vector2;
-};
-
-/**
- * the ball entered the goal directly during an indirect free kick
- *
- * @generated from message GameEvent.IndirectGoal
- */
-export type GameEvent_IndirectGoalJson = {
-  /**
-   * the team that tried to shoot the goal
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that kicked the ball - at least the team must be set
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location where the ball entered the goal [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the location where the ball was kicked [m]
-   *
-   * @generated from field: optional Vector2 kick_location = 4;
-   */
-  kickLocation?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.IndirectGoal.
- * Use `create(GameEvent_IndirectGoalSchema)` to create a new message.
- */
-export const GameEvent_IndirectGoalSchema: GenMessage<GameEvent_IndirectGoal, GameEvent_IndirectGoalJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 3);
-
-/**
- * the ball entered the goal, but was initially chipped
- *
- * @generated from message GameEvent.ChippedGoal
- */
-export type GameEvent_ChippedGoal = Message<"GameEvent.ChippedGoal"> & {
-  /**
-   * the team that tried to shoot the goal
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that kicked the ball
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location where the ball entered the goal [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the location where the ball was kicked [m]
-   *
-   * @generated from field: optional Vector2 kick_location = 4;
-   */
-  kickLocation?: Vector2;
-
-  /**
-   * the maximum height [m] of the ball, before it entered the goal and since the last kick [m]
-   *
-   * @generated from field: optional float max_ball_height = 5;
-   */
-  maxBallHeight: number;
-};
-
-/**
- * the ball entered the goal, but was initially chipped
- *
- * @generated from message GameEvent.ChippedGoal
- */
-export type GameEvent_ChippedGoalJson = {
-  /**
-   * the team that tried to shoot the goal
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that kicked the ball
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location where the ball entered the goal [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the location where the ball was kicked [m]
-   *
-   * @generated from field: optional Vector2 kick_location = 4;
-   */
-  kickLocation?: Vector2Json;
-
-  /**
-   * the maximum height [m] of the ball, before it entered the goal and since the last kick [m]
-   *
-   * @generated from field: optional float max_ball_height = 5;
-   */
-  maxBallHeight?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.ChippedGoal.
- * Use `create(GameEvent_ChippedGoalSchema)` to create a new message.
- */
-export const GameEvent_ChippedGoalSchema: GenMessage<GameEvent_ChippedGoal, GameEvent_ChippedGoalJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 4);
-
-/**
- * a bot moved too fast while the game was stopped
- *
- * @generated from message GameEvent.BotTooFastInStop
- */
-export type GameEvent_BotTooFastInStop = Message<"GameEvent.BotTooFastInStop"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that was too fast
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the bot speed [m/s]
-   *
-   * @generated from field: optional float speed = 4;
-   */
-  speed: number;
-};
-
-/**
- * a bot moved too fast while the game was stopped
- *
- * @generated from message GameEvent.BotTooFastInStop
- */
-export type GameEvent_BotTooFastInStopJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that was too fast
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the bot speed [m/s]
-   *
-   * @generated from field: optional float speed = 4;
-   */
-  speed?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.BotTooFastInStop.
- * Use `create(GameEvent_BotTooFastInStopSchema)` to create a new message.
- */
-export const GameEvent_BotTooFastInStopSchema: GenMessage<GameEvent_BotTooFastInStop, GameEvent_BotTooFastInStopJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 5);
-
-/**
- * a bot of the defending team got too close to the kick point during a free kick
- *
- * @generated from message GameEvent.DefenderTooCloseToKickPoint
- */
-export type GameEvent_DefenderTooCloseToKickPoint = Message<"GameEvent.DefenderTooCloseToKickPoint"> & {
-  /**
-   * the team that was found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that violates the distance to the kick point
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the distance [m] from bot to the kick point (including the minimum radius)
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance: number;
-};
-
-/**
- * a bot of the defending team got too close to the kick point during a free kick
- *
- * @generated from message GameEvent.DefenderTooCloseToKickPoint
- */
-export type GameEvent_DefenderTooCloseToKickPointJson = {
-  /**
-   * the team that was found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that violates the distance to the kick point
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the distance [m] from bot to the kick point (including the minimum radius)
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.DefenderTooCloseToKickPoint.
- * Use `create(GameEvent_DefenderTooCloseToKickPointSchema)` to create a new message.
- */
-export const GameEvent_DefenderTooCloseToKickPointSchema: GenMessage<GameEvent_DefenderTooCloseToKickPoint, GameEvent_DefenderTooCloseToKickPointJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 6);
-
-/**
- * two robots crashed into each other with similar speeds
- *
- * @generated from message GameEvent.BotCrashDrawn
- */
-export type GameEvent_BotCrashDrawn = Message<"GameEvent.BotCrashDrawn"> & {
-  /**
-   * the bot of the yellow team
-   *
-   * @generated from field: optional uint32 bot_yellow = 1;
-   */
-  botYellow: number;
-
-  /**
-   * the bot of the blue team
-   *
-   * @generated from field: optional uint32 bot_blue = 2;
-   */
-  botBlue: number;
-
-  /**
-   * the location of the crash (center between both bots) [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the calculated crash speed [m/s] of the two bots
-   *
-   * @generated from field: optional float crash_speed = 4;
-   */
-  crashSpeed: number;
-
-  /**
-   * the difference [m/s] of the velocity of the two bots
-   *
-   * @generated from field: optional float speed_diff = 5;
-   */
-  speedDiff: number;
-
-  /**
-   * the angle [rad] in the range [0, π] of the bot velocity vectors
-   * an angle of 0 rad (  0°) means, the bots barely touched each other
-   * an angle of π rad (180°) means, the bots crashed frontal into each other
-   *
-   * @generated from field: optional float crash_angle = 6;
-   */
-  crashAngle: number;
-};
-
-/**
- * two robots crashed into each other with similar speeds
- *
- * @generated from message GameEvent.BotCrashDrawn
- */
-export type GameEvent_BotCrashDrawnJson = {
-  /**
-   * the bot of the yellow team
-   *
-   * @generated from field: optional uint32 bot_yellow = 1;
-   */
-  botYellow?: number;
-
-  /**
-   * the bot of the blue team
-   *
-   * @generated from field: optional uint32 bot_blue = 2;
-   */
-  botBlue?: number;
-
-  /**
-   * the location of the crash (center between both bots) [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the calculated crash speed [m/s] of the two bots
-   *
-   * @generated from field: optional float crash_speed = 4;
-   */
-  crashSpeed?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * the difference [m/s] of the velocity of the two bots
-   *
-   * @generated from field: optional float speed_diff = 5;
-   */
-  speedDiff?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * the angle [rad] in the range [0, π] of the bot velocity vectors
-   * an angle of 0 rad (  0°) means, the bots barely touched each other
-   * an angle of π rad (180°) means, the bots crashed frontal into each other
-   *
-   * @generated from field: optional float crash_angle = 6;
-   */
-  crashAngle?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.BotCrashDrawn.
- * Use `create(GameEvent_BotCrashDrawnSchema)` to create a new message.
- */
-export const GameEvent_BotCrashDrawnSchema: GenMessage<GameEvent_BotCrashDrawn, GameEvent_BotCrashDrawnJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 7);
-
-/**
- * two robots crashed into each other and one team was found guilty to due significant speed difference
- *
- * @generated from message GameEvent.BotCrashUnique
- */
-export type GameEvent_BotCrashUnique = Message<"GameEvent.BotCrashUnique"> & {
-  /**
-   * the team that caused the crash
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that caused the crash
-   *
-   * @generated from field: optional uint32 violator = 2;
-   */
-  violator: number;
-
-  /**
-   * the bot of the opposite team that was involved in the crash
-   *
-   * @generated from field: optional uint32 victim = 3;
-   */
-  victim: number;
-
-  /**
-   * the location of the crash (center between both bots) [m]
-   *
-   * @generated from field: optional Vector2 location = 4;
-   */
-  location?: Vector2;
-
-  /**
-   * the calculated crash speed vector [m/s] of the two bots
-   *
-   * @generated from field: optional float crash_speed = 5;
-   */
-  crashSpeed: number;
-
-  /**
-   * the difference [m/s] of the velocity of the two bots
-   *
-   * @generated from field: optional float speed_diff = 6;
-   */
-  speedDiff: number;
-
-  /**
-   * the angle [rad] in the range [0, π] of the bot velocity vectors
-   * an angle of 0 rad (  0°) means, the bots barely touched each other
-   * an angle of π rad (180°) means, the bots crashed frontal into each other
-   *
-   * @generated from field: optional float crash_angle = 7;
-   */
-  crashAngle: number;
-};
-
-/**
- * two robots crashed into each other and one team was found guilty to due significant speed difference
- *
- * @generated from message GameEvent.BotCrashUnique
- */
-export type GameEvent_BotCrashUniqueJson = {
-  /**
-   * the team that caused the crash
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that caused the crash
-   *
-   * @generated from field: optional uint32 violator = 2;
-   */
-  violator?: number;
-
-  /**
-   * the bot of the opposite team that was involved in the crash
-   *
-   * @generated from field: optional uint32 victim = 3;
-   */
-  victim?: number;
-
-  /**
-   * the location of the crash (center between both bots) [m]
-   *
-   * @generated from field: optional Vector2 location = 4;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the calculated crash speed vector [m/s] of the two bots
-   *
-   * @generated from field: optional float crash_speed = 5;
-   */
-  crashSpeed?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * the difference [m/s] of the velocity of the two bots
-   *
-   * @generated from field: optional float speed_diff = 6;
-   */
-  speedDiff?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * the angle [rad] in the range [0, π] of the bot velocity vectors
-   * an angle of 0 rad (  0°) means, the bots barely touched each other
-   * an angle of π rad (180°) means, the bots crashed frontal into each other
-   *
-   * @generated from field: optional float crash_angle = 7;
-   */
-  crashAngle?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.BotCrashUnique.
- * Use `create(GameEvent_BotCrashUniqueSchema)` to create a new message.
- */
-export const GameEvent_BotCrashUniqueSchema: GenMessage<GameEvent_BotCrashUnique, GameEvent_BotCrashUniqueJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 8);
-
-/**
- * a bot pushed another bot over a significant distance
- *
- * @generated from message GameEvent.BotPushedBot
- */
-export type GameEvent_BotPushedBot = Message<"GameEvent.BotPushedBot"> & {
-  /**
-   * the team that pushed the other team
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that pushed the other bot
-   *
-   * @generated from field: optional uint32 violator = 2;
-   */
-  violator: number;
-
-  /**
-   * the bot of the opposite team that was pushed
-   *
-   * @generated from field: optional uint32 victim = 3;
-   */
-  victim: number;
-
-  /**
-   * the location of the push (center between both bots) [m]
-   *
-   * @generated from field: optional Vector2 location = 4;
-   */
-  location?: Vector2;
-
-  /**
-   * the pushed distance [m]
-   *
-   * @generated from field: optional float pushed_distance = 5;
-   */
-  pushedDistance: number;
-};
-
-/**
- * a bot pushed another bot over a significant distance
- *
- * @generated from message GameEvent.BotPushedBot
- */
-export type GameEvent_BotPushedBotJson = {
-  /**
-   * the team that pushed the other team
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that pushed the other bot
-   *
-   * @generated from field: optional uint32 violator = 2;
-   */
-  violator?: number;
-
-  /**
-   * the bot of the opposite team that was pushed
-   *
-   * @generated from field: optional uint32 victim = 3;
-   */
-  victim?: number;
-
-  /**
-   * the location of the push (center between both bots) [m]
-   *
-   * @generated from field: optional Vector2 location = 4;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the pushed distance [m]
-   *
-   * @generated from field: optional float pushed_distance = 5;
-   */
-  pushedDistance?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.BotPushedBot.
- * Use `create(GameEvent_BotPushedBotSchema)` to create a new message.
- */
-export const GameEvent_BotPushedBotSchema: GenMessage<GameEvent_BotPushedBot, GameEvent_BotPushedBotJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 9);
-
-/**
- * a bot tipped over
- *
- * @generated from message GameEvent.BotTippedOver
- */
-export type GameEvent_BotTippedOver = Message<"GameEvent.BotTippedOver"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that tipped over
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the location of the ball at the moment when this foul occurred [m]
-   *
-   * @generated from field: optional Vector2 ball_location = 4;
-   */
-  ballLocation?: Vector2;
-};
-
-/**
- * a bot tipped over
- *
- * @generated from message GameEvent.BotTippedOver
- */
-export type GameEvent_BotTippedOverJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that tipped over
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the location of the ball at the moment when this foul occurred [m]
-   *
-   * @generated from field: optional Vector2 ball_location = 4;
-   */
-  ballLocation?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.BotTippedOver.
- * Use `create(GameEvent_BotTippedOverSchema)` to create a new message.
- */
-export const GameEvent_BotTippedOverSchema: GenMessage<GameEvent_BotTippedOver, GameEvent_BotTippedOverJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 10);
-
-/**
- * a bot dropped parts
- *
- * @generated from message GameEvent.BotDroppedParts
- */
-export type GameEvent_BotDroppedParts = Message<"GameEvent.BotDroppedParts"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that dropped the parts
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location where the parts were dropped [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the location of the ball at the moment when this foul occurred [m]
-   *
-   * @generated from field: optional Vector2 ball_location = 4;
-   */
-  ballLocation?: Vector2;
-};
-
-/**
- * a bot dropped parts
- *
- * @generated from message GameEvent.BotDroppedParts
- */
-export type GameEvent_BotDroppedPartsJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that dropped the parts
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location where the parts were dropped [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the location of the ball at the moment when this foul occurred [m]
-   *
-   * @generated from field: optional Vector2 ball_location = 4;
-   */
-  ballLocation?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.BotDroppedParts.
- * Use `create(GameEvent_BotDroppedPartsSchema)` to create a new message.
- */
-export const GameEvent_BotDroppedPartsSchema: GenMessage<GameEvent_BotDroppedParts, GameEvent_BotDroppedPartsJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 11);
-
-/**
- * a defender other than the keeper was fully located inside its own defense and touched the ball
- *
- * @generated from message GameEvent.DefenderInDefenseArea
- */
-export type GameEvent_DefenderInDefenseArea = Message<"GameEvent.DefenderInDefenseArea"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that is inside the penalty area
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the distance [m] from bot case to the nearest point outside the defense area
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance: number;
-};
-
-/**
- * a defender other than the keeper was fully located inside its own defense and touched the ball
- *
- * @generated from message GameEvent.DefenderInDefenseArea
- */
-export type GameEvent_DefenderInDefenseAreaJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that is inside the penalty area
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the distance [m] from bot case to the nearest point outside the defense area
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.DefenderInDefenseArea.
- * Use `create(GameEvent_DefenderInDefenseAreaSchema)` to create a new message.
- */
-export const GameEvent_DefenderInDefenseAreaSchema: GenMessage<GameEvent_DefenderInDefenseArea, GameEvent_DefenderInDefenseAreaJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 12);
-
-/**
- * a defender other than the keeper was partially located inside its own defense area and touched the ball
- *
- * @generated from message GameEvent.DefenderInDefenseAreaPartially
- */
-export type GameEvent_DefenderInDefenseAreaPartially = Message<"GameEvent.DefenderInDefenseAreaPartially"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that is partially inside the penalty area
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the bot
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the distance [m] that the bot is inside the penalty area
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance: number;
-
-  /**
-   * the location of the ball at the moment when this foul occurred [m]
-   *
-   * @generated from field: optional Vector2 ball_location = 5;
-   */
-  ballLocation?: Vector2;
-};
-
-/**
- * a defender other than the keeper was partially located inside its own defense area and touched the ball
- *
- * @generated from message GameEvent.DefenderInDefenseAreaPartially
- */
-export type GameEvent_DefenderInDefenseAreaPartiallyJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that is partially inside the penalty area
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the bot
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the distance [m] that the bot is inside the penalty area
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * the location of the ball at the moment when this foul occurred [m]
-   *
-   * @generated from field: optional Vector2 ball_location = 5;
-   */
-  ballLocation?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.DefenderInDefenseAreaPartially.
- * Use `create(GameEvent_DefenderInDefenseAreaPartiallySchema)` to create a new message.
- */
-export const GameEvent_DefenderInDefenseAreaPartiallySchema: GenMessage<GameEvent_DefenderInDefenseAreaPartially, GameEvent_DefenderInDefenseAreaPartiallyJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 13);
-
-/**
- * an attacker touched the ball inside the opponent defense area
- *
- * @generated from message GameEvent.AttackerTouchedBallInDefenseArea
- */
-export type GameEvent_AttackerTouchedBallInDefenseArea = Message<"GameEvent.AttackerTouchedBallInDefenseArea"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that is inside the penalty area
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the distance [m] that the bot is inside the penalty area
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance: number;
-};
-
-/**
- * an attacker touched the ball inside the opponent defense area
- *
- * @generated from message GameEvent.AttackerTouchedBallInDefenseArea
- */
-export type GameEvent_AttackerTouchedBallInDefenseAreaJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that is inside the penalty area
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the distance [m] that the bot is inside the penalty area
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.AttackerTouchedBallInDefenseArea.
- * Use `create(GameEvent_AttackerTouchedBallInDefenseAreaSchema)` to create a new message.
- */
-export const GameEvent_AttackerTouchedBallInDefenseAreaSchema: GenMessage<GameEvent_AttackerTouchedBallInDefenseArea, GameEvent_AttackerTouchedBallInDefenseAreaJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 14);
-
-/**
- * a bot kicked the ball too fast
- *
- * @generated from message GameEvent.BotKickedBallTooFast
- */
-export type GameEvent_BotKickedBallTooFast = Message<"GameEvent.BotKickedBallTooFast"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that kicked too fast
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the ball at the time of the highest speed [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the absolute initial ball speed (kick speed) [m/s]
-   *
-   * @generated from field: optional float initial_ball_speed = 4;
-   */
-  initialBallSpeed: number;
-
-  /**
-   * was the ball chipped?
-   *
-   * @generated from field: optional bool chipped = 5;
-   */
-  chipped: boolean;
-};
-
-/**
- * a bot kicked the ball too fast
- *
- * @generated from message GameEvent.BotKickedBallTooFast
- */
-export type GameEvent_BotKickedBallTooFastJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that kicked too fast
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the ball at the time of the highest speed [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the absolute initial ball speed (kick speed) [m/s]
-   *
-   * @generated from field: optional float initial_ball_speed = 4;
-   */
-  initialBallSpeed?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * was the ball chipped?
-   *
-   * @generated from field: optional bool chipped = 5;
-   */
-  chipped?: boolean;
-};
-
-/**
- * Describes the message GameEvent.BotKickedBallTooFast.
- * Use `create(GameEvent_BotKickedBallTooFastSchema)` to create a new message.
- */
-export const GameEvent_BotKickedBallTooFastSchema: GenMessage<GameEvent_BotKickedBallTooFast, GameEvent_BotKickedBallTooFastJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 15);
-
-/**
- * a bot dribbled to ball too far
- *
- * @generated from message GameEvent.BotDribbledBallTooFar
- */
-export type GameEvent_BotDribbledBallTooFar = Message<"GameEvent.BotDribbledBallTooFar"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that dribbled too far
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location where the dribbling started [m]
-   *
-   * @generated from field: optional Vector2 start = 3;
-   */
-  start?: Vector2;
-
-  /**
-   * the location where the maximum dribbling distance was reached [m]
-   *
-   * @generated from field: optional Vector2 end = 4;
-   */
-  end?: Vector2;
-};
-
-/**
- * a bot dribbled to ball too far
- *
- * @generated from message GameEvent.BotDribbledBallTooFar
- */
-export type GameEvent_BotDribbledBallTooFarJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that dribbled too far
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location where the dribbling started [m]
-   *
-   * @generated from field: optional Vector2 start = 3;
-   */
-  start?: Vector2Json;
-
-  /**
-   * the location where the maximum dribbling distance was reached [m]
-   *
-   * @generated from field: optional Vector2 end = 4;
-   */
-  end?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.BotDribbledBallTooFar.
- * Use `create(GameEvent_BotDribbledBallTooFarSchema)` to create a new message.
- */
-export const GameEvent_BotDribbledBallTooFarSchema: GenMessage<GameEvent_BotDribbledBallTooFar, GameEvent_BotDribbledBallTooFarJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 16);
-
-/**
- * an attacker touched the opponent robot inside defense area
- *
- * @generated from message GameEvent.AttackerTouchedOpponentInDefenseArea
- */
-export type GameEvent_AttackerTouchedOpponentInDefenseArea = Message<"GameEvent.AttackerTouchedOpponentInDefenseArea"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that touched the opponent robot
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the bot of the opposite team that was touched
-   *
-   * @generated from field: optional uint32 victim = 4;
-   */
-  victim: number;
-
-  /**
-   * the location of the contact point between both bots [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-};
-
-/**
- * an attacker touched the opponent robot inside defense area
- *
- * @generated from message GameEvent.AttackerTouchedOpponentInDefenseArea
- */
-export type GameEvent_AttackerTouchedOpponentInDefenseAreaJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that touched the opponent robot
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the bot of the opposite team that was touched
-   *
-   * @generated from field: optional uint32 victim = 4;
-   */
-  victim?: number;
-
-  /**
-   * the location of the contact point between both bots [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.AttackerTouchedOpponentInDefenseArea.
- * Use `create(GameEvent_AttackerTouchedOpponentInDefenseAreaSchema)` to create a new message.
- */
-export const GameEvent_AttackerTouchedOpponentInDefenseAreaSchema: GenMessage<GameEvent_AttackerTouchedOpponentInDefenseArea, GameEvent_AttackerTouchedOpponentInDefenseAreaJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 17);
-
-/**
- * an attacker touched the ball multiple times when it was not allowed to
- *
- * @generated from message GameEvent.AttackerDoubleTouchedBall
- */
-export type GameEvent_AttackerDoubleTouchedBall = Message<"GameEvent.AttackerDoubleTouchedBall"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that touched the ball twice
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the ball when it was first touched [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-};
-
-/**
- * an attacker touched the ball multiple times when it was not allowed to
- *
- * @generated from message GameEvent.AttackerDoubleTouchedBall
- */
-export type GameEvent_AttackerDoubleTouchedBallJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that touched the ball twice
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the ball when it was first touched [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.AttackerDoubleTouchedBall.
- * Use `create(GameEvent_AttackerDoubleTouchedBallSchema)` to create a new message.
- */
-export const GameEvent_AttackerDoubleTouchedBallSchema: GenMessage<GameEvent_AttackerDoubleTouchedBall, GameEvent_AttackerDoubleTouchedBallJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 18);
-
-/**
- * an attacker was located too near to the opponent defense area during stop or free kick
- *
- * @generated from message GameEvent.AttackerTooCloseToDefenseArea
- */
-export type GameEvent_AttackerTooCloseToDefenseArea = Message<"GameEvent.AttackerTooCloseToDefenseArea"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that is too close to the defense area
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the distance [m] of the bot to the penalty area
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance: number;
-
-  /**
-   * the location of the ball at the moment when this foul occurred [m]
-   *
-   * @generated from field: optional Vector2 ball_location = 5;
-   */
-  ballLocation?: Vector2;
-};
-
-/**
- * an attacker was located too near to the opponent defense area during stop or free kick
- *
- * @generated from message GameEvent.AttackerTooCloseToDefenseArea
- */
-export type GameEvent_AttackerTooCloseToDefenseAreaJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that is too close to the defense area
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the distance [m] of the bot to the penalty area
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * the location of the ball at the moment when this foul occurred [m]
-   *
-   * @generated from field: optional Vector2 ball_location = 5;
-   */
-  ballLocation?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.AttackerTooCloseToDefenseArea.
- * Use `create(GameEvent_AttackerTooCloseToDefenseAreaSchema)` to create a new message.
- */
-export const GameEvent_AttackerTooCloseToDefenseAreaSchema: GenMessage<GameEvent_AttackerTooCloseToDefenseArea, GameEvent_AttackerTooCloseToDefenseAreaJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 19);
-
-/**
- * a bot held the ball for too long
- *
- * @generated from message GameEvent.BotHeldBallDeliberately
- */
-export type GameEvent_BotHeldBallDeliberately = Message<"GameEvent.BotHeldBallDeliberately"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that holds the ball
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the ball [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-
-  /**
-   * the duration [s] that the bot hold the ball
-   *
-   * @generated from field: optional float duration = 4;
-   */
-  duration: number;
-};
-
-/**
- * a bot held the ball for too long
- *
- * @generated from message GameEvent.BotHeldBallDeliberately
- */
-export type GameEvent_BotHeldBallDeliberatelyJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that holds the ball
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the ball [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the duration [s] that the bot hold the ball
-   *
-   * @generated from field: optional float duration = 4;
-   */
-  duration?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.BotHeldBallDeliberately.
- * Use `create(GameEvent_BotHeldBallDeliberatelySchema)` to create a new message.
- */
-export const GameEvent_BotHeldBallDeliberatelySchema: GenMessage<GameEvent_BotHeldBallDeliberately, GameEvent_BotHeldBallDeliberatelyJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 20);
-
-/**
- * a bot interfered the ball placement of the other team
- *
- * @generated from message GameEvent.BotInterferedPlacement
- */
-export type GameEvent_BotInterferedPlacement = Message<"GameEvent.BotInterferedPlacement"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the bot that interfered the placement
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2;
-};
-
-/**
- * a bot interfered the ball placement of the other team
- *
- * @generated from message GameEvent.BotInterferedPlacement
- */
-export type GameEvent_BotInterferedPlacementJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the bot that interfered the placement
-   *
-   * @generated from field: optional uint32 by_bot = 2;
-   */
-  byBot?: number;
-
-  /**
-   * the location of the bot [m]
-   *
-   * @generated from field: optional Vector2 location = 3;
-   */
-  location?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.BotInterferedPlacement.
- * Use `create(GameEvent_BotInterferedPlacementSchema)` to create a new message.
- */
-export const GameEvent_BotInterferedPlacementSchema: GenMessage<GameEvent_BotInterferedPlacement, GameEvent_BotInterferedPlacementJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 21);
-
-/**
- * a team collected multiple yellow cards
- *
- * @generated from message GameEvent.MultipleCards
- */
-export type GameEvent_MultipleCards = Message<"GameEvent.MultipleCards"> & {
-  /**
-   * the team that received multiple yellow cards
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-};
-
-/**
- * a team collected multiple yellow cards
- *
- * @generated from message GameEvent.MultipleCards
- */
-export type GameEvent_MultipleCardsJson = {
-  /**
-   * the team that received multiple yellow cards
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-};
-
-/**
- * Describes the message GameEvent.MultipleCards.
- * Use `create(GameEvent_MultipleCardsSchema)` to create a new message.
- */
-export const GameEvent_MultipleCardsSchema: GenMessage<GameEvent_MultipleCards, GameEvent_MultipleCardsJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 22);
-
-/**
- * a team collected multiple fouls, which results in a yellow card
- *
- * @generated from message GameEvent.MultipleFouls
- */
-export type GameEvent_MultipleFouls = Message<"GameEvent.MultipleFouls"> & {
-  /**
-   * the team that collected multiple fouls
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the list of game events that caused the multiple fouls
-   *
-   * @generated from field: repeated GameEvent caused_game_events = 2;
-   */
-  causedGameEvents: GameEvent[];
-};
-
-/**
- * a team collected multiple fouls, which results in a yellow card
- *
- * @generated from message GameEvent.MultipleFouls
- */
-export type GameEvent_MultipleFoulsJson = {
-  /**
-   * the team that collected multiple fouls
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the list of game events that caused the multiple fouls
-   *
-   * @generated from field: repeated GameEvent caused_game_events = 2;
-   */
-  causedGameEvents?: GameEventJson[];
-};
-
-/**
- * Describes the message GameEvent.MultipleFouls.
- * Use `create(GameEvent_MultipleFoulsSchema)` to create a new message.
- */
-export const GameEvent_MultipleFoulsSchema: GenMessage<GameEvent_MultipleFouls, GameEvent_MultipleFoulsJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 23);
-
-/**
- * a team failed to place the ball multiple times in a row
- *
- * @generated from message GameEvent.MultiplePlacementFailures
- */
-export type GameEvent_MultiplePlacementFailures = Message<"GameEvent.MultiplePlacementFailures"> & {
-  /**
-   * the team that failed multiple times
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-};
-
-/**
- * a team failed to place the ball multiple times in a row
- *
- * @generated from message GameEvent.MultiplePlacementFailures
- */
-export type GameEvent_MultiplePlacementFailuresJson = {
-  /**
-   * the team that failed multiple times
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-};
-
-/**
- * Describes the message GameEvent.MultiplePlacementFailures.
- * Use `create(GameEvent_MultiplePlacementFailuresSchema)` to create a new message.
- */
-export const GameEvent_MultiplePlacementFailuresSchema: GenMessage<GameEvent_MultiplePlacementFailures, GameEvent_MultiplePlacementFailuresJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 24);
-
-/**
- * timeout waiting for the attacking team to perform the free kick
- *
- * @generated from message GameEvent.KickTimeout
- */
-export type GameEvent_KickTimeout = Message<"GameEvent.KickTimeout"> & {
-  /**
-   * the team that that should have kicked
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the location of the ball [m]
-   *
-   * @generated from field: optional Vector2 location = 2;
-   */
-  location?: Vector2;
-
-  /**
-   * the time [s] that was waited
-   *
-   * @generated from field: optional float time = 3;
-   */
-  time: number;
-};
-
-/**
- * timeout waiting for the attacking team to perform the free kick
- *
- * @generated from message GameEvent.KickTimeout
- */
-export type GameEvent_KickTimeoutJson = {
-  /**
-   * the team that that should have kicked
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the location of the ball [m]
-   *
-   * @generated from field: optional Vector2 location = 2;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the time [s] that was waited
-   *
-   * @generated from field: optional float time = 3;
-   */
-  time?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.KickTimeout.
- * Use `create(GameEvent_KickTimeoutSchema)` to create a new message.
- */
-export const GameEvent_KickTimeoutSchema: GenMessage<GameEvent_KickTimeout, GameEvent_KickTimeoutJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 25);
-
-/**
- * game was stuck
- *
- * @generated from message GameEvent.NoProgressInGame
- */
-export type GameEvent_NoProgressInGame = Message<"GameEvent.NoProgressInGame"> & {
-  /**
-   * the location of the ball
-   *
-   * @generated from field: optional Vector2 location = 1;
-   */
-  location?: Vector2;
-
-  /**
-   * the time [s] that was waited
-   *
-   * @generated from field: optional float time = 2;
-   */
-  time: number;
-};
-
-/**
- * game was stuck
- *
- * @generated from message GameEvent.NoProgressInGame
- */
-export type GameEvent_NoProgressInGameJson = {
-  /**
-   * the location of the ball
-   *
-   * @generated from field: optional Vector2 location = 1;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the time [s] that was waited
-   *
-   * @generated from field: optional float time = 2;
-   */
-  time?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.NoProgressInGame.
- * Use `create(GameEvent_NoProgressInGameSchema)` to create a new message.
- */
-export const GameEvent_NoProgressInGameSchema: GenMessage<GameEvent_NoProgressInGame, GameEvent_NoProgressInGameJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 26);
-
-/**
- * ball placement failed
- *
- * @generated from message GameEvent.PlacementFailed
- */
-export type GameEvent_PlacementFailed = Message<"GameEvent.PlacementFailed"> & {
-  /**
-   * the team that failed
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the remaining distance [m] from ball to placement position
-   *
-   * @generated from field: optional float remaining_distance = 2;
-   */
-  remainingDistance: number;
-
-  /**
-   * the distance [m] of the nearest own robot to the ball
-   *
-   * @generated from field: optional float nearest_own_bot_distance = 3;
-   */
-  nearestOwnBotDistance: number;
-};
-
-/**
- * ball placement failed
- *
- * @generated from message GameEvent.PlacementFailed
- */
-export type GameEvent_PlacementFailedJson = {
-  /**
-   * the team that failed
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the remaining distance [m] from ball to placement position
-   *
-   * @generated from field: optional float remaining_distance = 2;
-   */
-  remainingDistance?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * the distance [m] of the nearest own robot to the ball
-   *
-   * @generated from field: optional float nearest_own_bot_distance = 3;
-   */
-  nearestOwnBotDistance?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.PlacementFailed.
- * Use `create(GameEvent_PlacementFailedSchema)` to create a new message.
- */
-export const GameEvent_PlacementFailedSchema: GenMessage<GameEvent_PlacementFailed, GameEvent_PlacementFailedJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 27);
-
-/**
- * a team was found guilty for minor unsporting behavior
- *
- * @generated from message GameEvent.UnsportingBehaviorMinor
- */
-export type GameEvent_UnsportingBehaviorMinor = Message<"GameEvent.UnsportingBehaviorMinor"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * an explanation of the situation and decision
-   *
-   * @generated from field: required string reason = 2;
-   */
-  reason: string;
-};
-
-/**
- * a team was found guilty for minor unsporting behavior
- *
- * @generated from message GameEvent.UnsportingBehaviorMinor
- */
-export type GameEvent_UnsportingBehaviorMinorJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * an explanation of the situation and decision
-   *
-   * @generated from field: required string reason = 2;
-   */
-  reason?: string;
-};
-
-/**
- * Describes the message GameEvent.UnsportingBehaviorMinor.
- * Use `create(GameEvent_UnsportingBehaviorMinorSchema)` to create a new message.
- */
-export const GameEvent_UnsportingBehaviorMinorSchema: GenMessage<GameEvent_UnsportingBehaviorMinor, GameEvent_UnsportingBehaviorMinorJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 28);
-
-/**
- * a team was found guilty for major unsporting behavior
- *
- * @generated from message GameEvent.UnsportingBehaviorMajor
- */
-export type GameEvent_UnsportingBehaviorMajor = Message<"GameEvent.UnsportingBehaviorMajor"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * an explanation of the situation and decision
-   *
-   * @generated from field: required string reason = 2;
-   */
-  reason: string;
-};
-
-/**
- * a team was found guilty for major unsporting behavior
- *
- * @generated from message GameEvent.UnsportingBehaviorMajor
- */
-export type GameEvent_UnsportingBehaviorMajorJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * an explanation of the situation and decision
-   *
-   * @generated from field: required string reason = 2;
-   */
-  reason?: string;
-};
-
-/**
- * Describes the message GameEvent.UnsportingBehaviorMajor.
- * Use `create(GameEvent_UnsportingBehaviorMajorSchema)` to create a new message.
- */
-export const GameEvent_UnsportingBehaviorMajorSchema: GenMessage<GameEvent_UnsportingBehaviorMajor, GameEvent_UnsportingBehaviorMajorJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 29);
-
-/**
- * a keeper held the ball in its defense area for too long
- *
- * @generated from message GameEvent.KeeperHeldBall
- */
-export type GameEvent_KeeperHeldBall = Message<"GameEvent.KeeperHeldBall"> & {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the location of the ball [m]
-   *
-   * @generated from field: optional Vector2 location = 2;
-   */
-  location?: Vector2;
-
-  /**
-   * the duration [s] that the keeper hold the ball
-   *
-   * @generated from field: optional float duration = 3;
-   */
-  duration: number;
-};
-
-/**
- * a keeper held the ball in its defense area for too long
- *
- * @generated from message GameEvent.KeeperHeldBall
- */
-export type GameEvent_KeeperHeldBallJson = {
-  /**
-   * the team that found guilty
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the location of the ball [m]
-   *
-   * @generated from field: optional Vector2 location = 2;
-   */
-  location?: Vector2Json;
-
-  /**
-   * the duration [s] that the keeper hold the ball
-   *
-   * @generated from field: optional float duration = 3;
-   */
-  duration?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.KeeperHeldBall.
- * Use `create(GameEvent_KeeperHeldBallSchema)` to create a new message.
- */
-export const GameEvent_KeeperHeldBallSchema: GenMessage<GameEvent_KeeperHeldBall, GameEvent_KeeperHeldBallJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 30);
-
-/**
- * a team successfully placed the ball
- *
- * @generated from message GameEvent.PlacementSucceeded
- */
-export type GameEvent_PlacementSucceeded = Message<"GameEvent.PlacementSucceeded"> & {
-  /**
-   * the team that did the placement
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the time [s] taken for placing the ball
-   *
-   * @generated from field: optional float time_taken = 2;
-   */
-  timeTaken: number;
-
-  /**
-   * the distance [m] between placement location and actual ball position
-   *
-   * @generated from field: optional float precision = 3;
-   */
-  precision: number;
-
-  /**
-   * the distance [m] between the initial ball location and the placement position
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance: number;
-};
-
-/**
- * a team successfully placed the ball
- *
- * @generated from message GameEvent.PlacementSucceeded
- */
-export type GameEvent_PlacementSucceededJson = {
-  /**
-   * the team that did the placement
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the time [s] taken for placing the ball
-   *
-   * @generated from field: optional float time_taken = 2;
-   */
-  timeTaken?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * the distance [m] between placement location and actual ball position
-   *
-   * @generated from field: optional float precision = 3;
-   */
-  precision?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * the distance [m] between the initial ball location and the placement position
-   *
-   * @generated from field: optional float distance = 4;
-   */
-  distance?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.PlacementSucceeded.
- * Use `create(GameEvent_PlacementSucceededSchema)` to create a new message.
- */
-export const GameEvent_PlacementSucceededSchema: GenMessage<GameEvent_PlacementSucceeded, GameEvent_PlacementSucceededJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 31);
-
-/**
- * both teams are prepared - all conditions are met to continue (with kickoff or penalty kick)
- *
- * @generated from message GameEvent.Prepared
- */
-export type GameEvent_Prepared = Message<"GameEvent.Prepared"> & {
-  /**
-   * the time [s] taken for preparing
-   *
-   * @generated from field: optional float time_taken = 1;
-   */
-  timeTaken: number;
-};
-
-/**
- * both teams are prepared - all conditions are met to continue (with kickoff or penalty kick)
- *
- * @generated from message GameEvent.Prepared
- */
-export type GameEvent_PreparedJson = {
-  /**
-   * the time [s] taken for preparing
-   *
-   * @generated from field: optional float time_taken = 1;
-   */
-  timeTaken?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message GameEvent.Prepared.
- * Use `create(GameEvent_PreparedSchema)` to create a new message.
- */
-export const GameEvent_PreparedSchema: GenMessage<GameEvent_Prepared, GameEvent_PreparedJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 32);
-
-/**
- * bots are being substituted by a team
- *
- * @generated from message GameEvent.BotSubstitution
- */
-export type GameEvent_BotSubstitution = Message<"GameEvent.BotSubstitution"> & {
-  /**
-   * the team that substitutes robots
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-};
-
-/**
- * bots are being substituted by a team
- *
- * @generated from message GameEvent.BotSubstitution
- */
-export type GameEvent_BotSubstitutionJson = {
-  /**
-   * the team that substitutes robots
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-};
-
-/**
- * Describes the message GameEvent.BotSubstitution.
- * Use `create(GameEvent_BotSubstitutionSchema)` to create a new message.
- */
-export const GameEvent_BotSubstitutionSchema: GenMessage<GameEvent_BotSubstitution, GameEvent_BotSubstitutionJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 33);
-
-/**
- * A foul for excessive bot substitutions
- *
- * @generated from message GameEvent.ExcessiveBotSubstitution
- */
-export type GameEvent_ExcessiveBotSubstitution = Message<"GameEvent.ExcessiveBotSubstitution"> & {
-  /**
-   * the team that substitutes robots
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-};
-
-/**
- * A foul for excessive bot substitutions
- *
- * @generated from message GameEvent.ExcessiveBotSubstitution
- */
-export type GameEvent_ExcessiveBotSubstitutionJson = {
-  /**
-   * the team that substitutes robots
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-};
-
-/**
- * Describes the message GameEvent.ExcessiveBotSubstitution.
- * Use `create(GameEvent_ExcessiveBotSubstitutionSchema)` to create a new message.
- */
-export const GameEvent_ExcessiveBotSubstitutionSchema: GenMessage<GameEvent_ExcessiveBotSubstitution, GameEvent_ExcessiveBotSubstitutionJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 34);
-
-/**
- * A challenge flag, requested by a team previously, is flagged
- *
- * @generated from message GameEvent.ChallengeFlag
- */
-export type GameEvent_ChallengeFlag = Message<"GameEvent.ChallengeFlag"> & {
-  /**
-   * the team that requested the challenge flag
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-};
-
-/**
- * A challenge flag, requested by a team previously, is flagged
- *
- * @generated from message GameEvent.ChallengeFlag
- */
-export type GameEvent_ChallengeFlagJson = {
-  /**
-   * the team that requested the challenge flag
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-};
-
-/**
- * Describes the message GameEvent.ChallengeFlag.
- * Use `create(GameEvent_ChallengeFlagSchema)` to create a new message.
- */
-export const GameEvent_ChallengeFlagSchema: GenMessage<GameEvent_ChallengeFlag, GameEvent_ChallengeFlagJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 35);
-
-/**
- * A challenge, flagged recently, has been handled by the referee
- *
- * @generated from message GameEvent.ChallengeFlagHandled
- */
-export type GameEvent_ChallengeFlagHandled = Message<"GameEvent.ChallengeFlagHandled"> & {
-  /**
-   * the team that requested the challenge flag
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the challenge was accepted by the referee
-   *
-   * @generated from field: required bool accepted = 2;
-   */
-  accepted: boolean;
-};
-
-/**
- * A challenge, flagged recently, has been handled by the referee
- *
- * @generated from message GameEvent.ChallengeFlagHandled
- */
-export type GameEvent_ChallengeFlagHandledJson = {
-  /**
-   * the team that requested the challenge flag
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the challenge was accepted by the referee
-   *
-   * @generated from field: required bool accepted = 2;
-   */
-  accepted?: boolean;
-};
-
-/**
- * Describes the message GameEvent.ChallengeFlagHandled.
- * Use `create(GameEvent_ChallengeFlagHandledSchema)` to create a new message.
- */
-export const GameEvent_ChallengeFlagHandledSchema: GenMessage<GameEvent_ChallengeFlagHandled, GameEvent_ChallengeFlagHandledJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 36);
-
-/**
- * An emergency stop, requested by team previously, occurred
- *
- * @generated from message GameEvent.EmergencyStop
- */
-export type GameEvent_EmergencyStop = Message<"GameEvent.EmergencyStop"> & {
-  /**
-   * the team that substitutes robots
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-};
-
-/**
- * An emergency stop, requested by team previously, occurred
- *
- * @generated from message GameEvent.EmergencyStop
- */
-export type GameEvent_EmergencyStopJson = {
-  /**
-   * the team that substitutes robots
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-};
-
-/**
- * Describes the message GameEvent.EmergencyStop.
- * Use `create(GameEvent_EmergencyStopSchema)` to create a new message.
- */
-export const GameEvent_EmergencyStopSchema: GenMessage<GameEvent_EmergencyStop, GameEvent_EmergencyStopJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 37);
-
-/**
- * a team has too many robots on the field
- *
- * @generated from message GameEvent.TooManyRobots
- */
-export type GameEvent_TooManyRobots = Message<"GameEvent.TooManyRobots"> & {
-  /**
-   * the team that has too many robots
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * number of robots allowed at the moment
-   *
-   * @generated from field: optional int32 num_robots_allowed = 2;
-   */
-  numRobotsAllowed: number;
-
-  /**
-   * number of robots currently on the field
-   *
-   * @generated from field: optional int32 num_robots_on_field = 3;
-   */
-  numRobotsOnField: number;
-
-  /**
-   * the location of the ball at the moment when this foul occurred [m]
-   *
-   * @generated from field: optional Vector2 ball_location = 4;
-   */
-  ballLocation?: Vector2;
-};
-
-/**
- * a team has too many robots on the field
- *
- * @generated from message GameEvent.TooManyRobots
- */
-export type GameEvent_TooManyRobotsJson = {
-  /**
-   * the team that has too many robots
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * number of robots allowed at the moment
-   *
-   * @generated from field: optional int32 num_robots_allowed = 2;
-   */
-  numRobotsAllowed?: number;
-
-  /**
-   * number of robots currently on the field
-   *
-   * @generated from field: optional int32 num_robots_on_field = 3;
-   */
-  numRobotsOnField?: number;
-
-  /**
-   * the location of the ball at the moment when this foul occurred [m]
-   *
-   * @generated from field: optional Vector2 ball_location = 4;
-   */
-  ballLocation?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.TooManyRobots.
- * Use `create(GameEvent_TooManyRobotsSchema)` to create a new message.
- */
-export const GameEvent_TooManyRobotsSchema: GenMessage<GameEvent_TooManyRobots, GameEvent_TooManyRobotsJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 38);
-
-/**
- * a robot chipped the ball over the field boundary out of the playing surface
- *
- * @generated from message GameEvent.BoundaryCrossing
- */
-export type GameEvent_BoundaryCrossing = Message<"GameEvent.BoundaryCrossing"> & {
-  /**
-   * the team that has too many robots
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the location of the ball [m]
-   *
-   * @generated from field: optional Vector2 location = 2;
-   */
-  location?: Vector2;
-};
-
-/**
- * a robot chipped the ball over the field boundary out of the playing surface
- *
- * @generated from message GameEvent.BoundaryCrossing
- */
-export type GameEvent_BoundaryCrossingJson = {
-  /**
-   * the team that has too many robots
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the location of the ball [m]
-   *
-   * @generated from field: optional Vector2 location = 2;
-   */
-  location?: Vector2Json;
-};
-
-/**
- * Describes the message GameEvent.BoundaryCrossing.
- * Use `create(GameEvent_BoundaryCrossingSchema)` to create a new message.
- */
-export const GameEvent_BoundaryCrossingSchema: GenMessage<GameEvent_BoundaryCrossing, GameEvent_BoundaryCrossingJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 39);
-
-/**
- * the penalty kick failed (by time or by keeper)
- *
- * @generated from message GameEvent.PenaltyKickFailed
- */
-export type GameEvent_PenaltyKickFailed = Message<"GameEvent.PenaltyKickFailed"> & {
-  /**
-   * the team that last touched the ball
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam: Team;
-
-  /**
-   * the location of the ball at the moment of this event [m]
-   *
-   * @generated from field: optional Vector2 location = 2;
-   */
-  location?: Vector2;
-
-  /**
-   * an explanation of the failure
-   *
-   * @generated from field: optional string reason = 3;
-   */
-  reason: string;
-};
-
-/**
- * the penalty kick failed (by time or by keeper)
- *
- * @generated from message GameEvent.PenaltyKickFailed
- */
-export type GameEvent_PenaltyKickFailedJson = {
-  /**
-   * the team that last touched the ball
-   *
-   * @generated from field: required Team by_team = 1;
-   */
-  byTeam?: TeamJson;
-
-  /**
-   * the location of the ball at the moment of this event [m]
-   *
-   * @generated from field: optional Vector2 location = 2;
-   */
-  location?: Vector2Json;
-
-  /**
-   * an explanation of the failure
-   *
-   * @generated from field: optional string reason = 3;
-   */
-  reason?: string;
-};
-
-/**
- * Describes the message GameEvent.PenaltyKickFailed.
- * Use `create(GameEvent_PenaltyKickFailedSchema)` to create a new message.
- */
-export const GameEvent_PenaltyKickFailedSchema: GenMessage<GameEvent_PenaltyKickFailed, GameEvent_PenaltyKickFailedJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_game_event, 0, 40);
-
-/**
- * @generated from enum GameEvent.Type
- */
-export enum GameEvent_Type {
-  /**
-   * @generated from enum value: UNKNOWN_GAME_EVENT_TYPE = 0;
-   */
-  UNKNOWN_GAME_EVENT_TYPE = 0,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: BALL_LEFT_FIELD_TOUCH_LINE = 6;
-   */
-  BALL_LEFT_FIELD_TOUCH_LINE = 6,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: BALL_LEFT_FIELD_GOAL_LINE = 7;
-   */
-  BALL_LEFT_FIELD_GOAL_LINE = 7,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: AIMLESS_KICK = 11;
-   */
-  AIMLESS_KICK = 11,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA = 19;
-   */
-  ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA = 19,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: DEFENDER_IN_DEFENSE_AREA = 31;
-   */
-  DEFENDER_IN_DEFENSE_AREA = 31,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: BOUNDARY_CROSSING = 41;
-   */
-  BOUNDARY_CROSSING = 41,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: KEEPER_HELD_BALL = 13;
-   */
-  KEEPER_HELD_BALL = 13,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: BOT_DRIBBLED_BALL_TOO_FAR = 17;
-   */
-  BOT_DRIBBLED_BALL_TOO_FAR = 17,
-
-  /**
-   * triggered by human ref
-   *
-   * @generated from enum value: BOT_PUSHED_BOT = 24;
-   */
-  BOT_PUSHED_BOT = 24,
-
-  /**
-   * triggered by human ref
-   *
-   * @generated from enum value: BOT_HELD_BALL_DELIBERATELY = 26;
-   */
-  BOT_HELD_BALL_DELIBERATELY = 26,
-
-  /**
-   * triggered by human ref
-   *
-   * @generated from enum value: BOT_TIPPED_OVER = 27;
-   */
-  BOT_TIPPED_OVER = 27,
-
-  /**
-   * triggered by human ref
-   *
-   * @generated from enum value: BOT_DROPPED_PARTS = 47;
-   */
-  BOT_DROPPED_PARTS = 47,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA = 15;
-   */
-  ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA = 15,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: BOT_KICKED_BALL_TOO_FAST = 18;
-   */
-  BOT_KICKED_BALL_TOO_FAST = 18,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: BOT_CRASH_UNIQUE = 22;
-   */
-  BOT_CRASH_UNIQUE = 22,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: BOT_CRASH_DRAWN = 21;
-   */
-  BOT_CRASH_DRAWN = 21,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: DEFENDER_TOO_CLOSE_TO_KICK_POINT = 29;
-   */
-  DEFENDER_TOO_CLOSE_TO_KICK_POINT = 29,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: BOT_TOO_FAST_IN_STOP = 28;
-   */
-  BOT_TOO_FAST_IN_STOP = 28,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: BOT_INTERFERED_PLACEMENT = 20;
-   */
-  BOT_INTERFERED_PLACEMENT = 20,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: EXCESSIVE_BOT_SUBSTITUTION = 48;
-   */
-  EXCESSIVE_BOT_SUBSTITUTION = 48,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: POSSIBLE_GOAL = 39;
-   */
-  POSSIBLE_GOAL = 39,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: GOAL = 8;
-   */
-  GOAL = 8,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: INVALID_GOAL = 42;
-   */
-  INVALID_GOAL = 42,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: ATTACKER_DOUBLE_TOUCHED_BALL = 14;
-   */
-  ATTACKER_DOUBLE_TOUCHED_BALL = 14,
-
-  /**
-   * triggered by autoRef
-   *
-   * @generated from enum value: PLACEMENT_SUCCEEDED = 5;
-   */
-  PLACEMENT_SUCCEEDED = 5,
-
-  /**
-   * triggered by GC and autoRef
-   *
-   * @generated from enum value: PENALTY_KICK_FAILED = 43;
-   */
-  PENALTY_KICK_FAILED = 43,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: NO_PROGRESS_IN_GAME = 2;
-   */
-  NO_PROGRESS_IN_GAME = 2,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: PLACEMENT_FAILED = 3;
-   */
-  PLACEMENT_FAILED = 3,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: MULTIPLE_CARDS = 32;
-   */
-  MULTIPLE_CARDS = 32,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: MULTIPLE_FOULS = 34;
-   */
-  MULTIPLE_FOULS = 34,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: BOT_SUBSTITUTION = 37;
-   */
-  BOT_SUBSTITUTION = 37,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: TOO_MANY_ROBOTS = 38;
-   */
-  TOO_MANY_ROBOTS = 38,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: CHALLENGE_FLAG = 44;
-   */
-  CHALLENGE_FLAG = 44,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: CHALLENGE_FLAG_HANDLED = 46;
-   */
-  CHALLENGE_FLAG_HANDLED = 46,
-
-  /**
-   * triggered by GC
-   *
-   * @generated from enum value: EMERGENCY_STOP = 45;
-   */
-  EMERGENCY_STOP = 45,
-
-  /**
-   * triggered by human ref
-   *
-   * @generated from enum value: UNSPORTING_BEHAVIOR_MINOR = 35;
-   */
-  UNSPORTING_BEHAVIOR_MINOR = 35,
-
-  /**
-   * triggered by human ref
-   *
-   * @generated from enum value: UNSPORTING_BEHAVIOR_MAJOR = 36;
-   */
-  UNSPORTING_BEHAVIOR_MAJOR = 36,
-
-  /**
-   * @generated from enum value: PREPARED = 1 [deprecated = true];
-   * @deprecated
-   */
-  PREPARED = 1,
-
-  /**
-   * @generated from enum value: INDIRECT_GOAL = 9 [deprecated = true];
-   * @deprecated
-   */
-  INDIRECT_GOAL = 9,
-
-  /**
-   * @generated from enum value: CHIPPED_GOAL = 10 [deprecated = true];
-   * @deprecated
-   */
-  CHIPPED_GOAL = 10,
-
-  /**
-   * @generated from enum value: KICK_TIMEOUT = 12 [deprecated = true];
-   * @deprecated
-   */
-  KICK_TIMEOUT = 12,
-
-  /**
-   * @generated from enum value: ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA = 16 [deprecated = true];
-   * @deprecated
-   */
-  ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA = 16,
-
-  /**
-   * @generated from enum value: ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED = 40 [deprecated = true];
-   * @deprecated
-   */
-  ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED = 40,
-
-  /**
-   * @generated from enum value: BOT_CRASH_UNIQUE_SKIPPED = 23 [deprecated = true];
-   * @deprecated
-   */
-  BOT_CRASH_UNIQUE_SKIPPED = 23,
-
-  /**
-   * @generated from enum value: BOT_PUSHED_BOT_SKIPPED = 25 [deprecated = true];
-   * @deprecated
-   */
-  BOT_PUSHED_BOT_SKIPPED = 25,
-
-  /**
-   * @generated from enum value: DEFENDER_IN_DEFENSE_AREA_PARTIALLY = 30 [deprecated = true];
-   * @deprecated
-   */
-  DEFENDER_IN_DEFENSE_AREA_PARTIALLY = 30,
-
-  /**
-   * @generated from enum value: MULTIPLE_PLACEMENT_FAILURES = 33 [deprecated = true];
-   * @deprecated
-   */
-  MULTIPLE_PLACEMENT_FAILURES = 33,
-}
-
-/**
- * @generated from enum GameEvent.Type
- */
-export type GameEvent_TypeJson = "UNKNOWN_GAME_EVENT_TYPE" | "BALL_LEFT_FIELD_TOUCH_LINE" | "BALL_LEFT_FIELD_GOAL_LINE" | "AIMLESS_KICK" | "ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA" | "DEFENDER_IN_DEFENSE_AREA" | "BOUNDARY_CROSSING" | "KEEPER_HELD_BALL" | "BOT_DRIBBLED_BALL_TOO_FAR" | "BOT_PUSHED_BOT" | "BOT_HELD_BALL_DELIBERATELY" | "BOT_TIPPED_OVER" | "BOT_DROPPED_PARTS" | "ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA" | "BOT_KICKED_BALL_TOO_FAST" | "BOT_CRASH_UNIQUE" | "BOT_CRASH_DRAWN" | "DEFENDER_TOO_CLOSE_TO_KICK_POINT" | "BOT_TOO_FAST_IN_STOP" | "BOT_INTERFERED_PLACEMENT" | "EXCESSIVE_BOT_SUBSTITUTION" | "POSSIBLE_GOAL" | "GOAL" | "INVALID_GOAL" | "ATTACKER_DOUBLE_TOUCHED_BALL" | "PLACEMENT_SUCCEEDED" | "PENALTY_KICK_FAILED" | "NO_PROGRESS_IN_GAME" | "PLACEMENT_FAILED" | "MULTIPLE_CARDS" | "MULTIPLE_FOULS" | "BOT_SUBSTITUTION" | "TOO_MANY_ROBOTS" | "CHALLENGE_FLAG" | "CHALLENGE_FLAG_HANDLED" | "EMERGENCY_STOP" | "UNSPORTING_BEHAVIOR_MINOR" | "UNSPORTING_BEHAVIOR_MAJOR" | "PREPARED" | "INDIRECT_GOAL" | "CHIPPED_GOAL" | "KICK_TIMEOUT" | "ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA" | "ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED" | "BOT_CRASH_UNIQUE_SKIPPED" | "BOT_PUSHED_BOT_SKIPPED" | "DEFENDER_IN_DEFENSE_AREA_PARTIALLY" | "MULTIPLE_PLACEMENT_FAILURES";
-
-/**
- * Describes the enum GameEvent.Type.
- */
-export const GameEvent_TypeSchema: GenEnum<GameEvent_Type, GameEvent_TypeJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_game_event, 0, 0);
-
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_geometry_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_geometry_pb.ts
deleted file mode 100644
index 3b4c243..0000000
--- a/gui/frontend/src/proto/gamecontroller/ssl_gc_geometry_pb.ts
+++ /dev/null
@@ -1,106 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file gamecontroller/ssl_gc_geometry.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file gamecontroller/ssl_gc_geometry.proto.
- */
-export const file_gamecontroller_ssl_gc_geometry: GenFile = /*@__PURE__*/
-  fileDesc("CiRnYW1lY29udHJvbGxlci9zc2xfZ2NfZ2VvbWV0cnkucHJvdG8iHwoHVmVjdG9yMhIJCgF4GAEgAigCEgkKAXkYAiACKAIiKgoHVmVjdG9yMxIJCgF4GAEgAigCEgkKAXkYAiACKAISCQoBehgDIAIoAkJfQhJTc2xHY0dlb21ldHJ5UHJvdG9QAVpHZ2l0aHViLmNvbS9Sb2JvQ3VwLVNTTC9zc2wtdmlzaW9uLXByb2Nlc3Nvci9ndWkvaW50ZXJuYWwvZ2FtZWNvbnRyb2xsZXI");
-
-/**
- * A vector with two dimensions
- *
- * @generated from message Vector2
- */
-export type Vector2 = Message<"Vector2"> & {
-  /**
-   * @generated from field: required float x = 1;
-   */
-  x: number;
-
-  /**
-   * @generated from field: required float y = 2;
-   */
-  y: number;
-};
-
-/**
- * A vector with two dimensions
- *
- * @generated from message Vector2
- */
-export type Vector2Json = {
-  /**
-   * @generated from field: required float x = 1;
-   */
-  x?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float y = 2;
-   */
-  y?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message Vector2.
- * Use `create(Vector2Schema)` to create a new message.
- */
-export const Vector2Schema: GenMessage<Vector2, Vector2Json> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_geometry, 0);
-
-/**
- * A vector with three dimensions
- *
- * @generated from message Vector3
- */
-export type Vector3 = Message<"Vector3"> & {
-  /**
-   * @generated from field: required float x = 1;
-   */
-  x: number;
-
-  /**
-   * @generated from field: required float y = 2;
-   */
-  y: number;
-
-  /**
-   * @generated from field: required float z = 3;
-   */
-  z: number;
-};
-
-/**
- * A vector with three dimensions
- *
- * @generated from message Vector3
- */
-export type Vector3Json = {
-  /**
-   * @generated from field: required float x = 1;
-   */
-  x?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float y = 2;
-   */
-  y?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float z = 3;
-   */
-  z?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message Vector3.
- * Use `create(Vector3Schema)` to create a new message.
- */
-export const Vector3Schema: GenMessage<Vector3, Vector3Json> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_geometry, 1);
-
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_autoref_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_autoref_pb.ts
deleted file mode 100644
index b347533..0000000
--- a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_autoref_pb.ts
+++ /dev/null
@@ -1,157 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file gamecontroller/ssl_gc_rcon_autoref.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { GameEvent, GameEventJson } from "./ssl_gc_game_event_pb";
-import { file_gamecontroller_ssl_gc_game_event } from "./ssl_gc_game_event_pb";
-import type { ControllerReply, ControllerReplyJson, Signature, SignatureJson } from "./ssl_gc_rcon_pb";
-import { file_gamecontroller_ssl_gc_rcon } from "./ssl_gc_rcon_pb";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file gamecontroller/ssl_gc_rcon_autoref.proto.
- */
-export const file_gamecontroller_ssl_gc_rcon_autoref: GenFile = /*@__PURE__*/
-  fileDesc("CihnYW1lY29udHJvbGxlci9zc2xfZ2NfcmNvbl9hdXRvcmVmLnByb3RvIkgKE0F1dG9SZWZSZWdpc3RyYXRpb24SEgoKaWRlbnRpZmllchgBIAIoCRIdCglzaWduYXR1cmUYAiABKAsyCi5TaWduYXR1cmUiYAoTQXV0b1JlZlRvQ29udHJvbGxlchIdCglzaWduYXR1cmUYASABKAsyCi5TaWduYXR1cmUSHgoKZ2FtZV9ldmVudBgCIAEoCzIKLkdhbWVFdmVudEoECAMQBEoECAQQBSJKChNDb250cm9sbGVyVG9BdXRvUmVmEiwKEGNvbnRyb2xsZXJfcmVwbHkYASABKAsyEC5Db250cm9sbGVyUmVwbHlIAEIFCgNtc2dCYkIVU3NsR2NSY29uQXV0b3JlZlByb3RvUAFaR2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL2dhbWVjb250cm9sbGVy", [file_gamecontroller_ssl_gc_game_event, file_gamecontroller_ssl_gc_rcon]);
-
-/**
- * AutoRefRegistration is the first message that a client must send to the controller to identify itself
- *
- * @generated from message AutoRefRegistration
- */
-export type AutoRefRegistration = Message<"AutoRefRegistration"> & {
-  /**
-   * identifier is a unique name of the client
-   *
-   * @generated from field: required string identifier = 1;
-   */
-  identifier: string;
-
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 2;
-   */
-  signature?: Signature;
-};
-
-/**
- * AutoRefRegistration is the first message that a client must send to the controller to identify itself
- *
- * @generated from message AutoRefRegistration
- */
-export type AutoRefRegistrationJson = {
-  /**
-   * identifier is a unique name of the client
-   *
-   * @generated from field: required string identifier = 1;
-   */
-  identifier?: string;
-
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 2;
-   */
-  signature?: SignatureJson;
-};
-
-/**
- * Describes the message AutoRefRegistration.
- * Use `create(AutoRefRegistrationSchema)` to create a new message.
- */
-export const AutoRefRegistrationSchema: GenMessage<AutoRefRegistration, AutoRefRegistrationJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon_autoref, 0);
-
-/**
- * AutoRefToController is the wrapper message for all subsequent messages from the autoRef to the controller
- *
- * @generated from message AutoRefToController
- */
-export type AutoRefToController = Message<"AutoRefToController"> & {
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 1;
-   */
-  signature?: Signature;
-
-  /**
-   * game_event is an optional event that the autoRef detected during the game
-   *
-   * @generated from field: optional GameEvent game_event = 2;
-   */
-  gameEvent?: GameEvent;
-};
-
-/**
- * AutoRefToController is the wrapper message for all subsequent messages from the autoRef to the controller
- *
- * @generated from message AutoRefToController
- */
-export type AutoRefToControllerJson = {
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 1;
-   */
-  signature?: SignatureJson;
-
-  /**
-   * game_event is an optional event that the autoRef detected during the game
-   *
-   * @generated from field: optional GameEvent game_event = 2;
-   */
-  gameEvent?: GameEventJson;
-};
-
-/**
- * Describes the message AutoRefToController.
- * Use `create(AutoRefToControllerSchema)` to create a new message.
- */
-export const AutoRefToControllerSchema: GenMessage<AutoRefToController, AutoRefToControllerJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon_autoref, 1);
-
-/**
- * ControllerToAutoRef is the wrapper message for all messages from controller to autoRef
- *
- * @generated from message ControllerToAutoRef
- */
-export type ControllerToAutoRef = Message<"ControllerToAutoRef"> & {
-  /**
-   * @generated from oneof ControllerToAutoRef.msg
-   */
-  msg: {
-    /**
-     * a reply from the controller
-     *
-     * @generated from field: ControllerReply controller_reply = 1;
-     */
-    value: ControllerReply;
-    case: "controllerReply";
-  } | { case: undefined; value?: undefined };
-};
-
-/**
- * ControllerToAutoRef is the wrapper message for all messages from controller to autoRef
- *
- * @generated from message ControllerToAutoRef
- */
-export type ControllerToAutoRefJson = {
-  /**
-   * a reply from the controller
-   *
-   * @generated from field: ControllerReply controller_reply = 1;
-   */
-  controllerReply?: ControllerReplyJson;
-};
-
-/**
- * Describes the message ControllerToAutoRef.
- * Use `create(ControllerToAutoRefSchema)` to create a new message.
- */
-export const ControllerToAutoRefSchema: GenMessage<ControllerToAutoRef, ControllerToAutoRefJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon_autoref, 2);
-
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_pb.ts
deleted file mode 100644
index 145c781..0000000
--- a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_pb.ts
+++ /dev/null
@@ -1,208 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file gamecontroller/ssl_gc_rcon.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file gamecontroller/ssl_gc_rcon.proto.
- */
-export const file_gamecontroller_ssl_gc_rcon: GenFile = /*@__PURE__*/
-  fileDesc("CiBnYW1lY29udHJvbGxlci9zc2xfZ2NfcmNvbi5wcm90byKhAgoPQ29udHJvbGxlclJlcGx5EjAKC3N0YXR1c19jb2RlGAEgASgOMhsuQ29udHJvbGxlclJlcGx5LlN0YXR1c0NvZGUSDgoGcmVhc29uGAIgASgJEhIKCm5leHRfdG9rZW4YAyABKAkSMwoMdmVyaWZpY2F0aW9uGAQgASgOMh0uQ29udHJvbGxlclJlcGx5LlZlcmlmaWNhdGlvbiI7CgpTdGF0dXNDb2RlEhcKE1VOS05PV05fU1RBVFVTX0NPREUQABIGCgJPSxABEgwKCFJFSkVDVEVEEAIiRgoMVmVyaWZpY2F0aW9uEhgKFFVOS05PV05fVkVSSUZJQ0FUSU9OEAASDAoIVkVSSUZJRUQQARIOCgpVTlZFUklGSUVEEAIiLAoJU2lnbmF0dXJlEg0KBXRva2VuGAEgAigJEhAKCHBrY3MxdjE1GAIgAigMQltCDlNzbEdjUmNvblByb3RvUAFaR2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL2dhbWVjb250cm9sbGVy");
-
-/**
- * a reply that is sent by the controller for each request from teams or autoRefs
- *
- * @generated from message ControllerReply
- */
-export type ControllerReply = Message<"ControllerReply"> & {
-  /**
-   * status_code is an optional code that indicates the result of the last request
-   *
-   * @generated from field: optional ControllerReply.StatusCode status_code = 1;
-   */
-  statusCode: ControllerReply_StatusCode;
-
-  /**
-   * reason is an optional explanation of the status code
-   *
-   * @generated from field: optional string reason = 2;
-   */
-  reason: string;
-
-  /**
-   * next_token must be send with the next request, if secure communication is used
-   * the token is used to avoid replay attacks
-   * the token is always present in the very first message before the registration starts
-   * the token is not present, if secure communication is not used
-   *
-   * @generated from field: optional string next_token = 3;
-   */
-  nextToken: string;
-
-  /**
-   * verification indicates if the last request could be verified (secure communication)
-   *
-   * @generated from field: optional ControllerReply.Verification verification = 4;
-   */
-  verification: ControllerReply_Verification;
-};
-
-/**
- * a reply that is sent by the controller for each request from teams or autoRefs
- *
- * @generated from message ControllerReply
- */
-export type ControllerReplyJson = {
-  /**
-   * status_code is an optional code that indicates the result of the last request
-   *
-   * @generated from field: optional ControllerReply.StatusCode status_code = 1;
-   */
-  statusCode?: ControllerReply_StatusCodeJson;
-
-  /**
-   * reason is an optional explanation of the status code
-   *
-   * @generated from field: optional string reason = 2;
-   */
-  reason?: string;
-
-  /**
-   * next_token must be send with the next request, if secure communication is used
-   * the token is used to avoid replay attacks
-   * the token is always present in the very first message before the registration starts
-   * the token is not present, if secure communication is not used
-   *
-   * @generated from field: optional string next_token = 3;
-   */
-  nextToken?: string;
-
-  /**
-   * verification indicates if the last request could be verified (secure communication)
-   *
-   * @generated from field: optional ControllerReply.Verification verification = 4;
-   */
-  verification?: ControllerReply_VerificationJson;
-};
-
-/**
- * Describes the message ControllerReply.
- * Use `create(ControllerReplySchema)` to create a new message.
- */
-export const ControllerReplySchema: GenMessage<ControllerReply, ControllerReplyJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon, 0);
-
-/**
- * @generated from enum ControllerReply.StatusCode
- */
-export enum ControllerReply_StatusCode {
-  /**
-   * @generated from enum value: UNKNOWN_STATUS_CODE = 0;
-   */
-  UNKNOWN_STATUS_CODE = 0,
-
-  /**
-   * @generated from enum value: OK = 1;
-   */
-  OK = 1,
-
-  /**
-   * @generated from enum value: REJECTED = 2;
-   */
-  REJECTED = 2,
-}
-
-/**
- * @generated from enum ControllerReply.StatusCode
- */
-export type ControllerReply_StatusCodeJson = "UNKNOWN_STATUS_CODE" | "OK" | "REJECTED";
-
-/**
- * Describes the enum ControllerReply.StatusCode.
- */
-export const ControllerReply_StatusCodeSchema: GenEnum<ControllerReply_StatusCode, ControllerReply_StatusCodeJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_rcon, 0, 0);
-
-/**
- * @generated from enum ControllerReply.Verification
- */
-export enum ControllerReply_Verification {
-  /**
-   * @generated from enum value: UNKNOWN_VERIFICATION = 0;
-   */
-  UNKNOWN_VERIFICATION = 0,
-
-  /**
-   * @generated from enum value: VERIFIED = 1;
-   */
-  VERIFIED = 1,
-
-  /**
-   * @generated from enum value: UNVERIFIED = 2;
-   */
-  UNVERIFIED = 2,
-}
-
-/**
- * @generated from enum ControllerReply.Verification
- */
-export type ControllerReply_VerificationJson = "UNKNOWN_VERIFICATION" | "VERIFIED" | "UNVERIFIED";
-
-/**
- * Describes the enum ControllerReply.Verification.
- */
-export const ControllerReply_VerificationSchema: GenEnum<ControllerReply_Verification, ControllerReply_VerificationJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_rcon, 0, 1);
-
-/**
- * Signature can be added to a request to let it be verfied by the controller
- *
- * @generated from message Signature
- */
-export type Signature = Message<"Signature"> & {
-  /**
-   * the token that was received with the last controller reply
-   *
-   * @generated from field: required string token = 1;
-   */
-  token: string;
-
-  /**
-   * the PKCS1v15 signature of this message
-   *
-   * @generated from field: required bytes pkcs1v15 = 2;
-   */
-  pkcs1v15: Uint8Array;
-};
-
-/**
- * Signature can be added to a request to let it be verfied by the controller
- *
- * @generated from message Signature
- */
-export type SignatureJson = {
-  /**
-   * the token that was received with the last controller reply
-   *
-   * @generated from field: required string token = 1;
-   */
-  token?: string;
-
-  /**
-   * the PKCS1v15 signature of this message
-   *
-   * @generated from field: required bytes pkcs1v15 = 2;
-   */
-  pkcs1v15?: string;
-};
-
-/**
- * Describes the message Signature.
- * Use `create(SignatureSchema)` to create a new message.
- */
-export const SignatureSchema: GenMessage<Signature, SignatureJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon, 1);
-
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_remotecontrol_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_remotecontrol_pb.ts
deleted file mode 100644
index b6edcf4..0000000
--- a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_remotecontrol_pb.ts
+++ /dev/null
@@ -1,565 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file gamecontroller/ssl_gc_rcon_remotecontrol.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { Team, TeamJson } from "./ssl_gc_common_pb";
-import { file_gamecontroller_ssl_gc_common } from "./ssl_gc_common_pb";
-import type { ControllerReply, ControllerReplyJson, Signature, SignatureJson } from "./ssl_gc_rcon_pb";
-import { file_gamecontroller_ssl_gc_rcon } from "./ssl_gc_rcon_pb";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file gamecontroller/ssl_gc_rcon_remotecontrol.proto.
- */
-export const file_gamecontroller_ssl_gc_rcon_remotecontrol: GenFile = /*@__PURE__*/
-  fileDesc("Ci5nYW1lY29udHJvbGxlci9zc2xfZ2NfcmNvbl9yZW1vdGVjb250cm9sLnByb3RvIk8KGVJlbW90ZUNvbnRyb2xSZWdpc3RyYXRpb24SEwoEdGVhbRgBIAIoDjIFLlRlYW0SHQoJc2lnbmF0dXJlGAIgASgLMgouU2lnbmF0dXJlItUCChlSZW1vdGVDb250cm9sVG9Db250cm9sbGVyEh0KCXNpZ25hdHVyZRgBIAEoCzIKLlNpZ25hdHVyZRI1CgdyZXF1ZXN0GAIgASgOMiIuUmVtb3RlQ29udHJvbFRvQ29udHJvbGxlci5SZXF1ZXN0SAASGAoOZGVzaXJlZF9rZWVwZXIYAyABKAVIABIkChpyZXF1ZXN0X3JvYm90X3N1YnN0aXR1dGlvbhgEIAEoCEgAEhkKD3JlcXVlc3RfdGltZW91dBgFIAEoCEgAEiAKFnJlcXVlc3RfZW1lcmdlbmN5X3N0b3AYBiABKAhIACJeCgdSZXF1ZXN0EgsKB1VOS05PV04QABIICgRQSU5HEAESEgoOQ0hBTExFTkdFX0ZMQUcQAhIQCgxTVE9QX1RJTUVPVVQQAxIWChJGQUlMX0JBTExQTEFDRU1FTlQQBEIFCgNtc2cibwoZQ29udHJvbGxlclRvUmVtb3RlQ29udHJvbBIqChBjb250cm9sbGVyX3JlcGx5GAEgASgLMhAuQ29udHJvbGxlclJlcGx5EiYKBXN0YXRlGAIgASgLMhcuUmVtb3RlQ29udHJvbFRlYW1TdGF0ZSK/AwoWUmVtb3RlQ29udHJvbFRlYW1TdGF0ZRITCgR0ZWFtGAwgASgOMgUuVGVhbRI1ChJhdmFpbGFibGVfcmVxdWVzdHMYASADKA4yGS5SZW1vdGVDb250cm9sUmVxdWVzdFR5cGUSMgoPYWN0aXZlX3JlcXVlc3RzGAIgAygOMhkuUmVtb3RlQ29udHJvbFJlcXVlc3RUeXBlEhEKCWtlZXBlcl9pZBgDIAEoBRIZChFlbWVyZ2VuY3lfc3RvcF9pbhgEIAEoAhIVCg10aW1lb3V0c19sZWZ0GAUgASgFEhkKEXRpbWVvdXRfdGltZV9sZWZ0GAogASgCEhwKFGNoYWxsZW5nZV9mbGFnc19sZWZ0GAYgASgFEhIKCm1heF9yb2JvdHMYByABKAUSFwoPcm9ib3RzX29uX2ZpZWxkGAkgASgFEhgKEHllbGxvd19jYXJkc19kdWUYCCADKAISHAoUY2FuX3N1YnN0aXR1dGVfcm9ib3QYCyABKAgSHgoWYm90X3N1YnN0aXR1dGlvbnNfbGVmdBgNIAEoDRIiChpib3Rfc3Vic3RpdHV0aW9uX3RpbWVfbGVmdBgOIAEoAirBAQoYUmVtb3RlQ29udHJvbFJlcXVlc3RUeXBlEhgKFFVOS05PV05fUkVRVUVTVF9UWVBFEAASEgoORU1FUkdFTkNZX1NUT1AQARIWChJST0JPVF9TVUJTVElUVVRJT04QAhILCgdUSU1FT1VUEAMSEgoOQ0hBTExFTkdFX0ZMQUcQBBIUChBDSEFOR0VfS0VFUEVSX0lEEAUSEAoMU1RPUF9USU1FT1VUEAYSFgoSRkFJTF9CQUxMUExBQ0VNRU5UEAdCaEIbU3NsR2NSY29uUmVtb3RlY29udHJvbFByb3RvUAFaR2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL2dhbWVjb250cm9sbGVy", [file_gamecontroller_ssl_gc_common, file_gamecontroller_ssl_gc_rcon]);
-
-/**
- * a registration that must be send by the remote control to the controller as the very first message
- *
- * @generated from message RemoteControlRegistration
- */
-export type RemoteControlRegistration = Message<"RemoteControlRegistration"> & {
-  /**
-   * the team to be controlled
-   *
-   * @generated from field: required Team team = 1;
-   */
-  team: Team;
-
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 2;
-   */
-  signature?: Signature;
-};
-
-/**
- * a registration that must be send by the remote control to the controller as the very first message
- *
- * @generated from message RemoteControlRegistration
- */
-export type RemoteControlRegistrationJson = {
-  /**
-   * the team to be controlled
-   *
-   * @generated from field: required Team team = 1;
-   */
-  team?: TeamJson;
-
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 2;
-   */
-  signature?: SignatureJson;
-};
-
-/**
- * Describes the message RemoteControlRegistration.
- * Use `create(RemoteControlRegistrationSchema)` to create a new message.
- */
-export const RemoteControlRegistrationSchema: GenMessage<RemoteControlRegistration, RemoteControlRegistrationJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 0);
-
-/**
- * wrapper for all messages from the remote control to the controller
- *
- * @generated from message RemoteControlToController
- */
-export type RemoteControlToController = Message<"RemoteControlToController"> & {
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 1;
-   */
-  signature?: Signature;
-
-  /**
-   * @generated from oneof RemoteControlToController.msg
-   */
-  msg: {
-    /**
-     * send a request to the GC
-     *
-     * @generated from field: RemoteControlToController.Request request = 2;
-     */
-    value: RemoteControlToController_Request;
-    case: "request";
-  } | {
-    /**
-     * request a new desired keeper id
-     *
-     * @generated from field: int32 desired_keeper = 3;
-     */
-    value: number;
-    case: "desiredKeeper";
-  } | {
-    /**
-     * true: request to substitute a robot at the next possibility
-     * false: cancel request
-     *
-     * @generated from field: bool request_robot_substitution = 4;
-     */
-    value: boolean;
-    case: "requestRobotSubstitution";
-  } | {
-    /**
-     * true: request a timeout with the next stoppage
-     * false: cancel the request
-     *
-     * @generated from field: bool request_timeout = 5;
-     */
-    value: boolean;
-    case: "requestTimeout";
-  } | {
-    /**
-     * true: initiate an emergency stop
-     * false: cancel the request
-     *
-     * @generated from field: bool request_emergency_stop = 6;
-     */
-    value: boolean;
-    case: "requestEmergencyStop";
-  } | { case: undefined; value?: undefined };
-};
-
-/**
- * wrapper for all messages from the remote control to the controller
- *
- * @generated from message RemoteControlToController
- */
-export type RemoteControlToControllerJson = {
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 1;
-   */
-  signature?: SignatureJson;
-
-  /**
-   * send a request to the GC
-   *
-   * @generated from field: RemoteControlToController.Request request = 2;
-   */
-  request?: RemoteControlToController_RequestJson;
-
-  /**
-   * request a new desired keeper id
-   *
-   * @generated from field: int32 desired_keeper = 3;
-   */
-  desiredKeeper?: number;
-
-  /**
-   * true: request to substitute a robot at the next possibility
-   * false: cancel request
-   *
-   * @generated from field: bool request_robot_substitution = 4;
-   */
-  requestRobotSubstitution?: boolean;
-
-  /**
-   * true: request a timeout with the next stoppage
-   * false: cancel the request
-   *
-   * @generated from field: bool request_timeout = 5;
-   */
-  requestTimeout?: boolean;
-
-  /**
-   * true: initiate an emergency stop
-   * false: cancel the request
-   *
-   * @generated from field: bool request_emergency_stop = 6;
-   */
-  requestEmergencyStop?: boolean;
-};
-
-/**
- * Describes the message RemoteControlToController.
- * Use `create(RemoteControlToControllerSchema)` to create a new message.
- */
-export const RemoteControlToControllerSchema: GenMessage<RemoteControlToController, RemoteControlToControllerJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 1);
-
-/**
- * @generated from enum RemoteControlToController.Request
- */
-export enum RemoteControlToController_Request {
-  /**
-   * @generated from enum value: UNKNOWN = 0;
-   */
-  UNKNOWN = 0,
-
-  /**
-   * Ping the GC to test the connection. The GC will respond with OK and the current team state
-   *
-   * @generated from enum value: PING = 1;
-   */
-  PING = 1,
-
-  /**
-   * Raise a challenge flag (this is not revocable)
-   *
-   * @generated from enum value: CHALLENGE_FLAG = 2;
-   */
-  CHALLENGE_FLAG = 2,
-
-  /**
-   * Stop an ongoing timeout
-   *
-   * @generated from enum value: STOP_TIMEOUT = 3;
-   */
-  STOP_TIMEOUT = 3,
-
-  /**
-   * Fail a ball placement
-   *
-   * @generated from enum value: FAIL_BALLPLACEMENT = 4;
-   */
-  FAIL_BALLPLACEMENT = 4,
-}
-
-/**
- * @generated from enum RemoteControlToController.Request
- */
-export type RemoteControlToController_RequestJson = "UNKNOWN" | "PING" | "CHALLENGE_FLAG" | "STOP_TIMEOUT" | "FAIL_BALLPLACEMENT";
-
-/**
- * Describes the enum RemoteControlToController.Request.
- */
-export const RemoteControlToController_RequestSchema: GenEnum<RemoteControlToController_Request, RemoteControlToController_RequestJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 1, 0);
-
-/**
- * wrapper for all messages from controller to a team's computer
- *
- * @generated from message ControllerToRemoteControl
- */
-export type ControllerToRemoteControl = Message<"ControllerToRemoteControl"> & {
-  /**
-   * a reply from the controller
-   *
-   * @generated from field: optional ControllerReply controller_reply = 1;
-   */
-  controllerReply?: ControllerReply;
-
-  /**
-   * current team state
-   *
-   * @generated from field: optional RemoteControlTeamState state = 2;
-   */
-  state?: RemoteControlTeamState;
-};
-
-/**
- * wrapper for all messages from controller to a team's computer
- *
- * @generated from message ControllerToRemoteControl
- */
-export type ControllerToRemoteControlJson = {
-  /**
-   * a reply from the controller
-   *
-   * @generated from field: optional ControllerReply controller_reply = 1;
-   */
-  controllerReply?: ControllerReplyJson;
-
-  /**
-   * current team state
-   *
-   * @generated from field: optional RemoteControlTeamState state = 2;
-   */
-  state?: RemoteControlTeamStateJson;
-};
-
-/**
- * Describes the message ControllerToRemoteControl.
- * Use `create(ControllerToRemoteControlSchema)` to create a new message.
- */
-export const ControllerToRemoteControlSchema: GenMessage<ControllerToRemoteControl, ControllerToRemoteControlJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 2);
-
-/**
- * Current team state from Controller for remote control
- *
- * @generated from message RemoteControlTeamState
- */
-export type RemoteControlTeamState = Message<"RemoteControlTeamState"> & {
-  /**
-   * the team that is controlled
-   *
-   * @generated from field: optional Team team = 12;
-   */
-  team: Team;
-
-  /**
-   * list of all currently available request types that can be made
-   *
-   * @generated from field: repeated RemoteControlRequestType available_requests = 1;
-   */
-  availableRequests: RemoteControlRequestType[];
-
-  /**
-   * list of all currently active request types that are pending
-   *
-   * @generated from field: repeated RemoteControlRequestType active_requests = 2;
-   */
-  activeRequests: RemoteControlRequestType[];
-
-  /**
-   * currently set keeper id
-   *
-   * @generated from field: optional int32 keeper_id = 3;
-   */
-  keeperId: number;
-
-  /**
-   * number of seconds till emergency stop is executed
-   * zero, if no emergency stop requested
-   *
-   * @generated from field: optional float emergency_stop_in = 4;
-   */
-  emergencyStopIn: number;
-
-  /**
-   * number of timeouts left for the team
-   *
-   * @generated from field: optional int32 timeouts_left = 5;
-   */
-  timeoutsLeft: number;
-
-  /**
-   * number of seconds left for timeout for the team
-   *
-   * @generated from field: optional float timeout_time_left = 10;
-   */
-  timeoutTimeLeft: number;
-
-  /**
-   * number of challenge flags left for the team
-   *
-   * @generated from field: optional int32 challenge_flags_left = 6;
-   */
-  challengeFlagsLeft: number;
-
-  /**
-   * max number of robots currently allowed
-   *
-   * @generated from field: optional int32 max_robots = 7;
-   */
-  maxRobots: number;
-
-  /**
-   * current number of robots visible on field
-   *
-   * @generated from field: optional int32 robots_on_field = 9;
-   */
-  robotsOnField: number;
-
-  /**
-   * list of due times for each active yellow card (in seconds)
-   *
-   * @generated from field: repeated float yellow_cards_due = 8;
-   */
-  yellowCardsDue: number[];
-
-  /**
-   * if true, team is allowed to substitute robots
-   *
-   * @generated from field: optional bool can_substitute_robot = 11;
-   */
-  canSubstituteRobot: boolean;
-
-  /**
-   * number of bot substitutions left by the team in this halftime
-   *
-   * @generated from field: optional uint32 bot_substitutions_left = 13;
-   */
-  botSubstitutionsLeft: number;
-
-  /**
-   * number of seconds left for current bot substitution
-   *
-   * @generated from field: optional float bot_substitution_time_left = 14;
-   */
-  botSubstitutionTimeLeft: number;
-};
-
-/**
- * Current team state from Controller for remote control
- *
- * @generated from message RemoteControlTeamState
- */
-export type RemoteControlTeamStateJson = {
-  /**
-   * the team that is controlled
-   *
-   * @generated from field: optional Team team = 12;
-   */
-  team?: TeamJson;
-
-  /**
-   * list of all currently available request types that can be made
-   *
-   * @generated from field: repeated RemoteControlRequestType available_requests = 1;
-   */
-  availableRequests?: RemoteControlRequestTypeJson[];
-
-  /**
-   * list of all currently active request types that are pending
-   *
-   * @generated from field: repeated RemoteControlRequestType active_requests = 2;
-   */
-  activeRequests?: RemoteControlRequestTypeJson[];
-
-  /**
-   * currently set keeper id
-   *
-   * @generated from field: optional int32 keeper_id = 3;
-   */
-  keeperId?: number;
-
-  /**
-   * number of seconds till emergency stop is executed
-   * zero, if no emergency stop requested
-   *
-   * @generated from field: optional float emergency_stop_in = 4;
-   */
-  emergencyStopIn?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * number of timeouts left for the team
-   *
-   * @generated from field: optional int32 timeouts_left = 5;
-   */
-  timeoutsLeft?: number;
-
-  /**
-   * number of seconds left for timeout for the team
-   *
-   * @generated from field: optional float timeout_time_left = 10;
-   */
-  timeoutTimeLeft?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * number of challenge flags left for the team
-   *
-   * @generated from field: optional int32 challenge_flags_left = 6;
-   */
-  challengeFlagsLeft?: number;
-
-  /**
-   * max number of robots currently allowed
-   *
-   * @generated from field: optional int32 max_robots = 7;
-   */
-  maxRobots?: number;
-
-  /**
-   * current number of robots visible on field
-   *
-   * @generated from field: optional int32 robots_on_field = 9;
-   */
-  robotsOnField?: number;
-
-  /**
-   * list of due times for each active yellow card (in seconds)
-   *
-   * @generated from field: repeated float yellow_cards_due = 8;
-   */
-  yellowCardsDue?: (number | "NaN" | "Infinity" | "-Infinity")[];
-
-  /**
-   * if true, team is allowed to substitute robots
-   *
-   * @generated from field: optional bool can_substitute_robot = 11;
-   */
-  canSubstituteRobot?: boolean;
-
-  /**
-   * number of bot substitutions left by the team in this halftime
-   *
-   * @generated from field: optional uint32 bot_substitutions_left = 13;
-   */
-  botSubstitutionsLeft?: number;
-
-  /**
-   * number of seconds left for current bot substitution
-   *
-   * @generated from field: optional float bot_substitution_time_left = 14;
-   */
-  botSubstitutionTimeLeft?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message RemoteControlTeamState.
- * Use `create(RemoteControlTeamStateSchema)` to create a new message.
- */
-export const RemoteControlTeamStateSchema: GenMessage<RemoteControlTeamState, RemoteControlTeamStateJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 3);
-
-/**
- * All possible request types that the remote control can make
- *
- * @generated from enum RemoteControlRequestType
- */
-export enum RemoteControlRequestType {
-  /**
-   * @generated from enum value: UNKNOWN_REQUEST_TYPE = 0;
-   */
-  UNKNOWN_REQUEST_TYPE = 0,
-
-  /**
-   * @generated from enum value: EMERGENCY_STOP = 1;
-   */
-  EMERGENCY_STOP = 1,
-
-  /**
-   * @generated from enum value: ROBOT_SUBSTITUTION = 2;
-   */
-  ROBOT_SUBSTITUTION = 2,
-
-  /**
-   * @generated from enum value: TIMEOUT = 3;
-   */
-  TIMEOUT = 3,
-
-  /**
-   * @generated from enum value: CHALLENGE_FLAG = 4;
-   */
-  CHALLENGE_FLAG = 4,
-
-  /**
-   * @generated from enum value: CHANGE_KEEPER_ID = 5;
-   */
-  CHANGE_KEEPER_ID = 5,
-
-  /**
-   * @generated from enum value: STOP_TIMEOUT = 6;
-   */
-  STOP_TIMEOUT = 6,
-
-  /**
-   * @generated from enum value: FAIL_BALLPLACEMENT = 7;
-   */
-  FAIL_BALLPLACEMENT = 7,
-}
-
-/**
- * All possible request types that the remote control can make
- *
- * @generated from enum RemoteControlRequestType
- */
-export type RemoteControlRequestTypeJson = "UNKNOWN_REQUEST_TYPE" | "EMERGENCY_STOP" | "ROBOT_SUBSTITUTION" | "TIMEOUT" | "CHALLENGE_FLAG" | "CHANGE_KEEPER_ID" | "STOP_TIMEOUT" | "FAIL_BALLPLACEMENT";
-
-/**
- * Describes the enum RemoteControlRequestType.
- */
-export const RemoteControlRequestTypeSchema: GenEnum<RemoteControlRequestType, RemoteControlRequestTypeJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_rcon_remotecontrol, 0);
-
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_team_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_team_pb.ts
deleted file mode 100644
index ad0578f..0000000
--- a/gui/frontend/src/proto/gamecontroller/ssl_gc_rcon_team_pb.ts
+++ /dev/null
@@ -1,264 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file gamecontroller/ssl_gc_rcon_team.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { Team, TeamJson } from "./ssl_gc_common_pb";
-import { file_gamecontroller_ssl_gc_common } from "./ssl_gc_common_pb";
-import type { ControllerReply, ControllerReplyJson, Signature, SignatureJson } from "./ssl_gc_rcon_pb";
-import { file_gamecontroller_ssl_gc_rcon } from "./ssl_gc_rcon_pb";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file gamecontroller/ssl_gc_rcon_team.proto.
- */
-export const file_gamecontroller_ssl_gc_rcon_team: GenFile = /*@__PURE__*/
-  fileDesc("CiVnYW1lY29udHJvbGxlci9zc2xfZ2NfcmNvbl90ZWFtLnByb3RvIlkKEFRlYW1SZWdpc3RyYXRpb24SEQoJdGVhbV9uYW1lGAEgAigJEh0KCXNpZ25hdHVyZRgCIAEoCzIKLlNpZ25hdHVyZRITCgR0ZWFtGAMgASgOMgUuVGVhbSKqAQoQVGVhbVRvQ29udHJvbGxlchIdCglzaWduYXR1cmUYASABKAsyCi5TaWduYXR1cmUSGAoOZGVzaXJlZF9rZWVwZXIYAiABKAVIABIsChBhZHZhbnRhZ2VfY2hvaWNlGAMgASgOMhAuQWR2YW50YWdlQ2hvaWNlSAASGAoOc3Vic3RpdHV0ZV9ib3QYBCABKAhIABIOCgRwaW5nGAUgASgISABCBQoDbXNnIk0KEENvbnRyb2xsZXJUb1RlYW0SLAoQY29udHJvbGxlcl9yZXBseRgBIAEoCzIQLkNvbnRyb2xsZXJSZXBseUgAQgUKA21zZ0oECAIQAyopCg9BZHZhbnRhZ2VDaG9pY2USCAoEU1RPUBAAEgwKCENPTlRJTlVFEAFCX0ISU3NsR2NSY29uVGVhbVByb3RvUAFaR2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL2dhbWVjb250cm9sbGVy", [file_gamecontroller_ssl_gc_common, file_gamecontroller_ssl_gc_rcon]);
-
-/**
- * a registration that must be send by teams to the controller as the very first message
- *
- * @generated from message TeamRegistration
- */
-export type TeamRegistration = Message<"TeamRegistration"> & {
-  /**
-   * the exact team name as published by the game-controller
-   *
-   * @generated from field: required string team_name = 1;
-   */
-  teamName: string;
-
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 2;
-   */
-  signature?: Signature;
-
-  /**
-   * the team (relevant only if a team plays against itself)
-   *
-   * @generated from field: optional Team team = 3;
-   */
-  team: Team;
-};
-
-/**
- * a registration that must be send by teams to the controller as the very first message
- *
- * @generated from message TeamRegistration
- */
-export type TeamRegistrationJson = {
-  /**
-   * the exact team name as published by the game-controller
-   *
-   * @generated from field: required string team_name = 1;
-   */
-  teamName?: string;
-
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 2;
-   */
-  signature?: SignatureJson;
-
-  /**
-   * the team (relevant only if a team plays against itself)
-   *
-   * @generated from field: optional Team team = 3;
-   */
-  team?: TeamJson;
-};
-
-/**
- * Describes the message TeamRegistration.
- * Use `create(TeamRegistrationSchema)` to create a new message.
- */
-export const TeamRegistrationSchema: GenMessage<TeamRegistration, TeamRegistrationJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon_team, 0);
-
-/**
- * wrapper for all messages from a team's computer to the controller
- *
- * @generated from message TeamToController
- */
-export type TeamToController = Message<"TeamToController"> & {
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 1;
-   */
-  signature?: Signature;
-
-  /**
-   * @generated from oneof TeamToController.msg
-   */
-  msg: {
-    /**
-     * request a new desired keeper id
-     *
-     * @generated from field: int32 desired_keeper = 2;
-     */
-    value: number;
-    case: "desiredKeeper";
-  } | {
-    /**
-     * response to an advantage choice request
-     *
-     * @generated from field: AdvantageChoice advantage_choice = 3;
-     */
-    value: AdvantageChoice;
-    case: "advantageChoice";
-  } | {
-    /**
-     * request to substitute a robot at the next possibility
-     *
-     * @generated from field: bool substitute_bot = 4;
-     */
-    value: boolean;
-    case: "substituteBot";
-  } | {
-    /**
-     * send a ping to the GC to test if the connection is still open.
-     * the value is ignored and a reply is sent back
-     *
-     * @generated from field: bool ping = 5;
-     */
-    value: boolean;
-    case: "ping";
-  } | { case: undefined; value?: undefined };
-};
-
-/**
- * wrapper for all messages from a team's computer to the controller
- *
- * @generated from message TeamToController
- */
-export type TeamToControllerJson = {
-  /**
-   * signature can optionally be specified to enable secure communication
-   *
-   * @generated from field: optional Signature signature = 1;
-   */
-  signature?: SignatureJson;
-
-  /**
-   * request a new desired keeper id
-   *
-   * @generated from field: int32 desired_keeper = 2;
-   */
-  desiredKeeper?: number;
-
-  /**
-   * response to an advantage choice request
-   *
-   * @generated from field: AdvantageChoice advantage_choice = 3;
-   */
-  advantageChoice?: AdvantageChoiceJson;
-
-  /**
-   * request to substitute a robot at the next possibility
-   *
-   * @generated from field: bool substitute_bot = 4;
-   */
-  substituteBot?: boolean;
-
-  /**
-   * send a ping to the GC to test if the connection is still open.
-   * the value is ignored and a reply is sent back
-   *
-   * @generated from field: bool ping = 5;
-   */
-  ping?: boolean;
-};
-
-/**
- * Describes the message TeamToController.
- * Use `create(TeamToControllerSchema)` to create a new message.
- */
-export const TeamToControllerSchema: GenMessage<TeamToController, TeamToControllerJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon_team, 1);
-
-/**
- * wrapper for all messages from controller to a team's computer
- *
- * @generated from message ControllerToTeam
- */
-export type ControllerToTeam = Message<"ControllerToTeam"> & {
-  /**
-   * @generated from oneof ControllerToTeam.msg
-   */
-  msg: {
-    /**
-     * a reply from the controller
-     *
-     * @generated from field: ControllerReply controller_reply = 1;
-     */
-    value: ControllerReply;
-    case: "controllerReply";
-  } | { case: undefined; value?: undefined };
-};
-
-/**
- * wrapper for all messages from controller to a team's computer
- *
- * @generated from message ControllerToTeam
- */
-export type ControllerToTeamJson = {
-  /**
-   * a reply from the controller
-   *
-   * @generated from field: ControllerReply controller_reply = 1;
-   */
-  controllerReply?: ControllerReplyJson;
-};
-
-/**
- * Describes the message ControllerToTeam.
- * Use `create(ControllerToTeamSchema)` to create a new message.
- */
-export const ControllerToTeamSchema: GenMessage<ControllerToTeam, ControllerToTeamJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_rcon_team, 2);
-
-/**
- * the current advantage choice of the team
- * the choice is valid until another choice is received
- * if the team disconnects, the choice is reset to its default (STOP)
- * teams may either send their current choice continuously or only on change
- *
- * @generated from enum AdvantageChoice
- */
-export enum AdvantageChoice {
-  /**
-   * stop the game
-   *
-   * @generated from enum value: STOP = 0;
-   */
-  STOP = 0,
-
-  /**
-   * keep the game running
-   *
-   * @generated from enum value: CONTINUE = 1;
-   */
-  CONTINUE = 1,
-}
-
-/**
- * the current advantage choice of the team
- * the choice is valid until another choice is received
- * if the team disconnects, the choice is reset to its default (STOP)
- * teams may either send their current choice continuously or only on change
- *
- * @generated from enum AdvantageChoice
- */
-export type AdvantageChoiceJson = "STOP" | "CONTINUE";
-
-/**
- * Describes the enum AdvantageChoice.
- */
-export const AdvantageChoiceSchema: GenEnum<AdvantageChoice, AdvantageChoiceJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_rcon_team, 0);
-
diff --git a/gui/frontend/src/proto/gamecontroller/ssl_gc_referee_message_pb.ts b/gui/frontend/src/proto/gamecontroller/ssl_gc_referee_message_pb.ts
deleted file mode 100644
index 3c96c03..0000000
--- a/gui/frontend/src/proto/gamecontroller/ssl_gc_referee_message_pb.ts
+++ /dev/null
@@ -1,1055 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file gamecontroller/ssl_gc_referee_message.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { GameEvent, GameEventJson } from "./ssl_gc_game_event_pb";
-import { file_gamecontroller_ssl_gc_game_event } from "./ssl_gc_game_event_pb";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file gamecontroller/ssl_gc_referee_message.proto.
- */
-export const file_gamecontroller_ssl_gc_referee_message: GenFile = /*@__PURE__*/
-  fileDesc("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", [file_gamecontroller_ssl_gc_game_event]);
-
-/**
- * Each UDP packet contains one of these messages.
- *
- * @generated from message Referee
- */
-export type Referee = Message<"Referee"> & {
-  /**
-   * A random UUID of the source that is kept constant at the source while running
-   * If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
-   *
-   * @generated from field: optional string source_identifier = 18;
-   */
-  sourceIdentifier: string;
-
-  /**
-   * The match type is a meta information about the current match that helps to process the logs after a competition
-   *
-   * @generated from field: optional MatchType match_type = 19 [default = UNKNOWN_MATCH];
-   */
-  matchType: MatchType;
-
-  /**
-   * The UNIX timestamp when the packet was sent, in microseconds.
-   * Divide by 1,000,000 to get a time_t.
-   *
-   * @generated from field: required uint64 packet_timestamp = 1;
-   */
-  packetTimestamp: bigint;
-
-  /**
-   * @generated from field: required Referee.Stage stage = 2;
-   */
-  stage: Referee_Stage;
-
-  /**
-   * The number of microseconds 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.
-   *
-   * @generated from field: optional sint64 stage_time_left = 3;
-   */
-  stageTimeLeft: bigint;
-
-  /**
-   * @generated from field: required Referee.Command command = 4;
-   */
-  command: Referee_Command;
-
-  /**
-   * The number of commands issued since startup (mod 2^32).
-   *
-   * @generated from field: required uint32 command_counter = 5;
-   */
-  commandCounter: number;
-
-  /**
-   * The UNIX timestamp when the command was issued, in microseconds.
-   * This value changes only when a new command is issued, not on each packet.
-   *
-   * @generated from field: required uint64 command_timestamp = 6;
-   */
-  commandTimestamp: bigint;
-
-  /**
-   * Information about the two teams.
-   *
-   * @generated from field: required Referee.TeamInfo yellow = 7;
-   */
-  yellow?: Referee_TeamInfo;
-
-  /**
-   * @generated from field: required Referee.TeamInfo blue = 8;
-   */
-  blue?: Referee_TeamInfo;
-
-  /**
-   * @generated from field: optional Referee.Point designated_position = 9;
-   */
-  designatedPosition?: Referee_Point;
-
-  /**
-   * Information about the direction of play.
-   * True, if the blue team will have it's goal on the positive x-axis of the ssl-vision coordinate system.
-   * Obviously, the yellow team will play on the opposite half.
-   *
-   * @generated from field: optional bool blue_team_on_positive_half = 10;
-   */
-  blueTeamOnPositiveHalf: boolean;
-
-  /**
-   * The command that will be issued after the current stoppage and ball placement to continue the game.
-   *
-   * @generated from field: optional Referee.Command next_command = 12;
-   */
-  nextCommand: Referee_Command;
-
-  /**
-   * @generated from field: repeated GameEvent game_events = 16;
-   */
-  gameEvents: GameEvent[];
-
-  /**
-   * @generated from field: repeated GameEventProposalGroup game_event_proposals = 17;
-   */
-  gameEventProposals: GameEventProposalGroup[];
-
-  /**
-   * The time in microseconds that is remaining until the current action times out
-   * The time will not be reset. It can get negative.
-   * An autoRef would raise an appropriate event, if the time gets negative.
-   * Possible actions where this time is relevant:
-   *  * free kicks
-   *  * kickoff, penalty kick, force start
-   *  * ball placement
-   *
-   * @generated from field: optional int64 current_action_time_remaining = 15;
-   */
-  currentActionTimeRemaining: bigint;
-
-  /**
-   * A message that can be displayed to the spectators, like a reason for a stoppage.
-   *
-   * @generated from field: optional string status_message = 20;
-   */
-  statusMessage: string;
-};
-
-/**
- * Each UDP packet contains one of these messages.
- *
- * @generated from message Referee
- */
-export type RefereeJson = {
-  /**
-   * A random UUID of the source that is kept constant at the source while running
-   * If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
-   *
-   * @generated from field: optional string source_identifier = 18;
-   */
-  sourceIdentifier?: string;
-
-  /**
-   * The match type is a meta information about the current match that helps to process the logs after a competition
-   *
-   * @generated from field: optional MatchType match_type = 19 [default = UNKNOWN_MATCH];
-   */
-  matchType?: MatchTypeJson;
-
-  /**
-   * The UNIX timestamp when the packet was sent, in microseconds.
-   * Divide by 1,000,000 to get a time_t.
-   *
-   * @generated from field: required uint64 packet_timestamp = 1;
-   */
-  packetTimestamp?: string;
-
-  /**
-   * @generated from field: required Referee.Stage stage = 2;
-   */
-  stage?: Referee_StageJson;
-
-  /**
-   * The number of microseconds 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.
-   *
-   * @generated from field: optional sint64 stage_time_left = 3;
-   */
-  stageTimeLeft?: string;
-
-  /**
-   * @generated from field: required Referee.Command command = 4;
-   */
-  command?: Referee_CommandJson;
-
-  /**
-   * The number of commands issued since startup (mod 2^32).
-   *
-   * @generated from field: required uint32 command_counter = 5;
-   */
-  commandCounter?: number;
-
-  /**
-   * The UNIX timestamp when the command was issued, in microseconds.
-   * This value changes only when a new command is issued, not on each packet.
-   *
-   * @generated from field: required uint64 command_timestamp = 6;
-   */
-  commandTimestamp?: string;
-
-  /**
-   * Information about the two teams.
-   *
-   * @generated from field: required Referee.TeamInfo yellow = 7;
-   */
-  yellow?: Referee_TeamInfoJson;
-
-  /**
-   * @generated from field: required Referee.TeamInfo blue = 8;
-   */
-  blue?: Referee_TeamInfoJson;
-
-  /**
-   * @generated from field: optional Referee.Point designated_position = 9;
-   */
-  designatedPosition?: Referee_PointJson;
-
-  /**
-   * Information about the direction of play.
-   * True, if the blue team will have it's goal on the positive x-axis of the ssl-vision coordinate system.
-   * Obviously, the yellow team will play on the opposite half.
-   *
-   * @generated from field: optional bool blue_team_on_positive_half = 10;
-   */
-  blueTeamOnPositiveHalf?: boolean;
-
-  /**
-   * The command that will be issued after the current stoppage and ball placement to continue the game.
-   *
-   * @generated from field: optional Referee.Command next_command = 12;
-   */
-  nextCommand?: Referee_CommandJson;
-
-  /**
-   * @generated from field: repeated GameEvent game_events = 16;
-   */
-  gameEvents?: GameEventJson[];
-
-  /**
-   * @generated from field: repeated GameEventProposalGroup game_event_proposals = 17;
-   */
-  gameEventProposals?: GameEventProposalGroupJson[];
-
-  /**
-   * The time in microseconds that is remaining until the current action times out
-   * The time will not be reset. It can get negative.
-   * An autoRef would raise an appropriate event, if the time gets negative.
-   * Possible actions where this time is relevant:
-   *  * free kicks
-   *  * kickoff, penalty kick, force start
-   *  * ball placement
-   *
-   * @generated from field: optional int64 current_action_time_remaining = 15;
-   */
-  currentActionTimeRemaining?: string;
-
-  /**
-   * A message that can be displayed to the spectators, like a reason for a stoppage.
-   *
-   * @generated from field: optional string status_message = 20;
-   */
-  statusMessage?: string;
-};
-
-/**
- * Describes the message Referee.
- * Use `create(RefereeSchema)` to create a new message.
- */
-export const RefereeSchema: GenMessage<Referee, RefereeJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_referee_message, 0);
-
-/**
- * Information about a single team.
- *
- * @generated from message Referee.TeamInfo
- */
-export type Referee_TeamInfo = Message<"Referee.TeamInfo"> & {
-  /**
-   * The team's name (empty string if operator has not typed anything).
-   *
-   * @generated from field: required string name = 1;
-   */
-  name: string;
-
-  /**
-   * The number of goals scored by the team during normal play and overtime.
-   *
-   * @generated from field: required uint32 score = 2;
-   */
-  score: number;
-
-  /**
-   * The number of red cards issued to the team since the beginning of the game.
-   *
-   * @generated from field: required uint32 red_cards = 3;
-   */
-  redCards: number;
-
-  /**
-   * The amount of time (in microseconds) left on each yellow card issued to the team.
-   * If no yellow cards are issued, this array has no elements.
-   * Otherwise, times are ordered from smallest to largest.
-   *
-   * @generated from field: repeated uint32 yellow_card_times = 4 [packed = true];
-   */
-  yellowCardTimes: number[];
-
-  /**
-   * The total number of yellow cards ever issued to the team.
-   *
-   * @generated from field: required uint32 yellow_cards = 5;
-   */
-  yellowCards: number;
-
-  /**
-   * The number of timeouts this team can still call.
-   * If in a timeout right now, that timeout is excluded.
-   *
-   * @generated from field: required uint32 timeouts = 6;
-   */
-  timeouts: number;
-
-  /**
-   * The number of microseconds of timeout this team can use.
-   *
-   * @generated from field: required uint32 timeout_time = 7;
-   */
-  timeoutTime: number;
-
-  /**
-   * The pattern number of this team's goalkeeper.
-   *
-   * @generated from field: required uint32 goalkeeper = 8;
-   */
-  goalkeeper: number;
-
-  /**
-   * The total number of countable fouls that act towards yellow cards
-   *
-   * @generated from field: optional uint32 foul_counter = 9;
-   */
-  foulCounter: number;
-
-  /**
-   * The number of consecutive ball placement failures of this team
-   *
-   * @generated from field: optional uint32 ball_placement_failures = 10;
-   */
-  ballPlacementFailures: number;
-
-  /**
-   * Indicate if the team is able and allowed to place the ball
-   *
-   * @generated from field: optional bool can_place_ball = 12;
-   */
-  canPlaceBall: boolean;
-
-  /**
-   * The maximum number of bots allowed on the field based on division and cards
-   *
-   * @generated from field: optional uint32 max_allowed_bots = 13;
-   */
-  maxAllowedBots: number;
-
-  /**
-   * The team has submitted an intent to substitute one or more robots at the next chance
-   *
-   * @generated from field: optional bool bot_substitution_intent = 14;
-   */
-  botSubstitutionIntent: boolean;
-
-  /**
-   * Indicate if the team reached the maximum allowed ball placement failures and is thus not allowed to place the ball anymore
-   *
-   * @generated from field: optional bool ball_placement_failures_reached = 15;
-   */
-  ballPlacementFailuresReached: boolean;
-
-  /**
-   * The team is allowed to substitute one or more robots currently
-   *
-   * @generated from field: optional bool bot_substitution_allowed = 16;
-   */
-  botSubstitutionAllowed: boolean;
-
-  /**
-   * The number of bot substitutions left by the team in this halftime
-   *
-   * @generated from field: optional uint32 bot_substitutions_left = 17;
-   */
-  botSubstitutionsLeft: number;
-
-  /**
-   * The number of microseconds left for current bot substitution
-   *
-   * @generated from field: optional uint32 bot_substitution_time_left = 18;
-   */
-  botSubstitutionTimeLeft: number;
-
-  /**
-   * The color of the hull of the robots of this team
-   *
-   * @generated from field: optional HullColor hull_color = 19;
-   */
-  hullColor: HullColor;
-};
-
-/**
- * Information about a single team.
- *
- * @generated from message Referee.TeamInfo
- */
-export type Referee_TeamInfoJson = {
-  /**
-   * The team's name (empty string if operator has not typed anything).
-   *
-   * @generated from field: required string name = 1;
-   */
-  name?: string;
-
-  /**
-   * The number of goals scored by the team during normal play and overtime.
-   *
-   * @generated from field: required uint32 score = 2;
-   */
-  score?: number;
-
-  /**
-   * The number of red cards issued to the team since the beginning of the game.
-   *
-   * @generated from field: required uint32 red_cards = 3;
-   */
-  redCards?: number;
-
-  /**
-   * The amount of time (in microseconds) left on each yellow card issued to the team.
-   * If no yellow cards are issued, this array has no elements.
-   * Otherwise, times are ordered from smallest to largest.
-   *
-   * @generated from field: repeated uint32 yellow_card_times = 4 [packed = true];
-   */
-  yellowCardTimes?: number[];
-
-  /**
-   * The total number of yellow cards ever issued to the team.
-   *
-   * @generated from field: required uint32 yellow_cards = 5;
-   */
-  yellowCards?: number;
-
-  /**
-   * The number of timeouts this team can still call.
-   * If in a timeout right now, that timeout is excluded.
-   *
-   * @generated from field: required uint32 timeouts = 6;
-   */
-  timeouts?: number;
-
-  /**
-   * The number of microseconds of timeout this team can use.
-   *
-   * @generated from field: required uint32 timeout_time = 7;
-   */
-  timeoutTime?: number;
-
-  /**
-   * The pattern number of this team's goalkeeper.
-   *
-   * @generated from field: required uint32 goalkeeper = 8;
-   */
-  goalkeeper?: number;
-
-  /**
-   * The total number of countable fouls that act towards yellow cards
-   *
-   * @generated from field: optional uint32 foul_counter = 9;
-   */
-  foulCounter?: number;
-
-  /**
-   * The number of consecutive ball placement failures of this team
-   *
-   * @generated from field: optional uint32 ball_placement_failures = 10;
-   */
-  ballPlacementFailures?: number;
-
-  /**
-   * Indicate if the team is able and allowed to place the ball
-   *
-   * @generated from field: optional bool can_place_ball = 12;
-   */
-  canPlaceBall?: boolean;
-
-  /**
-   * The maximum number of bots allowed on the field based on division and cards
-   *
-   * @generated from field: optional uint32 max_allowed_bots = 13;
-   */
-  maxAllowedBots?: number;
-
-  /**
-   * The team has submitted an intent to substitute one or more robots at the next chance
-   *
-   * @generated from field: optional bool bot_substitution_intent = 14;
-   */
-  botSubstitutionIntent?: boolean;
-
-  /**
-   * Indicate if the team reached the maximum allowed ball placement failures and is thus not allowed to place the ball anymore
-   *
-   * @generated from field: optional bool ball_placement_failures_reached = 15;
-   */
-  ballPlacementFailuresReached?: boolean;
-
-  /**
-   * The team is allowed to substitute one or more robots currently
-   *
-   * @generated from field: optional bool bot_substitution_allowed = 16;
-   */
-  botSubstitutionAllowed?: boolean;
-
-  /**
-   * The number of bot substitutions left by the team in this halftime
-   *
-   * @generated from field: optional uint32 bot_substitutions_left = 17;
-   */
-  botSubstitutionsLeft?: number;
-
-  /**
-   * The number of microseconds left for current bot substitution
-   *
-   * @generated from field: optional uint32 bot_substitution_time_left = 18;
-   */
-  botSubstitutionTimeLeft?: number;
-
-  /**
-   * The color of the hull of the robots of this team
-   *
-   * @generated from field: optional HullColor hull_color = 19;
-   */
-  hullColor?: HullColorJson;
-};
-
-/**
- * Describes the message Referee.TeamInfo.
- * Use `create(Referee_TeamInfoSchema)` to create a new message.
- */
-export const Referee_TeamInfoSchema: GenMessage<Referee_TeamInfo, Referee_TeamInfoJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_referee_message, 0, 0);
-
-/**
- * The coordinates of the Designated Position. These are measured in
- * millimetres and correspond to SSL-Vision coordinates. These fields are
- * always either both present (in the case of a ball placement command) or
- * both absent (in the case of any other command).
- *
- * @generated from message Referee.Point
- */
-export type Referee_Point = Message<"Referee.Point"> & {
-  /**
-   * @generated from field: required float x = 1;
-   */
-  x: number;
-
-  /**
-   * @generated from field: required float y = 2;
-   */
-  y: number;
-};
-
-/**
- * The coordinates of the Designated Position. These are measured in
- * millimetres and correspond to SSL-Vision coordinates. These fields are
- * always either both present (in the case of a ball placement command) or
- * both absent (in the case of any other command).
- *
- * @generated from message Referee.Point
- */
-export type Referee_PointJson = {
-  /**
-   * @generated from field: required float x = 1;
-   */
-  x?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float y = 2;
-   */
-  y?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message Referee.Point.
- * Use `create(Referee_PointSchema)` to create a new message.
- */
-export const Referee_PointSchema: GenMessage<Referee_Point, Referee_PointJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_referee_message, 0, 1);
-
-/**
- * These are the "coarse" stages of the game.
- *
- * @generated from enum Referee.Stage
- */
-export enum Referee_Stage {
-  /**
-   * The first half is about to start.
-   * A kickoff is called within this stage.
-   * This stage ends with the NORMAL_START.
-   *
-   * @generated from enum value: NORMAL_FIRST_HALF_PRE = 0;
-   */
-  NORMAL_FIRST_HALF_PRE = 0,
-
-  /**
-   * The first half of the normal game, before half time.
-   *
-   * @generated from enum value: NORMAL_FIRST_HALF = 1;
-   */
-  NORMAL_FIRST_HALF = 1,
-
-  /**
-   * Half time between first and second halves.
-   *
-   * @generated from enum value: NORMAL_HALF_TIME = 2;
-   */
-  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.
-   *
-   * @generated from enum value: NORMAL_SECOND_HALF_PRE = 3;
-   */
-  NORMAL_SECOND_HALF_PRE = 3,
-
-  /**
-   * The second half of the normal game, after half time.
-   *
-   * @generated from enum value: NORMAL_SECOND_HALF = 4;
-   */
-  NORMAL_SECOND_HALF = 4,
-
-  /**
-   * The break before extra time.
-   *
-   * @generated from enum value: EXTRA_TIME_BREAK = 5;
-   */
-  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.
-   *
-   * @generated from enum value: EXTRA_FIRST_HALF_PRE = 6;
-   */
-  EXTRA_FIRST_HALF_PRE = 6,
-
-  /**
-   * The first half of extra time.
-   *
-   * @generated from enum value: EXTRA_FIRST_HALF = 7;
-   */
-  EXTRA_FIRST_HALF = 7,
-
-  /**
-   * Half time between first and second extra halves.
-   *
-   * @generated from enum value: EXTRA_HALF_TIME = 8;
-   */
-  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.
-   *
-   * @generated from enum value: EXTRA_SECOND_HALF_PRE = 9;
-   */
-  EXTRA_SECOND_HALF_PRE = 9,
-
-  /**
-   * The second half of extra time.
-   *
-   * @generated from enum value: EXTRA_SECOND_HALF = 10;
-   */
-  EXTRA_SECOND_HALF = 10,
-
-  /**
-   * The break before penalty shootout.
-   *
-   * @generated from enum value: PENALTY_SHOOTOUT_BREAK = 11;
-   */
-  PENALTY_SHOOTOUT_BREAK = 11,
-
-  /**
-   * The penalty shootout.
-   *
-   * @generated from enum value: PENALTY_SHOOTOUT = 12;
-   */
-  PENALTY_SHOOTOUT = 12,
-
-  /**
-   * The game is over.
-   *
-   * @generated from enum value: POST_GAME = 13;
-   */
-  POST_GAME = 13,
-}
-
-/**
- * These are the "coarse" stages of the game.
- *
- * @generated from enum Referee.Stage
- */
-export type Referee_StageJson = "NORMAL_FIRST_HALF_PRE" | "NORMAL_FIRST_HALF" | "NORMAL_HALF_TIME" | "NORMAL_SECOND_HALF_PRE" | "NORMAL_SECOND_HALF" | "EXTRA_TIME_BREAK" | "EXTRA_FIRST_HALF_PRE" | "EXTRA_FIRST_HALF" | "EXTRA_HALF_TIME" | "EXTRA_SECOND_HALF_PRE" | "EXTRA_SECOND_HALF" | "PENALTY_SHOOTOUT_BREAK" | "PENALTY_SHOOTOUT" | "POST_GAME";
-
-/**
- * Describes the enum Referee.Stage.
- */
-export const Referee_StageSchema: GenEnum<Referee_Stage, Referee_StageJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_referee_message, 0, 0);
-
-/**
- * These are the "fine" states of play on the field.
- *
- * @generated from enum Referee.Command
- */
-export enum Referee_Command {
-  /**
-   * All robots should completely stop moving.
-   *
-   * @generated from enum value: HALT = 0;
-   */
-  HALT = 0,
-
-  /**
-   * Robots must keep 50 cm from the ball.
-   *
-   * @generated from enum value: STOP = 1;
-   */
-  STOP = 1,
-
-  /**
-   * A prepared kickoff or penalty may now be taken.
-   *
-   * @generated from enum value: NORMAL_START = 2;
-   */
-  NORMAL_START = 2,
-
-  /**
-   * The ball is dropped and free for either team.
-   *
-   * @generated from enum value: FORCE_START = 3;
-   */
-  FORCE_START = 3,
-
-  /**
-   * The yellow team may move into kickoff position.
-   *
-   * @generated from enum value: PREPARE_KICKOFF_YELLOW = 4;
-   */
-  PREPARE_KICKOFF_YELLOW = 4,
-
-  /**
-   * The blue team may move into kickoff position.
-   *
-   * @generated from enum value: PREPARE_KICKOFF_BLUE = 5;
-   */
-  PREPARE_KICKOFF_BLUE = 5,
-
-  /**
-   * The yellow team may move into penalty position.
-   *
-   * @generated from enum value: PREPARE_PENALTY_YELLOW = 6;
-   */
-  PREPARE_PENALTY_YELLOW = 6,
-
-  /**
-   * The blue team may move into penalty position.
-   *
-   * @generated from enum value: PREPARE_PENALTY_BLUE = 7;
-   */
-  PREPARE_PENALTY_BLUE = 7,
-
-  /**
-   * The yellow team may take a direct free kick.
-   *
-   * @generated from enum value: DIRECT_FREE_YELLOW = 8;
-   */
-  DIRECT_FREE_YELLOW = 8,
-
-  /**
-   * The blue team may take a direct free kick.
-   *
-   * @generated from enum value: DIRECT_FREE_BLUE = 9;
-   */
-  DIRECT_FREE_BLUE = 9,
-
-  /**
-   * The yellow team may take an indirect free kick.
-   *
-   * @generated from enum value: INDIRECT_FREE_YELLOW = 10 [deprecated = true];
-   * @deprecated
-   */
-  INDIRECT_FREE_YELLOW = 10,
-
-  /**
-   * The blue team may take an indirect free kick.
-   *
-   * @generated from enum value: INDIRECT_FREE_BLUE = 11 [deprecated = true];
-   * @deprecated
-   */
-  INDIRECT_FREE_BLUE = 11,
-
-  /**
-   * The yellow team is currently in a timeout.
-   *
-   * @generated from enum value: TIMEOUT_YELLOW = 12;
-   */
-  TIMEOUT_YELLOW = 12,
-
-  /**
-   * The blue team is currently in a timeout.
-   *
-   * @generated from enum value: TIMEOUT_BLUE = 13;
-   */
-  TIMEOUT_BLUE = 13,
-
-  /**
-   * The yellow team just scored a goal.
-   * For information only.
-   * Deprecated: Use the score field from the team infos instead. That way, you can also detect revoked goals.
-   *
-   * @generated from enum value: GOAL_YELLOW = 14 [deprecated = true];
-   * @deprecated
-   */
-  GOAL_YELLOW = 14,
-
-  /**
-   * The blue team just scored a goal. See also GOAL_YELLOW.
-   *
-   * @generated from enum value: GOAL_BLUE = 15 [deprecated = true];
-   * @deprecated
-   */
-  GOAL_BLUE = 15,
-
-  /**
-   * Equivalent to STOP, but the yellow team must pick up the ball and
-   * drop it in the Designated Position.
-   *
-   * @generated from enum value: BALL_PLACEMENT_YELLOW = 16;
-   */
-  BALL_PLACEMENT_YELLOW = 16,
-
-  /**
-   * Equivalent to STOP, but the blue team must pick up the ball and drop
-   * it in the Designated Position.
-   *
-   * @generated from enum value: BALL_PLACEMENT_BLUE = 17;
-   */
-  BALL_PLACEMENT_BLUE = 17,
-}
-
-/**
- * These are the "fine" states of play on the field.
- *
- * @generated from enum Referee.Command
- */
-export type Referee_CommandJson = "HALT" | "STOP" | "NORMAL_START" | "FORCE_START" | "PREPARE_KICKOFF_YELLOW" | "PREPARE_KICKOFF_BLUE" | "PREPARE_PENALTY_YELLOW" | "PREPARE_PENALTY_BLUE" | "DIRECT_FREE_YELLOW" | "DIRECT_FREE_BLUE" | "INDIRECT_FREE_YELLOW" | "INDIRECT_FREE_BLUE" | "TIMEOUT_YELLOW" | "TIMEOUT_BLUE" | "GOAL_YELLOW" | "GOAL_BLUE" | "BALL_PLACEMENT_YELLOW" | "BALL_PLACEMENT_BLUE";
-
-/**
- * Describes the enum Referee.Command.
- */
-export const Referee_CommandSchema: GenEnum<Referee_Command, Referee_CommandJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_referee_message, 0, 1);
-
-/**
- * List of matching proposals
- *
- * @generated from message GameEventProposalGroup
- */
-export type GameEventProposalGroup = Message<"GameEventProposalGroup"> & {
-  /**
-   * Unique ID of this group
-   *
-   * @generated from field: optional string id = 3;
-   */
-  id: string;
-
-  /**
-   * The proposed game events
-   *
-   * @generated from field: repeated GameEvent game_events = 1;
-   */
-  gameEvents: GameEvent[];
-
-  /**
-   * Whether the proposal group was accepted
-   *
-   * @generated from field: optional bool accepted = 2;
-   */
-  accepted: boolean;
-};
-
-/**
- * List of matching proposals
- *
- * @generated from message GameEventProposalGroup
- */
-export type GameEventProposalGroupJson = {
-  /**
-   * Unique ID of this group
-   *
-   * @generated from field: optional string id = 3;
-   */
-  id?: string;
-
-  /**
-   * The proposed game events
-   *
-   * @generated from field: repeated GameEvent game_events = 1;
-   */
-  gameEvents?: GameEventJson[];
-
-  /**
-   * Whether the proposal group was accepted
-   *
-   * @generated from field: optional bool accepted = 2;
-   */
-  accepted?: boolean;
-};
-
-/**
- * Describes the message GameEventProposalGroup.
- * Use `create(GameEventProposalGroupSchema)` to create a new message.
- */
-export const GameEventProposalGroupSchema: GenMessage<GameEventProposalGroup, GameEventProposalGroupJson> = /*@__PURE__*/
-  messageDesc(file_gamecontroller_ssl_gc_referee_message, 1);
-
-/**
- * MatchType is a meta information about the current match for easier log processing
- *
- * @generated from enum MatchType
- */
-export enum MatchType {
-  /**
-   * not set
-   *
-   * @generated from enum value: UNKNOWN_MATCH = 0;
-   */
-  UNKNOWN_MATCH = 0,
-
-  /**
-   * match is part of the group phase
-   *
-   * @generated from enum value: GROUP_PHASE = 1;
-   */
-  GROUP_PHASE = 1,
-
-  /**
-   * match is part of the elimination phase
-   *
-   * @generated from enum value: ELIMINATION_PHASE = 2;
-   */
-  ELIMINATION_PHASE = 2,
-
-  /**
-   * a friendly match, not part of a tournament
-   *
-   * @generated from enum value: FRIENDLY = 3;
-   */
-  FRIENDLY = 3,
-}
-
-/**
- * MatchType is a meta information about the current match for easier log processing
- *
- * @generated from enum MatchType
- */
-export type MatchTypeJson = "UNKNOWN_MATCH" | "GROUP_PHASE" | "ELIMINATION_PHASE" | "FRIENDLY";
-
-/**
- * Describes the enum MatchType.
- */
-export const MatchTypeSchema: GenEnum<MatchType, MatchTypeJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_referee_message, 0);
-
-/**
- * HullColor is the color of the hull of the robots of a team
- *
- * @generated from enum HullColor
- */
-export enum HullColor {
-  /**
-   * not set
-   *
-   * @generated from enum value: HULL_COLOR_UNKNOWN = 0;
-   */
-  UNKNOWN = 0,
-
-  /**
-   * dark hull color
-   *
-   * @generated from enum value: HULL_COLOR_DARK = 1;
-   */
-  DARK = 1,
-
-  /**
-   * light hull color
-   *
-   * @generated from enum value: HULL_COLOR_LIGHT = 2;
-   */
-  LIGHT = 2,
-}
-
-/**
- * HullColor is the color of the hull of the robots of a team
- *
- * @generated from enum HullColor
- */
-export type HullColorJson = "HULL_COLOR_UNKNOWN" | "HULL_COLOR_DARK" | "HULL_COLOR_LIGHT";
-
-/**
- * Describes the enum HullColor.
- */
-export const HullColorSchema: GenEnum<HullColor, HullColorJson> = /*@__PURE__*/
-  enumDesc(file_gamecontroller_ssl_gc_referee_message, 1);
-
diff --git a/gui/frontend/src/proto/vision/ssl_vision_detection_pb.ts b/gui/frontend/src/proto/vision/ssl_vision_detection_pb.ts
deleted file mode 100644
index 899f846..0000000
--- a/gui/frontend/src/proto/vision/ssl_vision_detection_pb.ts
+++ /dev/null
@@ -1,403 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file vision/ssl_vision_detection.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file vision/ssl_vision_detection.proto.
- */
-export const file_vision_ssl_vision_detection: GenFile = /*@__PURE__*/
-  fileDesc("CiF2aXNpb24vc3NsX3Zpc2lvbl9kZXRlY3Rpb24ucHJvdG8ieAoRU1NMX0RldGVjdGlvbkJhbGwSEgoKY29uZmlkZW5jZRgBIAIoAhIMCgRhcmVhGAIgASgNEgkKAXgYAyACKAISCQoBeRgEIAIoAhIJCgF6GAUgASgCEg8KB3BpeGVsX3gYBiACKAISDwoHcGl4ZWxfeRgHIAIoAiKXAQoSU1NMX0RldGVjdGlvblJvYm90EhIKCmNvbmZpZGVuY2UYASACKAISEAoIcm9ib3RfaWQYAiABKA0SCQoBeBgDIAIoAhIJCgF5GAQgAigCEhMKC29yaWVudGF0aW9uGAUgASgCEg8KB3BpeGVsX3gYBiACKAISDwoHcGl4ZWxfeRgHIAIoAhIOCgZoZWlnaHQYCCABKAIihgIKElNTTF9EZXRlY3Rpb25GcmFtZRIUCgxmcmFtZV9udW1iZXIYASACKA0SEQoJdF9jYXB0dXJlGAIgAigBEg4KBnRfc2VudBgDIAIoARIYChB0X2NhcHR1cmVfY2FtZXJhGAggASgBEhEKCXRfb2Zmc2V0cxgJIAMoAhIRCgljYW1lcmFfaWQYBCACKA0SIQoFYmFsbHMYBSADKAsyEi5TU0xfRGV0ZWN0aW9uQmFsbBIqCg1yb2JvdHNfeWVsbG93GAYgAygLMhMuU1NMX0RldGVjdGlvblJvYm90EigKC3JvYm90c19ibHVlGAcgAygLMhMuU1NMX0RldGVjdGlvblJvYm90QlxCF1NzbFZpc2lvbkRldGVjdGlvblByb3RvUAFaP2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL3Zpc2lvbg");
-
-/**
- * @generated from message SSL_DetectionBall
- */
-export type SSL_DetectionBall = Message<"SSL_DetectionBall"> & {
-  /**
-   * Confidence in [0-1] of the detection
-   *
-   * @generated from field: required float confidence = 1;
-   */
-  confidence: number;
-
-  /**
-   * @generated from field: optional uint32 area = 2;
-   */
-  area: number;
-
-  /**
-   * X-coordinate in [mm] in global ssl-vision coordinate system
-   *
-   * @generated from field: required float x = 3;
-   */
-  x: number;
-
-  /**
-   * Y-coordinate in [mm] in global ssl-vision coordinate system
-   *
-   * @generated from field: required float y = 4;
-   */
-  y: number;
-
-  /**
-   * Z-coordinate in [mm] in global ssl-vision coordinate system
-   * Not supported by ssl-vision, but might be set by simulators
-   *
-   * @generated from field: optional float z = 5;
-   */
-  z: number;
-
-  /**
-   * X-coordinate in [pixel] in the image
-   *
-   * @generated from field: required float pixel_x = 6;
-   */
-  pixelX: number;
-
-  /**
-   * Y-coordinate in [pixel] in the image
-   *
-   * @generated from field: required float pixel_y = 7;
-   */
-  pixelY: number;
-};
-
-/**
- * @generated from message SSL_DetectionBall
- */
-export type SSL_DetectionBallJson = {
-  /**
-   * Confidence in [0-1] of the detection
-   *
-   * @generated from field: required float confidence = 1;
-   */
-  confidence?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: optional uint32 area = 2;
-   */
-  area?: number;
-
-  /**
-   * X-coordinate in [mm] in global ssl-vision coordinate system
-   *
-   * @generated from field: required float x = 3;
-   */
-  x?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Y-coordinate in [mm] in global ssl-vision coordinate system
-   *
-   * @generated from field: required float y = 4;
-   */
-  y?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Z-coordinate in [mm] in global ssl-vision coordinate system
-   * Not supported by ssl-vision, but might be set by simulators
-   *
-   * @generated from field: optional float z = 5;
-   */
-  z?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * X-coordinate in [pixel] in the image
-   *
-   * @generated from field: required float pixel_x = 6;
-   */
-  pixelX?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Y-coordinate in [pixel] in the image
-   *
-   * @generated from field: required float pixel_y = 7;
-   */
-  pixelY?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message SSL_DetectionBall.
- * Use `create(SSL_DetectionBallSchema)` to create a new message.
- */
-export const SSL_DetectionBallSchema: GenMessage<SSL_DetectionBall, SSL_DetectionBallJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_detection, 0);
-
-/**
- * @generated from message SSL_DetectionRobot
- */
-export type SSL_DetectionRobot = Message<"SSL_DetectionRobot"> & {
-  /**
-   * Confidence in [0-1] of the detection
-   *
-   * @generated from field: required float confidence = 1;
-   */
-  confidence: number;
-
-  /**
-   * Id of the robot
-   *
-   * @generated from field: optional uint32 robot_id = 2;
-   */
-  robotId: number;
-
-  /**
-   * X-coordinate in [mm] in global ssl-vision coordinate system
-   *
-   * @generated from field: required float x = 3;
-   */
-  x: number;
-
-  /**
-   * Y-coordinate in [mm] in global ssl-vision coordinate system
-   *
-   * @generated from field: required float y = 4;
-   */
-  y: number;
-
-  /**
-   * Orientation in [rad]
-   *
-   * @generated from field: optional float orientation = 5;
-   */
-  orientation: number;
-
-  /**
-   * X-coordinate in [pixel] in the image
-   *
-   * @generated from field: required float pixel_x = 6;
-   */
-  pixelX: number;
-
-  /**
-   * Y-coordinate in [pixel] in the image
-   *
-   * @generated from field: required float pixel_y = 7;
-   */
-  pixelY: number;
-
-  /**
-   * Height, as configured in ssl-vision for the respective team
-   *
-   * @generated from field: optional float height = 8;
-   */
-  height: number;
-};
-
-/**
- * @generated from message SSL_DetectionRobot
- */
-export type SSL_DetectionRobotJson = {
-  /**
-   * Confidence in [0-1] of the detection
-   *
-   * @generated from field: required float confidence = 1;
-   */
-  confidence?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Id of the robot
-   *
-   * @generated from field: optional uint32 robot_id = 2;
-   */
-  robotId?: number;
-
-  /**
-   * X-coordinate in [mm] in global ssl-vision coordinate system
-   *
-   * @generated from field: required float x = 3;
-   */
-  x?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Y-coordinate in [mm] in global ssl-vision coordinate system
-   *
-   * @generated from field: required float y = 4;
-   */
-  y?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Orientation in [rad]
-   *
-   * @generated from field: optional float orientation = 5;
-   */
-  orientation?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * X-coordinate in [pixel] in the image
-   *
-   * @generated from field: required float pixel_x = 6;
-   */
-  pixelX?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Y-coordinate in [pixel] in the image
-   *
-   * @generated from field: required float pixel_y = 7;
-   */
-  pixelY?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Height, as configured in ssl-vision for the respective team
-   *
-   * @generated from field: optional float height = 8;
-   */
-  height?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message SSL_DetectionRobot.
- * Use `create(SSL_DetectionRobotSchema)` to create a new message.
- */
-export const SSL_DetectionRobotSchema: GenMessage<SSL_DetectionRobot, SSL_DetectionRobotJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_detection, 1);
-
-/**
- * @generated from message SSL_DetectionFrame
- */
-export type SSL_DetectionFrame = Message<"SSL_DetectionFrame"> & {
-  /**
-   * monotonously increasing frame number
-   *
-   * @generated from field: required uint32 frame_number = 1;
-   */
-  frameNumber: number;
-
-  /**
-   * Unix timestamp in [seconds] at which the image has been received by ssl-vision
-   *
-   * @generated from field: required double t_capture = 2;
-   */
-  tCapture: number;
-
-  /**
-   * Unix timestamp in [seconds] at which this message has been sent to the network
-   *
-   * @generated from field: required double t_sent = 3;
-   */
-  tSent: number;
-
-  /**
-   * Camera timestamp in [seconds] as reported by the camera, if supported
-   * This is not necessarily a unix timestamp
-   *
-   * @generated from field: optional double t_capture_camera = 8;
-   */
-  tCaptureCamera: number;
-
-  /**
-   * Internal VisionProcessor field for clock synchronization,
-   * containing the time offset of received packets for each cam relative to the local clock.
-   *
-   * @generated from field: repeated float t_offsets = 9;
-   */
-  tOffsets: number[];
-
-  /**
-   * Identifier of the camera
-   *
-   * @generated from field: required uint32 camera_id = 4;
-   */
-  cameraId: number;
-
-  /**
-   * Detected balls
-   *
-   * @generated from field: repeated SSL_DetectionBall balls = 5;
-   */
-  balls: SSL_DetectionBall[];
-
-  /**
-   * Detected yellow robots
-   *
-   * @generated from field: repeated SSL_DetectionRobot robots_yellow = 6;
-   */
-  robotsYellow: SSL_DetectionRobot[];
-
-  /**
-   * Detected blue robots
-   *
-   * @generated from field: repeated SSL_DetectionRobot robots_blue = 7;
-   */
-  robotsBlue: SSL_DetectionRobot[];
-};
-
-/**
- * @generated from message SSL_DetectionFrame
- */
-export type SSL_DetectionFrameJson = {
-  /**
-   * monotonously increasing frame number
-   *
-   * @generated from field: required uint32 frame_number = 1;
-   */
-  frameNumber?: number;
-
-  /**
-   * Unix timestamp in [seconds] at which the image has been received by ssl-vision
-   *
-   * @generated from field: required double t_capture = 2;
-   */
-  tCapture?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Unix timestamp in [seconds] at which this message has been sent to the network
-   *
-   * @generated from field: required double t_sent = 3;
-   */
-  tSent?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Camera timestamp in [seconds] as reported by the camera, if supported
-   * This is not necessarily a unix timestamp
-   *
-   * @generated from field: optional double t_capture_camera = 8;
-   */
-  tCaptureCamera?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Internal VisionProcessor field for clock synchronization,
-   * containing the time offset of received packets for each cam relative to the local clock.
-   *
-   * @generated from field: repeated float t_offsets = 9;
-   */
-  tOffsets?: (number | "NaN" | "Infinity" | "-Infinity")[];
-
-  /**
-   * Identifier of the camera
-   *
-   * @generated from field: required uint32 camera_id = 4;
-   */
-  cameraId?: number;
-
-  /**
-   * Detected balls
-   *
-   * @generated from field: repeated SSL_DetectionBall balls = 5;
-   */
-  balls?: SSL_DetectionBallJson[];
-
-  /**
-   * Detected yellow robots
-   *
-   * @generated from field: repeated SSL_DetectionRobot robots_yellow = 6;
-   */
-  robotsYellow?: SSL_DetectionRobotJson[];
-
-  /**
-   * Detected blue robots
-   *
-   * @generated from field: repeated SSL_DetectionRobot robots_blue = 7;
-   */
-  robotsBlue?: SSL_DetectionRobotJson[];
-};
-
-/**
- * Describes the message SSL_DetectionFrame.
- * Use `create(SSL_DetectionFrameSchema)` to create a new message.
- */
-export const SSL_DetectionFrameSchema: GenMessage<SSL_DetectionFrame, SSL_DetectionFrameJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_detection, 2);
-
diff --git a/gui/frontend/src/proto/vision/ssl_vision_detection_tracked_pb.ts b/gui/frontend/src/proto/vision/ssl_vision_detection_tracked_pb.ts
deleted file mode 100644
index 9dedf77..0000000
--- a/gui/frontend/src/proto/vision/ssl_vision_detection_tracked_pb.ts
+++ /dev/null
@@ -1,448 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file vision/ssl_vision_detection_tracked.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { RobotId, RobotIdJson } from "../gamecontroller/ssl_gc_common_pb";
-import { file_gamecontroller_ssl_gc_common } from "../gamecontroller/ssl_gc_common_pb";
-import type { Vector2, Vector2Json, Vector3, Vector3Json } from "../gamecontroller/ssl_gc_geometry_pb";
-import { file_gamecontroller_ssl_gc_geometry } from "../gamecontroller/ssl_gc_geometry_pb";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file vision/ssl_vision_detection_tracked.proto.
- */
-export const file_vision_ssl_vision_detection_tracked: GenFile = /*@__PURE__*/
-  fileDesc("Cil2aXNpb24vc3NsX3Zpc2lvbl9kZXRlY3Rpb25fdHJhY2tlZC5wcm90byJPCgtUcmFja2VkQmFsbBIVCgNwb3MYASACKAsyCC5WZWN0b3IzEhUKA3ZlbBgCIAEoCzIILlZlY3RvcjMSEgoKdmlzaWJpbGl0eRgDIAEoAiKjAQoKS2lja2VkQmFsbBIVCgNwb3MYASACKAsyCC5WZWN0b3IyEhUKA3ZlbBgCIAIoCzIILlZlY3RvcjMSFwoPc3RhcnRfdGltZXN0YW1wGAMgAigBEhYKDnN0b3BfdGltZXN0YW1wGAQgASgBEhoKCHN0b3BfcG9zGAUgASgLMgguVmVjdG9yMhIaCghyb2JvdF9pZBgGIAEoCzIILlJvYm90SWQilgEKDFRyYWNrZWRSb2JvdBIaCghyb2JvdF9pZBgBIAIoCzIILlJvYm90SWQSFQoDcG9zGAIgAigLMgguVmVjdG9yMhITCgtvcmllbnRhdGlvbhgDIAIoAhIVCgN2ZWwYBCABKAsyCC5WZWN0b3IyEhMKC3ZlbF9hbmd1bGFyGAUgASgCEhIKCnZpc2liaWxpdHkYBiABKAIiuAEKDFRyYWNrZWRGcmFtZRIUCgxmcmFtZV9udW1iZXIYASACKA0SEQoJdGltZXN0YW1wGAIgAigBEhsKBWJhbGxzGAMgAygLMgwuVHJhY2tlZEJhbGwSHQoGcm9ib3RzGAQgAygLMg0uVHJhY2tlZFJvYm90EiAKC2tpY2tlZF9iYWxsGAUgASgLMgsuS2lja2VkQmFsbBIhCgxjYXBhYmlsaXRpZXMYBiADKA4yCy5DYXBhYmlsaXR5KpIBCgpDYXBhYmlsaXR5EhYKEkNBUEFCSUxJVFlfVU5LTk9XThAAEiIKHkNBUEFCSUxJVFlfREVURUNUX0ZMWUlOR19CQUxMUxABEiQKIENBUEFCSUxJVFlfREVURUNUX01VTFRJUExFX0JBTExTEAISIgoeQ0FQQUJJTElUWV9ERVRFQ1RfS0lDS0VEX0JBTExTEANCY0IeU3NsVmlzaW9uRGV0ZWN0aW9uVHJhY2tlZFByb3RvUAFaP2dpdGh1Yi5jb20vUm9ib0N1cC1TU0wvc3NsLXZpc2lvbi1wcm9jZXNzb3IvZ3VpL2ludGVybmFsL3Zpc2lvbg", [file_gamecontroller_ssl_gc_common, file_gamecontroller_ssl_gc_geometry]);
-
-/**
- * A single tracked ball
- *
- * @generated from message TrackedBall
- */
-export type TrackedBall = Message<"TrackedBall"> & {
-  /**
-   * The position (x, y, height) [m] in the ssl-vision coordinate system
-   *
-   * @generated from field: required Vector3 pos = 1;
-   */
-  pos?: Vector3;
-
-  /**
-   * The velocity [m/s] in the ssl-vision coordinate system
-   *
-   * @generated from field: optional Vector3 vel = 2;
-   */
-  vel?: Vector3;
-
-  /**
-   * The visibility of the ball
-   * A value between 0 (not visible) and 1 (visible)
-   * The exact implementation depends on the source software
-   *
-   * @generated from field: optional float visibility = 3;
-   */
-  visibility: number;
-};
-
-/**
- * A single tracked ball
- *
- * @generated from message TrackedBall
- */
-export type TrackedBallJson = {
-  /**
-   * The position (x, y, height) [m] in the ssl-vision coordinate system
-   *
-   * @generated from field: required Vector3 pos = 1;
-   */
-  pos?: Vector3Json;
-
-  /**
-   * The velocity [m/s] in the ssl-vision coordinate system
-   *
-   * @generated from field: optional Vector3 vel = 2;
-   */
-  vel?: Vector3Json;
-
-  /**
-   * The visibility of the ball
-   * A value between 0 (not visible) and 1 (visible)
-   * The exact implementation depends on the source software
-   *
-   * @generated from field: optional float visibility = 3;
-   */
-  visibility?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message TrackedBall.
- * Use `create(TrackedBallSchema)` to create a new message.
- */
-export const TrackedBallSchema: GenMessage<TrackedBall, TrackedBallJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_detection_tracked, 0);
-
-/**
- * A ball kicked by a robot, including predictions when the ball will come to a stop
- *
- * @generated from message KickedBall
- */
-export type KickedBall = Message<"KickedBall"> & {
-  /**
-   * The initial position [m] from which the ball was kicked
-   *
-   * @generated from field: required Vector2 pos = 1;
-   */
-  pos?: Vector2;
-
-  /**
-   * The initial velocity [m/s] with which the ball was kicked
-   *
-   * @generated from field: required Vector3 vel = 2;
-   */
-  vel?: Vector3;
-
-  /**
-   * The unix timestamp [s] when the kick was performed
-   *
-   * @generated from field: required double start_timestamp = 3;
-   */
-  startTimestamp: number;
-
-  /**
-   * The predicted unix timestamp [s] when the ball comes to a stop
-   *
-   * @generated from field: optional double stop_timestamp = 4;
-   */
-  stopTimestamp: number;
-
-  /**
-   * The predicted position [m] at which the ball will come to a stop
-   *
-   * @generated from field: optional Vector2 stop_pos = 5;
-   */
-  stopPos?: Vector2;
-
-  /**
-   * The robot that kicked the ball
-   *
-   * @generated from field: optional RobotId robot_id = 6;
-   */
-  robotId?: RobotId;
-};
-
-/**
- * A ball kicked by a robot, including predictions when the ball will come to a stop
- *
- * @generated from message KickedBall
- */
-export type KickedBallJson = {
-  /**
-   * The initial position [m] from which the ball was kicked
-   *
-   * @generated from field: required Vector2 pos = 1;
-   */
-  pos?: Vector2Json;
-
-  /**
-   * The initial velocity [m/s] with which the ball was kicked
-   *
-   * @generated from field: required Vector3 vel = 2;
-   */
-  vel?: Vector3Json;
-
-  /**
-   * The unix timestamp [s] when the kick was performed
-   *
-   * @generated from field: required double start_timestamp = 3;
-   */
-  startTimestamp?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * The predicted unix timestamp [s] when the ball comes to a stop
-   *
-   * @generated from field: optional double stop_timestamp = 4;
-   */
-  stopTimestamp?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * The predicted position [m] at which the ball will come to a stop
-   *
-   * @generated from field: optional Vector2 stop_pos = 5;
-   */
-  stopPos?: Vector2Json;
-
-  /**
-   * The robot that kicked the ball
-   *
-   * @generated from field: optional RobotId robot_id = 6;
-   */
-  robotId?: RobotIdJson;
-};
-
-/**
- * Describes the message KickedBall.
- * Use `create(KickedBallSchema)` to create a new message.
- */
-export const KickedBallSchema: GenMessage<KickedBall, KickedBallJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_detection_tracked, 1);
-
-/**
- * A single tracked robot
- *
- * @generated from message TrackedRobot
- */
-export type TrackedRobot = Message<"TrackedRobot"> & {
-  /**
-   * @generated from field: required RobotId robot_id = 1;
-   */
-  robotId?: RobotId;
-
-  /**
-   * The position [m] in the ssl-vision coordinate system
-   *
-   * @generated from field: required Vector2 pos = 2;
-   */
-  pos?: Vector2;
-
-  /**
-   * The orientation [rad] in the ssl-vision coordinate system
-   *
-   * @generated from field: required float orientation = 3;
-   */
-  orientation: number;
-
-  /**
-   * The velocity [m/s] in the ssl-vision coordinate system
-   *
-   * @generated from field: optional Vector2 vel = 4;
-   */
-  vel?: Vector2;
-
-  /**
-   * The angular velocity [rad/s] in the ssl-vision coordinate system
-   *
-   * @generated from field: optional float vel_angular = 5;
-   */
-  velAngular: number;
-
-  /**
-   * The visibility of the robot
-   * A value between 0 (not visible) and 1 (visible)
-   * The exact implementation depends on the source software
-   *
-   * @generated from field: optional float visibility = 6;
-   */
-  visibility: number;
-};
-
-/**
- * A single tracked robot
- *
- * @generated from message TrackedRobot
- */
-export type TrackedRobotJson = {
-  /**
-   * @generated from field: required RobotId robot_id = 1;
-   */
-  robotId?: RobotIdJson;
-
-  /**
-   * The position [m] in the ssl-vision coordinate system
-   *
-   * @generated from field: required Vector2 pos = 2;
-   */
-  pos?: Vector2Json;
-
-  /**
-   * The orientation [rad] in the ssl-vision coordinate system
-   *
-   * @generated from field: required float orientation = 3;
-   */
-  orientation?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * The velocity [m/s] in the ssl-vision coordinate system
-   *
-   * @generated from field: optional Vector2 vel = 4;
-   */
-  vel?: Vector2Json;
-
-  /**
-   * The angular velocity [rad/s] in the ssl-vision coordinate system
-   *
-   * @generated from field: optional float vel_angular = 5;
-   */
-  velAngular?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * The visibility of the robot
-   * A value between 0 (not visible) and 1 (visible)
-   * The exact implementation depends on the source software
-   *
-   * @generated from field: optional float visibility = 6;
-   */
-  visibility?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message TrackedRobot.
- * Use `create(TrackedRobotSchema)` to create a new message.
- */
-export const TrackedRobotSchema: GenMessage<TrackedRobot, TrackedRobotJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_detection_tracked, 2);
-
-/**
- * A frame that contains all currently tracked objects on the field on all cameras
- *
- * @generated from message TrackedFrame
- */
-export type TrackedFrame = Message<"TrackedFrame"> & {
-  /**
-   * A monotonous increasing frame counter
-   *
-   * @generated from field: required uint32 frame_number = 1;
-   */
-  frameNumber: number;
-
-  /**
-   * The unix timestamp in [s] of the data
-   * If timestamp is larger than timestamp_captured, the source has applied a prediction already
-   *
-   * @generated from field: required double timestamp = 2;
-   */
-  timestamp: number;
-
-  /**
-   * The list of detected balls
-   * The first ball is the primary one
-   * Sources may add additional balls based on their capabilities
-   *
-   * @generated from field: repeated TrackedBall balls = 3;
-   */
-  balls: TrackedBall[];
-
-  /**
-   * The list of detected robots of both teams
-   *
-   * @generated from field: repeated TrackedRobot robots = 4;
-   */
-  robots: TrackedRobot[];
-
-  /**
-   * Information about a kicked ball, if the ball was kicked by a robot and is still moving
-   * Note: This field is optional. Some source implementations might not set this at any time
-   *
-   * @generated from field: optional KickedBall kicked_ball = 5;
-   */
-  kickedBall?: KickedBall;
-
-  /**
-   * List of capabilities of the source implementation
-   *
-   * @generated from field: repeated Capability capabilities = 6;
-   */
-  capabilities: Capability[];
-};
-
-/**
- * A frame that contains all currently tracked objects on the field on all cameras
- *
- * @generated from message TrackedFrame
- */
-export type TrackedFrameJson = {
-  /**
-   * A monotonous increasing frame counter
-   *
-   * @generated from field: required uint32 frame_number = 1;
-   */
-  frameNumber?: number;
-
-  /**
-   * The unix timestamp in [s] of the data
-   * If timestamp is larger than timestamp_captured, the source has applied a prediction already
-   *
-   * @generated from field: required double timestamp = 2;
-   */
-  timestamp?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * The list of detected balls
-   * The first ball is the primary one
-   * Sources may add additional balls based on their capabilities
-   *
-   * @generated from field: repeated TrackedBall balls = 3;
-   */
-  balls?: TrackedBallJson[];
-
-  /**
-   * The list of detected robots of both teams
-   *
-   * @generated from field: repeated TrackedRobot robots = 4;
-   */
-  robots?: TrackedRobotJson[];
-
-  /**
-   * Information about a kicked ball, if the ball was kicked by a robot and is still moving
-   * Note: This field is optional. Some source implementations might not set this at any time
-   *
-   * @generated from field: optional KickedBall kicked_ball = 5;
-   */
-  kickedBall?: KickedBallJson;
-
-  /**
-   * List of capabilities of the source implementation
-   *
-   * @generated from field: repeated Capability capabilities = 6;
-   */
-  capabilities?: CapabilityJson[];
-};
-
-/**
- * Describes the message TrackedFrame.
- * Use `create(TrackedFrameSchema)` to create a new message.
- */
-export const TrackedFrameSchema: GenMessage<TrackedFrame, TrackedFrameJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_detection_tracked, 3);
-
-/**
- * Capabilities that a source implementation can have
- *
- * @generated from enum Capability
- */
-export enum Capability {
-  /**
-   * @generated from enum value: CAPABILITY_UNKNOWN = 0;
-   */
-  UNKNOWN = 0,
-
-  /**
-   * @generated from enum value: CAPABILITY_DETECT_FLYING_BALLS = 1;
-   */
-  DETECT_FLYING_BALLS = 1,
-
-  /**
-   * @generated from enum value: CAPABILITY_DETECT_MULTIPLE_BALLS = 2;
-   */
-  DETECT_MULTIPLE_BALLS = 2,
-
-  /**
-   * @generated from enum value: CAPABILITY_DETECT_KICKED_BALLS = 3;
-   */
-  DETECT_KICKED_BALLS = 3,
-}
-
-/**
- * Capabilities that a source implementation can have
- *
- * @generated from enum Capability
- */
-export type CapabilityJson = "CAPABILITY_UNKNOWN" | "CAPABILITY_DETECT_FLYING_BALLS" | "CAPABILITY_DETECT_MULTIPLE_BALLS" | "CAPABILITY_DETECT_KICKED_BALLS";
-
-/**
- * Describes the enum Capability.
- */
-export const CapabilitySchema: GenEnum<Capability, CapabilityJson> = /*@__PURE__*/
-  enumDesc(file_vision_ssl_vision_detection_tracked, 0);
-
diff --git a/gui/frontend/src/proto/vision/ssl_vision_geometry_pb.ts b/gui/frontend/src/proto/vision/ssl_vision_geometry_pb.ts
deleted file mode 100644
index 08bc7db..0000000
--- a/gui/frontend/src/proto/vision/ssl_vision_geometry_pb.ts
+++ /dev/null
@@ -1,1031 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file vision/ssl_vision_geometry.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file vision/ssl_vision_geometry.proto.
- */
-export const file_vision_ssl_vision_geometry: GenFile = /*@__PURE__*/
-  fileDesc("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");
-
-/**
- * A 2D float vector.
- *
- * @generated from message Vector2f
- */
-export type Vector2f = Message<"Vector2f"> & {
-  /**
-   * X-coordinate in mm
-   *
-   * @generated from field: required float x = 1;
-   */
-  x: number;
-
-  /**
-   * Y-coordinate in mm
-   *
-   * @generated from field: required float y = 2;
-   */
-  y: number;
-};
-
-/**
- * A 2D float vector.
- *
- * @generated from message Vector2f
- */
-export type Vector2fJson = {
-  /**
-   * X-coordinate in mm
-   *
-   * @generated from field: required float x = 1;
-   */
-  x?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Y-coordinate in mm
-   *
-   * @generated from field: required float y = 2;
-   */
-  y?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message Vector2f.
- * Use `create(Vector2fSchema)` to create a new message.
- */
-export const Vector2fSchema: GenMessage<Vector2f, Vector2fJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_geometry, 0);
-
-/**
- * Represents a field marking as a line segment represented by a start point p1,
- * and end point p2, and a line thickness. The start and end points are along
- * the center of the line, so the thickness of the line extends by thickness / 2
- * on either side of the line.
- *
- * @generated from message SSL_FieldLineSegment
- */
-export type SSL_FieldLineSegment = Message<"SSL_FieldLineSegment"> & {
-  /**
-   * Name of this field marking.
-   *
-   * @generated from field: required string name = 1;
-   */
-  name: string;
-
-  /**
-   * Start point of the line segment.
-   *
-   * @generated from field: required Vector2f p1 = 2;
-   */
-  p1?: Vector2f;
-
-  /**
-   * End point of the line segment.
-   *
-   * @generated from field: required Vector2f p2 = 3;
-   */
-  p2?: Vector2f;
-
-  /**
-   * Thickness of the line segment.
-   *
-   * @generated from field: required float thickness = 4;
-   */
-  thickness: number;
-
-  /**
-   * The type of this shape
-   *
-   * @generated from field: optional SSL_FieldShapeType type = 5;
-   */
-  type: SSL_FieldShapeType;
-};
-
-/**
- * Represents a field marking as a line segment represented by a start point p1,
- * and end point p2, and a line thickness. The start and end points are along
- * the center of the line, so the thickness of the line extends by thickness / 2
- * on either side of the line.
- *
- * @generated from message SSL_FieldLineSegment
- */
-export type SSL_FieldLineSegmentJson = {
-  /**
-   * Name of this field marking.
-   *
-   * @generated from field: required string name = 1;
-   */
-  name?: string;
-
-  /**
-   * Start point of the line segment.
-   *
-   * @generated from field: required Vector2f p1 = 2;
-   */
-  p1?: Vector2fJson;
-
-  /**
-   * End point of the line segment.
-   *
-   * @generated from field: required Vector2f p2 = 3;
-   */
-  p2?: Vector2fJson;
-
-  /**
-   * Thickness of the line segment.
-   *
-   * @generated from field: required float thickness = 4;
-   */
-  thickness?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * The type of this shape
-   *
-   * @generated from field: optional SSL_FieldShapeType type = 5;
-   */
-  type?: SSL_FieldShapeTypeJson;
-};
-
-/**
- * Describes the message SSL_FieldLineSegment.
- * Use `create(SSL_FieldLineSegmentSchema)` to create a new message.
- */
-export const SSL_FieldLineSegmentSchema: GenMessage<SSL_FieldLineSegment, SSL_FieldLineSegmentJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_geometry, 1);
-
-/**
- * Represents a field marking as a circular arc segment represented by center point, a
- * start angle, an end angle, and an arc thickness.
- *
- * @generated from message SSL_FieldCircularArc
- */
-export type SSL_FieldCircularArc = Message<"SSL_FieldCircularArc"> & {
-  /**
-   * Name of this field marking.
-   *
-   * @generated from field: required string name = 1;
-   */
-  name: string;
-
-  /**
-   * Center point of the circular arc.
-   *
-   * @generated from field: required Vector2f center = 2;
-   */
-  center?: Vector2f;
-
-  /**
-   * Radius of the arc.
-   *
-   * @generated from field: required float radius = 3;
-   */
-  radius: number;
-
-  /**
-   * Start angle in counter-clockwise order.
-   *
-   * @generated from field: required float a1 = 4;
-   */
-  a1: number;
-
-  /**
-   * End angle in counter-clockwise order.
-   *
-   * @generated from field: required float a2 = 5;
-   */
-  a2: number;
-
-  /**
-   * Thickness of the arc.
-   *
-   * @generated from field: required float thickness = 6;
-   */
-  thickness: number;
-
-  /**
-   * The type of this shape
-   *
-   * @generated from field: optional SSL_FieldShapeType type = 7;
-   */
-  type: SSL_FieldShapeType;
-};
-
-/**
- * Represents a field marking as a circular arc segment represented by center point, a
- * start angle, an end angle, and an arc thickness.
- *
- * @generated from message SSL_FieldCircularArc
- */
-export type SSL_FieldCircularArcJson = {
-  /**
-   * Name of this field marking.
-   *
-   * @generated from field: required string name = 1;
-   */
-  name?: string;
-
-  /**
-   * Center point of the circular arc.
-   *
-   * @generated from field: required Vector2f center = 2;
-   */
-  center?: Vector2fJson;
-
-  /**
-   * Radius of the arc.
-   *
-   * @generated from field: required float radius = 3;
-   */
-  radius?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Start angle in counter-clockwise order.
-   *
-   * @generated from field: required float a1 = 4;
-   */
-  a1?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * End angle in counter-clockwise order.
-   *
-   * @generated from field: required float a2 = 5;
-   */
-  a2?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Thickness of the arc.
-   *
-   * @generated from field: required float thickness = 6;
-   */
-  thickness?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * The type of this shape
-   *
-   * @generated from field: optional SSL_FieldShapeType type = 7;
-   */
-  type?: SSL_FieldShapeTypeJson;
-};
-
-/**
- * Describes the message SSL_FieldCircularArc.
- * Use `create(SSL_FieldCircularArcSchema)` to create a new message.
- */
-export const SSL_FieldCircularArcSchema: GenMessage<SSL_FieldCircularArc, SSL_FieldCircularArcJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_geometry, 2);
-
-/**
- * @generated from message SSL_GeometryFieldSize
- */
-export type SSL_GeometryFieldSize = Message<"SSL_GeometryFieldSize"> & {
-  /**
-   * Field length (distance between goal lines) in mm
-   *
-   * @generated from field: required int32 field_length = 1;
-   */
-  fieldLength: number;
-
-  /**
-   * Field width (distance between touch lines) in mm
-   *
-   * @generated from field: required int32 field_width = 2;
-   */
-  fieldWidth: number;
-
-  /**
-   * Goal width (distance between inner edges of goal posts) in mm
-   *
-   * @generated from field: required int32 goal_width = 3;
-   */
-  goalWidth: number;
-
-  /**
-   * Goal depth (distance from outer goal line edge to inner goal back) in mm
-   *
-   * @generated from field: required int32 goal_depth = 4;
-   */
-  goalDepth: number;
-
-  /**
-   * Boundary width (distance from touch line centers to boundary walls) in mm
-   *
-   * @generated from field: required int32 boundary_width = 5;
-   */
-  boundaryWidth: number;
-
-  /**
-   * Boundary width at the goal lines (distance from goal line centers to boundary walls) in mm
-   *
-   * @generated from field: optional int32 boundary_width_goal_line = 16;
-   */
-  boundaryWidthGoalLine: number;
-
-  /**
-   * Generated line segments based on the other parameters
-   *
-   * @generated from field: repeated SSL_FieldLineSegment field_lines = 6;
-   */
-  fieldLines: SSL_FieldLineSegment[];
-
-  /**
-   * Generated circular arcs based on the other parameters
-   *
-   * @generated from field: repeated SSL_FieldCircularArc field_arcs = 7;
-   */
-  fieldArcs: SSL_FieldCircularArc[];
-
-  /**
-   * Depth of the penalty/defense area (measured between line centers) in mm
-   *
-   * @generated from field: optional int32 penalty_area_depth = 8;
-   */
-  penaltyAreaDepth: number;
-
-  /**
-   * Width of the penalty/defense area (measured between line centers) in mm
-   *
-   * @generated from field: optional int32 penalty_area_width = 9;
-   */
-  penaltyAreaWidth: number;
-
-  /**
-   * Radius of the center circle (measured between line centers) in mm
-   *
-   * @generated from field: optional int32 center_circle_radius = 10;
-   */
-  centerCircleRadius: number;
-
-  /**
-   * Thickness/width of the lines on the field in mm
-   *
-   * @generated from field: optional int32 line_thickness = 11;
-   */
-  lineThickness: number;
-
-  /**
-   * Distance between the goal center and the center of the penalty mark in mm
-   *
-   * @generated from field: optional int32 goal_center_to_penalty_mark = 12;
-   */
-  goalCenterToPenaltyMark: number;
-
-  /**
-   * Goal height in mm
-   *
-   * @generated from field: optional int32 goal_height = 13;
-   */
-  goalHeight: number;
-
-  /**
-   * Ball radius in mm (note that this is a float type to represent sub-mm precision)
-   *
-   * @generated from field: optional float ball_radius = 14;
-   */
-  ballRadius: number;
-
-  /**
-   * Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)
-   *
-   * @generated from field: optional float max_robot_radius = 15;
-   */
-  maxRobotRadius: number;
-
-  /**
-   * Width of the goal substitution area (distance from goal line center plus boundary width to boundary walls) in mm
-   *
-   * @generated from field: optional int32 goal_substitution_area_width = 17;
-   */
-  goalSubstitutionAreaWidth: number;
-};
-
-/**
- * @generated from message SSL_GeometryFieldSize
- */
-export type SSL_GeometryFieldSizeJson = {
-  /**
-   * Field length (distance between goal lines) in mm
-   *
-   * @generated from field: required int32 field_length = 1;
-   */
-  fieldLength?: number;
-
-  /**
-   * Field width (distance between touch lines) in mm
-   *
-   * @generated from field: required int32 field_width = 2;
-   */
-  fieldWidth?: number;
-
-  /**
-   * Goal width (distance between inner edges of goal posts) in mm
-   *
-   * @generated from field: required int32 goal_width = 3;
-   */
-  goalWidth?: number;
-
-  /**
-   * Goal depth (distance from outer goal line edge to inner goal back) in mm
-   *
-   * @generated from field: required int32 goal_depth = 4;
-   */
-  goalDepth?: number;
-
-  /**
-   * Boundary width (distance from touch line centers to boundary walls) in mm
-   *
-   * @generated from field: required int32 boundary_width = 5;
-   */
-  boundaryWidth?: number;
-
-  /**
-   * Boundary width at the goal lines (distance from goal line centers to boundary walls) in mm
-   *
-   * @generated from field: optional int32 boundary_width_goal_line = 16;
-   */
-  boundaryWidthGoalLine?: number;
-
-  /**
-   * Generated line segments based on the other parameters
-   *
-   * @generated from field: repeated SSL_FieldLineSegment field_lines = 6;
-   */
-  fieldLines?: SSL_FieldLineSegmentJson[];
-
-  /**
-   * Generated circular arcs based on the other parameters
-   *
-   * @generated from field: repeated SSL_FieldCircularArc field_arcs = 7;
-   */
-  fieldArcs?: SSL_FieldCircularArcJson[];
-
-  /**
-   * Depth of the penalty/defense area (measured between line centers) in mm
-   *
-   * @generated from field: optional int32 penalty_area_depth = 8;
-   */
-  penaltyAreaDepth?: number;
-
-  /**
-   * Width of the penalty/defense area (measured between line centers) in mm
-   *
-   * @generated from field: optional int32 penalty_area_width = 9;
-   */
-  penaltyAreaWidth?: number;
-
-  /**
-   * Radius of the center circle (measured between line centers) in mm
-   *
-   * @generated from field: optional int32 center_circle_radius = 10;
-   */
-  centerCircleRadius?: number;
-
-  /**
-   * Thickness/width of the lines on the field in mm
-   *
-   * @generated from field: optional int32 line_thickness = 11;
-   */
-  lineThickness?: number;
-
-  /**
-   * Distance between the goal center and the center of the penalty mark in mm
-   *
-   * @generated from field: optional int32 goal_center_to_penalty_mark = 12;
-   */
-  goalCenterToPenaltyMark?: number;
-
-  /**
-   * Goal height in mm
-   *
-   * @generated from field: optional int32 goal_height = 13;
-   */
-  goalHeight?: number;
-
-  /**
-   * Ball radius in mm (note that this is a float type to represent sub-mm precision)
-   *
-   * @generated from field: optional float ball_radius = 14;
-   */
-  ballRadius?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)
-   *
-   * @generated from field: optional float max_robot_radius = 15;
-   */
-  maxRobotRadius?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Width of the goal substitution area (distance from goal line center plus boundary width to boundary walls) in mm
-   *
-   * @generated from field: optional int32 goal_substitution_area_width = 17;
-   */
-  goalSubstitutionAreaWidth?: number;
-};
-
-/**
- * Describes the message SSL_GeometryFieldSize.
- * Use `create(SSL_GeometryFieldSizeSchema)` to create a new message.
- */
-export const SSL_GeometryFieldSizeSchema: GenMessage<SSL_GeometryFieldSize, SSL_GeometryFieldSizeJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_geometry, 3);
-
-/**
- * @generated from message SSL_GeometryCameraCalibration
- */
-export type SSL_GeometryCameraCalibration = Message<"SSL_GeometryCameraCalibration"> & {
-  /**
-   * @generated from field: required uint32 camera_id = 1;
-   */
-  cameraId: number;
-
-  /**
-   * @generated from field: required float focal_length = 2;
-   */
-  focalLength: number;
-
-  /**
-   * @generated from field: required float principal_point_x = 3;
-   */
-  principalPointX: number;
-
-  /**
-   * @generated from field: required float principal_point_y = 4;
-   */
-  principalPointY: number;
-
-  /**
-   * @generated from field: required float distortion = 5;
-   */
-  distortion: number;
-
-  /**
-   * @generated from field: required float q0 = 6;
-   */
-  q0: number;
-
-  /**
-   * @generated from field: required float q1 = 7;
-   */
-  q1: number;
-
-  /**
-   * @generated from field: required float q2 = 8;
-   */
-  q2: number;
-
-  /**
-   * @generated from field: required float q3 = 9;
-   */
-  q3: number;
-
-  /**
-   * @generated from field: required float tx = 10;
-   */
-  tx: number;
-
-  /**
-   * @generated from field: required float ty = 11;
-   */
-  ty: number;
-
-  /**
-   * @generated from field: required float tz = 12;
-   */
-  tz: number;
-
-  /**
-   * @generated from field: optional float derived_camera_world_tx = 13;
-   */
-  derivedCameraWorldTx: number;
-
-  /**
-   * @generated from field: optional float derived_camera_world_ty = 14;
-   */
-  derivedCameraWorldTy: number;
-
-  /**
-   * @generated from field: optional float derived_camera_world_tz = 15;
-   */
-  derivedCameraWorldTz: number;
-
-  /**
-   * @generated from field: optional uint32 pixel_image_width = 16;
-   */
-  pixelImageWidth: number;
-
-  /**
-   * @generated from field: optional uint32 pixel_image_height = 17;
-   */
-  pixelImageHeight: number;
-};
-
-/**
- * @generated from message SSL_GeometryCameraCalibration
- */
-export type SSL_GeometryCameraCalibrationJson = {
-  /**
-   * @generated from field: required uint32 camera_id = 1;
-   */
-  cameraId?: number;
-
-  /**
-   * @generated from field: required float focal_length = 2;
-   */
-  focalLength?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float principal_point_x = 3;
-   */
-  principalPointX?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float principal_point_y = 4;
-   */
-  principalPointY?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float distortion = 5;
-   */
-  distortion?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float q0 = 6;
-   */
-  q0?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float q1 = 7;
-   */
-  q1?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float q2 = 8;
-   */
-  q2?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float q3 = 9;
-   */
-  q3?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float tx = 10;
-   */
-  tx?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float ty = 11;
-   */
-  ty?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: required float tz = 12;
-   */
-  tz?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: optional float derived_camera_world_tx = 13;
-   */
-  derivedCameraWorldTx?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: optional float derived_camera_world_ty = 14;
-   */
-  derivedCameraWorldTy?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: optional float derived_camera_world_tz = 15;
-   */
-  derivedCameraWorldTz?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: optional uint32 pixel_image_width = 16;
-   */
-  pixelImageWidth?: number;
-
-  /**
-   * @generated from field: optional uint32 pixel_image_height = 17;
-   */
-  pixelImageHeight?: number;
-};
-
-/**
- * Describes the message SSL_GeometryCameraCalibration.
- * Use `create(SSL_GeometryCameraCalibrationSchema)` to create a new message.
- */
-export const SSL_GeometryCameraCalibrationSchema: GenMessage<SSL_GeometryCameraCalibration, SSL_GeometryCameraCalibrationJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_geometry, 4);
-
-/**
- * Two-Phase model for straight-kicked balls.
- * There are two phases with different accelerations during the ball kicks:
- * 1. Sliding
- * 2. Rolling
- * The full model is described in the TDP of ER-Force from 2016, which can be found here:
- * https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf
- *
- * @generated from message SSL_BallModelStraightTwoPhase
- */
-export type SSL_BallModelStraightTwoPhase = Message<"SSL_BallModelStraightTwoPhase"> & {
-  /**
-   * Ball sliding acceleration [m/s^2] (should be negative)
-   *
-   * @generated from field: required double acc_slide = 1;
-   */
-  accSlide: number;
-
-  /**
-   * Ball rolling acceleration [m/s^2] (should be negative)
-   *
-   * @generated from field: required double acc_roll = 2;
-   */
-  accRoll: number;
-
-  /**
-   * Fraction of the initial velocity where the ball starts to roll
-   *
-   * @generated from field: required double k_switch = 3;
-   */
-  kSwitch: number;
-};
-
-/**
- * Two-Phase model for straight-kicked balls.
- * There are two phases with different accelerations during the ball kicks:
- * 1. Sliding
- * 2. Rolling
- * The full model is described in the TDP of ER-Force from 2016, which can be found here:
- * https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf
- *
- * @generated from message SSL_BallModelStraightTwoPhase
- */
-export type SSL_BallModelStraightTwoPhaseJson = {
-  /**
-   * Ball sliding acceleration [m/s^2] (should be negative)
-   *
-   * @generated from field: required double acc_slide = 1;
-   */
-  accSlide?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Ball rolling acceleration [m/s^2] (should be negative)
-   *
-   * @generated from field: required double acc_roll = 2;
-   */
-  accRoll?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Fraction of the initial velocity where the ball starts to roll
-   *
-   * @generated from field: required double k_switch = 3;
-   */
-  kSwitch?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message SSL_BallModelStraightTwoPhase.
- * Use `create(SSL_BallModelStraightTwoPhaseSchema)` to create a new message.
- */
-export const SSL_BallModelStraightTwoPhaseSchema: GenMessage<SSL_BallModelStraightTwoPhase, SSL_BallModelStraightTwoPhaseJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_geometry, 5);
-
-/**
- * Fixed-Loss model for chipped balls.
- * Uses fixed damping factors for xy and z direction per hop.
- *
- * @generated from message SSL_BallModelChipFixedLoss
- */
-export type SSL_BallModelChipFixedLoss = Message<"SSL_BallModelChipFixedLoss"> & {
-  /**
-   * Chip kick velocity damping factor in XY direction for the first hop
-   *
-   * @generated from field: required double damping_xy_first_hop = 1;
-   */
-  dampingXyFirstHop: number;
-
-  /**
-   * Chip kick velocity damping factor in XY direction for all following hops
-   *
-   * @generated from field: required double damping_xy_other_hops = 2;
-   */
-  dampingXyOtherHops: number;
-
-  /**
-   * Chip kick velocity damping factor in Z direction for all hops
-   *
-   * @generated from field: required double damping_z = 3;
-   */
-  dampingZ: number;
-};
-
-/**
- * Fixed-Loss model for chipped balls.
- * Uses fixed damping factors for xy and z direction per hop.
- *
- * @generated from message SSL_BallModelChipFixedLoss
- */
-export type SSL_BallModelChipFixedLossJson = {
-  /**
-   * Chip kick velocity damping factor in XY direction for the first hop
-   *
-   * @generated from field: required double damping_xy_first_hop = 1;
-   */
-  dampingXyFirstHop?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Chip kick velocity damping factor in XY direction for all following hops
-   *
-   * @generated from field: required double damping_xy_other_hops = 2;
-   */
-  dampingXyOtherHops?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Chip kick velocity damping factor in Z direction for all hops
-   *
-   * @generated from field: required double damping_z = 3;
-   */
-  dampingZ?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message SSL_BallModelChipFixedLoss.
- * Use `create(SSL_BallModelChipFixedLossSchema)` to create a new message.
- */
-export const SSL_BallModelChipFixedLossSchema: GenMessage<SSL_BallModelChipFixedLoss, SSL_BallModelChipFixedLossJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_geometry, 6);
-
-/**
- * @generated from message SSL_GeometryModels
- */
-export type SSL_GeometryModels = Message<"SSL_GeometryModels"> & {
-  /**
-   * @generated from field: optional SSL_BallModelStraightTwoPhase straight_two_phase = 1;
-   */
-  straightTwoPhase?: SSL_BallModelStraightTwoPhase;
-
-  /**
-   * @generated from field: optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2;
-   */
-  chipFixedLoss?: SSL_BallModelChipFixedLoss;
-};
-
-/**
- * @generated from message SSL_GeometryModels
- */
-export type SSL_GeometryModelsJson = {
-  /**
-   * @generated from field: optional SSL_BallModelStraightTwoPhase straight_two_phase = 1;
-   */
-  straightTwoPhase?: SSL_BallModelStraightTwoPhaseJson;
-
-  /**
-   * @generated from field: optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2;
-   */
-  chipFixedLoss?: SSL_BallModelChipFixedLossJson;
-};
-
-/**
- * Describes the message SSL_GeometryModels.
- * Use `create(SSL_GeometryModelsSchema)` to create a new message.
- */
-export const SSL_GeometryModelsSchema: GenMessage<SSL_GeometryModels, SSL_GeometryModelsJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_geometry, 7);
-
-/**
- * @generated from message SSL_GeometryData
- */
-export type SSL_GeometryData = Message<"SSL_GeometryData"> & {
-  /**
-   * @generated from field: required SSL_GeometryFieldSize field = 1;
-   */
-  field?: SSL_GeometryFieldSize;
-
-  /**
-   * @generated from field: repeated SSL_GeometryCameraCalibration calib = 2;
-   */
-  calib: SSL_GeometryCameraCalibration[];
-
-  /**
-   * @generated from field: optional SSL_GeometryModels models = 3;
-   */
-  models?: SSL_GeometryModels;
-};
-
-/**
- * @generated from message SSL_GeometryData
- */
-export type SSL_GeometryDataJson = {
-  /**
-   * @generated from field: required SSL_GeometryFieldSize field = 1;
-   */
-  field?: SSL_GeometryFieldSizeJson;
-
-  /**
-   * @generated from field: repeated SSL_GeometryCameraCalibration calib = 2;
-   */
-  calib?: SSL_GeometryCameraCalibrationJson[];
-
-  /**
-   * @generated from field: optional SSL_GeometryModels models = 3;
-   */
-  models?: SSL_GeometryModelsJson;
-};
-
-/**
- * Describes the message SSL_GeometryData.
- * Use `create(SSL_GeometryDataSchema)` to create a new message.
- */
-export const SSL_GeometryDataSchema: GenMessage<SSL_GeometryData, SSL_GeometryDataJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_geometry, 8);
-
-/**
- * @generated from enum SSL_FieldShapeType
- */
-export enum SSL_FieldShapeType {
-  /**
-   * @generated from enum value: Undefined = 0;
-   */
-  Undefined = 0,
-
-  /**
-   * @generated from enum value: CenterCircle = 1;
-   */
-  CenterCircle = 1,
-
-  /**
-   * @generated from enum value: TopTouchLine = 2;
-   */
-  TopTouchLine = 2,
-
-  /**
-   * @generated from enum value: BottomTouchLine = 3;
-   */
-  BottomTouchLine = 3,
-
-  /**
-   * @generated from enum value: LeftGoalLine = 4;
-   */
-  LeftGoalLine = 4,
-
-  /**
-   * @generated from enum value: RightGoalLine = 5;
-   */
-  RightGoalLine = 5,
-
-  /**
-   * @generated from enum value: HalfwayLine = 6;
-   */
-  HalfwayLine = 6,
-
-  /**
-   * @generated from enum value: CenterLine = 7;
-   */
-  CenterLine = 7,
-
-  /**
-   * @generated from enum value: LeftPenaltyStretch = 8;
-   */
-  LeftPenaltyStretch = 8,
-
-  /**
-   * @generated from enum value: RightPenaltyStretch = 9;
-   */
-  RightPenaltyStretch = 9,
-
-  /**
-   * @generated from enum value: LeftFieldLeftPenaltyStretch = 10;
-   */
-  LeftFieldLeftPenaltyStretch = 10,
-
-  /**
-   * @generated from enum value: LeftFieldRightPenaltyStretch = 11;
-   */
-  LeftFieldRightPenaltyStretch = 11,
-
-  /**
-   * @generated from enum value: RightFieldLeftPenaltyStretch = 12;
-   */
-  RightFieldLeftPenaltyStretch = 12,
-
-  /**
-   * @generated from enum value: RightFieldRightPenaltyStretch = 13;
-   */
-  RightFieldRightPenaltyStretch = 13,
-}
-
-/**
- * @generated from enum SSL_FieldShapeType
- */
-export type SSL_FieldShapeTypeJson = "Undefined" | "CenterCircle" | "TopTouchLine" | "BottomTouchLine" | "LeftGoalLine" | "RightGoalLine" | "HalfwayLine" | "CenterLine" | "LeftPenaltyStretch" | "RightPenaltyStretch" | "LeftFieldLeftPenaltyStretch" | "LeftFieldRightPenaltyStretch" | "RightFieldLeftPenaltyStretch" | "RightFieldRightPenaltyStretch";
-
-/**
- * Describes the enum SSL_FieldShapeType.
- */
-export const SSL_FieldShapeTypeSchema: GenEnum<SSL_FieldShapeType, SSL_FieldShapeTypeJson> = /*@__PURE__*/
-  enumDesc(file_vision_ssl_vision_geometry, 0);
-
diff --git a/gui/frontend/src/proto/vision/ssl_vision_wrapper_pb.ts b/gui/frontend/src/proto/vision/ssl_vision_wrapper_pb.ts
deleted file mode 100644
index 441bf5f..0000000
--- a/gui/frontend/src/proto/vision/ssl_vision_wrapper_pb.ts
+++ /dev/null
@@ -1,123 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file vision/ssl_vision_wrapper.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { SSL_DetectionFrame, SSL_DetectionFrameJson } from "./ssl_vision_detection_pb";
-import { file_vision_ssl_vision_detection } from "./ssl_vision_detection_pb";
-import type { SSL_GeometryData, SSL_GeometryDataJson } from "./ssl_vision_geometry_pb";
-import { file_vision_ssl_vision_geometry } from "./ssl_vision_geometry_pb";
-import type { SSL_VPConfig, SSL_VPConfigJson } from "./ssl_vp_config_pb";
-import { file_vision_ssl_vp_config } from "./ssl_vp_config_pb";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file vision/ssl_vision_wrapper.proto.
- */
-export const file_vision_ssl_vision_wrapper: GenFile = /*@__PURE__*/
-  fileDesc("Ch92aXNpb24vc3NsX3Zpc2lvbl93cmFwcGVyLnByb3RvIpwBChFTU0xfV3JhcHBlclBhY2tldBImCglkZXRlY3Rpb24YASABKAsyEy5TU0xfRGV0ZWN0aW9uRnJhbWUSIwoIZ2VvbWV0cnkYAiABKAsyES5TU0xfR2VvbWV0cnlEYXRhEhsKBnNvdXJjZRgDIAEoDjILLlNTTF9Tb3VyY2USHQoGY29uZmlnGAQgASgLMg0uU1NMX1ZQQ29uZmlnKqgBCgpTU0xfU291cmNlEhYKElNTTF9TT1VSQ0VfVU5LTk9XThAAEhQKEFNTTF9TT1VSQ0VfT1RIRVIQARIZChVTU0xfU09VUkNFX1NTTF9WSVNJT04QAhIfChtTU0xfU09VUkNFX1ZJU0lPTl9QUk9DRVNTT1IQAxIUChBTU0xfU09VUkNFX0dSU0lNEAQSGgoWU1NMX1NPVVJDRV9FUkZPUkNFX1NJTRAFQlpCFVNzbFZpc2lvbldyYXBwZXJQcm90b1ABWj9naXRodWIuY29tL1JvYm9DdXAtU1NML3NzbC12aXNpb24tcHJvY2Vzc29yL2d1aS9pbnRlcm5hbC92aXNpb24", [file_vision_ssl_vision_detection, file_vision_ssl_vision_geometry, file_vision_ssl_vp_config]);
-
-/**
- * @generated from message SSL_WrapperPacket
- */
-export type SSL_WrapperPacket = Message<"SSL_WrapperPacket"> & {
-  /**
-   * @generated from field: optional SSL_DetectionFrame detection = 1;
-   */
-  detection?: SSL_DetectionFrame;
-
-  /**
-   * @generated from field: optional SSL_GeometryData geometry = 2;
-   */
-  geometry?: SSL_GeometryData;
-
-  /**
-   * @generated from field: optional SSL_Source source = 3;
-   */
-  source: SSL_Source;
-
-  /**
-   * @generated from field: optional SSL_VPConfig config = 4;
-   */
-  config?: SSL_VPConfig;
-};
-
-/**
- * @generated from message SSL_WrapperPacket
- */
-export type SSL_WrapperPacketJson = {
-  /**
-   * @generated from field: optional SSL_DetectionFrame detection = 1;
-   */
-  detection?: SSL_DetectionFrameJson;
-
-  /**
-   * @generated from field: optional SSL_GeometryData geometry = 2;
-   */
-  geometry?: SSL_GeometryDataJson;
-
-  /**
-   * @generated from field: optional SSL_Source source = 3;
-   */
-  source?: SSL_SourceJson;
-
-  /**
-   * @generated from field: optional SSL_VPConfig config = 4;
-   */
-  config?: SSL_VPConfigJson;
-};
-
-/**
- * Describes the message SSL_WrapperPacket.
- * Use `create(SSL_WrapperPacketSchema)` to create a new message.
- */
-export const SSL_WrapperPacketSchema: GenMessage<SSL_WrapperPacket, SSL_WrapperPacketJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_wrapper, 0);
-
-/**
- * @generated from enum SSL_Source
- */
-export enum SSL_Source {
-  /**
-   * @generated from enum value: SSL_SOURCE_UNKNOWN = 0;
-   */
-  SSL_SOURCE_UNKNOWN = 0,
-
-  /**
-   * @generated from enum value: SSL_SOURCE_OTHER = 1;
-   */
-  SSL_SOURCE_OTHER = 1,
-
-  /**
-   * @generated from enum value: SSL_SOURCE_SSL_VISION = 2;
-   */
-  SSL_SOURCE_SSL_VISION = 2,
-
-  /**
-   * @generated from enum value: SSL_SOURCE_VISION_PROCESSOR = 3;
-   */
-  SSL_SOURCE_VISION_PROCESSOR = 3,
-
-  /**
-   * @generated from enum value: SSL_SOURCE_GRSIM = 4;
-   */
-  SSL_SOURCE_GRSIM = 4,
-
-  /**
-   * @generated from enum value: SSL_SOURCE_ERFORCE_SIM = 5;
-   */
-  SSL_SOURCE_ERFORCE_SIM = 5,
-}
-
-/**
- * @generated from enum SSL_Source
- */
-export type SSL_SourceJson = "SSL_SOURCE_UNKNOWN" | "SSL_SOURCE_OTHER" | "SSL_SOURCE_SSL_VISION" | "SSL_SOURCE_VISION_PROCESSOR" | "SSL_SOURCE_GRSIM" | "SSL_SOURCE_ERFORCE_SIM";
-
-/**
- * Describes the enum SSL_Source.
- */
-export const SSL_SourceSchema: GenEnum<SSL_Source, SSL_SourceJson> = /*@__PURE__*/
-  enumDesc(file_vision_ssl_vision_wrapper, 0);
-
diff --git a/gui/frontend/src/proto/vision/ssl_vision_wrapper_tracked_pb.ts b/gui/frontend/src/proto/vision/ssl_vision_wrapper_tracked_pb.ts
deleted file mode 100644
index 3c06af7..0000000
--- a/gui/frontend/src/proto/vision/ssl_vision_wrapper_tracked_pb.ts
+++ /dev/null
@@ -1,83 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file vision/ssl_vision_wrapper_tracked.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { TrackedFrame, TrackedFrameJson } from "./ssl_vision_detection_tracked_pb";
-import { file_vision_ssl_vision_detection_tracked } from "./ssl_vision_detection_tracked_pb";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file vision/ssl_vision_wrapper_tracked.proto.
- */
-export const file_vision_ssl_vision_wrapper_tracked: GenFile = /*@__PURE__*/
-  fileDesc("Cid2aXNpb24vc3NsX3Zpc2lvbl93cmFwcGVyX3RyYWNrZWQucHJvdG8iXwoUVHJhY2tlcldyYXBwZXJQYWNrZXQSDAoEdXVpZBgBIAIoCRITCgtzb3VyY2VfbmFtZRgCIAEoCRIkCg10cmFja2VkX2ZyYW1lGAMgASgLMg0uVHJhY2tlZEZyYW1lQmFCHFNzbFZpc2lvbldyYXBwZXJUcmFja2VkUHJvdG9QAVo/Z2l0aHViLmNvbS9Sb2JvQ3VwLVNTTC9zc2wtdmlzaW9uLXByb2Nlc3Nvci9ndWkvaW50ZXJuYWwvdmlzaW9u", [file_vision_ssl_vision_detection_tracked]);
-
-/**
- * A wrapper packet containing meta data of the source
- * Also serves for the possibility to extend the protocol later
- *
- * @generated from message TrackerWrapperPacket
- */
-export type TrackerWrapperPacket = Message<"TrackerWrapperPacket"> & {
-  /**
-   * A random UUID of the source that is kept constant at the source while running
-   * If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
-   *
-   * @generated from field: required string uuid = 1;
-   */
-  uuid: string;
-
-  /**
-   * The name of the source software that is producing this messages.
-   *
-   * @generated from field: optional string source_name = 2;
-   */
-  sourceName: string;
-
-  /**
-   * The tracked frame
-   *
-   * @generated from field: optional TrackedFrame tracked_frame = 3;
-   */
-  trackedFrame?: TrackedFrame;
-};
-
-/**
- * A wrapper packet containing meta data of the source
- * Also serves for the possibility to extend the protocol later
- *
- * @generated from message TrackerWrapperPacket
- */
-export type TrackerWrapperPacketJson = {
-  /**
-   * A random UUID of the source that is kept constant at the source while running
-   * If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
-   *
-   * @generated from field: required string uuid = 1;
-   */
-  uuid?: string;
-
-  /**
-   * The name of the source software that is producing this messages.
-   *
-   * @generated from field: optional string source_name = 2;
-   */
-  sourceName?: string;
-
-  /**
-   * The tracked frame
-   *
-   * @generated from field: optional TrackedFrame tracked_frame = 3;
-   */
-  trackedFrame?: TrackedFrameJson;
-};
-
-/**
- * Describes the message TrackerWrapperPacket.
- * Use `create(TrackerWrapperPacketSchema)` to create a new message.
- */
-export const TrackerWrapperPacketSchema: GenMessage<TrackerWrapperPacket, TrackerWrapperPacketJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vision_wrapper_tracked, 0);
-
diff --git a/gui/frontend/src/proto/vision/ssl_vp_config_pb.ts b/gui/frontend/src/proto/vision/ssl_vp_config_pb.ts
deleted file mode 100644
index 7762334..0000000
--- a/gui/frontend/src/proto/vision/ssl_vp_config_pb.ts
+++ /dev/null
@@ -1,951 +0,0 @@
-// @generated by protoc-gen-es v2.2.5 with parameter "target=ts,json_types=true"
-// @generated from file vision/ssl_vp_config.proto (syntax proto2)
-/* eslint-disable */
-
-import type { GenEnum, GenFile, GenMessage } from "@bufbuild/protobuf/codegenv1";
-import { enumDesc, fileDesc, messageDesc } from "@bufbuild/protobuf/codegenv1";
-import type { Vector2, Vector2Json } from "../gamecontroller/ssl_gc_geometry_pb";
-import { file_gamecontroller_ssl_gc_geometry } from "../gamecontroller/ssl_gc_geometry_pb";
-import type { Message } from "@bufbuild/protobuf";
-
-/**
- * Describes the file vision/ssl_vp_config.proto.
- */
-export const file_vision_ssl_vp_config: GenFile = /*@__PURE__*/
-  fileDesc("Chp2aXNpb24vc3NsX3ZwX2NvbmZpZy5wcm90byKXAgoSU1NMX1ZQQ29uZmlnQ2FtZXJhEikKBmRyaXZlchgBIAEoDjIZLlNTTF9WUENvbmZpZ0NhbWVyYURyaXZlchINCgJpZBgCIAEoDToBMBIOCgRwYXRoGAMgASgJOgASEAoFd2lkdGgYBCABKA06ATASEQoGaGVpZ2h0GAUgASgNOgEwEhMKCGV4cG9zdXJlGAYgASgCOgEwEg8KBGdhaW4YByABKAI6ATASEAoFZ2FtbWEYCCABKAI6ATESMwoHd2JfdHlwZRgJIAEoDjIZLlNTTF9WUENvbmZpZ0NhbWVyYVdCVHlwZToHT1VURE9PUhIRCgZ3Yl9yZWQYCiABKAI6ATESEgoHd2JfYmx1ZRgLIAEoAjoBMSKEAQoUU1NMX1ZQQ29uZmlnR2VvbWV0cnkSGAoNY2FtZXJhX2Ftb3VudBgBIAEoDToBMRIYCg1jYW1lcmFfaGVpZ2h0GAIgASgCOgEwEh4KDGxpbmVfY29ybmVycxgDIAMoCzIILlZlY3RvcjISGAoKcmVmaW5lbWVudBgEIAEoCDoEdHJ1ZSLUAQoWU1NMX1ZQQ29uZmlnVGhyZXNob2xkcxIXCgtjaXJjdWxhcml0eRgBIAEoAjoCMTUSEAoFc2NvcmUYAiABKAI6ATUSKwoObWluX2NvbmZpZGVuY2UYAyABKAI6EzAuMjAwMDAwMDAyOTgwMjMyMjQSIgoVbWluX2NhbV9lZGdlX2Rpc3RhbmNlGAQgASgCOgMxNzASHgoSY2xpcHBpbmdfdG9sZXJhbmNlGAUgASgCOgIxMBIeChJnZW9tZXRyeV90b2xlcmFuY2UYBiABKAI6AjEwIkAKBUNvbG9yEhAKA3JlZBgBIAEoDToDMTI4EhIKBWdyZWVuGAIgASgNOgMxMjgSEQoEYmx1ZRgDIAEoDToDMTI4IjoKB1ZQQ29sb3ISGQoJcmVmZXJlbmNlGAEgASgLMgYuQ29sb3ISFAoEbGl2ZRgCIAEoCzIGLkNvbG9yIoECChFTU0xfVlBDb25maWdDb2xvchIsCg9yZWZlcmVuY2VfZm9yY2UYASABKAI6EzAuMTAwMDAwMDAxNDkwMTE2MTISKAoNaGlzdG9yeV9mb3JjZRgCIAEoAjoRMC42OTk5OTk5ODgwNzkwNzESGAoGb3JhbmdlGAMgASgLMgguVlBDb2xvchIXCgVmaWVsZBgEIAEoCzIILlZQQ29sb3ISGAoGeWVsbG93GAUgASgLMgguVlBDb2xvchIWCgRibHVlGAYgASgLMgguVlBDb2xvchIXCgVncmVlbhgHIAEoCzIILlZQQ29sb3ISFgoEcGluaxgIIAEoCzIILlZQQ29sb3IiZwoTU1NMX1ZQQ29uZmlnTmV0d29yaxIZCgVnY19pcBgBIAEoCToKMjI0LjUuMjMuMRIWCgdnY19wb3J0GAIgASgNOgUxMDAwMxIdCgl2aXNpb25faXAYAyABKAk6CjIyNC41LjIzLjIikAEKElNTTF9WUENvbmZpZ1N0cmVhbRIUCgZhY3RpdmUYASABKAg6BHRydWUSKgoEdHlwZRgCIAEoDjIXLlNTTF9WUENvbmZpZ1N0cmVhbVR5cGU6A1JBVxIcCglzdHJlYW1faXAYAyABKAk6CTEyNy4wLjAuMRIaCgtzdHJlYW1fcG9ydBgEIAEoDToFMTAxMDAirwMKDFNTTF9WUENvbmZpZxIQCghpbnN0YW5jZRgBIAIoCRIUCgljYW1lcmFfaWQYAiABKA06ATASNgoNcm9ib3RfaGVpZ2h0cxgDIAMoCzIfLlNTTF9WUENvbmZpZy5Sb2JvdEhlaWdodHNFbnRyeRIjCgZjYW1lcmEYBCABKAsyEy5TU0xfVlBDb25maWdDYW1lcmESJwoIZ2VvbWV0cnkYBSABKAsyFS5TU0xfVlBDb25maWdHZW9tZXRyeRIrCgp0aHJlc2hvbGRzGAYgASgLMhcuU1NMX1ZQQ29uZmlnVGhyZXNob2xkcxIhCgVjb2xvchgHIAEoCzISLlNTTF9WUENvbmZpZ0NvbG9yEiUKB25ldHdvcmsYCCABKAsyFC5TU0xfVlBDb25maWdOZXR3b3JrEiMKBnN0cmVhbRgJIAEoCzITLlNTTF9WUENvbmZpZ1N0cmVhbRIgChF3YWl0X2Zvcl9nZW9tZXRyeRgKIAEoCDoFZmFsc2UaMwoRUm9ib3RIZWlnaHRzRW50cnkSCwoDa2V5GAEgASgJEg0KBXZhbHVlGAIgASgCOgI4ASpDChhTU0xfVlBDb25maWdDYW1lcmFEcml2ZXISDQoJU1BJTk5BS0VSEAASCgoGT1BFTkNWEAESDAoITVZJTVBBQ1QQAio/ChhTU0xfVlBDb25maWdDYW1lcmFXQlR5cGUSCwoHT1VURE9PUhAAEgoKBklORE9PUhABEgoKBk1BTlVBTBACKmkKFlNTTF9WUENvbmZpZ1N0cmVhbVR5cGUSBwoDUkFXEAASFgoSUkVQUk9KX0ZBTFNFX0NPTE9SEAESFwoTUkVQUk9KX0dSQURJRU5UX0RPVBACEhUKEVJFUFJPSl9CTE9CX1NDT1JFEANCVUIQU3NsVnBDb25maWdQcm90b1ABWj9naXRodWIuY29tL1JvYm9DdXAtU1NML3NzbC12aXNpb24tcHJvY2Vzc29yL2d1aS9pbnRlcm5hbC92aXNpb24", [file_gamecontroller_ssl_gc_geometry]);
-
-/**
- * @generated from message SSL_VPConfigCamera
- */
-export type SSL_VPConfigCamera = Message<"SSL_VPConfigCamera"> & {
-  /**
-   * Camera driver type. Availability depending on libraries installed.
-   *
-   * @generated from field: optional SSL_VPConfigCameraDriver driver = 1;
-   */
-  driver: SSL_VPConfigCameraDriver;
-
-  /**
-   * Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
-   *
-   * @generated from field: optional uint32 id = 2 [default = 0];
-   */
-  id: number;
-
-  /**
-   * OpenCV camera device, image or video file path (if unset id is used instead)
-   *
-   * @generated from field: optional string path = 3 [default = ""];
-   */
-  path: string;
-
-  /**
-   * Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
-   * 0 = Highest resolution supported by camera
-   *
-   * @generated from field: optional uint32 width = 4 [default = 0];
-   */
-  width: number;
-
-  /**
-   * @generated from field: optional uint32 height = 5 [default = 0];
-   */
-  height: number;
-
-  /**
-   * Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
-   * Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
-   * 0.0 = automatic exposure
-   *
-   * @generated from field: optional float exposure = 6 [default = 0];
-   */
-  exposure: number;
-
-  /**
-   * Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
-   * Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
-   * 0.0 = automatic gain
-   *
-   * @generated from field: optional float gain = 7 [default = 0];
-   */
-  gain: number;
-
-  /**
-   * Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
-   * Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
-   * 1.0 = no gamma
-   *
-   * @generated from field: optional float gamma = 8 [default = 1];
-   */
-  gamma: number;
-
-  /**
-   * Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
-   * (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
-   *
-   * @generated from field: optional SSL_VPConfigCameraWBType wb_type = 9 [default = OUTDOOR];
-   */
-  wbType: SSL_VPConfigCameraWBType;
-
-  /**
-   * @generated from field: optional float wb_red = 10 [default = 1];
-   */
-  wbRed: number;
-
-  /**
-   * @generated from field: optional float wb_blue = 11 [default = 1];
-   */
-  wbBlue: number;
-};
-
-/**
- * @generated from message SSL_VPConfigCamera
- */
-export type SSL_VPConfigCameraJson = {
-  /**
-   * Camera driver type. Availability depending on libraries installed.
-   *
-   * @generated from field: optional SSL_VPConfigCameraDriver driver = 1;
-   */
-  driver?: SSL_VPConfigCameraDriverJson;
-
-  /**
-   * Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
-   *
-   * @generated from field: optional uint32 id = 2 [default = 0];
-   */
-  id?: number;
-
-  /**
-   * OpenCV camera device, image or video file path (if unset id is used instead)
-   *
-   * @generated from field: optional string path = 3 [default = ""];
-   */
-  path?: string;
-
-  /**
-   * Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
-   * 0 = Highest resolution supported by camera
-   *
-   * @generated from field: optional uint32 width = 4 [default = 0];
-   */
-  width?: number;
-
-  /**
-   * @generated from field: optional uint32 height = 5 [default = 0];
-   */
-  height?: number;
-
-  /**
-   * Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
-   * Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
-   * 0.0 = automatic exposure
-   *
-   * @generated from field: optional float exposure = 6 [default = 0];
-   */
-  exposure?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
-   * Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
-   * 0.0 = automatic gain
-   *
-   * @generated from field: optional float gain = 7 [default = 0];
-   */
-  gain?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
-   * Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
-   * 1.0 = no gamma
-   *
-   * @generated from field: optional float gamma = 8 [default = 1];
-   */
-  gamma?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
-   * (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
-   *
-   * @generated from field: optional SSL_VPConfigCameraWBType wb_type = 9 [default = OUTDOOR];
-   */
-  wbType?: SSL_VPConfigCameraWBTypeJson;
-
-  /**
-   * @generated from field: optional float wb_red = 10 [default = 1];
-   */
-  wbRed?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * @generated from field: optional float wb_blue = 11 [default = 1];
-   */
-  wbBlue?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message SSL_VPConfigCamera.
- * Use `create(SSL_VPConfigCameraSchema)` to create a new message.
- */
-export const SSL_VPConfigCameraSchema: GenMessage<SSL_VPConfigCamera, SSL_VPConfigCameraJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vp_config, 0);
-
-/**
- * @generated from message SSL_VPConfigGeometry
- */
-export type SSL_VPConfigGeometry = Message<"SSL_VPConfigGeometry"> & {
-  /**
-   * Total camera amount over the field
-   *
-   * @generated from field: optional uint32 camera_amount = 1 [default = 1];
-   */
-  cameraAmount: number;
-
-  /**
-   * Camera height above field in mm
-   * 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field.
-   *
-   * @generated from field: optional float camera_height = 2 [default = 0];
-   */
-  cameraHeight: number;
-
-  /**
-   * Field line crossings at the edges of the camera extent in pixels from the top left image corner.
-   * The first coordinate must be the edge with the smallest x and y field coordinate.
-   *
-   * @generated from field: repeated Vector2 line_corners = 3;
-   */
-  lineCorners: Vector2[];
-
-  /**
-   * Enable field line pixel refinement.
-   * Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
-   *
-   * @generated from field: optional bool refinement = 4 [default = true];
-   */
-  refinement: boolean;
-};
-
-/**
- * @generated from message SSL_VPConfigGeometry
- */
-export type SSL_VPConfigGeometryJson = {
-  /**
-   * Total camera amount over the field
-   *
-   * @generated from field: optional uint32 camera_amount = 1 [default = 1];
-   */
-  cameraAmount?: number;
-
-  /**
-   * Camera height above field in mm
-   * 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field.
-   *
-   * @generated from field: optional float camera_height = 2 [default = 0];
-   */
-  cameraHeight?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Field line crossings at the edges of the camera extent in pixels from the top left image corner.
-   * The first coordinate must be the edge with the smallest x and y field coordinate.
-   *
-   * @generated from field: repeated Vector2 line_corners = 3;
-   */
-  lineCorners?: Vector2Json[];
-
-  /**
-   * Enable field line pixel refinement.
-   * Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
-   *
-   * @generated from field: optional bool refinement = 4 [default = true];
-   */
-  refinement?: boolean;
-};
-
-/**
- * Describes the message SSL_VPConfigGeometry.
- * Use `create(SSL_VPConfigGeometrySchema)` to create a new message.
- */
-export const SSL_VPConfigGeometrySchema: GenMessage<SSL_VPConfigGeometry, SSL_VPConfigGeometryJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vp_config, 1);
-
-/**
- * @generated from message SSL_VPConfigThresholds
- */
-export type SSL_VPConfigThresholds = Message<"SSL_VPConfigThresholds"> & {
-  /**
-   * Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
-   * High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
-   *
-   * @generated from field: optional float circularity = 1 [default = 15];
-   */
-  circularity: number;
-
-  /**
-   * Minimum circularity/(3*stddev) ball blob score
-   *
-   * @generated from field: optional float score = 2 [default = 5];
-   */
-  score: number;
-
-  /**
-   * Minimum confidence (0.0 - 1.0)
-   *
-   * @generated from field: optional float min_confidence = 3 [default = 0.20000000298023224];
-   */
-  minConfidence: number;
-
-  /**
-   * Min ball camera edge distance in mm
-   *
-   * @generated from field: optional float min_cam_edge_distance = 4 [default = 170];
-   */
-  minCamEdgeDistance: number;
-
-  /**
-   * Maximum allowed clipping of two objects in mm
-   *
-   * @generated from field: optional float clipping_tolerance = 5 [default = 10];
-   */
-  clippingTolerance: number;
-
-  /**
-   * Added tolerance to geometry related operations in mm.
-   * Affects field border cutoff area and field line blob classification.
-   *
-   * @generated from field: optional float geometry_tolerance = 6 [default = 10];
-   */
-  geometryTolerance: number;
-};
-
-/**
- * @generated from message SSL_VPConfigThresholds
- */
-export type SSL_VPConfigThresholdsJson = {
-  /**
-   * Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
-   * High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
-   *
-   * @generated from field: optional float circularity = 1 [default = 15];
-   */
-  circularity?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Minimum circularity/(3*stddev) ball blob score
-   *
-   * @generated from field: optional float score = 2 [default = 5];
-   */
-  score?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Minimum confidence (0.0 - 1.0)
-   *
-   * @generated from field: optional float min_confidence = 3 [default = 0.20000000298023224];
-   */
-  minConfidence?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Min ball camera edge distance in mm
-   *
-   * @generated from field: optional float min_cam_edge_distance = 4 [default = 170];
-   */
-  minCamEdgeDistance?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Maximum allowed clipping of two objects in mm
-   *
-   * @generated from field: optional float clipping_tolerance = 5 [default = 10];
-   */
-  clippingTolerance?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Added tolerance to geometry related operations in mm.
-   * Affects field border cutoff area and field line blob classification.
-   *
-   * @generated from field: optional float geometry_tolerance = 6 [default = 10];
-   */
-  geometryTolerance?: number | "NaN" | "Infinity" | "-Infinity";
-};
-
-/**
- * Describes the message SSL_VPConfigThresholds.
- * Use `create(SSL_VPConfigThresholdsSchema)` to create a new message.
- */
-export const SSL_VPConfigThresholdsSchema: GenMessage<SSL_VPConfigThresholds, SSL_VPConfigThresholdsJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vp_config, 2);
-
-/**
- * @generated from message Color
- */
-export type Color = Message<"Color"> & {
-  /**
-   * @generated from field: optional uint32 red = 1 [default = 128];
-   */
-  red: number;
-
-  /**
-   * @generated from field: optional uint32 green = 2 [default = 128];
-   */
-  green: number;
-
-  /**
-   * @generated from field: optional uint32 blue = 3 [default = 128];
-   */
-  blue: number;
-};
-
-/**
- * @generated from message Color
- */
-export type ColorJson = {
-  /**
-   * @generated from field: optional uint32 red = 1 [default = 128];
-   */
-  red?: number;
-
-  /**
-   * @generated from field: optional uint32 green = 2 [default = 128];
-   */
-  green?: number;
-
-  /**
-   * @generated from field: optional uint32 blue = 3 [default = 128];
-   */
-  blue?: number;
-};
-
-/**
- * Describes the message Color.
- * Use `create(ColorSchema)` to create a new message.
- */
-export const ColorSchema: GenMessage<Color, ColorJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vp_config, 3);
-
-/**
- * @generated from message VPColor
- */
-export type VPColor = Message<"VPColor"> & {
-  /**
-   * @generated from field: optional Color reference = 1;
-   */
-  reference?: Color;
-
-  /**
-   * @generated from field: optional Color live = 2;
-   */
-  live?: Color;
-};
-
-/**
- * @generated from message VPColor
- */
-export type VPColorJson = {
-  /**
-   * @generated from field: optional Color reference = 1;
-   */
-  reference?: ColorJson;
-
-  /**
-   * @generated from field: optional Color live = 2;
-   */
-  live?: ColorJson;
-};
-
-/**
- * Describes the message VPColor.
- * Use `create(VPColorSchema)` to create a new message.
- */
-export const VPColorSchema: GenMessage<VPColor, VPColorJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vp_config, 4);
-
-/**
- * @generated from message SSL_VPConfigColor
- */
-export type SSL_VPConfigColor = Message<"SSL_VPConfigColor"> & {
-  /**
-   * Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
-   *
-   * @generated from field: optional float reference_force = 1 [default = 0.10000000149011612];
-   */
-  referenceForce: number;
-
-  /**
-   * Strength of the previous color during color updates (0.0 - 1.0-reference_force)
-   *
-   * @generated from field: optional float history_force = 2 [default = 0.699999988079071];
-   */
-  historyForce: number;
-
-  /**
-   * Colors used for ball determination
-   *
-   * @generated from field: optional VPColor orange = 3;
-   */
-  orange?: VPColor;
-
-  /**
-   * @generated from field: optional VPColor field = 4;
-   */
-  field?: VPColor;
-
-  /**
-   * Colors used for center blob determination
-   *
-   * @generated from field: optional VPColor yellow = 5;
-   */
-  yellow?: VPColor;
-
-  /**
-   * @generated from field: optional VPColor blue = 6;
-   */
-  blue?: VPColor;
-
-  /**
-   * Colors used for side blob determination
-   *
-   * @generated from field: optional VPColor green = 7;
-   */
-  green?: VPColor;
-
-  /**
-   * @generated from field: optional VPColor pink = 8;
-   */
-  pink?: VPColor;
-};
-
-/**
- * @generated from message SSL_VPConfigColor
- */
-export type SSL_VPConfigColorJson = {
-  /**
-   * Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
-   *
-   * @generated from field: optional float reference_force = 1 [default = 0.10000000149011612];
-   */
-  referenceForce?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Strength of the previous color during color updates (0.0 - 1.0-reference_force)
-   *
-   * @generated from field: optional float history_force = 2 [default = 0.699999988079071];
-   */
-  historyForce?: number | "NaN" | "Infinity" | "-Infinity";
-
-  /**
-   * Colors used for ball determination
-   *
-   * @generated from field: optional VPColor orange = 3;
-   */
-  orange?: VPColorJson;
-
-  /**
-   * @generated from field: optional VPColor field = 4;
-   */
-  field?: VPColorJson;
-
-  /**
-   * Colors used for center blob determination
-   *
-   * @generated from field: optional VPColor yellow = 5;
-   */
-  yellow?: VPColorJson;
-
-  /**
-   * @generated from field: optional VPColor blue = 6;
-   */
-  blue?: VPColorJson;
-
-  /**
-   * Colors used for side blob determination
-   *
-   * @generated from field: optional VPColor green = 7;
-   */
-  green?: VPColorJson;
-
-  /**
-   * @generated from field: optional VPColor pink = 8;
-   */
-  pink?: VPColorJson;
-};
-
-/**
- * Describes the message SSL_VPConfigColor.
- * Use `create(SSL_VPConfigColorSchema)` to create a new message.
- */
-export const SSL_VPConfigColorSchema: GenMessage<SSL_VPConfigColor, SSL_VPConfigColorJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vp_config, 5);
-
-/**
- * @generated from message SSL_VPConfigNetwork
- */
-export type SSL_VPConfigNetwork = Message<"SSL_VPConfigNetwork"> & {
-  /**
-   * Game controller ip address
-   *
-   * @generated from field: optional string gc_ip = 1 [default = "224.5.23.1"];
-   */
-  gcIp: string;
-
-  /**
-   * Game controller UDP port
-   *
-   * @generated from field: optional uint32 gc_port = 2 [default = 10003];
-   */
-  gcPort: number;
-
-  /**
-   * Vision IP address (port impossible to adjust over network)
-   *
-   * @generated from field: optional string vision_ip = 3 [default = "224.5.23.2"];
-   */
-  visionIp: string;
-};
-
-/**
- * @generated from message SSL_VPConfigNetwork
- */
-export type SSL_VPConfigNetworkJson = {
-  /**
-   * Game controller ip address
-   *
-   * @generated from field: optional string gc_ip = 1 [default = "224.5.23.1"];
-   */
-  gcIp?: string;
-
-  /**
-   * Game controller UDP port
-   *
-   * @generated from field: optional uint32 gc_port = 2 [default = 10003];
-   */
-  gcPort?: number;
-
-  /**
-   * Vision IP address (port impossible to adjust over network)
-   *
-   * @generated from field: optional string vision_ip = 3 [default = "224.5.23.2"];
-   */
-  visionIp?: string;
-};
-
-/**
- * Describes the message SSL_VPConfigNetwork.
- * Use `create(SSL_VPConfigNetworkSchema)` to create a new message.
- */
-export const SSL_VPConfigNetworkSchema: GenMessage<SSL_VPConfigNetwork, SSL_VPConfigNetworkJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vp_config, 6);
-
-/**
- * @generated from message SSL_VPConfigStream
- */
-export type SSL_VPConfigStream = Message<"SSL_VPConfigStream"> & {
-  /**
-   * If false no network live stream will be encoded and sent.
-   *
-   * @generated from field: optional bool active = 1 [default = true];
-   */
-  active: boolean;
-
-  /**
-   * Type of image to transmit.
-   *
-   * @generated from field: optional SSL_VPConfigStreamType type = 2 [default = RAW];
-   */
-  type: SSL_VPConfigStreamType;
-
-  /**
-   * Camera RTP stream destination IP
-   *
-   * @generated from field: optional string stream_ip = 3 [default = "127.0.0.1"];
-   */
-  streamIp: string;
-
-  /**
-   * @generated from field: optional uint32 stream_port = 4 [default = 10100];
-   */
-  streamPort: number;
-};
-
-/**
- * @generated from message SSL_VPConfigStream
- */
-export type SSL_VPConfigStreamJson = {
-  /**
-   * If false no network live stream will be encoded and sent.
-   *
-   * @generated from field: optional bool active = 1 [default = true];
-   */
-  active?: boolean;
-
-  /**
-   * Type of image to transmit.
-   *
-   * @generated from field: optional SSL_VPConfigStreamType type = 2 [default = RAW];
-   */
-  type?: SSL_VPConfigStreamTypeJson;
-
-  /**
-   * Camera RTP stream destination IP
-   *
-   * @generated from field: optional string stream_ip = 3 [default = "127.0.0.1"];
-   */
-  streamIp?: string;
-
-  /**
-   * @generated from field: optional uint32 stream_port = 4 [default = 10100];
-   */
-  streamPort?: number;
-};
-
-/**
- * Describes the message SSL_VPConfigStream.
- * Use `create(SSL_VPConfigStreamSchema)` to create a new message.
- */
-export const SSL_VPConfigStreamSchema: GenMessage<SSL_VPConfigStream, SSL_VPConfigStreamJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vp_config, 7);
-
-/**
- * @generated from message SSL_VPConfig
- */
-export type SSL_VPConfig = Message<"SSL_VPConfig"> & {
-  /**
-   * Persistent human-readable network unique identifier (e.g. hostname or hostname:suffix if multiple VP instances on the same host).
-   *
-   * @generated from field: required string instance = 1;
-   */
-  instance: string;
-
-  /**
-   * Corresponding to the camera_id used in SSL_DetectionFrame. Unique per field and implies position on the field:
-   * Single camera field: 0 = global field
-   * Double camera field: 0 = -x side, 1 = +x side
-   * Quadruple cam field: 0 = -x and -y, 1 = -x and +y, 2 = +x and -y, 3 = +x and +y
-   * Configuration for more cams depending on field shape.
-   *
-   * @generated from field: optional uint32 camera_id = 2 [default = 0];
-   */
-  cameraId: number;
-
-  /**
-   * Database of SSL game controller team names and robot heights in mm.
-   * If the team broadcasted by the game controller has no entry, the average robot height is used.
-   *
-   * @generated from field: map<string, float> robot_heights = 3;
-   */
-  robotHeights: { [key: string]: number };
-
-  /**
-   * @generated from field: optional SSL_VPConfigCamera camera = 4;
-   */
-  camera?: SSL_VPConfigCamera;
-
-  /**
-   * @generated from field: optional SSL_VPConfigGeometry geometry = 5;
-   */
-  geometry?: SSL_VPConfigGeometry;
-
-  /**
-   * @generated from field: optional SSL_VPConfigThresholds thresholds = 6;
-   */
-  thresholds?: SSL_VPConfigThresholds;
-
-  /**
-   * @generated from field: optional SSL_VPConfigColor color = 7;
-   */
-  color?: SSL_VPConfigColor;
-
-  /**
-   * @generated from field: optional SSL_VPConfigNetwork network = 8;
-   */
-  network?: SSL_VPConfigNetwork;
-
-  /**
-   * @generated from field: optional SSL_VPConfigStream stream = 9;
-   */
-  stream?: SSL_VPConfigStream;
-
-  /**
-   * Wait for geometry prior to processing frames
-   *
-   * @generated from field: optional bool wait_for_geometry = 10 [default = false];
-   */
-  waitForGeometry: boolean;
-};
-
-/**
- * @generated from message SSL_VPConfig
- */
-export type SSL_VPConfigJson = {
-  /**
-   * Persistent human-readable network unique identifier (e.g. hostname or hostname:suffix if multiple VP instances on the same host).
-   *
-   * @generated from field: required string instance = 1;
-   */
-  instance?: string;
-
-  /**
-   * Corresponding to the camera_id used in SSL_DetectionFrame. Unique per field and implies position on the field:
-   * Single camera field: 0 = global field
-   * Double camera field: 0 = -x side, 1 = +x side
-   * Quadruple cam field: 0 = -x and -y, 1 = -x and +y, 2 = +x and -y, 3 = +x and +y
-   * Configuration for more cams depending on field shape.
-   *
-   * @generated from field: optional uint32 camera_id = 2 [default = 0];
-   */
-  cameraId?: number;
-
-  /**
-   * Database of SSL game controller team names and robot heights in mm.
-   * If the team broadcasted by the game controller has no entry, the average robot height is used.
-   *
-   * @generated from field: map<string, float> robot_heights = 3;
-   */
-  robotHeights?: { [key: string]: number | "NaN" | "Infinity" | "-Infinity" };
-
-  /**
-   * @generated from field: optional SSL_VPConfigCamera camera = 4;
-   */
-  camera?: SSL_VPConfigCameraJson;
-
-  /**
-   * @generated from field: optional SSL_VPConfigGeometry geometry = 5;
-   */
-  geometry?: SSL_VPConfigGeometryJson;
-
-  /**
-   * @generated from field: optional SSL_VPConfigThresholds thresholds = 6;
-   */
-  thresholds?: SSL_VPConfigThresholdsJson;
-
-  /**
-   * @generated from field: optional SSL_VPConfigColor color = 7;
-   */
-  color?: SSL_VPConfigColorJson;
-
-  /**
-   * @generated from field: optional SSL_VPConfigNetwork network = 8;
-   */
-  network?: SSL_VPConfigNetworkJson;
-
-  /**
-   * @generated from field: optional SSL_VPConfigStream stream = 9;
-   */
-  stream?: SSL_VPConfigStreamJson;
-
-  /**
-   * Wait for geometry prior to processing frames
-   *
-   * @generated from field: optional bool wait_for_geometry = 10 [default = false];
-   */
-  waitForGeometry?: boolean;
-};
-
-/**
- * Describes the message SSL_VPConfig.
- * Use `create(SSL_VPConfigSchema)` to create a new message.
- */
-export const SSL_VPConfigSchema: GenMessage<SSL_VPConfig, SSL_VPConfigJson> = /*@__PURE__*/
-  messageDesc(file_vision_ssl_vp_config, 8);
-
-/**
- * @generated from enum SSL_VPConfigCameraDriver
- */
-export enum SSL_VPConfigCameraDriver {
-  /**
-   * FLIR cameras
-   *
-   * @generated from enum value: SPINNAKER = 0;
-   */
-  SPINNAKER = 0,
-
-  /**
-   * Video and image files, video4linux2 (e.g. webcams) cameras
-   *
-   * @generated from enum value: OPENCV = 1;
-   */
-  OPENCV = 1,
-
-  /**
-   * Bluefox3 cameras
-   *
-   * @generated from enum value: MVIMPACT = 2;
-   */
-  MVIMPACT = 2,
-}
-
-/**
- * @generated from enum SSL_VPConfigCameraDriver
- */
-export type SSL_VPConfigCameraDriverJson = "SPINNAKER" | "OPENCV" | "MVIMPACT";
-
-/**
- * Describes the enum SSL_VPConfigCameraDriver.
- */
-export const SSL_VPConfigCameraDriverSchema: GenEnum<SSL_VPConfigCameraDriver, SSL_VPConfigCameraDriverJson> = /*@__PURE__*/
-  enumDesc(file_vision_ssl_vp_config, 0);
-
-/**
- * @generated from enum SSL_VPConfigCameraWBType
- */
-export enum SSL_VPConfigCameraWBType {
-  /**
-   * @generated from enum value: OUTDOOR = 0;
-   */
-  OUTDOOR = 0,
-
-  /**
-   * @generated from enum value: INDOOR = 1;
-   */
-  INDOOR = 1,
-
-  /**
-   * @generated from enum value: MANUAL = 2;
-   */
-  MANUAL = 2,
-}
-
-/**
- * @generated from enum SSL_VPConfigCameraWBType
- */
-export type SSL_VPConfigCameraWBTypeJson = "OUTDOOR" | "INDOOR" | "MANUAL";
-
-/**
- * Describes the enum SSL_VPConfigCameraWBType.
- */
-export const SSL_VPConfigCameraWBTypeSchema: GenEnum<SSL_VPConfigCameraWBType, SSL_VPConfigCameraWBTypeJson> = /*@__PURE__*/
-  enumDesc(file_vision_ssl_vp_config, 1);
-
-/**
- * @generated from enum SSL_VPConfigStreamType
- */
-export enum SSL_VPConfigStreamType {
-  /**
-   * @generated from enum value: RAW = 0;
-   */
-  RAW = 0,
-
-  /**
-   * @generated from enum value: REPROJ_FALSE_COLOR = 1;
-   */
-  REPROJ_FALSE_COLOR = 1,
-
-  /**
-   * @generated from enum value: REPROJ_GRADIENT_DOT = 2;
-   */
-  REPROJ_GRADIENT_DOT = 2,
-
-  /**
-   * @generated from enum value: REPROJ_BLOB_SCORE = 3;
-   */
-  REPROJ_BLOB_SCORE = 3,
-}
-
-/**
- * @generated from enum SSL_VPConfigStreamType
- */
-export type SSL_VPConfigStreamTypeJson = "RAW" | "REPROJ_FALSE_COLOR" | "REPROJ_GRADIENT_DOT" | "REPROJ_BLOB_SCORE";
-
-/**
- * Describes the enum SSL_VPConfigStreamType.
- */
-export const SSL_VPConfigStreamTypeSchema: GenEnum<SSL_VPConfigStreamType, SSL_VPConfigStreamTypeJson> = /*@__PURE__*/
-  enumDesc(file_vision_ssl_vp_config, 2);
-
diff --git a/gui/go.mod b/gui/go.mod
index 619772b..3b78cb2 100644
--- a/gui/go.mod
+++ b/gui/go.mod
@@ -18,3 +18,5 @@ require (
 	golang.org/x/net v0.55.0 // indirect
 	golang.org/x/sys v0.45.0 // indirect
 )
+
+tool google.golang.org/protobuf/cmd/protoc-gen-go
diff --git a/gui/internal/gamecontroller/ssl_gc_common.pb.go b/gui/internal/gamecontroller/ssl_gc_common.pb.go
deleted file mode 100644
index c9ee1ad..0000000
--- a/gui/internal/gamecontroller/ssl_gc_common.pb.go
+++ /dev/null
@@ -1,271 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: gamecontroller/ssl_gc_common.proto
-
-package gamecontroller
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-// Team is either blue or yellow
-type Team int32
-
-const (
-	// team not set
-	Team_UNKNOWN Team = 0
-	// yellow team
-	Team_YELLOW Team = 1
-	// blue team
-	Team_BLUE Team = 2
-)
-
-// Enum value maps for Team.
-var (
-	Team_name = map[int32]string{
-		0: "UNKNOWN",
-		1: "YELLOW",
-		2: "BLUE",
-	}
-	Team_value = map[string]int32{
-		"UNKNOWN": 0,
-		"YELLOW":  1,
-		"BLUE":    2,
-	}
-)
-
-func (x Team) Enum() *Team {
-	p := new(Team)
-	*p = x
-	return p
-}
-
-func (x Team) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (Team) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_common_proto_enumTypes[0].Descriptor()
-}
-
-func (Team) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_common_proto_enumTypes[0]
-}
-
-func (x Team) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *Team) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = Team(num)
-	return nil
-}
-
-// Deprecated: Use Team.Descriptor instead.
-func (Team) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_common_proto_rawDescGZIP(), []int{0}
-}
-
-// Division denotes the current division, which influences some rules
-type Division int32
-
-const (
-	Division_DIV_UNKNOWN Division = 0
-	Division_DIV_A       Division = 1
-	Division_DIV_B       Division = 2
-)
-
-// Enum value maps for Division.
-var (
-	Division_name = map[int32]string{
-		0: "DIV_UNKNOWN",
-		1: "DIV_A",
-		2: "DIV_B",
-	}
-	Division_value = map[string]int32{
-		"DIV_UNKNOWN": 0,
-		"DIV_A":       1,
-		"DIV_B":       2,
-	}
-)
-
-func (x Division) Enum() *Division {
-	p := new(Division)
-	*p = x
-	return p
-}
-
-func (x Division) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (Division) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_common_proto_enumTypes[1].Descriptor()
-}
-
-func (Division) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_common_proto_enumTypes[1]
-}
-
-func (x Division) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *Division) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = Division(num)
-	return nil
-}
-
-// Deprecated: Use Division.Descriptor instead.
-func (Division) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_common_proto_rawDescGZIP(), []int{1}
-}
-
-// RobotId is the combination of a team and a robot id
-type RobotId struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the robot number
-	Id *uint32 `protobuf:"varint,1,opt,name=id" json:"id,omitempty"`
-	// the team that the robot belongs to
-	Team          *Team `protobuf:"varint,2,opt,name=team,enum=Team" json:"team,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *RobotId) Reset() {
-	*x = RobotId{}
-	mi := &file_gamecontroller_ssl_gc_common_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *RobotId) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*RobotId) ProtoMessage() {}
-
-func (x *RobotId) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_common_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use RobotId.ProtoReflect.Descriptor instead.
-func (*RobotId) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_common_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *RobotId) GetId() uint32 {
-	if x != nil && x.Id != nil {
-		return *x.Id
-	}
-	return 0
-}
-
-func (x *RobotId) GetTeam() Team {
-	if x != nil && x.Team != nil {
-		return *x.Team
-	}
-	return Team_UNKNOWN
-}
-
-var File_gamecontroller_ssl_gc_common_proto protoreflect.FileDescriptor
-
-const file_gamecontroller_ssl_gc_common_proto_rawDesc = "" +
-	"\n" +
-	"\"gamecontroller/ssl_gc_common.proto\"4\n" +
-	"\aRobotId\x12\x0e\n" +
-	"\x02id\x18\x01 \x01(\rR\x02id\x12\x19\n" +
-	"\x04team\x18\x02 \x01(\x0e2\x05.TeamR\x04team*)\n" +
-	"\x04Team\x12\v\n" +
-	"\aUNKNOWN\x10\x00\x12\n" +
-	"\n" +
-	"\x06YELLOW\x10\x01\x12\b\n" +
-	"\x04BLUE\x10\x02*1\n" +
-	"\bDivision\x12\x0f\n" +
-	"\vDIV_UNKNOWN\x10\x00\x12\t\n" +
-	"\x05DIV_A\x10\x01\x12\t\n" +
-	"\x05DIV_B\x10\x02B]B\x10SslGcCommonProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
-
-var (
-	file_gamecontroller_ssl_gc_common_proto_rawDescOnce sync.Once
-	file_gamecontroller_ssl_gc_common_proto_rawDescData []byte
-)
-
-func file_gamecontroller_ssl_gc_common_proto_rawDescGZIP() []byte {
-	file_gamecontroller_ssl_gc_common_proto_rawDescOnce.Do(func() {
-		file_gamecontroller_ssl_gc_common_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_common_proto_rawDesc), len(file_gamecontroller_ssl_gc_common_proto_rawDesc)))
-	})
-	return file_gamecontroller_ssl_gc_common_proto_rawDescData
-}
-
-var file_gamecontroller_ssl_gc_common_proto_enumTypes = make([]protoimpl.EnumInfo, 2)
-var file_gamecontroller_ssl_gc_common_proto_msgTypes = make([]protoimpl.MessageInfo, 1)
-var file_gamecontroller_ssl_gc_common_proto_goTypes = []any{
-	(Team)(0),       // 0: Team
-	(Division)(0),   // 1: Division
-	(*RobotId)(nil), // 2: RobotId
-}
-var file_gamecontroller_ssl_gc_common_proto_depIdxs = []int32{
-	0, // 0: RobotId.team:type_name -> Team
-	1, // [1:1] is the sub-list for method output_type
-	1, // [1:1] is the sub-list for method input_type
-	1, // [1:1] is the sub-list for extension type_name
-	1, // [1:1] is the sub-list for extension extendee
-	0, // [0:1] is the sub-list for field type_name
-}
-
-func init() { file_gamecontroller_ssl_gc_common_proto_init() }
-func file_gamecontroller_ssl_gc_common_proto_init() {
-	if File_gamecontroller_ssl_gc_common_proto != nil {
-		return
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_common_proto_rawDesc), len(file_gamecontroller_ssl_gc_common_proto_rawDesc)),
-			NumEnums:      2,
-			NumMessages:   1,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_gamecontroller_ssl_gc_common_proto_goTypes,
-		DependencyIndexes: file_gamecontroller_ssl_gc_common_proto_depIdxs,
-		EnumInfos:         file_gamecontroller_ssl_gc_common_proto_enumTypes,
-		MessageInfos:      file_gamecontroller_ssl_gc_common_proto_msgTypes,
-	}.Build()
-	File_gamecontroller_ssl_gc_common_proto = out.File
-	file_gamecontroller_ssl_gc_common_proto_goTypes = nil
-	file_gamecontroller_ssl_gc_common_proto_depIdxs = nil
-}
diff --git a/gui/internal/gamecontroller/ssl_gc_game_event.pb.go b/gui/internal/gamecontroller/ssl_gc_game_event.pb.go
deleted file mode 100644
index 8c20140..0000000
--- a/gui/internal/gamecontroller/ssl_gc_game_event.pb.go
+++ /dev/null
@@ -1,4459 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: gamecontroller/ssl_gc_game_event.proto
-
-package gamecontroller
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-type GameEvent_Type int32
-
-const (
-	GameEvent_UNKNOWN_GAME_EVENT_TYPE               GameEvent_Type = 0
-	GameEvent_BALL_LEFT_FIELD_TOUCH_LINE            GameEvent_Type = 6  // triggered by autoRef
-	GameEvent_BALL_LEFT_FIELD_GOAL_LINE             GameEvent_Type = 7  // triggered by autoRef
-	GameEvent_AIMLESS_KICK                          GameEvent_Type = 11 // triggered by autoRef
-	GameEvent_ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA    GameEvent_Type = 19 // triggered by autoRef
-	GameEvent_DEFENDER_IN_DEFENSE_AREA              GameEvent_Type = 31 // triggered by autoRef
-	GameEvent_BOUNDARY_CROSSING                     GameEvent_Type = 41 // triggered by autoRef
-	GameEvent_KEEPER_HELD_BALL                      GameEvent_Type = 13 // triggered by GC
-	GameEvent_BOT_DRIBBLED_BALL_TOO_FAR             GameEvent_Type = 17 // triggered by autoRef
-	GameEvent_BOT_PUSHED_BOT                        GameEvent_Type = 24 // triggered by human ref
-	GameEvent_BOT_HELD_BALL_DELIBERATELY            GameEvent_Type = 26 // triggered by human ref
-	GameEvent_BOT_TIPPED_OVER                       GameEvent_Type = 27 // triggered by human ref
-	GameEvent_BOT_DROPPED_PARTS                     GameEvent_Type = 47 // triggered by human ref
-	GameEvent_ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA GameEvent_Type = 15 // triggered by autoRef
-	GameEvent_BOT_KICKED_BALL_TOO_FAST              GameEvent_Type = 18 // triggered by autoRef
-	GameEvent_BOT_CRASH_UNIQUE                      GameEvent_Type = 22 // triggered by autoRef
-	GameEvent_BOT_CRASH_DRAWN                       GameEvent_Type = 21 // triggered by autoRef
-	GameEvent_DEFENDER_TOO_CLOSE_TO_KICK_POINT      GameEvent_Type = 29 // triggered by autoRef
-	GameEvent_BOT_TOO_FAST_IN_STOP                  GameEvent_Type = 28 // triggered by autoRef
-	GameEvent_BOT_INTERFERED_PLACEMENT              GameEvent_Type = 20 // triggered by autoRef
-	GameEvent_EXCESSIVE_BOT_SUBSTITUTION            GameEvent_Type = 48 // triggered by GC
-	GameEvent_POSSIBLE_GOAL                         GameEvent_Type = 39 // triggered by autoRef
-	GameEvent_GOAL                                  GameEvent_Type = 8  // triggered by GC
-	GameEvent_INVALID_GOAL                          GameEvent_Type = 42 // triggered by GC
-	GameEvent_ATTACKER_DOUBLE_TOUCHED_BALL          GameEvent_Type = 14 // triggered by autoRef
-	GameEvent_PLACEMENT_SUCCEEDED                   GameEvent_Type = 5  // triggered by autoRef
-	GameEvent_PENALTY_KICK_FAILED                   GameEvent_Type = 43 // triggered by GC and autoRef
-	GameEvent_NO_PROGRESS_IN_GAME                   GameEvent_Type = 2  // triggered by GC
-	GameEvent_PLACEMENT_FAILED                      GameEvent_Type = 3  // triggered by GC
-	GameEvent_MULTIPLE_CARDS                        GameEvent_Type = 32 // triggered by GC
-	GameEvent_MULTIPLE_FOULS                        GameEvent_Type = 34 // triggered by GC
-	GameEvent_BOT_SUBSTITUTION                      GameEvent_Type = 37 // triggered by GC
-	GameEvent_TOO_MANY_ROBOTS                       GameEvent_Type = 38 // triggered by GC
-	GameEvent_CHALLENGE_FLAG                        GameEvent_Type = 44 // triggered by GC
-	GameEvent_CHALLENGE_FLAG_HANDLED                GameEvent_Type = 46 // triggered by GC
-	GameEvent_EMERGENCY_STOP                        GameEvent_Type = 45 // triggered by GC
-	GameEvent_UNSPORTING_BEHAVIOR_MINOR             GameEvent_Type = 35 // triggered by human ref
-	GameEvent_UNSPORTING_BEHAVIOR_MAJOR             GameEvent_Type = 36 // triggered by human ref
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	GameEvent_PREPARED GameEvent_Type = 1
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	GameEvent_INDIRECT_GOAL GameEvent_Type = 9
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	GameEvent_CHIPPED_GOAL GameEvent_Type = 10
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	GameEvent_KICK_TIMEOUT GameEvent_Type = 12
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	GameEvent_ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA GameEvent_Type = 16
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	GameEvent_ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED GameEvent_Type = 40
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	GameEvent_BOT_CRASH_UNIQUE_SKIPPED GameEvent_Type = 23
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	GameEvent_BOT_PUSHED_BOT_SKIPPED GameEvent_Type = 25
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	GameEvent_DEFENDER_IN_DEFENSE_AREA_PARTIALLY GameEvent_Type = 30
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	GameEvent_MULTIPLE_PLACEMENT_FAILURES GameEvent_Type = 33
-)
-
-// Enum value maps for GameEvent_Type.
-var (
-	GameEvent_Type_name = map[int32]string{
-		0:  "UNKNOWN_GAME_EVENT_TYPE",
-		6:  "BALL_LEFT_FIELD_TOUCH_LINE",
-		7:  "BALL_LEFT_FIELD_GOAL_LINE",
-		11: "AIMLESS_KICK",
-		19: "ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA",
-		31: "DEFENDER_IN_DEFENSE_AREA",
-		41: "BOUNDARY_CROSSING",
-		13: "KEEPER_HELD_BALL",
-		17: "BOT_DRIBBLED_BALL_TOO_FAR",
-		24: "BOT_PUSHED_BOT",
-		26: "BOT_HELD_BALL_DELIBERATELY",
-		27: "BOT_TIPPED_OVER",
-		47: "BOT_DROPPED_PARTS",
-		15: "ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA",
-		18: "BOT_KICKED_BALL_TOO_FAST",
-		22: "BOT_CRASH_UNIQUE",
-		21: "BOT_CRASH_DRAWN",
-		29: "DEFENDER_TOO_CLOSE_TO_KICK_POINT",
-		28: "BOT_TOO_FAST_IN_STOP",
-		20: "BOT_INTERFERED_PLACEMENT",
-		48: "EXCESSIVE_BOT_SUBSTITUTION",
-		39: "POSSIBLE_GOAL",
-		8:  "GOAL",
-		42: "INVALID_GOAL",
-		14: "ATTACKER_DOUBLE_TOUCHED_BALL",
-		5:  "PLACEMENT_SUCCEEDED",
-		43: "PENALTY_KICK_FAILED",
-		2:  "NO_PROGRESS_IN_GAME",
-		3:  "PLACEMENT_FAILED",
-		32: "MULTIPLE_CARDS",
-		34: "MULTIPLE_FOULS",
-		37: "BOT_SUBSTITUTION",
-		38: "TOO_MANY_ROBOTS",
-		44: "CHALLENGE_FLAG",
-		46: "CHALLENGE_FLAG_HANDLED",
-		45: "EMERGENCY_STOP",
-		35: "UNSPORTING_BEHAVIOR_MINOR",
-		36: "UNSPORTING_BEHAVIOR_MAJOR",
-		1:  "PREPARED",
-		9:  "INDIRECT_GOAL",
-		10: "CHIPPED_GOAL",
-		12: "KICK_TIMEOUT",
-		16: "ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA",
-		40: "ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED",
-		23: "BOT_CRASH_UNIQUE_SKIPPED",
-		25: "BOT_PUSHED_BOT_SKIPPED",
-		30: "DEFENDER_IN_DEFENSE_AREA_PARTIALLY",
-		33: "MULTIPLE_PLACEMENT_FAILURES",
-	}
-	GameEvent_Type_value = map[string]int32{
-		"UNKNOWN_GAME_EVENT_TYPE":                   0,
-		"BALL_LEFT_FIELD_TOUCH_LINE":                6,
-		"BALL_LEFT_FIELD_GOAL_LINE":                 7,
-		"AIMLESS_KICK":                              11,
-		"ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA":        19,
-		"DEFENDER_IN_DEFENSE_AREA":                  31,
-		"BOUNDARY_CROSSING":                         41,
-		"KEEPER_HELD_BALL":                          13,
-		"BOT_DRIBBLED_BALL_TOO_FAR":                 17,
-		"BOT_PUSHED_BOT":                            24,
-		"BOT_HELD_BALL_DELIBERATELY":                26,
-		"BOT_TIPPED_OVER":                           27,
-		"BOT_DROPPED_PARTS":                         47,
-		"ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA":     15,
-		"BOT_KICKED_BALL_TOO_FAST":                  18,
-		"BOT_CRASH_UNIQUE":                          22,
-		"BOT_CRASH_DRAWN":                           21,
-		"DEFENDER_TOO_CLOSE_TO_KICK_POINT":          29,
-		"BOT_TOO_FAST_IN_STOP":                      28,
-		"BOT_INTERFERED_PLACEMENT":                  20,
-		"EXCESSIVE_BOT_SUBSTITUTION":                48,
-		"POSSIBLE_GOAL":                             39,
-		"GOAL":                                      8,
-		"INVALID_GOAL":                              42,
-		"ATTACKER_DOUBLE_TOUCHED_BALL":              14,
-		"PLACEMENT_SUCCEEDED":                       5,
-		"PENALTY_KICK_FAILED":                       43,
-		"NO_PROGRESS_IN_GAME":                       2,
-		"PLACEMENT_FAILED":                          3,
-		"MULTIPLE_CARDS":                            32,
-		"MULTIPLE_FOULS":                            34,
-		"BOT_SUBSTITUTION":                          37,
-		"TOO_MANY_ROBOTS":                           38,
-		"CHALLENGE_FLAG":                            44,
-		"CHALLENGE_FLAG_HANDLED":                    46,
-		"EMERGENCY_STOP":                            45,
-		"UNSPORTING_BEHAVIOR_MINOR":                 35,
-		"UNSPORTING_BEHAVIOR_MAJOR":                 36,
-		"PREPARED":                                  1,
-		"INDIRECT_GOAL":                             9,
-		"CHIPPED_GOAL":                              10,
-		"KICK_TIMEOUT":                              12,
-		"ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA": 16,
-		"ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED": 40,
-		"BOT_CRASH_UNIQUE_SKIPPED":                          23,
-		"BOT_PUSHED_BOT_SKIPPED":                            25,
-		"DEFENDER_IN_DEFENSE_AREA_PARTIALLY":                30,
-		"MULTIPLE_PLACEMENT_FAILURES":                       33,
-	}
-)
-
-func (x GameEvent_Type) Enum() *GameEvent_Type {
-	p := new(GameEvent_Type)
-	*p = x
-	return p
-}
-
-func (x GameEvent_Type) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (GameEvent_Type) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_game_event_proto_enumTypes[0].Descriptor()
-}
-
-func (GameEvent_Type) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_game_event_proto_enumTypes[0]
-}
-
-func (x GameEvent_Type) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *GameEvent_Type) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = GameEvent_Type(num)
-	return nil
-}
-
-// Deprecated: Use GameEvent_Type.Descriptor instead.
-func (GameEvent_Type) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 0}
-}
-
-// GameEvent contains exactly one game event
-// Each game event has optional and required fields. The required fields are mandatory to process the event.
-// Some optional fields are only used for visualization, others are required to determine the ball placement position.
-// If fields are missing that are required for the ball placement position, no ball placement command will be issued.
-// Fields are marked optional to make testing and extending of the protocol easier.
-// An autoRef should ideally set all fields, except if there are good reasons to not do so.
-type GameEvent struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// A globally unique id of the game event.
-	Id *string `protobuf:"bytes,50,opt,name=id" json:"id,omitempty"`
-	// The type of the game event.
-	Type *GameEvent_Type `protobuf:"varint,40,opt,name=type,enum=GameEvent_Type" json:"type,omitempty"`
-	// The origins of this game event.
-	// Empty, if it originates from game controller.
-	// Contains autoRef name(s), if it originates from one or more autoRefs.
-	// Ignored if sent by autoRef to game controller.
-	Origin []string `protobuf:"bytes,41,rep,name=origin" json:"origin,omitempty"`
-	// Unix timestamp in microseconds when the event was created.
-	CreatedTimestamp *uint64 `protobuf:"varint,49,opt,name=created_timestamp,json=createdTimestamp" json:"created_timestamp,omitempty"`
-	// the event that occurred
-	//
-	// Types that are valid to be assigned to Event:
-	//
-	//	*GameEvent_BallLeftFieldTouchLine
-	//	*GameEvent_BallLeftFieldGoalLine
-	//	*GameEvent_AimlessKick_
-	//	*GameEvent_AttackerTooCloseToDefenseArea_
-	//	*GameEvent_DefenderInDefenseArea_
-	//	*GameEvent_BoundaryCrossing_
-	//	*GameEvent_KeeperHeldBall_
-	//	*GameEvent_BotDribbledBallTooFar_
-	//	*GameEvent_BotPushedBot_
-	//	*GameEvent_BotHeldBallDeliberately_
-	//	*GameEvent_BotTippedOver_
-	//	*GameEvent_BotDroppedParts_
-	//	*GameEvent_AttackerTouchedBallInDefenseArea_
-	//	*GameEvent_BotKickedBallTooFast_
-	//	*GameEvent_BotCrashUnique_
-	//	*GameEvent_BotCrashDrawn_
-	//	*GameEvent_DefenderTooCloseToKickPoint_
-	//	*GameEvent_BotTooFastInStop_
-	//	*GameEvent_BotInterferedPlacement_
-	//	*GameEvent_PossibleGoal
-	//	*GameEvent_Goal_
-	//	*GameEvent_InvalidGoal
-	//	*GameEvent_AttackerDoubleTouchedBall_
-	//	*GameEvent_PlacementSucceeded_
-	//	*GameEvent_PenaltyKickFailed_
-	//	*GameEvent_NoProgressInGame_
-	//	*GameEvent_PlacementFailed_
-	//	*GameEvent_MultipleCards_
-	//	*GameEvent_MultipleFouls_
-	//	*GameEvent_BotSubstitution_
-	//	*GameEvent_ExcessiveBotSubstitution_
-	//	*GameEvent_TooManyRobots_
-	//	*GameEvent_ChallengeFlag_
-	//	*GameEvent_ChallengeFlagHandled_
-	//	*GameEvent_EmergencyStop_
-	//	*GameEvent_UnsportingBehaviorMinor_
-	//	*GameEvent_UnsportingBehaviorMajor_
-	//	*GameEvent_Prepared_
-	//	*GameEvent_IndirectGoal_
-	//	*GameEvent_ChippedGoal_
-	//	*GameEvent_KickTimeout_
-	//	*GameEvent_AttackerTouchedOpponentInDefenseArea_
-	//	*GameEvent_AttackerTouchedOpponentInDefenseAreaSkipped
-	//	*GameEvent_BotCrashUniqueSkipped
-	//	*GameEvent_BotPushedBotSkipped
-	//	*GameEvent_DefenderInDefenseAreaPartially_
-	//	*GameEvent_MultiplePlacementFailures_
-	Event         isGameEvent_Event `protobuf_oneof:"event"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent) Reset() {
-	*x = GameEvent{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent) ProtoMessage() {}
-
-func (x *GameEvent) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent.ProtoReflect.Descriptor instead.
-func (*GameEvent) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *GameEvent) GetId() string {
-	if x != nil && x.Id != nil {
-		return *x.Id
-	}
-	return ""
-}
-
-func (x *GameEvent) GetType() GameEvent_Type {
-	if x != nil && x.Type != nil {
-		return *x.Type
-	}
-	return GameEvent_UNKNOWN_GAME_EVENT_TYPE
-}
-
-func (x *GameEvent) GetOrigin() []string {
-	if x != nil {
-		return x.Origin
-	}
-	return nil
-}
-
-func (x *GameEvent) GetCreatedTimestamp() uint64 {
-	if x != nil && x.CreatedTimestamp != nil {
-		return *x.CreatedTimestamp
-	}
-	return 0
-}
-
-func (x *GameEvent) GetEvent() isGameEvent_Event {
-	if x != nil {
-		return x.Event
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBallLeftFieldTouchLine() *GameEvent_BallLeftField {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BallLeftFieldTouchLine); ok {
-			return x.BallLeftFieldTouchLine
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBallLeftFieldGoalLine() *GameEvent_BallLeftField {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BallLeftFieldGoalLine); ok {
-			return x.BallLeftFieldGoalLine
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetAimlessKick() *GameEvent_AimlessKick {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_AimlessKick_); ok {
-			return x.AimlessKick
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetAttackerTooCloseToDefenseArea() *GameEvent_AttackerTooCloseToDefenseArea {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_AttackerTooCloseToDefenseArea_); ok {
-			return x.AttackerTooCloseToDefenseArea
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetDefenderInDefenseArea() *GameEvent_DefenderInDefenseArea {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_DefenderInDefenseArea_); ok {
-			return x.DefenderInDefenseArea
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBoundaryCrossing() *GameEvent_BoundaryCrossing {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BoundaryCrossing_); ok {
-			return x.BoundaryCrossing
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetKeeperHeldBall() *GameEvent_KeeperHeldBall {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_KeeperHeldBall_); ok {
-			return x.KeeperHeldBall
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotDribbledBallTooFar() *GameEvent_BotDribbledBallTooFar {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotDribbledBallTooFar_); ok {
-			return x.BotDribbledBallTooFar
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotPushedBot() *GameEvent_BotPushedBot {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotPushedBot_); ok {
-			return x.BotPushedBot
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotHeldBallDeliberately() *GameEvent_BotHeldBallDeliberately {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotHeldBallDeliberately_); ok {
-			return x.BotHeldBallDeliberately
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotTippedOver() *GameEvent_BotTippedOver {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotTippedOver_); ok {
-			return x.BotTippedOver
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotDroppedParts() *GameEvent_BotDroppedParts {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotDroppedParts_); ok {
-			return x.BotDroppedParts
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetAttackerTouchedBallInDefenseArea() *GameEvent_AttackerTouchedBallInDefenseArea {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_AttackerTouchedBallInDefenseArea_); ok {
-			return x.AttackerTouchedBallInDefenseArea
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotKickedBallTooFast() *GameEvent_BotKickedBallTooFast {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotKickedBallTooFast_); ok {
-			return x.BotKickedBallTooFast
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotCrashUnique() *GameEvent_BotCrashUnique {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotCrashUnique_); ok {
-			return x.BotCrashUnique
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotCrashDrawn() *GameEvent_BotCrashDrawn {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotCrashDrawn_); ok {
-			return x.BotCrashDrawn
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetDefenderTooCloseToKickPoint() *GameEvent_DefenderTooCloseToKickPoint {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_DefenderTooCloseToKickPoint_); ok {
-			return x.DefenderTooCloseToKickPoint
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotTooFastInStop() *GameEvent_BotTooFastInStop {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotTooFastInStop_); ok {
-			return x.BotTooFastInStop
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotInterferedPlacement() *GameEvent_BotInterferedPlacement {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotInterferedPlacement_); ok {
-			return x.BotInterferedPlacement
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetPossibleGoal() *GameEvent_Goal {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_PossibleGoal); ok {
-			return x.PossibleGoal
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetGoal() *GameEvent_Goal {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_Goal_); ok {
-			return x.Goal
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetInvalidGoal() *GameEvent_Goal {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_InvalidGoal); ok {
-			return x.InvalidGoal
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetAttackerDoubleTouchedBall() *GameEvent_AttackerDoubleTouchedBall {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_AttackerDoubleTouchedBall_); ok {
-			return x.AttackerDoubleTouchedBall
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetPlacementSucceeded() *GameEvent_PlacementSucceeded {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_PlacementSucceeded_); ok {
-			return x.PlacementSucceeded
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetPenaltyKickFailed() *GameEvent_PenaltyKickFailed {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_PenaltyKickFailed_); ok {
-			return x.PenaltyKickFailed
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetNoProgressInGame() *GameEvent_NoProgressInGame {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_NoProgressInGame_); ok {
-			return x.NoProgressInGame
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetPlacementFailed() *GameEvent_PlacementFailed {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_PlacementFailed_); ok {
-			return x.PlacementFailed
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetMultipleCards() *GameEvent_MultipleCards {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_MultipleCards_); ok {
-			return x.MultipleCards
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetMultipleFouls() *GameEvent_MultipleFouls {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_MultipleFouls_); ok {
-			return x.MultipleFouls
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetBotSubstitution() *GameEvent_BotSubstitution {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotSubstitution_); ok {
-			return x.BotSubstitution
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetExcessiveBotSubstitution() *GameEvent_ExcessiveBotSubstitution {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_ExcessiveBotSubstitution_); ok {
-			return x.ExcessiveBotSubstitution
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetTooManyRobots() *GameEvent_TooManyRobots {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_TooManyRobots_); ok {
-			return x.TooManyRobots
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetChallengeFlag() *GameEvent_ChallengeFlag {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_ChallengeFlag_); ok {
-			return x.ChallengeFlag
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetChallengeFlagHandled() *GameEvent_ChallengeFlagHandled {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_ChallengeFlagHandled_); ok {
-			return x.ChallengeFlagHandled
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetEmergencyStop() *GameEvent_EmergencyStop {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_EmergencyStop_); ok {
-			return x.EmergencyStop
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetUnsportingBehaviorMinor() *GameEvent_UnsportingBehaviorMinor {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_UnsportingBehaviorMinor_); ok {
-			return x.UnsportingBehaviorMinor
-		}
-	}
-	return nil
-}
-
-func (x *GameEvent) GetUnsportingBehaviorMajor() *GameEvent_UnsportingBehaviorMajor {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_UnsportingBehaviorMajor_); ok {
-			return x.UnsportingBehaviorMajor
-		}
-	}
-	return nil
-}
-
-// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-func (x *GameEvent) GetPrepared() *GameEvent_Prepared {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_Prepared_); ok {
-			return x.Prepared
-		}
-	}
-	return nil
-}
-
-// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-func (x *GameEvent) GetIndirectGoal() *GameEvent_IndirectGoal {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_IndirectGoal_); ok {
-			return x.IndirectGoal
-		}
-	}
-	return nil
-}
-
-// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-func (x *GameEvent) GetChippedGoal() *GameEvent_ChippedGoal {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_ChippedGoal_); ok {
-			return x.ChippedGoal
-		}
-	}
-	return nil
-}
-
-// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-func (x *GameEvent) GetKickTimeout() *GameEvent_KickTimeout {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_KickTimeout_); ok {
-			return x.KickTimeout
-		}
-	}
-	return nil
-}
-
-// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-func (x *GameEvent) GetAttackerTouchedOpponentInDefenseArea() *GameEvent_AttackerTouchedOpponentInDefenseArea {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_AttackerTouchedOpponentInDefenseArea_); ok {
-			return x.AttackerTouchedOpponentInDefenseArea
-		}
-	}
-	return nil
-}
-
-// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-func (x *GameEvent) GetAttackerTouchedOpponentInDefenseAreaSkipped() *GameEvent_AttackerTouchedOpponentInDefenseArea {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_AttackerTouchedOpponentInDefenseAreaSkipped); ok {
-			return x.AttackerTouchedOpponentInDefenseAreaSkipped
-		}
-	}
-	return nil
-}
-
-// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-func (x *GameEvent) GetBotCrashUniqueSkipped() *GameEvent_BotCrashUnique {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotCrashUniqueSkipped); ok {
-			return x.BotCrashUniqueSkipped
-		}
-	}
-	return nil
-}
-
-// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-func (x *GameEvent) GetBotPushedBotSkipped() *GameEvent_BotPushedBot {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_BotPushedBotSkipped); ok {
-			return x.BotPushedBotSkipped
-		}
-	}
-	return nil
-}
-
-// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-func (x *GameEvent) GetDefenderInDefenseAreaPartially() *GameEvent_DefenderInDefenseAreaPartially {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_DefenderInDefenseAreaPartially_); ok {
-			return x.DefenderInDefenseAreaPartially
-		}
-	}
-	return nil
-}
-
-// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-func (x *GameEvent) GetMultiplePlacementFailures() *GameEvent_MultiplePlacementFailures {
-	if x != nil {
-		if x, ok := x.Event.(*GameEvent_MultiplePlacementFailures_); ok {
-			return x.MultiplePlacementFailures
-		}
-	}
-	return nil
-}
-
-type isGameEvent_Event interface {
-	isGameEvent_Event()
-}
-
-type GameEvent_BallLeftFieldTouchLine struct {
-	BallLeftFieldTouchLine *GameEvent_BallLeftField `protobuf:"bytes,6,opt,name=ball_left_field_touch_line,json=ballLeftFieldTouchLine,oneof"`
-}
-
-type GameEvent_BallLeftFieldGoalLine struct {
-	BallLeftFieldGoalLine *GameEvent_BallLeftField `protobuf:"bytes,7,opt,name=ball_left_field_goal_line,json=ballLeftFieldGoalLine,oneof"`
-}
-
-type GameEvent_AimlessKick_ struct {
-	AimlessKick *GameEvent_AimlessKick `protobuf:"bytes,11,opt,name=aimless_kick,json=aimlessKick,oneof"`
-}
-
-type GameEvent_AttackerTooCloseToDefenseArea_ struct {
-	AttackerTooCloseToDefenseArea *GameEvent_AttackerTooCloseToDefenseArea `protobuf:"bytes,19,opt,name=attacker_too_close_to_defense_area,json=attackerTooCloseToDefenseArea,oneof"`
-}
-
-type GameEvent_DefenderInDefenseArea_ struct {
-	DefenderInDefenseArea *GameEvent_DefenderInDefenseArea `protobuf:"bytes,31,opt,name=defender_in_defense_area,json=defenderInDefenseArea,oneof"`
-}
-
-type GameEvent_BoundaryCrossing_ struct {
-	BoundaryCrossing *GameEvent_BoundaryCrossing `protobuf:"bytes,43,opt,name=boundary_crossing,json=boundaryCrossing,oneof"`
-}
-
-type GameEvent_KeeperHeldBall_ struct {
-	KeeperHeldBall *GameEvent_KeeperHeldBall `protobuf:"bytes,13,opt,name=keeper_held_ball,json=keeperHeldBall,oneof"`
-}
-
-type GameEvent_BotDribbledBallTooFar_ struct {
-	BotDribbledBallTooFar *GameEvent_BotDribbledBallTooFar `protobuf:"bytes,17,opt,name=bot_dribbled_ball_too_far,json=botDribbledBallTooFar,oneof"`
-}
-
-type GameEvent_BotPushedBot_ struct {
-	BotPushedBot *GameEvent_BotPushedBot `protobuf:"bytes,24,opt,name=bot_pushed_bot,json=botPushedBot,oneof"`
-}
-
-type GameEvent_BotHeldBallDeliberately_ struct {
-	BotHeldBallDeliberately *GameEvent_BotHeldBallDeliberately `protobuf:"bytes,26,opt,name=bot_held_ball_deliberately,json=botHeldBallDeliberately,oneof"`
-}
-
-type GameEvent_BotTippedOver_ struct {
-	BotTippedOver *GameEvent_BotTippedOver `protobuf:"bytes,27,opt,name=bot_tipped_over,json=botTippedOver,oneof"`
-}
-
-type GameEvent_BotDroppedParts_ struct {
-	BotDroppedParts *GameEvent_BotDroppedParts `protobuf:"bytes,51,opt,name=bot_dropped_parts,json=botDroppedParts,oneof"`
-}
-
-type GameEvent_AttackerTouchedBallInDefenseArea_ struct {
-	AttackerTouchedBallInDefenseArea *GameEvent_AttackerTouchedBallInDefenseArea `protobuf:"bytes,15,opt,name=attacker_touched_ball_in_defense_area,json=attackerTouchedBallInDefenseArea,oneof"`
-}
-
-type GameEvent_BotKickedBallTooFast_ struct {
-	BotKickedBallTooFast *GameEvent_BotKickedBallTooFast `protobuf:"bytes,18,opt,name=bot_kicked_ball_too_fast,json=botKickedBallTooFast,oneof"`
-}
-
-type GameEvent_BotCrashUnique_ struct {
-	BotCrashUnique *GameEvent_BotCrashUnique `protobuf:"bytes,22,opt,name=bot_crash_unique,json=botCrashUnique,oneof"`
-}
-
-type GameEvent_BotCrashDrawn_ struct {
-	BotCrashDrawn *GameEvent_BotCrashDrawn `protobuf:"bytes,21,opt,name=bot_crash_drawn,json=botCrashDrawn,oneof"`
-}
-
-type GameEvent_DefenderTooCloseToKickPoint_ struct {
-	DefenderTooCloseToKickPoint *GameEvent_DefenderTooCloseToKickPoint `protobuf:"bytes,29,opt,name=defender_too_close_to_kick_point,json=defenderTooCloseToKickPoint,oneof"`
-}
-
-type GameEvent_BotTooFastInStop_ struct {
-	BotTooFastInStop *GameEvent_BotTooFastInStop `protobuf:"bytes,28,opt,name=bot_too_fast_in_stop,json=botTooFastInStop,oneof"`
-}
-
-type GameEvent_BotInterferedPlacement_ struct {
-	BotInterferedPlacement *GameEvent_BotInterferedPlacement `protobuf:"bytes,20,opt,name=bot_interfered_placement,json=botInterferedPlacement,oneof"`
-}
-
-type GameEvent_PossibleGoal struct {
-	PossibleGoal *GameEvent_Goal `protobuf:"bytes,39,opt,name=possible_goal,json=possibleGoal,oneof"`
-}
-
-type GameEvent_Goal_ struct {
-	Goal *GameEvent_Goal `protobuf:"bytes,8,opt,name=goal,oneof"`
-}
-
-type GameEvent_InvalidGoal struct {
-	InvalidGoal *GameEvent_Goal `protobuf:"bytes,44,opt,name=invalid_goal,json=invalidGoal,oneof"`
-}
-
-type GameEvent_AttackerDoubleTouchedBall_ struct {
-	AttackerDoubleTouchedBall *GameEvent_AttackerDoubleTouchedBall `protobuf:"bytes,14,opt,name=attacker_double_touched_ball,json=attackerDoubleTouchedBall,oneof"`
-}
-
-type GameEvent_PlacementSucceeded_ struct {
-	PlacementSucceeded *GameEvent_PlacementSucceeded `protobuf:"bytes,5,opt,name=placement_succeeded,json=placementSucceeded,oneof"`
-}
-
-type GameEvent_PenaltyKickFailed_ struct {
-	PenaltyKickFailed *GameEvent_PenaltyKickFailed `protobuf:"bytes,45,opt,name=penalty_kick_failed,json=penaltyKickFailed,oneof"`
-}
-
-type GameEvent_NoProgressInGame_ struct {
-	NoProgressInGame *GameEvent_NoProgressInGame `protobuf:"bytes,2,opt,name=no_progress_in_game,json=noProgressInGame,oneof"`
-}
-
-type GameEvent_PlacementFailed_ struct {
-	PlacementFailed *GameEvent_PlacementFailed `protobuf:"bytes,3,opt,name=placement_failed,json=placementFailed,oneof"`
-}
-
-type GameEvent_MultipleCards_ struct {
-	MultipleCards *GameEvent_MultipleCards `protobuf:"bytes,32,opt,name=multiple_cards,json=multipleCards,oneof"`
-}
-
-type GameEvent_MultipleFouls_ struct {
-	MultipleFouls *GameEvent_MultipleFouls `protobuf:"bytes,34,opt,name=multiple_fouls,json=multipleFouls,oneof"`
-}
-
-type GameEvent_BotSubstitution_ struct {
-	BotSubstitution *GameEvent_BotSubstitution `protobuf:"bytes,37,opt,name=bot_substitution,json=botSubstitution,oneof"`
-}
-
-type GameEvent_ExcessiveBotSubstitution_ struct {
-	ExcessiveBotSubstitution *GameEvent_ExcessiveBotSubstitution `protobuf:"bytes,52,opt,name=excessive_bot_substitution,json=excessiveBotSubstitution,oneof"`
-}
-
-type GameEvent_TooManyRobots_ struct {
-	TooManyRobots *GameEvent_TooManyRobots `protobuf:"bytes,38,opt,name=too_many_robots,json=tooManyRobots,oneof"`
-}
-
-type GameEvent_ChallengeFlag_ struct {
-	ChallengeFlag *GameEvent_ChallengeFlag `protobuf:"bytes,46,opt,name=challenge_flag,json=challengeFlag,oneof"`
-}
-
-type GameEvent_ChallengeFlagHandled_ struct {
-	ChallengeFlagHandled *GameEvent_ChallengeFlagHandled `protobuf:"bytes,48,opt,name=challenge_flag_handled,json=challengeFlagHandled,oneof"`
-}
-
-type GameEvent_EmergencyStop_ struct {
-	EmergencyStop *GameEvent_EmergencyStop `protobuf:"bytes,47,opt,name=emergency_stop,json=emergencyStop,oneof"`
-}
-
-type GameEvent_UnsportingBehaviorMinor_ struct {
-	UnsportingBehaviorMinor *GameEvent_UnsportingBehaviorMinor `protobuf:"bytes,35,opt,name=unsporting_behavior_minor,json=unsportingBehaviorMinor,oneof"`
-}
-
-type GameEvent_UnsportingBehaviorMajor_ struct {
-	UnsportingBehaviorMajor *GameEvent_UnsportingBehaviorMajor `protobuf:"bytes,36,opt,name=unsporting_behavior_major,json=unsportingBehaviorMajor,oneof"`
-}
-
-type GameEvent_Prepared_ struct {
-	// replaced by ready_to_continue flag
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	Prepared *GameEvent_Prepared `protobuf:"bytes,1,opt,name=prepared,oneof"`
-}
-
-type GameEvent_IndirectGoal_ struct {
-	// obsolete
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	IndirectGoal *GameEvent_IndirectGoal `protobuf:"bytes,9,opt,name=indirect_goal,json=indirectGoal,oneof"`
-}
-
-type GameEvent_ChippedGoal_ struct {
-	// replaced by the meta-information in the possible_goal event
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	ChippedGoal *GameEvent_ChippedGoal `protobuf:"bytes,10,opt,name=chipped_goal,json=chippedGoal,oneof"`
-}
-
-type GameEvent_KickTimeout_ struct {
-	// obsolete
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	KickTimeout *GameEvent_KickTimeout `protobuf:"bytes,12,opt,name=kick_timeout,json=kickTimeout,oneof"`
-}
-
-type GameEvent_AttackerTouchedOpponentInDefenseArea_ struct {
-	// rule removed
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	AttackerTouchedOpponentInDefenseArea *GameEvent_AttackerTouchedOpponentInDefenseArea `protobuf:"bytes,16,opt,name=attacker_touched_opponent_in_defense_area,json=attackerTouchedOpponentInDefenseArea,oneof"`
-}
-
-type GameEvent_AttackerTouchedOpponentInDefenseAreaSkipped struct {
-	// obsolete
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	AttackerTouchedOpponentInDefenseAreaSkipped *GameEvent_AttackerTouchedOpponentInDefenseArea `protobuf:"bytes,42,opt,name=attacker_touched_opponent_in_defense_area_skipped,json=attackerTouchedOpponentInDefenseAreaSkipped,oneof"`
-}
-
-type GameEvent_BotCrashUniqueSkipped struct {
-	// obsolete
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	BotCrashUniqueSkipped *GameEvent_BotCrashUnique `protobuf:"bytes,23,opt,name=bot_crash_unique_skipped,json=botCrashUniqueSkipped,oneof"`
-}
-
-type GameEvent_BotPushedBotSkipped struct {
-	// can not be used as long as autoRefs do not judge pushing
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	BotPushedBotSkipped *GameEvent_BotPushedBot `protobuf:"bytes,25,opt,name=bot_pushed_bot_skipped,json=botPushedBotSkipped,oneof"`
-}
-
-type GameEvent_DefenderInDefenseAreaPartially_ struct {
-	// rule removed
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	DefenderInDefenseAreaPartially *GameEvent_DefenderInDefenseAreaPartially `protobuf:"bytes,30,opt,name=defender_in_defense_area_partially,json=defenderInDefenseAreaPartially,oneof"`
-}
-
-type GameEvent_MultiplePlacementFailures_ struct {
-	// the referee msg already indicates this
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_game_event.proto.
-	MultiplePlacementFailures *GameEvent_MultiplePlacementFailures `protobuf:"bytes,33,opt,name=multiple_placement_failures,json=multiplePlacementFailures,oneof"`
-}
-
-func (*GameEvent_BallLeftFieldTouchLine) isGameEvent_Event() {}
-
-func (*GameEvent_BallLeftFieldGoalLine) isGameEvent_Event() {}
-
-func (*GameEvent_AimlessKick_) isGameEvent_Event() {}
-
-func (*GameEvent_AttackerTooCloseToDefenseArea_) isGameEvent_Event() {}
-
-func (*GameEvent_DefenderInDefenseArea_) isGameEvent_Event() {}
-
-func (*GameEvent_BoundaryCrossing_) isGameEvent_Event() {}
-
-func (*GameEvent_KeeperHeldBall_) isGameEvent_Event() {}
-
-func (*GameEvent_BotDribbledBallTooFar_) isGameEvent_Event() {}
-
-func (*GameEvent_BotPushedBot_) isGameEvent_Event() {}
-
-func (*GameEvent_BotHeldBallDeliberately_) isGameEvent_Event() {}
-
-func (*GameEvent_BotTippedOver_) isGameEvent_Event() {}
-
-func (*GameEvent_BotDroppedParts_) isGameEvent_Event() {}
-
-func (*GameEvent_AttackerTouchedBallInDefenseArea_) isGameEvent_Event() {}
-
-func (*GameEvent_BotKickedBallTooFast_) isGameEvent_Event() {}
-
-func (*GameEvent_BotCrashUnique_) isGameEvent_Event() {}
-
-func (*GameEvent_BotCrashDrawn_) isGameEvent_Event() {}
-
-func (*GameEvent_DefenderTooCloseToKickPoint_) isGameEvent_Event() {}
-
-func (*GameEvent_BotTooFastInStop_) isGameEvent_Event() {}
-
-func (*GameEvent_BotInterferedPlacement_) isGameEvent_Event() {}
-
-func (*GameEvent_PossibleGoal) isGameEvent_Event() {}
-
-func (*GameEvent_Goal_) isGameEvent_Event() {}
-
-func (*GameEvent_InvalidGoal) isGameEvent_Event() {}
-
-func (*GameEvent_AttackerDoubleTouchedBall_) isGameEvent_Event() {}
-
-func (*GameEvent_PlacementSucceeded_) isGameEvent_Event() {}
-
-func (*GameEvent_PenaltyKickFailed_) isGameEvent_Event() {}
-
-func (*GameEvent_NoProgressInGame_) isGameEvent_Event() {}
-
-func (*GameEvent_PlacementFailed_) isGameEvent_Event() {}
-
-func (*GameEvent_MultipleCards_) isGameEvent_Event() {}
-
-func (*GameEvent_MultipleFouls_) isGameEvent_Event() {}
-
-func (*GameEvent_BotSubstitution_) isGameEvent_Event() {}
-
-func (*GameEvent_ExcessiveBotSubstitution_) isGameEvent_Event() {}
-
-func (*GameEvent_TooManyRobots_) isGameEvent_Event() {}
-
-func (*GameEvent_ChallengeFlag_) isGameEvent_Event() {}
-
-func (*GameEvent_ChallengeFlagHandled_) isGameEvent_Event() {}
-
-func (*GameEvent_EmergencyStop_) isGameEvent_Event() {}
-
-func (*GameEvent_UnsportingBehaviorMinor_) isGameEvent_Event() {}
-
-func (*GameEvent_UnsportingBehaviorMajor_) isGameEvent_Event() {}
-
-func (*GameEvent_Prepared_) isGameEvent_Event() {}
-
-func (*GameEvent_IndirectGoal_) isGameEvent_Event() {}
-
-func (*GameEvent_ChippedGoal_) isGameEvent_Event() {}
-
-func (*GameEvent_KickTimeout_) isGameEvent_Event() {}
-
-func (*GameEvent_AttackerTouchedOpponentInDefenseArea_) isGameEvent_Event() {}
-
-func (*GameEvent_AttackerTouchedOpponentInDefenseAreaSkipped) isGameEvent_Event() {}
-
-func (*GameEvent_BotCrashUniqueSkipped) isGameEvent_Event() {}
-
-func (*GameEvent_BotPushedBotSkipped) isGameEvent_Event() {}
-
-func (*GameEvent_DefenderInDefenseAreaPartially_) isGameEvent_Event() {}
-
-func (*GameEvent_MultiplePlacementFailures_) isGameEvent_Event() {}
-
-// the ball left the field normally
-type GameEvent_BallLeftField struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that last touched the ball
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that last touched the ball
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location where the ball left the field [m]
-	Location      *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BallLeftField) Reset() {
-	*x = GameEvent_BallLeftField{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BallLeftField) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BallLeftField) ProtoMessage() {}
-
-func (x *GameEvent_BallLeftField) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BallLeftField.ProtoReflect.Descriptor instead.
-func (*GameEvent_BallLeftField) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 0}
-}
-
-func (x *GameEvent_BallLeftField) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BallLeftField) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_BallLeftField) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-// the ball left the field via goal line and a team committed an aimless kick
-type GameEvent_AimlessKick struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that last touched the ball
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that last touched the ball
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location where the ball left the field [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the location where the ball was last touched [m]
-	KickLocation  *Vector2 `protobuf:"bytes,4,opt,name=kick_location,json=kickLocation" json:"kick_location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_AimlessKick) Reset() {
-	*x = GameEvent_AimlessKick{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[2]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_AimlessKick) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_AimlessKick) ProtoMessage() {}
-
-func (x *GameEvent_AimlessKick) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[2]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_AimlessKick.ProtoReflect.Descriptor instead.
-func (*GameEvent_AimlessKick) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 1}
-}
-
-func (x *GameEvent_AimlessKick) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_AimlessKick) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_AimlessKick) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_AimlessKick) GetKickLocation() *Vector2 {
-	if x != nil {
-		return x.KickLocation
-	}
-	return nil
-}
-
-// a team shot a goal
-type GameEvent_Goal struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that scored the goal
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the team that shot the goal (different from by_team for own goals)
-	KickingTeam *Team `protobuf:"varint,6,opt,name=kicking_team,json=kickingTeam,enum=Team" json:"kicking_team,omitempty"`
-	// the bot that shot the goal
-	KickingBot *uint32 `protobuf:"varint,2,opt,name=kicking_bot,json=kickingBot" json:"kicking_bot,omitempty"`
-	// the location where the ball entered the goal [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the location where the ball was kicked (for deciding if this was a valid goal) [m]
-	KickLocation *Vector2 `protobuf:"bytes,4,opt,name=kick_location,json=kickLocation" json:"kick_location,omitempty"`
-	// the maximum height the ball reached during the goal kick (for deciding if this was a valid goal) [m]
-	MaxBallHeight *float32 `protobuf:"fixed32,5,opt,name=max_ball_height,json=maxBallHeight" json:"max_ball_height,omitempty"`
-	// number of robots of scoring team when the ball entered the goal (for deciding if this was a valid goal)
-	NumRobotsByTeam *uint32 `protobuf:"varint,7,opt,name=num_robots_by_team,json=numRobotsByTeam" json:"num_robots_by_team,omitempty"`
-	// The UNIX timestamp [μs] when the scoring team last touched the ball
-	LastTouchByTeam *uint64 `protobuf:"varint,8,opt,name=last_touch_by_team,json=lastTouchByTeam" json:"last_touch_by_team,omitempty"`
-	// An additional message with e.g. a reason for invalid goals
-	Message       *string `protobuf:"bytes,9,opt,name=message" json:"message,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_Goal) Reset() {
-	*x = GameEvent_Goal{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[3]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_Goal) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_Goal) ProtoMessage() {}
-
-func (x *GameEvent_Goal) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[3]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_Goal.ProtoReflect.Descriptor instead.
-func (*GameEvent_Goal) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 2}
-}
-
-func (x *GameEvent_Goal) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_Goal) GetKickingTeam() Team {
-	if x != nil && x.KickingTeam != nil {
-		return *x.KickingTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_Goal) GetKickingBot() uint32 {
-	if x != nil && x.KickingBot != nil {
-		return *x.KickingBot
-	}
-	return 0
-}
-
-func (x *GameEvent_Goal) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_Goal) GetKickLocation() *Vector2 {
-	if x != nil {
-		return x.KickLocation
-	}
-	return nil
-}
-
-func (x *GameEvent_Goal) GetMaxBallHeight() float32 {
-	if x != nil && x.MaxBallHeight != nil {
-		return *x.MaxBallHeight
-	}
-	return 0
-}
-
-func (x *GameEvent_Goal) GetNumRobotsByTeam() uint32 {
-	if x != nil && x.NumRobotsByTeam != nil {
-		return *x.NumRobotsByTeam
-	}
-	return 0
-}
-
-func (x *GameEvent_Goal) GetLastTouchByTeam() uint64 {
-	if x != nil && x.LastTouchByTeam != nil {
-		return *x.LastTouchByTeam
-	}
-	return 0
-}
-
-func (x *GameEvent_Goal) GetMessage() string {
-	if x != nil && x.Message != nil {
-		return *x.Message
-	}
-	return ""
-}
-
-// the ball entered the goal directly during an indirect free kick
-type GameEvent_IndirectGoal struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that tried to shoot the goal
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that kicked the ball - at least the team must be set
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location where the ball entered the goal [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the location where the ball was kicked [m]
-	KickLocation  *Vector2 `protobuf:"bytes,4,opt,name=kick_location,json=kickLocation" json:"kick_location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_IndirectGoal) Reset() {
-	*x = GameEvent_IndirectGoal{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[4]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_IndirectGoal) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_IndirectGoal) ProtoMessage() {}
-
-func (x *GameEvent_IndirectGoal) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[4]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_IndirectGoal.ProtoReflect.Descriptor instead.
-func (*GameEvent_IndirectGoal) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 3}
-}
-
-func (x *GameEvent_IndirectGoal) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_IndirectGoal) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_IndirectGoal) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_IndirectGoal) GetKickLocation() *Vector2 {
-	if x != nil {
-		return x.KickLocation
-	}
-	return nil
-}
-
-// the ball entered the goal, but was initially chipped
-type GameEvent_ChippedGoal struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that tried to shoot the goal
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that kicked the ball
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location where the ball entered the goal [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the location where the ball was kicked [m]
-	KickLocation *Vector2 `protobuf:"bytes,4,opt,name=kick_location,json=kickLocation" json:"kick_location,omitempty"`
-	// the maximum height [m] of the ball, before it entered the goal and since the last kick [m]
-	MaxBallHeight *float32 `protobuf:"fixed32,5,opt,name=max_ball_height,json=maxBallHeight" json:"max_ball_height,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_ChippedGoal) Reset() {
-	*x = GameEvent_ChippedGoal{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[5]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_ChippedGoal) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_ChippedGoal) ProtoMessage() {}
-
-func (x *GameEvent_ChippedGoal) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[5]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_ChippedGoal.ProtoReflect.Descriptor instead.
-func (*GameEvent_ChippedGoal) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 4}
-}
-
-func (x *GameEvent_ChippedGoal) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_ChippedGoal) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_ChippedGoal) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_ChippedGoal) GetKickLocation() *Vector2 {
-	if x != nil {
-		return x.KickLocation
-	}
-	return nil
-}
-
-func (x *GameEvent_ChippedGoal) GetMaxBallHeight() float32 {
-	if x != nil && x.MaxBallHeight != nil {
-		return *x.MaxBallHeight
-	}
-	return 0
-}
-
-// a bot moved too fast while the game was stopped
-type GameEvent_BotTooFastInStop struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that was too fast
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the bot [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the bot speed [m/s]
-	Speed         *float32 `protobuf:"fixed32,4,opt,name=speed" json:"speed,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotTooFastInStop) Reset() {
-	*x = GameEvent_BotTooFastInStop{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[6]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotTooFastInStop) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotTooFastInStop) ProtoMessage() {}
-
-func (x *GameEvent_BotTooFastInStop) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[6]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotTooFastInStop.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotTooFastInStop) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 5}
-}
-
-func (x *GameEvent_BotTooFastInStop) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BotTooFastInStop) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_BotTooFastInStop) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_BotTooFastInStop) GetSpeed() float32 {
-	if x != nil && x.Speed != nil {
-		return *x.Speed
-	}
-	return 0
-}
-
-// a bot of the defending team got too close to the kick point during a free kick
-type GameEvent_DefenderTooCloseToKickPoint struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that was found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that violates the distance to the kick point
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the bot [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the distance [m] from bot to the kick point (including the minimum radius)
-	Distance      *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_DefenderTooCloseToKickPoint) Reset() {
-	*x = GameEvent_DefenderTooCloseToKickPoint{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[7]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_DefenderTooCloseToKickPoint) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_DefenderTooCloseToKickPoint) ProtoMessage() {}
-
-func (x *GameEvent_DefenderTooCloseToKickPoint) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[7]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_DefenderTooCloseToKickPoint.ProtoReflect.Descriptor instead.
-func (*GameEvent_DefenderTooCloseToKickPoint) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 6}
-}
-
-func (x *GameEvent_DefenderTooCloseToKickPoint) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_DefenderTooCloseToKickPoint) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_DefenderTooCloseToKickPoint) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_DefenderTooCloseToKickPoint) GetDistance() float32 {
-	if x != nil && x.Distance != nil {
-		return *x.Distance
-	}
-	return 0
-}
-
-// two robots crashed into each other with similar speeds
-type GameEvent_BotCrashDrawn struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the bot of the yellow team
-	BotYellow *uint32 `protobuf:"varint,1,opt,name=bot_yellow,json=botYellow" json:"bot_yellow,omitempty"`
-	// the bot of the blue team
-	BotBlue *uint32 `protobuf:"varint,2,opt,name=bot_blue,json=botBlue" json:"bot_blue,omitempty"`
-	// the location of the crash (center between both bots) [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the calculated crash speed [m/s] of the two bots
-	CrashSpeed *float32 `protobuf:"fixed32,4,opt,name=crash_speed,json=crashSpeed" json:"crash_speed,omitempty"`
-	// the difference [m/s] of the velocity of the two bots
-	SpeedDiff *float32 `protobuf:"fixed32,5,opt,name=speed_diff,json=speedDiff" json:"speed_diff,omitempty"`
-	// the angle [rad] in the range [0, π] of the bot velocity vectors
-	// an angle of 0 rad (  0°) means, the bots barely touched each other
-	// an angle of π rad (180°) means, the bots crashed frontal into each other
-	CrashAngle    *float32 `protobuf:"fixed32,6,opt,name=crash_angle,json=crashAngle" json:"crash_angle,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotCrashDrawn) Reset() {
-	*x = GameEvent_BotCrashDrawn{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[8]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotCrashDrawn) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotCrashDrawn) ProtoMessage() {}
-
-func (x *GameEvent_BotCrashDrawn) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[8]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotCrashDrawn.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotCrashDrawn) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 7}
-}
-
-func (x *GameEvent_BotCrashDrawn) GetBotYellow() uint32 {
-	if x != nil && x.BotYellow != nil {
-		return *x.BotYellow
-	}
-	return 0
-}
-
-func (x *GameEvent_BotCrashDrawn) GetBotBlue() uint32 {
-	if x != nil && x.BotBlue != nil {
-		return *x.BotBlue
-	}
-	return 0
-}
-
-func (x *GameEvent_BotCrashDrawn) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_BotCrashDrawn) GetCrashSpeed() float32 {
-	if x != nil && x.CrashSpeed != nil {
-		return *x.CrashSpeed
-	}
-	return 0
-}
-
-func (x *GameEvent_BotCrashDrawn) GetSpeedDiff() float32 {
-	if x != nil && x.SpeedDiff != nil {
-		return *x.SpeedDiff
-	}
-	return 0
-}
-
-func (x *GameEvent_BotCrashDrawn) GetCrashAngle() float32 {
-	if x != nil && x.CrashAngle != nil {
-		return *x.CrashAngle
-	}
-	return 0
-}
-
-// two robots crashed into each other and one team was found guilty to due significant speed difference
-type GameEvent_BotCrashUnique struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that caused the crash
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that caused the crash
-	Violator *uint32 `protobuf:"varint,2,opt,name=violator" json:"violator,omitempty"`
-	// the bot of the opposite team that was involved in the crash
-	Victim *uint32 `protobuf:"varint,3,opt,name=victim" json:"victim,omitempty"`
-	// the location of the crash (center between both bots) [m]
-	Location *Vector2 `protobuf:"bytes,4,opt,name=location" json:"location,omitempty"`
-	// the calculated crash speed vector [m/s] of the two bots
-	CrashSpeed *float32 `protobuf:"fixed32,5,opt,name=crash_speed,json=crashSpeed" json:"crash_speed,omitempty"`
-	// the difference [m/s] of the velocity of the two bots
-	SpeedDiff *float32 `protobuf:"fixed32,6,opt,name=speed_diff,json=speedDiff" json:"speed_diff,omitempty"`
-	// the angle [rad] in the range [0, π] of the bot velocity vectors
-	// an angle of 0 rad (  0°) means, the bots barely touched each other
-	// an angle of π rad (180°) means, the bots crashed frontal into each other
-	CrashAngle    *float32 `protobuf:"fixed32,7,opt,name=crash_angle,json=crashAngle" json:"crash_angle,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotCrashUnique) Reset() {
-	*x = GameEvent_BotCrashUnique{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[9]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotCrashUnique) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotCrashUnique) ProtoMessage() {}
-
-func (x *GameEvent_BotCrashUnique) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[9]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotCrashUnique.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotCrashUnique) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 8}
-}
-
-func (x *GameEvent_BotCrashUnique) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BotCrashUnique) GetViolator() uint32 {
-	if x != nil && x.Violator != nil {
-		return *x.Violator
-	}
-	return 0
-}
-
-func (x *GameEvent_BotCrashUnique) GetVictim() uint32 {
-	if x != nil && x.Victim != nil {
-		return *x.Victim
-	}
-	return 0
-}
-
-func (x *GameEvent_BotCrashUnique) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_BotCrashUnique) GetCrashSpeed() float32 {
-	if x != nil && x.CrashSpeed != nil {
-		return *x.CrashSpeed
-	}
-	return 0
-}
-
-func (x *GameEvent_BotCrashUnique) GetSpeedDiff() float32 {
-	if x != nil && x.SpeedDiff != nil {
-		return *x.SpeedDiff
-	}
-	return 0
-}
-
-func (x *GameEvent_BotCrashUnique) GetCrashAngle() float32 {
-	if x != nil && x.CrashAngle != nil {
-		return *x.CrashAngle
-	}
-	return 0
-}
-
-// a bot pushed another bot over a significant distance
-type GameEvent_BotPushedBot struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that pushed the other team
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that pushed the other bot
-	Violator *uint32 `protobuf:"varint,2,opt,name=violator" json:"violator,omitempty"`
-	// the bot of the opposite team that was pushed
-	Victim *uint32 `protobuf:"varint,3,opt,name=victim" json:"victim,omitempty"`
-	// the location of the push (center between both bots) [m]
-	Location *Vector2 `protobuf:"bytes,4,opt,name=location" json:"location,omitempty"`
-	// the pushed distance [m]
-	PushedDistance *float32 `protobuf:"fixed32,5,opt,name=pushed_distance,json=pushedDistance" json:"pushed_distance,omitempty"`
-	unknownFields  protoimpl.UnknownFields
-	sizeCache      protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotPushedBot) Reset() {
-	*x = GameEvent_BotPushedBot{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[10]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotPushedBot) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotPushedBot) ProtoMessage() {}
-
-func (x *GameEvent_BotPushedBot) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[10]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotPushedBot.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotPushedBot) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 9}
-}
-
-func (x *GameEvent_BotPushedBot) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BotPushedBot) GetViolator() uint32 {
-	if x != nil && x.Violator != nil {
-		return *x.Violator
-	}
-	return 0
-}
-
-func (x *GameEvent_BotPushedBot) GetVictim() uint32 {
-	if x != nil && x.Victim != nil {
-		return *x.Victim
-	}
-	return 0
-}
-
-func (x *GameEvent_BotPushedBot) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_BotPushedBot) GetPushedDistance() float32 {
-	if x != nil && x.PushedDistance != nil {
-		return *x.PushedDistance
-	}
-	return 0
-}
-
-// a bot tipped over
-type GameEvent_BotTippedOver struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that tipped over
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the bot [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the location of the ball at the moment when this foul occurred [m]
-	BallLocation  *Vector2 `protobuf:"bytes,4,opt,name=ball_location,json=ballLocation" json:"ball_location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotTippedOver) Reset() {
-	*x = GameEvent_BotTippedOver{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[11]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotTippedOver) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotTippedOver) ProtoMessage() {}
-
-func (x *GameEvent_BotTippedOver) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[11]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotTippedOver.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotTippedOver) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 10}
-}
-
-func (x *GameEvent_BotTippedOver) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BotTippedOver) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_BotTippedOver) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_BotTippedOver) GetBallLocation() *Vector2 {
-	if x != nil {
-		return x.BallLocation
-	}
-	return nil
-}
-
-// a bot dropped parts
-type GameEvent_BotDroppedParts struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that dropped the parts
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location where the parts were dropped [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the location of the ball at the moment when this foul occurred [m]
-	BallLocation  *Vector2 `protobuf:"bytes,4,opt,name=ball_location,json=ballLocation" json:"ball_location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotDroppedParts) Reset() {
-	*x = GameEvent_BotDroppedParts{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[12]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotDroppedParts) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotDroppedParts) ProtoMessage() {}
-
-func (x *GameEvent_BotDroppedParts) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[12]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotDroppedParts.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotDroppedParts) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 11}
-}
-
-func (x *GameEvent_BotDroppedParts) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BotDroppedParts) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_BotDroppedParts) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_BotDroppedParts) GetBallLocation() *Vector2 {
-	if x != nil {
-		return x.BallLocation
-	}
-	return nil
-}
-
-// a defender other than the keeper was fully located inside its own defense and touched the ball
-type GameEvent_DefenderInDefenseArea struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that is inside the penalty area
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the bot [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the distance [m] from bot case to the nearest point outside the defense area
-	Distance      *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_DefenderInDefenseArea) Reset() {
-	*x = GameEvent_DefenderInDefenseArea{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[13]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_DefenderInDefenseArea) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_DefenderInDefenseArea) ProtoMessage() {}
-
-func (x *GameEvent_DefenderInDefenseArea) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[13]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_DefenderInDefenseArea.ProtoReflect.Descriptor instead.
-func (*GameEvent_DefenderInDefenseArea) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 12}
-}
-
-func (x *GameEvent_DefenderInDefenseArea) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_DefenderInDefenseArea) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_DefenderInDefenseArea) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_DefenderInDefenseArea) GetDistance() float32 {
-	if x != nil && x.Distance != nil {
-		return *x.Distance
-	}
-	return 0
-}
-
-// a defender other than the keeper was partially located inside its own defense area and touched the ball
-type GameEvent_DefenderInDefenseAreaPartially struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that is partially inside the penalty area
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the bot
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the distance [m] that the bot is inside the penalty area
-	Distance *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
-	// the location of the ball at the moment when this foul occurred [m]
-	BallLocation  *Vector2 `protobuf:"bytes,5,opt,name=ball_location,json=ballLocation" json:"ball_location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_DefenderInDefenseAreaPartially) Reset() {
-	*x = GameEvent_DefenderInDefenseAreaPartially{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[14]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_DefenderInDefenseAreaPartially) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_DefenderInDefenseAreaPartially) ProtoMessage() {}
-
-func (x *GameEvent_DefenderInDefenseAreaPartially) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[14]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_DefenderInDefenseAreaPartially.ProtoReflect.Descriptor instead.
-func (*GameEvent_DefenderInDefenseAreaPartially) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 13}
-}
-
-func (x *GameEvent_DefenderInDefenseAreaPartially) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_DefenderInDefenseAreaPartially) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_DefenderInDefenseAreaPartially) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_DefenderInDefenseAreaPartially) GetDistance() float32 {
-	if x != nil && x.Distance != nil {
-		return *x.Distance
-	}
-	return 0
-}
-
-func (x *GameEvent_DefenderInDefenseAreaPartially) GetBallLocation() *Vector2 {
-	if x != nil {
-		return x.BallLocation
-	}
-	return nil
-}
-
-// an attacker touched the ball inside the opponent defense area
-type GameEvent_AttackerTouchedBallInDefenseArea struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that is inside the penalty area
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the bot [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the distance [m] that the bot is inside the penalty area
-	Distance      *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_AttackerTouchedBallInDefenseArea) Reset() {
-	*x = GameEvent_AttackerTouchedBallInDefenseArea{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[15]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_AttackerTouchedBallInDefenseArea) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_AttackerTouchedBallInDefenseArea) ProtoMessage() {}
-
-func (x *GameEvent_AttackerTouchedBallInDefenseArea) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[15]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_AttackerTouchedBallInDefenseArea.ProtoReflect.Descriptor instead.
-func (*GameEvent_AttackerTouchedBallInDefenseArea) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 14}
-}
-
-func (x *GameEvent_AttackerTouchedBallInDefenseArea) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_AttackerTouchedBallInDefenseArea) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_AttackerTouchedBallInDefenseArea) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_AttackerTouchedBallInDefenseArea) GetDistance() float32 {
-	if x != nil && x.Distance != nil {
-		return *x.Distance
-	}
-	return 0
-}
-
-// a bot kicked the ball too fast
-type GameEvent_BotKickedBallTooFast struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that kicked too fast
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the ball at the time of the highest speed [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the absolute initial ball speed (kick speed) [m/s]
-	InitialBallSpeed *float32 `protobuf:"fixed32,4,opt,name=initial_ball_speed,json=initialBallSpeed" json:"initial_ball_speed,omitempty"`
-	// was the ball chipped?
-	Chipped       *bool `protobuf:"varint,5,opt,name=chipped" json:"chipped,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotKickedBallTooFast) Reset() {
-	*x = GameEvent_BotKickedBallTooFast{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[16]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotKickedBallTooFast) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotKickedBallTooFast) ProtoMessage() {}
-
-func (x *GameEvent_BotKickedBallTooFast) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[16]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotKickedBallTooFast.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotKickedBallTooFast) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 15}
-}
-
-func (x *GameEvent_BotKickedBallTooFast) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BotKickedBallTooFast) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_BotKickedBallTooFast) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_BotKickedBallTooFast) GetInitialBallSpeed() float32 {
-	if x != nil && x.InitialBallSpeed != nil {
-		return *x.InitialBallSpeed
-	}
-	return 0
-}
-
-func (x *GameEvent_BotKickedBallTooFast) GetChipped() bool {
-	if x != nil && x.Chipped != nil {
-		return *x.Chipped
-	}
-	return false
-}
-
-// a bot dribbled to ball too far
-type GameEvent_BotDribbledBallTooFar struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that dribbled too far
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location where the dribbling started [m]
-	Start *Vector2 `protobuf:"bytes,3,opt,name=start" json:"start,omitempty"`
-	// the location where the maximum dribbling distance was reached [m]
-	End           *Vector2 `protobuf:"bytes,4,opt,name=end" json:"end,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotDribbledBallTooFar) Reset() {
-	*x = GameEvent_BotDribbledBallTooFar{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[17]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotDribbledBallTooFar) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotDribbledBallTooFar) ProtoMessage() {}
-
-func (x *GameEvent_BotDribbledBallTooFar) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[17]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotDribbledBallTooFar.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotDribbledBallTooFar) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 16}
-}
-
-func (x *GameEvent_BotDribbledBallTooFar) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BotDribbledBallTooFar) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_BotDribbledBallTooFar) GetStart() *Vector2 {
-	if x != nil {
-		return x.Start
-	}
-	return nil
-}
-
-func (x *GameEvent_BotDribbledBallTooFar) GetEnd() *Vector2 {
-	if x != nil {
-		return x.End
-	}
-	return nil
-}
-
-// an attacker touched the opponent robot inside defense area
-type GameEvent_AttackerTouchedOpponentInDefenseArea struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that touched the opponent robot
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the bot of the opposite team that was touched
-	Victim *uint32 `protobuf:"varint,4,opt,name=victim" json:"victim,omitempty"`
-	// the location of the contact point between both bots [m]
-	Location      *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) Reset() {
-	*x = GameEvent_AttackerTouchedOpponentInDefenseArea{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[18]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_AttackerTouchedOpponentInDefenseArea) ProtoMessage() {}
-
-func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[18]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_AttackerTouchedOpponentInDefenseArea.ProtoReflect.Descriptor instead.
-func (*GameEvent_AttackerTouchedOpponentInDefenseArea) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 17}
-}
-
-func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) GetVictim() uint32 {
-	if x != nil && x.Victim != nil {
-		return *x.Victim
-	}
-	return 0
-}
-
-func (x *GameEvent_AttackerTouchedOpponentInDefenseArea) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-// an attacker touched the ball multiple times when it was not allowed to
-type GameEvent_AttackerDoubleTouchedBall struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that touched the ball twice
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the ball when it was first touched [m]
-	Location      *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_AttackerDoubleTouchedBall) Reset() {
-	*x = GameEvent_AttackerDoubleTouchedBall{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[19]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_AttackerDoubleTouchedBall) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_AttackerDoubleTouchedBall) ProtoMessage() {}
-
-func (x *GameEvent_AttackerDoubleTouchedBall) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[19]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_AttackerDoubleTouchedBall.ProtoReflect.Descriptor instead.
-func (*GameEvent_AttackerDoubleTouchedBall) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 18}
-}
-
-func (x *GameEvent_AttackerDoubleTouchedBall) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_AttackerDoubleTouchedBall) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_AttackerDoubleTouchedBall) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-// an attacker was located too near to the opponent defense area during stop or free kick
-type GameEvent_AttackerTooCloseToDefenseArea struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that is too close to the defense area
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the bot [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the distance [m] of the bot to the penalty area
-	Distance *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
-	// the location of the ball at the moment when this foul occurred [m]
-	BallLocation  *Vector2 `protobuf:"bytes,5,opt,name=ball_location,json=ballLocation" json:"ball_location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_AttackerTooCloseToDefenseArea) Reset() {
-	*x = GameEvent_AttackerTooCloseToDefenseArea{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[20]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_AttackerTooCloseToDefenseArea) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_AttackerTooCloseToDefenseArea) ProtoMessage() {}
-
-func (x *GameEvent_AttackerTooCloseToDefenseArea) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[20]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_AttackerTooCloseToDefenseArea.ProtoReflect.Descriptor instead.
-func (*GameEvent_AttackerTooCloseToDefenseArea) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 19}
-}
-
-func (x *GameEvent_AttackerTooCloseToDefenseArea) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_AttackerTooCloseToDefenseArea) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_AttackerTooCloseToDefenseArea) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_AttackerTooCloseToDefenseArea) GetDistance() float32 {
-	if x != nil && x.Distance != nil {
-		return *x.Distance
-	}
-	return 0
-}
-
-func (x *GameEvent_AttackerTooCloseToDefenseArea) GetBallLocation() *Vector2 {
-	if x != nil {
-		return x.BallLocation
-	}
-	return nil
-}
-
-// a bot held the ball for too long
-type GameEvent_BotHeldBallDeliberately struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that holds the ball
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the ball [m]
-	Location *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	// the duration [s] that the bot hold the ball
-	Duration      *float32 `protobuf:"fixed32,4,opt,name=duration" json:"duration,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotHeldBallDeliberately) Reset() {
-	*x = GameEvent_BotHeldBallDeliberately{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[21]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotHeldBallDeliberately) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotHeldBallDeliberately) ProtoMessage() {}
-
-func (x *GameEvent_BotHeldBallDeliberately) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[21]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotHeldBallDeliberately.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotHeldBallDeliberately) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 20}
-}
-
-func (x *GameEvent_BotHeldBallDeliberately) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BotHeldBallDeliberately) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_BotHeldBallDeliberately) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_BotHeldBallDeliberately) GetDuration() float32 {
-	if x != nil && x.Duration != nil {
-		return *x.Duration
-	}
-	return 0
-}
-
-// a bot interfered the ball placement of the other team
-type GameEvent_BotInterferedPlacement struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the bot that interfered the placement
-	ByBot *uint32 `protobuf:"varint,2,opt,name=by_bot,json=byBot" json:"by_bot,omitempty"`
-	// the location of the bot [m]
-	Location      *Vector2 `protobuf:"bytes,3,opt,name=location" json:"location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotInterferedPlacement) Reset() {
-	*x = GameEvent_BotInterferedPlacement{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[22]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotInterferedPlacement) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotInterferedPlacement) ProtoMessage() {}
-
-func (x *GameEvent_BotInterferedPlacement) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[22]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotInterferedPlacement.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotInterferedPlacement) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 21}
-}
-
-func (x *GameEvent_BotInterferedPlacement) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BotInterferedPlacement) GetByBot() uint32 {
-	if x != nil && x.ByBot != nil {
-		return *x.ByBot
-	}
-	return 0
-}
-
-func (x *GameEvent_BotInterferedPlacement) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-// a team collected multiple yellow cards
-type GameEvent_MultipleCards struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that received multiple yellow cards
-	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_MultipleCards) Reset() {
-	*x = GameEvent_MultipleCards{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[23]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_MultipleCards) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_MultipleCards) ProtoMessage() {}
-
-func (x *GameEvent_MultipleCards) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[23]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_MultipleCards.ProtoReflect.Descriptor instead.
-func (*GameEvent_MultipleCards) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 22}
-}
-
-func (x *GameEvent_MultipleCards) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-// a team collected multiple fouls, which results in a yellow card
-type GameEvent_MultipleFouls struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that collected multiple fouls
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the list of game events that caused the multiple fouls
-	CausedGameEvents []*GameEvent `protobuf:"bytes,2,rep,name=caused_game_events,json=causedGameEvents" json:"caused_game_events,omitempty"`
-	unknownFields    protoimpl.UnknownFields
-	sizeCache        protoimpl.SizeCache
-}
-
-func (x *GameEvent_MultipleFouls) Reset() {
-	*x = GameEvent_MultipleFouls{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[24]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_MultipleFouls) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_MultipleFouls) ProtoMessage() {}
-
-func (x *GameEvent_MultipleFouls) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[24]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_MultipleFouls.ProtoReflect.Descriptor instead.
-func (*GameEvent_MultipleFouls) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 23}
-}
-
-func (x *GameEvent_MultipleFouls) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_MultipleFouls) GetCausedGameEvents() []*GameEvent {
-	if x != nil {
-		return x.CausedGameEvents
-	}
-	return nil
-}
-
-// a team failed to place the ball multiple times in a row
-type GameEvent_MultiplePlacementFailures struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that failed multiple times
-	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_MultiplePlacementFailures) Reset() {
-	*x = GameEvent_MultiplePlacementFailures{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[25]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_MultiplePlacementFailures) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_MultiplePlacementFailures) ProtoMessage() {}
-
-func (x *GameEvent_MultiplePlacementFailures) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[25]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_MultiplePlacementFailures.ProtoReflect.Descriptor instead.
-func (*GameEvent_MultiplePlacementFailures) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 24}
-}
-
-func (x *GameEvent_MultiplePlacementFailures) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-// timeout waiting for the attacking team to perform the free kick
-type GameEvent_KickTimeout struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that that should have kicked
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the location of the ball [m]
-	Location *Vector2 `protobuf:"bytes,2,opt,name=location" json:"location,omitempty"`
-	// the time [s] that was waited
-	Time          *float32 `protobuf:"fixed32,3,opt,name=time" json:"time,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_KickTimeout) Reset() {
-	*x = GameEvent_KickTimeout{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[26]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_KickTimeout) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_KickTimeout) ProtoMessage() {}
-
-func (x *GameEvent_KickTimeout) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[26]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_KickTimeout.ProtoReflect.Descriptor instead.
-func (*GameEvent_KickTimeout) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 25}
-}
-
-func (x *GameEvent_KickTimeout) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_KickTimeout) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_KickTimeout) GetTime() float32 {
-	if x != nil && x.Time != nil {
-		return *x.Time
-	}
-	return 0
-}
-
-// game was stuck
-type GameEvent_NoProgressInGame struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the location of the ball
-	Location *Vector2 `protobuf:"bytes,1,opt,name=location" json:"location,omitempty"`
-	// the time [s] that was waited
-	Time          *float32 `protobuf:"fixed32,2,opt,name=time" json:"time,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_NoProgressInGame) Reset() {
-	*x = GameEvent_NoProgressInGame{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[27]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_NoProgressInGame) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_NoProgressInGame) ProtoMessage() {}
-
-func (x *GameEvent_NoProgressInGame) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[27]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_NoProgressInGame.ProtoReflect.Descriptor instead.
-func (*GameEvent_NoProgressInGame) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 26}
-}
-
-func (x *GameEvent_NoProgressInGame) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_NoProgressInGame) GetTime() float32 {
-	if x != nil && x.Time != nil {
-		return *x.Time
-	}
-	return 0
-}
-
-// ball placement failed
-type GameEvent_PlacementFailed struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that failed
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the remaining distance [m] from ball to placement position
-	RemainingDistance *float32 `protobuf:"fixed32,2,opt,name=remaining_distance,json=remainingDistance" json:"remaining_distance,omitempty"`
-	// the distance [m] of the nearest own robot to the ball
-	NearestOwnBotDistance *float32 `protobuf:"fixed32,3,opt,name=nearest_own_bot_distance,json=nearestOwnBotDistance" json:"nearest_own_bot_distance,omitempty"`
-	unknownFields         protoimpl.UnknownFields
-	sizeCache             protoimpl.SizeCache
-}
-
-func (x *GameEvent_PlacementFailed) Reset() {
-	*x = GameEvent_PlacementFailed{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[28]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_PlacementFailed) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_PlacementFailed) ProtoMessage() {}
-
-func (x *GameEvent_PlacementFailed) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[28]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_PlacementFailed.ProtoReflect.Descriptor instead.
-func (*GameEvent_PlacementFailed) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 27}
-}
-
-func (x *GameEvent_PlacementFailed) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_PlacementFailed) GetRemainingDistance() float32 {
-	if x != nil && x.RemainingDistance != nil {
-		return *x.RemainingDistance
-	}
-	return 0
-}
-
-func (x *GameEvent_PlacementFailed) GetNearestOwnBotDistance() float32 {
-	if x != nil && x.NearestOwnBotDistance != nil {
-		return *x.NearestOwnBotDistance
-	}
-	return 0
-}
-
-// a team was found guilty for minor unsporting behavior
-type GameEvent_UnsportingBehaviorMinor struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// an explanation of the situation and decision
-	Reason        *string `protobuf:"bytes,2,req,name=reason" json:"reason,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_UnsportingBehaviorMinor) Reset() {
-	*x = GameEvent_UnsportingBehaviorMinor{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[29]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_UnsportingBehaviorMinor) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_UnsportingBehaviorMinor) ProtoMessage() {}
-
-func (x *GameEvent_UnsportingBehaviorMinor) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[29]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_UnsportingBehaviorMinor.ProtoReflect.Descriptor instead.
-func (*GameEvent_UnsportingBehaviorMinor) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 28}
-}
-
-func (x *GameEvent_UnsportingBehaviorMinor) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_UnsportingBehaviorMinor) GetReason() string {
-	if x != nil && x.Reason != nil {
-		return *x.Reason
-	}
-	return ""
-}
-
-// a team was found guilty for major unsporting behavior
-type GameEvent_UnsportingBehaviorMajor struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// an explanation of the situation and decision
-	Reason        *string `protobuf:"bytes,2,req,name=reason" json:"reason,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_UnsportingBehaviorMajor) Reset() {
-	*x = GameEvent_UnsportingBehaviorMajor{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[30]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_UnsportingBehaviorMajor) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_UnsportingBehaviorMajor) ProtoMessage() {}
-
-func (x *GameEvent_UnsportingBehaviorMajor) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[30]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_UnsportingBehaviorMajor.ProtoReflect.Descriptor instead.
-func (*GameEvent_UnsportingBehaviorMajor) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 29}
-}
-
-func (x *GameEvent_UnsportingBehaviorMajor) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_UnsportingBehaviorMajor) GetReason() string {
-	if x != nil && x.Reason != nil {
-		return *x.Reason
-	}
-	return ""
-}
-
-// a keeper held the ball in its defense area for too long
-type GameEvent_KeeperHeldBall struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that found guilty
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the location of the ball [m]
-	Location *Vector2 `protobuf:"bytes,2,opt,name=location" json:"location,omitempty"`
-	// the duration [s] that the keeper hold the ball
-	Duration      *float32 `protobuf:"fixed32,3,opt,name=duration" json:"duration,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_KeeperHeldBall) Reset() {
-	*x = GameEvent_KeeperHeldBall{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[31]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_KeeperHeldBall) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_KeeperHeldBall) ProtoMessage() {}
-
-func (x *GameEvent_KeeperHeldBall) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[31]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_KeeperHeldBall.ProtoReflect.Descriptor instead.
-func (*GameEvent_KeeperHeldBall) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 30}
-}
-
-func (x *GameEvent_KeeperHeldBall) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_KeeperHeldBall) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_KeeperHeldBall) GetDuration() float32 {
-	if x != nil && x.Duration != nil {
-		return *x.Duration
-	}
-	return 0
-}
-
-// a team successfully placed the ball
-type GameEvent_PlacementSucceeded struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that did the placement
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the time [s] taken for placing the ball
-	TimeTaken *float32 `protobuf:"fixed32,2,opt,name=time_taken,json=timeTaken" json:"time_taken,omitempty"`
-	// the distance [m] between placement location and actual ball position
-	Precision *float32 `protobuf:"fixed32,3,opt,name=precision" json:"precision,omitempty"`
-	// the distance [m] between the initial ball location and the placement position
-	Distance      *float32 `protobuf:"fixed32,4,opt,name=distance" json:"distance,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_PlacementSucceeded) Reset() {
-	*x = GameEvent_PlacementSucceeded{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[32]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_PlacementSucceeded) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_PlacementSucceeded) ProtoMessage() {}
-
-func (x *GameEvent_PlacementSucceeded) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[32]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_PlacementSucceeded.ProtoReflect.Descriptor instead.
-func (*GameEvent_PlacementSucceeded) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 31}
-}
-
-func (x *GameEvent_PlacementSucceeded) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_PlacementSucceeded) GetTimeTaken() float32 {
-	if x != nil && x.TimeTaken != nil {
-		return *x.TimeTaken
-	}
-	return 0
-}
-
-func (x *GameEvent_PlacementSucceeded) GetPrecision() float32 {
-	if x != nil && x.Precision != nil {
-		return *x.Precision
-	}
-	return 0
-}
-
-func (x *GameEvent_PlacementSucceeded) GetDistance() float32 {
-	if x != nil && x.Distance != nil {
-		return *x.Distance
-	}
-	return 0
-}
-
-// both teams are prepared - all conditions are met to continue (with kickoff or penalty kick)
-type GameEvent_Prepared struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the time [s] taken for preparing
-	TimeTaken     *float32 `protobuf:"fixed32,1,opt,name=time_taken,json=timeTaken" json:"time_taken,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_Prepared) Reset() {
-	*x = GameEvent_Prepared{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[33]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_Prepared) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_Prepared) ProtoMessage() {}
-
-func (x *GameEvent_Prepared) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[33]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_Prepared.ProtoReflect.Descriptor instead.
-func (*GameEvent_Prepared) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 32}
-}
-
-func (x *GameEvent_Prepared) GetTimeTaken() float32 {
-	if x != nil && x.TimeTaken != nil {
-		return *x.TimeTaken
-	}
-	return 0
-}
-
-// bots are being substituted by a team
-type GameEvent_BotSubstitution struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that substitutes robots
-	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BotSubstitution) Reset() {
-	*x = GameEvent_BotSubstitution{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[34]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BotSubstitution) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BotSubstitution) ProtoMessage() {}
-
-func (x *GameEvent_BotSubstitution) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[34]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BotSubstitution.ProtoReflect.Descriptor instead.
-func (*GameEvent_BotSubstitution) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 33}
-}
-
-func (x *GameEvent_BotSubstitution) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-// A foul for excessive bot substitutions
-type GameEvent_ExcessiveBotSubstitution struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that substitutes robots
-	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_ExcessiveBotSubstitution) Reset() {
-	*x = GameEvent_ExcessiveBotSubstitution{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[35]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_ExcessiveBotSubstitution) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_ExcessiveBotSubstitution) ProtoMessage() {}
-
-func (x *GameEvent_ExcessiveBotSubstitution) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[35]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_ExcessiveBotSubstitution.ProtoReflect.Descriptor instead.
-func (*GameEvent_ExcessiveBotSubstitution) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 34}
-}
-
-func (x *GameEvent_ExcessiveBotSubstitution) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-// A challenge flag, requested by a team previously, is flagged
-type GameEvent_ChallengeFlag struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that requested the challenge flag
-	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_ChallengeFlag) Reset() {
-	*x = GameEvent_ChallengeFlag{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[36]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_ChallengeFlag) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_ChallengeFlag) ProtoMessage() {}
-
-func (x *GameEvent_ChallengeFlag) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[36]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_ChallengeFlag.ProtoReflect.Descriptor instead.
-func (*GameEvent_ChallengeFlag) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 35}
-}
-
-func (x *GameEvent_ChallengeFlag) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-// A challenge, flagged recently, has been handled by the referee
-type GameEvent_ChallengeFlagHandled struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that requested the challenge flag
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the challenge was accepted by the referee
-	Accepted      *bool `protobuf:"varint,2,req,name=accepted" json:"accepted,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_ChallengeFlagHandled) Reset() {
-	*x = GameEvent_ChallengeFlagHandled{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[37]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_ChallengeFlagHandled) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_ChallengeFlagHandled) ProtoMessage() {}
-
-func (x *GameEvent_ChallengeFlagHandled) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[37]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_ChallengeFlagHandled.ProtoReflect.Descriptor instead.
-func (*GameEvent_ChallengeFlagHandled) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 36}
-}
-
-func (x *GameEvent_ChallengeFlagHandled) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_ChallengeFlagHandled) GetAccepted() bool {
-	if x != nil && x.Accepted != nil {
-		return *x.Accepted
-	}
-	return false
-}
-
-// An emergency stop, requested by team previously, occurred
-type GameEvent_EmergencyStop struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that substitutes robots
-	ByTeam        *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_EmergencyStop) Reset() {
-	*x = GameEvent_EmergencyStop{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[38]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_EmergencyStop) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_EmergencyStop) ProtoMessage() {}
-
-func (x *GameEvent_EmergencyStop) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[38]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_EmergencyStop.ProtoReflect.Descriptor instead.
-func (*GameEvent_EmergencyStop) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 37}
-}
-
-func (x *GameEvent_EmergencyStop) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-// a team has too many robots on the field
-type GameEvent_TooManyRobots struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that has too many robots
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// number of robots allowed at the moment
-	NumRobotsAllowed *int32 `protobuf:"varint,2,opt,name=num_robots_allowed,json=numRobotsAllowed" json:"num_robots_allowed,omitempty"`
-	// number of robots currently on the field
-	NumRobotsOnField *int32 `protobuf:"varint,3,opt,name=num_robots_on_field,json=numRobotsOnField" json:"num_robots_on_field,omitempty"`
-	// the location of the ball at the moment when this foul occurred [m]
-	BallLocation  *Vector2 `protobuf:"bytes,4,opt,name=ball_location,json=ballLocation" json:"ball_location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_TooManyRobots) Reset() {
-	*x = GameEvent_TooManyRobots{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[39]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_TooManyRobots) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_TooManyRobots) ProtoMessage() {}
-
-func (x *GameEvent_TooManyRobots) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[39]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_TooManyRobots.ProtoReflect.Descriptor instead.
-func (*GameEvent_TooManyRobots) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 38}
-}
-
-func (x *GameEvent_TooManyRobots) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_TooManyRobots) GetNumRobotsAllowed() int32 {
-	if x != nil && x.NumRobotsAllowed != nil {
-		return *x.NumRobotsAllowed
-	}
-	return 0
-}
-
-func (x *GameEvent_TooManyRobots) GetNumRobotsOnField() int32 {
-	if x != nil && x.NumRobotsOnField != nil {
-		return *x.NumRobotsOnField
-	}
-	return 0
-}
-
-func (x *GameEvent_TooManyRobots) GetBallLocation() *Vector2 {
-	if x != nil {
-		return x.BallLocation
-	}
-	return nil
-}
-
-// a robot chipped the ball over the field boundary out of the playing surface
-type GameEvent_BoundaryCrossing struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that has too many robots
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the location of the ball [m]
-	Location      *Vector2 `protobuf:"bytes,2,opt,name=location" json:"location,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_BoundaryCrossing) Reset() {
-	*x = GameEvent_BoundaryCrossing{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[40]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_BoundaryCrossing) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_BoundaryCrossing) ProtoMessage() {}
-
-func (x *GameEvent_BoundaryCrossing) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[40]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_BoundaryCrossing.ProtoReflect.Descriptor instead.
-func (*GameEvent_BoundaryCrossing) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 39}
-}
-
-func (x *GameEvent_BoundaryCrossing) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_BoundaryCrossing) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-// the penalty kick failed (by time or by keeper)
-type GameEvent_PenaltyKickFailed struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that last touched the ball
-	ByTeam *Team `protobuf:"varint,1,req,name=by_team,json=byTeam,enum=Team" json:"by_team,omitempty"`
-	// the location of the ball at the moment of this event [m]
-	Location *Vector2 `protobuf:"bytes,2,opt,name=location" json:"location,omitempty"`
-	// an explanation of the failure
-	Reason        *string `protobuf:"bytes,3,opt,name=reason" json:"reason,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEvent_PenaltyKickFailed) Reset() {
-	*x = GameEvent_PenaltyKickFailed{}
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[41]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEvent_PenaltyKickFailed) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEvent_PenaltyKickFailed) ProtoMessage() {}
-
-func (x *GameEvent_PenaltyKickFailed) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_game_event_proto_msgTypes[41]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEvent_PenaltyKickFailed.ProtoReflect.Descriptor instead.
-func (*GameEvent_PenaltyKickFailed) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP(), []int{0, 40}
-}
-
-func (x *GameEvent_PenaltyKickFailed) GetByTeam() Team {
-	if x != nil && x.ByTeam != nil {
-		return *x.ByTeam
-	}
-	return Team_UNKNOWN
-}
-
-func (x *GameEvent_PenaltyKickFailed) GetLocation() *Vector2 {
-	if x != nil {
-		return x.Location
-	}
-	return nil
-}
-
-func (x *GameEvent_PenaltyKickFailed) GetReason() string {
-	if x != nil && x.Reason != nil {
-		return *x.Reason
-	}
-	return ""
-}
-
-var File_gamecontroller_ssl_gc_game_event_proto protoreflect.FileDescriptor
-
-const file_gamecontroller_ssl_gc_game_event_proto_rawDesc = "" +
-	"\n" +
-	"&gamecontroller/ssl_gc_game_event.proto\x1a\"gamecontroller/ssl_gc_common.proto\x1a$gamecontroller/ssl_gc_geometry.proto\"\xceU\n" +
-	"\tGameEvent\x12\x0e\n" +
-	"\x02id\x182 \x01(\tR\x02id\x12#\n" +
-	"\x04type\x18( \x01(\x0e2\x0f.GameEvent.TypeR\x04type\x12\x16\n" +
-	"\x06origin\x18) \x03(\tR\x06origin\x12+\n" +
-	"\x11created_timestamp\x181 \x01(\x04R\x10createdTimestamp\x12V\n" +
-	"\x1aball_left_field_touch_line\x18\x06 \x01(\v2\x18.GameEvent.BallLeftFieldH\x00R\x16ballLeftFieldTouchLine\x12T\n" +
-	"\x19ball_left_field_goal_line\x18\a \x01(\v2\x18.GameEvent.BallLeftFieldH\x00R\x15ballLeftFieldGoalLine\x12;\n" +
-	"\faimless_kick\x18\v \x01(\v2\x16.GameEvent.AimlessKickH\x00R\vaimlessKick\x12u\n" +
-	"\"attacker_too_close_to_defense_area\x18\x13 \x01(\v2(.GameEvent.AttackerTooCloseToDefenseAreaH\x00R\x1dattackerTooCloseToDefenseArea\x12[\n" +
-	"\x18defender_in_defense_area\x18\x1f \x01(\v2 .GameEvent.DefenderInDefenseAreaH\x00R\x15defenderInDefenseArea\x12J\n" +
-	"\x11boundary_crossing\x18+ \x01(\v2\x1b.GameEvent.BoundaryCrossingH\x00R\x10boundaryCrossing\x12E\n" +
-	"\x10keeper_held_ball\x18\r \x01(\v2\x19.GameEvent.KeeperHeldBallH\x00R\x0ekeeperHeldBall\x12\\\n" +
-	"\x19bot_dribbled_ball_too_far\x18\x11 \x01(\v2 .GameEvent.BotDribbledBallTooFarH\x00R\x15botDribbledBallTooFar\x12?\n" +
-	"\x0ebot_pushed_bot\x18\x18 \x01(\v2\x17.GameEvent.BotPushedBotH\x00R\fbotPushedBot\x12a\n" +
-	"\x1abot_held_ball_deliberately\x18\x1a \x01(\v2\".GameEvent.BotHeldBallDeliberatelyH\x00R\x17botHeldBallDeliberately\x12B\n" +
-	"\x0fbot_tipped_over\x18\x1b \x01(\v2\x18.GameEvent.BotTippedOverH\x00R\rbotTippedOver\x12H\n" +
-	"\x11bot_dropped_parts\x183 \x01(\v2\x1a.GameEvent.BotDroppedPartsH\x00R\x0fbotDroppedParts\x12~\n" +
-	"%attacker_touched_ball_in_defense_area\x18\x0f \x01(\v2+.GameEvent.AttackerTouchedBallInDefenseAreaH\x00R attackerTouchedBallInDefenseArea\x12Y\n" +
-	"\x18bot_kicked_ball_too_fast\x18\x12 \x01(\v2\x1f.GameEvent.BotKickedBallTooFastH\x00R\x14botKickedBallTooFast\x12E\n" +
-	"\x10bot_crash_unique\x18\x16 \x01(\v2\x19.GameEvent.BotCrashUniqueH\x00R\x0ebotCrashUnique\x12B\n" +
-	"\x0fbot_crash_drawn\x18\x15 \x01(\v2\x18.GameEvent.BotCrashDrawnH\x00R\rbotCrashDrawn\x12o\n" +
-	" defender_too_close_to_kick_point\x18\x1d \x01(\v2&.GameEvent.DefenderTooCloseToKickPointH\x00R\x1bdefenderTooCloseToKickPoint\x12M\n" +
-	"\x14bot_too_fast_in_stop\x18\x1c \x01(\v2\x1b.GameEvent.BotTooFastInStopH\x00R\x10botTooFastInStop\x12]\n" +
-	"\x18bot_interfered_placement\x18\x14 \x01(\v2!.GameEvent.BotInterferedPlacementH\x00R\x16botInterferedPlacement\x126\n" +
-	"\rpossible_goal\x18' \x01(\v2\x0f.GameEvent.GoalH\x00R\fpossibleGoal\x12%\n" +
-	"\x04goal\x18\b \x01(\v2\x0f.GameEvent.GoalH\x00R\x04goal\x124\n" +
-	"\finvalid_goal\x18, \x01(\v2\x0f.GameEvent.GoalH\x00R\vinvalidGoal\x12g\n" +
-	"\x1cattacker_double_touched_ball\x18\x0e \x01(\v2$.GameEvent.AttackerDoubleTouchedBallH\x00R\x19attackerDoubleTouchedBall\x12P\n" +
-	"\x13placement_succeeded\x18\x05 \x01(\v2\x1d.GameEvent.PlacementSucceededH\x00R\x12placementSucceeded\x12N\n" +
-	"\x13penalty_kick_failed\x18- \x01(\v2\x1c.GameEvent.PenaltyKickFailedH\x00R\x11penaltyKickFailed\x12L\n" +
-	"\x13no_progress_in_game\x18\x02 \x01(\v2\x1b.GameEvent.NoProgressInGameH\x00R\x10noProgressInGame\x12G\n" +
-	"\x10placement_failed\x18\x03 \x01(\v2\x1a.GameEvent.PlacementFailedH\x00R\x0fplacementFailed\x12A\n" +
-	"\x0emultiple_cards\x18  \x01(\v2\x18.GameEvent.MultipleCardsH\x00R\rmultipleCards\x12A\n" +
-	"\x0emultiple_fouls\x18\" \x01(\v2\x18.GameEvent.MultipleFoulsH\x00R\rmultipleFouls\x12G\n" +
-	"\x10bot_substitution\x18% \x01(\v2\x1a.GameEvent.BotSubstitutionH\x00R\x0fbotSubstitution\x12c\n" +
-	"\x1aexcessive_bot_substitution\x184 \x01(\v2#.GameEvent.ExcessiveBotSubstitutionH\x00R\x18excessiveBotSubstitution\x12B\n" +
-	"\x0ftoo_many_robots\x18& \x01(\v2\x18.GameEvent.TooManyRobotsH\x00R\rtooManyRobots\x12A\n" +
-	"\x0echallenge_flag\x18. \x01(\v2\x18.GameEvent.ChallengeFlagH\x00R\rchallengeFlag\x12W\n" +
-	"\x16challenge_flag_handled\x180 \x01(\v2\x1f.GameEvent.ChallengeFlagHandledH\x00R\x14challengeFlagHandled\x12A\n" +
-	"\x0eemergency_stop\x18/ \x01(\v2\x18.GameEvent.EmergencyStopH\x00R\remergencyStop\x12`\n" +
-	"\x19unsporting_behavior_minor\x18# \x01(\v2\".GameEvent.UnsportingBehaviorMinorH\x00R\x17unsportingBehaviorMinor\x12`\n" +
-	"\x19unsporting_behavior_major\x18$ \x01(\v2\".GameEvent.UnsportingBehaviorMajorH\x00R\x17unsportingBehaviorMajor\x125\n" +
-	"\bprepared\x18\x01 \x01(\v2\x13.GameEvent.PreparedB\x02\x18\x01H\x00R\bprepared\x12B\n" +
-	"\rindirect_goal\x18\t \x01(\v2\x17.GameEvent.IndirectGoalB\x02\x18\x01H\x00R\findirectGoal\x12?\n" +
-	"\fchipped_goal\x18\n" +
-	" \x01(\v2\x16.GameEvent.ChippedGoalB\x02\x18\x01H\x00R\vchippedGoal\x12?\n" +
-	"\fkick_timeout\x18\f \x01(\v2\x16.GameEvent.KickTimeoutB\x02\x18\x01H\x00R\vkickTimeout\x12\x8e\x01\n" +
-	")attacker_touched_opponent_in_defense_area\x18\x10 \x01(\v2/.GameEvent.AttackerTouchedOpponentInDefenseAreaB\x02\x18\x01H\x00R$attackerTouchedOpponentInDefenseArea\x12\x9d\x01\n" +
-	"1attacker_touched_opponent_in_defense_area_skipped\x18* \x01(\v2/.GameEvent.AttackerTouchedOpponentInDefenseAreaB\x02\x18\x01H\x00R+attackerTouchedOpponentInDefenseAreaSkipped\x12X\n" +
-	"\x18bot_crash_unique_skipped\x18\x17 \x01(\v2\x19.GameEvent.BotCrashUniqueB\x02\x18\x01H\x00R\x15botCrashUniqueSkipped\x12R\n" +
-	"\x16bot_pushed_bot_skipped\x18\x19 \x01(\v2\x17.GameEvent.BotPushedBotB\x02\x18\x01H\x00R\x13botPushedBotSkipped\x12{\n" +
-	"\"defender_in_defense_area_partially\x18\x1e \x01(\v2).GameEvent.DefenderInDefenseAreaPartiallyB\x02\x18\x01H\x00R\x1edefenderInDefenseAreaPartially\x12j\n" +
-	"\x1bmultiple_placement_failures\x18! \x01(\v2$.GameEvent.MultiplePlacementFailuresB\x02\x18\x01H\x00R\x19multiplePlacementFailures\x1al\n" +
-	"\rBallLeftField\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x1a\x99\x01\n" +
-	"\vAimlessKick\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
-	"\rkick_location\x18\x04 \x01(\v2\b.Vector2R\fkickLocation\x1a\xe2\x02\n" +
-	"\x04Goal\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12(\n" +
-	"\fkicking_team\x18\x06 \x01(\x0e2\x05.TeamR\vkickingTeam\x12\x1f\n" +
-	"\vkicking_bot\x18\x02 \x01(\rR\n" +
-	"kickingBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
-	"\rkick_location\x18\x04 \x01(\v2\b.Vector2R\fkickLocation\x12&\n" +
-	"\x0fmax_ball_height\x18\x05 \x01(\x02R\rmaxBallHeight\x12+\n" +
-	"\x12num_robots_by_team\x18\a \x01(\rR\x0fnumRobotsByTeam\x12+\n" +
-	"\x12last_touch_by_team\x18\b \x01(\x04R\x0flastTouchByTeam\x12\x18\n" +
-	"\amessage\x18\t \x01(\tR\amessage\x1a\x9a\x01\n" +
-	"\fIndirectGoal\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
-	"\rkick_location\x18\x04 \x01(\v2\b.Vector2R\fkickLocation\x1a\xc1\x01\n" +
-	"\vChippedGoal\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
-	"\rkick_location\x18\x04 \x01(\v2\b.Vector2R\fkickLocation\x12&\n" +
-	"\x0fmax_ball_height\x18\x05 \x01(\x02R\rmaxBallHeight\x1a\x85\x01\n" +
-	"\x10BotTooFastInStop\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x14\n" +
-	"\x05speed\x18\x04 \x01(\x02R\x05speed\x1a\x96\x01\n" +
-	"\x1bDefenderTooCloseToKickPoint\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
-	"\bdistance\x18\x04 \x01(\x02R\bdistance\x1a\xd0\x01\n" +
-	"\rBotCrashDrawn\x12\x1d\n" +
-	"\n" +
-	"bot_yellow\x18\x01 \x01(\rR\tbotYellow\x12\x19\n" +
-	"\bbot_blue\x18\x02 \x01(\rR\abotBlue\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1f\n" +
-	"\vcrash_speed\x18\x04 \x01(\x02R\n" +
-	"crashSpeed\x12\x1d\n" +
-	"\n" +
-	"speed_diff\x18\x05 \x01(\x02R\tspeedDiff\x12\x1f\n" +
-	"\vcrash_angle\x18\x06 \x01(\x02R\n" +
-	"crashAngle\x1a\xeb\x01\n" +
-	"\x0eBotCrashUnique\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x1a\n" +
-	"\bviolator\x18\x02 \x01(\rR\bviolator\x12\x16\n" +
-	"\x06victim\x18\x03 \x01(\rR\x06victim\x12$\n" +
-	"\blocation\x18\x04 \x01(\v2\b.Vector2R\blocation\x12\x1f\n" +
-	"\vcrash_speed\x18\x05 \x01(\x02R\n" +
-	"crashSpeed\x12\x1d\n" +
-	"\n" +
-	"speed_diff\x18\x06 \x01(\x02R\tspeedDiff\x12\x1f\n" +
-	"\vcrash_angle\x18\a \x01(\x02R\n" +
-	"crashAngle\x1a\xb1\x01\n" +
-	"\fBotPushedBot\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x1a\n" +
-	"\bviolator\x18\x02 \x01(\rR\bviolator\x12\x16\n" +
-	"\x06victim\x18\x03 \x01(\rR\x06victim\x12$\n" +
-	"\blocation\x18\x04 \x01(\v2\b.Vector2R\blocation\x12'\n" +
-	"\x0fpushed_distance\x18\x05 \x01(\x02R\x0epushedDistance\x1a\x9b\x01\n" +
-	"\rBotTippedOver\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
-	"\rball_location\x18\x04 \x01(\v2\b.Vector2R\fballLocation\x1a\x9d\x01\n" +
-	"\x0fBotDroppedParts\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12-\n" +
-	"\rball_location\x18\x04 \x01(\v2\b.Vector2R\fballLocation\x1a\x90\x01\n" +
-	"\x15DefenderInDefenseArea\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
-	"\bdistance\x18\x04 \x01(\x02R\bdistance\x1a\xc8\x01\n" +
-	"\x1eDefenderInDefenseAreaPartially\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
-	"\bdistance\x18\x04 \x01(\x02R\bdistance\x12-\n" +
-	"\rball_location\x18\x05 \x01(\v2\b.Vector2R\fballLocation\x1a\x9b\x01\n" +
-	" AttackerTouchedBallInDefenseArea\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
-	"\bdistance\x18\x04 \x01(\x02R\bdistance\x1a\xbb\x01\n" +
-	"\x14BotKickedBallTooFast\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12,\n" +
-	"\x12initial_ball_speed\x18\x04 \x01(\x02R\x10initialBallSpeed\x12\x18\n" +
-	"\achipped\x18\x05 \x01(\bR\achipped\x1a\x8a\x01\n" +
-	"\x15BotDribbledBallTooFar\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12\x1e\n" +
-	"\x05start\x18\x03 \x01(\v2\b.Vector2R\x05start\x12\x1a\n" +
-	"\x03end\x18\x04 \x01(\v2\b.Vector2R\x03end\x1a\x9b\x01\n" +
-	"$AttackerTouchedOpponentInDefenseArea\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12\x16\n" +
-	"\x06victim\x18\x04 \x01(\rR\x06victim\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x1ax\n" +
-	"\x19AttackerDoubleTouchedBall\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x1a\xc7\x01\n" +
-	"\x1dAttackerTooCloseToDefenseArea\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
-	"\bdistance\x18\x04 \x01(\x02R\bdistance\x12-\n" +
-	"\rball_location\x18\x05 \x01(\v2\b.Vector2R\fballLocation\x1a\x92\x01\n" +
-	"\x17BotHeldBallDeliberately\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
-	"\bduration\x18\x04 \x01(\x02R\bduration\x1au\n" +
-	"\x16BotInterferedPlacement\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x15\n" +
-	"\x06by_bot\x18\x02 \x01(\rR\x05byBot\x12$\n" +
-	"\blocation\x18\x03 \x01(\v2\b.Vector2R\blocation\x1a/\n" +
-	"\rMultipleCards\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1ai\n" +
-	"\rMultipleFouls\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x128\n" +
-	"\x12caused_game_events\x18\x02 \x03(\v2\n" +
-	".GameEventR\x10causedGameEvents\x1a;\n" +
-	"\x19MultiplePlacementFailures\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1ag\n" +
-	"\vKickTimeout\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12$\n" +
-	"\blocation\x18\x02 \x01(\v2\b.Vector2R\blocation\x12\x12\n" +
-	"\x04time\x18\x03 \x01(\x02R\x04time\x1aL\n" +
-	"\x10NoProgressInGame\x12$\n" +
-	"\blocation\x18\x01 \x01(\v2\b.Vector2R\blocation\x12\x12\n" +
-	"\x04time\x18\x02 \x01(\x02R\x04time\x1a\x99\x01\n" +
-	"\x0fPlacementFailed\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12-\n" +
-	"\x12remaining_distance\x18\x02 \x01(\x02R\x11remainingDistance\x127\n" +
-	"\x18nearest_own_bot_distance\x18\x03 \x01(\x02R\x15nearestOwnBotDistance\x1aQ\n" +
-	"\x17UnsportingBehaviorMinor\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x16\n" +
-	"\x06reason\x18\x02 \x02(\tR\x06reason\x1aQ\n" +
-	"\x17UnsportingBehaviorMajor\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x16\n" +
-	"\x06reason\x18\x02 \x02(\tR\x06reason\x1ar\n" +
-	"\x0eKeeperHeldBall\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12$\n" +
-	"\blocation\x18\x02 \x01(\v2\b.Vector2R\blocation\x12\x1a\n" +
-	"\bduration\x18\x03 \x01(\x02R\bduration\x1a\x8d\x01\n" +
-	"\x12PlacementSucceeded\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x1d\n" +
-	"\n" +
-	"time_taken\x18\x02 \x01(\x02R\ttimeTaken\x12\x1c\n" +
-	"\tprecision\x18\x03 \x01(\x02R\tprecision\x12\x1a\n" +
-	"\bdistance\x18\x04 \x01(\x02R\bdistance\x1a)\n" +
-	"\bPrepared\x12\x1d\n" +
-	"\n" +
-	"time_taken\x18\x01 \x01(\x02R\ttimeTaken\x1a1\n" +
-	"\x0fBotSubstitution\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1a:\n" +
-	"\x18ExcessiveBotSubstitution\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1a/\n" +
-	"\rChallengeFlag\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1aR\n" +
-	"\x14ChallengeFlagHandled\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12\x1a\n" +
-	"\baccepted\x18\x02 \x02(\bR\baccepted\x1a/\n" +
-	"\rEmergencyStop\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x1a\xbb\x01\n" +
-	"\rTooManyRobots\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12,\n" +
-	"\x12num_robots_allowed\x18\x02 \x01(\x05R\x10numRobotsAllowed\x12-\n" +
-	"\x13num_robots_on_field\x18\x03 \x01(\x05R\x10numRobotsOnField\x12-\n" +
-	"\rball_location\x18\x04 \x01(\v2\b.Vector2R\fballLocation\x1aX\n" +
-	"\x10BoundaryCrossing\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12$\n" +
-	"\blocation\x18\x02 \x01(\v2\b.Vector2R\blocation\x1aq\n" +
-	"\x11PenaltyKickFailed\x12\x1e\n" +
-	"\aby_team\x18\x01 \x02(\x0e2\x05.TeamR\x06byTeam\x12$\n" +
-	"\blocation\x18\x02 \x01(\v2\b.Vector2R\blocation\x12\x16\n" +
-	"\x06reason\x18\x03 \x01(\tR\x06reason\"\xb5\n" +
-	"\n" +
-	"\x04Type\x12\x1b\n" +
-	"\x17UNKNOWN_GAME_EVENT_TYPE\x10\x00\x12\x1e\n" +
-	"\x1aBALL_LEFT_FIELD_TOUCH_LINE\x10\x06\x12\x1d\n" +
-	"\x19BALL_LEFT_FIELD_GOAL_LINE\x10\a\x12\x10\n" +
-	"\fAIMLESS_KICK\x10\v\x12&\n" +
-	"\"ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA\x10\x13\x12\x1c\n" +
-	"\x18DEFENDER_IN_DEFENSE_AREA\x10\x1f\x12\x15\n" +
-	"\x11BOUNDARY_CROSSING\x10)\x12\x14\n" +
-	"\x10KEEPER_HELD_BALL\x10\r\x12\x1d\n" +
-	"\x19BOT_DRIBBLED_BALL_TOO_FAR\x10\x11\x12\x12\n" +
-	"\x0eBOT_PUSHED_BOT\x10\x18\x12\x1e\n" +
-	"\x1aBOT_HELD_BALL_DELIBERATELY\x10\x1a\x12\x13\n" +
-	"\x0fBOT_TIPPED_OVER\x10\x1b\x12\x15\n" +
-	"\x11BOT_DROPPED_PARTS\x10/\x12)\n" +
-	"%ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA\x10\x0f\x12\x1c\n" +
-	"\x18BOT_KICKED_BALL_TOO_FAST\x10\x12\x12\x14\n" +
-	"\x10BOT_CRASH_UNIQUE\x10\x16\x12\x13\n" +
-	"\x0fBOT_CRASH_DRAWN\x10\x15\x12$\n" +
-	" DEFENDER_TOO_CLOSE_TO_KICK_POINT\x10\x1d\x12\x18\n" +
-	"\x14BOT_TOO_FAST_IN_STOP\x10\x1c\x12\x1c\n" +
-	"\x18BOT_INTERFERED_PLACEMENT\x10\x14\x12\x1e\n" +
-	"\x1aEXCESSIVE_BOT_SUBSTITUTION\x100\x12\x11\n" +
-	"\rPOSSIBLE_GOAL\x10'\x12\b\n" +
-	"\x04GOAL\x10\b\x12\x10\n" +
-	"\fINVALID_GOAL\x10*\x12 \n" +
-	"\x1cATTACKER_DOUBLE_TOUCHED_BALL\x10\x0e\x12\x17\n" +
-	"\x13PLACEMENT_SUCCEEDED\x10\x05\x12\x17\n" +
-	"\x13PENALTY_KICK_FAILED\x10+\x12\x17\n" +
-	"\x13NO_PROGRESS_IN_GAME\x10\x02\x12\x14\n" +
-	"\x10PLACEMENT_FAILED\x10\x03\x12\x12\n" +
-	"\x0eMULTIPLE_CARDS\x10 \x12\x12\n" +
-	"\x0eMULTIPLE_FOULS\x10\"\x12\x14\n" +
-	"\x10BOT_SUBSTITUTION\x10%\x12\x13\n" +
-	"\x0fTOO_MANY_ROBOTS\x10&\x12\x12\n" +
-	"\x0eCHALLENGE_FLAG\x10,\x12\x1a\n" +
-	"\x16CHALLENGE_FLAG_HANDLED\x10.\x12\x12\n" +
-	"\x0eEMERGENCY_STOP\x10-\x12\x1d\n" +
-	"\x19UNSPORTING_BEHAVIOR_MINOR\x10#\x12\x1d\n" +
-	"\x19UNSPORTING_BEHAVIOR_MAJOR\x10$\x12\x10\n" +
-	"\bPREPARED\x10\x01\x1a\x02\b\x01\x12\x15\n" +
-	"\rINDIRECT_GOAL\x10\t\x1a\x02\b\x01\x12\x14\n" +
-	"\fCHIPPED_GOAL\x10\n" +
-	"\x1a\x02\b\x01\x12\x14\n" +
-	"\fKICK_TIMEOUT\x10\f\x1a\x02\b\x01\x121\n" +
-	")ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA\x10\x10\x1a\x02\b\x01\x129\n" +
-	"1ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED\x10(\x1a\x02\b\x01\x12 \n" +
-	"\x18BOT_CRASH_UNIQUE_SKIPPED\x10\x17\x1a\x02\b\x01\x12\x1e\n" +
-	"\x16BOT_PUSHED_BOT_SKIPPED\x10\x19\x1a\x02\b\x01\x12*\n" +
-	"\"DEFENDER_IN_DEFENSE_AREA_PARTIALLY\x10\x1e\x1a\x02\b\x01\x12#\n" +
-	"\x1bMULTIPLE_PLACEMENT_FAILURES\x10!\x1a\x02\b\x01B\a\n" +
-	"\x05eventB`B\x13SslGcGameEventProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
-
-var (
-	file_gamecontroller_ssl_gc_game_event_proto_rawDescOnce sync.Once
-	file_gamecontroller_ssl_gc_game_event_proto_rawDescData []byte
-)
-
-func file_gamecontroller_ssl_gc_game_event_proto_rawDescGZIP() []byte {
-	file_gamecontroller_ssl_gc_game_event_proto_rawDescOnce.Do(func() {
-		file_gamecontroller_ssl_gc_game_event_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_game_event_proto_rawDesc), len(file_gamecontroller_ssl_gc_game_event_proto_rawDesc)))
-	})
-	return file_gamecontroller_ssl_gc_game_event_proto_rawDescData
-}
-
-var file_gamecontroller_ssl_gc_game_event_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_gamecontroller_ssl_gc_game_event_proto_msgTypes = make([]protoimpl.MessageInfo, 42)
-var file_gamecontroller_ssl_gc_game_event_proto_goTypes = []any{
-	(GameEvent_Type)(0),                                    // 0: GameEvent.Type
-	(*GameEvent)(nil),                                      // 1: GameEvent
-	(*GameEvent_BallLeftField)(nil),                        // 2: GameEvent.BallLeftField
-	(*GameEvent_AimlessKick)(nil),                          // 3: GameEvent.AimlessKick
-	(*GameEvent_Goal)(nil),                                 // 4: GameEvent.Goal
-	(*GameEvent_IndirectGoal)(nil),                         // 5: GameEvent.IndirectGoal
-	(*GameEvent_ChippedGoal)(nil),                          // 6: GameEvent.ChippedGoal
-	(*GameEvent_BotTooFastInStop)(nil),                     // 7: GameEvent.BotTooFastInStop
-	(*GameEvent_DefenderTooCloseToKickPoint)(nil),          // 8: GameEvent.DefenderTooCloseToKickPoint
-	(*GameEvent_BotCrashDrawn)(nil),                        // 9: GameEvent.BotCrashDrawn
-	(*GameEvent_BotCrashUnique)(nil),                       // 10: GameEvent.BotCrashUnique
-	(*GameEvent_BotPushedBot)(nil),                         // 11: GameEvent.BotPushedBot
-	(*GameEvent_BotTippedOver)(nil),                        // 12: GameEvent.BotTippedOver
-	(*GameEvent_BotDroppedParts)(nil),                      // 13: GameEvent.BotDroppedParts
-	(*GameEvent_DefenderInDefenseArea)(nil),                // 14: GameEvent.DefenderInDefenseArea
-	(*GameEvent_DefenderInDefenseAreaPartially)(nil),       // 15: GameEvent.DefenderInDefenseAreaPartially
-	(*GameEvent_AttackerTouchedBallInDefenseArea)(nil),     // 16: GameEvent.AttackerTouchedBallInDefenseArea
-	(*GameEvent_BotKickedBallTooFast)(nil),                 // 17: GameEvent.BotKickedBallTooFast
-	(*GameEvent_BotDribbledBallTooFar)(nil),                // 18: GameEvent.BotDribbledBallTooFar
-	(*GameEvent_AttackerTouchedOpponentInDefenseArea)(nil), // 19: GameEvent.AttackerTouchedOpponentInDefenseArea
-	(*GameEvent_AttackerDoubleTouchedBall)(nil),            // 20: GameEvent.AttackerDoubleTouchedBall
-	(*GameEvent_AttackerTooCloseToDefenseArea)(nil),        // 21: GameEvent.AttackerTooCloseToDefenseArea
-	(*GameEvent_BotHeldBallDeliberately)(nil),              // 22: GameEvent.BotHeldBallDeliberately
-	(*GameEvent_BotInterferedPlacement)(nil),               // 23: GameEvent.BotInterferedPlacement
-	(*GameEvent_MultipleCards)(nil),                        // 24: GameEvent.MultipleCards
-	(*GameEvent_MultipleFouls)(nil),                        // 25: GameEvent.MultipleFouls
-	(*GameEvent_MultiplePlacementFailures)(nil),            // 26: GameEvent.MultiplePlacementFailures
-	(*GameEvent_KickTimeout)(nil),                          // 27: GameEvent.KickTimeout
-	(*GameEvent_NoProgressInGame)(nil),                     // 28: GameEvent.NoProgressInGame
-	(*GameEvent_PlacementFailed)(nil),                      // 29: GameEvent.PlacementFailed
-	(*GameEvent_UnsportingBehaviorMinor)(nil),              // 30: GameEvent.UnsportingBehaviorMinor
-	(*GameEvent_UnsportingBehaviorMajor)(nil),              // 31: GameEvent.UnsportingBehaviorMajor
-	(*GameEvent_KeeperHeldBall)(nil),                       // 32: GameEvent.KeeperHeldBall
-	(*GameEvent_PlacementSucceeded)(nil),                   // 33: GameEvent.PlacementSucceeded
-	(*GameEvent_Prepared)(nil),                             // 34: GameEvent.Prepared
-	(*GameEvent_BotSubstitution)(nil),                      // 35: GameEvent.BotSubstitution
-	(*GameEvent_ExcessiveBotSubstitution)(nil),             // 36: GameEvent.ExcessiveBotSubstitution
-	(*GameEvent_ChallengeFlag)(nil),                        // 37: GameEvent.ChallengeFlag
-	(*GameEvent_ChallengeFlagHandled)(nil),                 // 38: GameEvent.ChallengeFlagHandled
-	(*GameEvent_EmergencyStop)(nil),                        // 39: GameEvent.EmergencyStop
-	(*GameEvent_TooManyRobots)(nil),                        // 40: GameEvent.TooManyRobots
-	(*GameEvent_BoundaryCrossing)(nil),                     // 41: GameEvent.BoundaryCrossing
-	(*GameEvent_PenaltyKickFailed)(nil),                    // 42: GameEvent.PenaltyKickFailed
-	(Team)(0),                                              // 43: Team
-	(*Vector2)(nil),                                        // 44: Vector2
-}
-var file_gamecontroller_ssl_gc_game_event_proto_depIdxs = []int32{
-	0,   // 0: GameEvent.type:type_name -> GameEvent.Type
-	2,   // 1: GameEvent.ball_left_field_touch_line:type_name -> GameEvent.BallLeftField
-	2,   // 2: GameEvent.ball_left_field_goal_line:type_name -> GameEvent.BallLeftField
-	3,   // 3: GameEvent.aimless_kick:type_name -> GameEvent.AimlessKick
-	21,  // 4: GameEvent.attacker_too_close_to_defense_area:type_name -> GameEvent.AttackerTooCloseToDefenseArea
-	14,  // 5: GameEvent.defender_in_defense_area:type_name -> GameEvent.DefenderInDefenseArea
-	41,  // 6: GameEvent.boundary_crossing:type_name -> GameEvent.BoundaryCrossing
-	32,  // 7: GameEvent.keeper_held_ball:type_name -> GameEvent.KeeperHeldBall
-	18,  // 8: GameEvent.bot_dribbled_ball_too_far:type_name -> GameEvent.BotDribbledBallTooFar
-	11,  // 9: GameEvent.bot_pushed_bot:type_name -> GameEvent.BotPushedBot
-	22,  // 10: GameEvent.bot_held_ball_deliberately:type_name -> GameEvent.BotHeldBallDeliberately
-	12,  // 11: GameEvent.bot_tipped_over:type_name -> GameEvent.BotTippedOver
-	13,  // 12: GameEvent.bot_dropped_parts:type_name -> GameEvent.BotDroppedParts
-	16,  // 13: GameEvent.attacker_touched_ball_in_defense_area:type_name -> GameEvent.AttackerTouchedBallInDefenseArea
-	17,  // 14: GameEvent.bot_kicked_ball_too_fast:type_name -> GameEvent.BotKickedBallTooFast
-	10,  // 15: GameEvent.bot_crash_unique:type_name -> GameEvent.BotCrashUnique
-	9,   // 16: GameEvent.bot_crash_drawn:type_name -> GameEvent.BotCrashDrawn
-	8,   // 17: GameEvent.defender_too_close_to_kick_point:type_name -> GameEvent.DefenderTooCloseToKickPoint
-	7,   // 18: GameEvent.bot_too_fast_in_stop:type_name -> GameEvent.BotTooFastInStop
-	23,  // 19: GameEvent.bot_interfered_placement:type_name -> GameEvent.BotInterferedPlacement
-	4,   // 20: GameEvent.possible_goal:type_name -> GameEvent.Goal
-	4,   // 21: GameEvent.goal:type_name -> GameEvent.Goal
-	4,   // 22: GameEvent.invalid_goal:type_name -> GameEvent.Goal
-	20,  // 23: GameEvent.attacker_double_touched_ball:type_name -> GameEvent.AttackerDoubleTouchedBall
-	33,  // 24: GameEvent.placement_succeeded:type_name -> GameEvent.PlacementSucceeded
-	42,  // 25: GameEvent.penalty_kick_failed:type_name -> GameEvent.PenaltyKickFailed
-	28,  // 26: GameEvent.no_progress_in_game:type_name -> GameEvent.NoProgressInGame
-	29,  // 27: GameEvent.placement_failed:type_name -> GameEvent.PlacementFailed
-	24,  // 28: GameEvent.multiple_cards:type_name -> GameEvent.MultipleCards
-	25,  // 29: GameEvent.multiple_fouls:type_name -> GameEvent.MultipleFouls
-	35,  // 30: GameEvent.bot_substitution:type_name -> GameEvent.BotSubstitution
-	36,  // 31: GameEvent.excessive_bot_substitution:type_name -> GameEvent.ExcessiveBotSubstitution
-	40,  // 32: GameEvent.too_many_robots:type_name -> GameEvent.TooManyRobots
-	37,  // 33: GameEvent.challenge_flag:type_name -> GameEvent.ChallengeFlag
-	38,  // 34: GameEvent.challenge_flag_handled:type_name -> GameEvent.ChallengeFlagHandled
-	39,  // 35: GameEvent.emergency_stop:type_name -> GameEvent.EmergencyStop
-	30,  // 36: GameEvent.unsporting_behavior_minor:type_name -> GameEvent.UnsportingBehaviorMinor
-	31,  // 37: GameEvent.unsporting_behavior_major:type_name -> GameEvent.UnsportingBehaviorMajor
-	34,  // 38: GameEvent.prepared:type_name -> GameEvent.Prepared
-	5,   // 39: GameEvent.indirect_goal:type_name -> GameEvent.IndirectGoal
-	6,   // 40: GameEvent.chipped_goal:type_name -> GameEvent.ChippedGoal
-	27,  // 41: GameEvent.kick_timeout:type_name -> GameEvent.KickTimeout
-	19,  // 42: GameEvent.attacker_touched_opponent_in_defense_area:type_name -> GameEvent.AttackerTouchedOpponentInDefenseArea
-	19,  // 43: GameEvent.attacker_touched_opponent_in_defense_area_skipped:type_name -> GameEvent.AttackerTouchedOpponentInDefenseArea
-	10,  // 44: GameEvent.bot_crash_unique_skipped:type_name -> GameEvent.BotCrashUnique
-	11,  // 45: GameEvent.bot_pushed_bot_skipped:type_name -> GameEvent.BotPushedBot
-	15,  // 46: GameEvent.defender_in_defense_area_partially:type_name -> GameEvent.DefenderInDefenseAreaPartially
-	26,  // 47: GameEvent.multiple_placement_failures:type_name -> GameEvent.MultiplePlacementFailures
-	43,  // 48: GameEvent.BallLeftField.by_team:type_name -> Team
-	44,  // 49: GameEvent.BallLeftField.location:type_name -> Vector2
-	43,  // 50: GameEvent.AimlessKick.by_team:type_name -> Team
-	44,  // 51: GameEvent.AimlessKick.location:type_name -> Vector2
-	44,  // 52: GameEvent.AimlessKick.kick_location:type_name -> Vector2
-	43,  // 53: GameEvent.Goal.by_team:type_name -> Team
-	43,  // 54: GameEvent.Goal.kicking_team:type_name -> Team
-	44,  // 55: GameEvent.Goal.location:type_name -> Vector2
-	44,  // 56: GameEvent.Goal.kick_location:type_name -> Vector2
-	43,  // 57: GameEvent.IndirectGoal.by_team:type_name -> Team
-	44,  // 58: GameEvent.IndirectGoal.location:type_name -> Vector2
-	44,  // 59: GameEvent.IndirectGoal.kick_location:type_name -> Vector2
-	43,  // 60: GameEvent.ChippedGoal.by_team:type_name -> Team
-	44,  // 61: GameEvent.ChippedGoal.location:type_name -> Vector2
-	44,  // 62: GameEvent.ChippedGoal.kick_location:type_name -> Vector2
-	43,  // 63: GameEvent.BotTooFastInStop.by_team:type_name -> Team
-	44,  // 64: GameEvent.BotTooFastInStop.location:type_name -> Vector2
-	43,  // 65: GameEvent.DefenderTooCloseToKickPoint.by_team:type_name -> Team
-	44,  // 66: GameEvent.DefenderTooCloseToKickPoint.location:type_name -> Vector2
-	44,  // 67: GameEvent.BotCrashDrawn.location:type_name -> Vector2
-	43,  // 68: GameEvent.BotCrashUnique.by_team:type_name -> Team
-	44,  // 69: GameEvent.BotCrashUnique.location:type_name -> Vector2
-	43,  // 70: GameEvent.BotPushedBot.by_team:type_name -> Team
-	44,  // 71: GameEvent.BotPushedBot.location:type_name -> Vector2
-	43,  // 72: GameEvent.BotTippedOver.by_team:type_name -> Team
-	44,  // 73: GameEvent.BotTippedOver.location:type_name -> Vector2
-	44,  // 74: GameEvent.BotTippedOver.ball_location:type_name -> Vector2
-	43,  // 75: GameEvent.BotDroppedParts.by_team:type_name -> Team
-	44,  // 76: GameEvent.BotDroppedParts.location:type_name -> Vector2
-	44,  // 77: GameEvent.BotDroppedParts.ball_location:type_name -> Vector2
-	43,  // 78: GameEvent.DefenderInDefenseArea.by_team:type_name -> Team
-	44,  // 79: GameEvent.DefenderInDefenseArea.location:type_name -> Vector2
-	43,  // 80: GameEvent.DefenderInDefenseAreaPartially.by_team:type_name -> Team
-	44,  // 81: GameEvent.DefenderInDefenseAreaPartially.location:type_name -> Vector2
-	44,  // 82: GameEvent.DefenderInDefenseAreaPartially.ball_location:type_name -> Vector2
-	43,  // 83: GameEvent.AttackerTouchedBallInDefenseArea.by_team:type_name -> Team
-	44,  // 84: GameEvent.AttackerTouchedBallInDefenseArea.location:type_name -> Vector2
-	43,  // 85: GameEvent.BotKickedBallTooFast.by_team:type_name -> Team
-	44,  // 86: GameEvent.BotKickedBallTooFast.location:type_name -> Vector2
-	43,  // 87: GameEvent.BotDribbledBallTooFar.by_team:type_name -> Team
-	44,  // 88: GameEvent.BotDribbledBallTooFar.start:type_name -> Vector2
-	44,  // 89: GameEvent.BotDribbledBallTooFar.end:type_name -> Vector2
-	43,  // 90: GameEvent.AttackerTouchedOpponentInDefenseArea.by_team:type_name -> Team
-	44,  // 91: GameEvent.AttackerTouchedOpponentInDefenseArea.location:type_name -> Vector2
-	43,  // 92: GameEvent.AttackerDoubleTouchedBall.by_team:type_name -> Team
-	44,  // 93: GameEvent.AttackerDoubleTouchedBall.location:type_name -> Vector2
-	43,  // 94: GameEvent.AttackerTooCloseToDefenseArea.by_team:type_name -> Team
-	44,  // 95: GameEvent.AttackerTooCloseToDefenseArea.location:type_name -> Vector2
-	44,  // 96: GameEvent.AttackerTooCloseToDefenseArea.ball_location:type_name -> Vector2
-	43,  // 97: GameEvent.BotHeldBallDeliberately.by_team:type_name -> Team
-	44,  // 98: GameEvent.BotHeldBallDeliberately.location:type_name -> Vector2
-	43,  // 99: GameEvent.BotInterferedPlacement.by_team:type_name -> Team
-	44,  // 100: GameEvent.BotInterferedPlacement.location:type_name -> Vector2
-	43,  // 101: GameEvent.MultipleCards.by_team:type_name -> Team
-	43,  // 102: GameEvent.MultipleFouls.by_team:type_name -> Team
-	1,   // 103: GameEvent.MultipleFouls.caused_game_events:type_name -> GameEvent
-	43,  // 104: GameEvent.MultiplePlacementFailures.by_team:type_name -> Team
-	43,  // 105: GameEvent.KickTimeout.by_team:type_name -> Team
-	44,  // 106: GameEvent.KickTimeout.location:type_name -> Vector2
-	44,  // 107: GameEvent.NoProgressInGame.location:type_name -> Vector2
-	43,  // 108: GameEvent.PlacementFailed.by_team:type_name -> Team
-	43,  // 109: GameEvent.UnsportingBehaviorMinor.by_team:type_name -> Team
-	43,  // 110: GameEvent.UnsportingBehaviorMajor.by_team:type_name -> Team
-	43,  // 111: GameEvent.KeeperHeldBall.by_team:type_name -> Team
-	44,  // 112: GameEvent.KeeperHeldBall.location:type_name -> Vector2
-	43,  // 113: GameEvent.PlacementSucceeded.by_team:type_name -> Team
-	43,  // 114: GameEvent.BotSubstitution.by_team:type_name -> Team
-	43,  // 115: GameEvent.ExcessiveBotSubstitution.by_team:type_name -> Team
-	43,  // 116: GameEvent.ChallengeFlag.by_team:type_name -> Team
-	43,  // 117: GameEvent.ChallengeFlagHandled.by_team:type_name -> Team
-	43,  // 118: GameEvent.EmergencyStop.by_team:type_name -> Team
-	43,  // 119: GameEvent.TooManyRobots.by_team:type_name -> Team
-	44,  // 120: GameEvent.TooManyRobots.ball_location:type_name -> Vector2
-	43,  // 121: GameEvent.BoundaryCrossing.by_team:type_name -> Team
-	44,  // 122: GameEvent.BoundaryCrossing.location:type_name -> Vector2
-	43,  // 123: GameEvent.PenaltyKickFailed.by_team:type_name -> Team
-	44,  // 124: GameEvent.PenaltyKickFailed.location:type_name -> Vector2
-	125, // [125:125] is the sub-list for method output_type
-	125, // [125:125] is the sub-list for method input_type
-	125, // [125:125] is the sub-list for extension type_name
-	125, // [125:125] is the sub-list for extension extendee
-	0,   // [0:125] is the sub-list for field type_name
-}
-
-func init() { file_gamecontroller_ssl_gc_game_event_proto_init() }
-func file_gamecontroller_ssl_gc_game_event_proto_init() {
-	if File_gamecontroller_ssl_gc_game_event_proto != nil {
-		return
-	}
-	file_gamecontroller_ssl_gc_common_proto_init()
-	file_gamecontroller_ssl_gc_geometry_proto_init()
-	file_gamecontroller_ssl_gc_game_event_proto_msgTypes[0].OneofWrappers = []any{
-		(*GameEvent_BallLeftFieldTouchLine)(nil),
-		(*GameEvent_BallLeftFieldGoalLine)(nil),
-		(*GameEvent_AimlessKick_)(nil),
-		(*GameEvent_AttackerTooCloseToDefenseArea_)(nil),
-		(*GameEvent_DefenderInDefenseArea_)(nil),
-		(*GameEvent_BoundaryCrossing_)(nil),
-		(*GameEvent_KeeperHeldBall_)(nil),
-		(*GameEvent_BotDribbledBallTooFar_)(nil),
-		(*GameEvent_BotPushedBot_)(nil),
-		(*GameEvent_BotHeldBallDeliberately_)(nil),
-		(*GameEvent_BotTippedOver_)(nil),
-		(*GameEvent_BotDroppedParts_)(nil),
-		(*GameEvent_AttackerTouchedBallInDefenseArea_)(nil),
-		(*GameEvent_BotKickedBallTooFast_)(nil),
-		(*GameEvent_BotCrashUnique_)(nil),
-		(*GameEvent_BotCrashDrawn_)(nil),
-		(*GameEvent_DefenderTooCloseToKickPoint_)(nil),
-		(*GameEvent_BotTooFastInStop_)(nil),
-		(*GameEvent_BotInterferedPlacement_)(nil),
-		(*GameEvent_PossibleGoal)(nil),
-		(*GameEvent_Goal_)(nil),
-		(*GameEvent_InvalidGoal)(nil),
-		(*GameEvent_AttackerDoubleTouchedBall_)(nil),
-		(*GameEvent_PlacementSucceeded_)(nil),
-		(*GameEvent_PenaltyKickFailed_)(nil),
-		(*GameEvent_NoProgressInGame_)(nil),
-		(*GameEvent_PlacementFailed_)(nil),
-		(*GameEvent_MultipleCards_)(nil),
-		(*GameEvent_MultipleFouls_)(nil),
-		(*GameEvent_BotSubstitution_)(nil),
-		(*GameEvent_ExcessiveBotSubstitution_)(nil),
-		(*GameEvent_TooManyRobots_)(nil),
-		(*GameEvent_ChallengeFlag_)(nil),
-		(*GameEvent_ChallengeFlagHandled_)(nil),
-		(*GameEvent_EmergencyStop_)(nil),
-		(*GameEvent_UnsportingBehaviorMinor_)(nil),
-		(*GameEvent_UnsportingBehaviorMajor_)(nil),
-		(*GameEvent_Prepared_)(nil),
-		(*GameEvent_IndirectGoal_)(nil),
-		(*GameEvent_ChippedGoal_)(nil),
-		(*GameEvent_KickTimeout_)(nil),
-		(*GameEvent_AttackerTouchedOpponentInDefenseArea_)(nil),
-		(*GameEvent_AttackerTouchedOpponentInDefenseAreaSkipped)(nil),
-		(*GameEvent_BotCrashUniqueSkipped)(nil),
-		(*GameEvent_BotPushedBotSkipped)(nil),
-		(*GameEvent_DefenderInDefenseAreaPartially_)(nil),
-		(*GameEvent_MultiplePlacementFailures_)(nil),
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_game_event_proto_rawDesc), len(file_gamecontroller_ssl_gc_game_event_proto_rawDesc)),
-			NumEnums:      1,
-			NumMessages:   42,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_gamecontroller_ssl_gc_game_event_proto_goTypes,
-		DependencyIndexes: file_gamecontroller_ssl_gc_game_event_proto_depIdxs,
-		EnumInfos:         file_gamecontroller_ssl_gc_game_event_proto_enumTypes,
-		MessageInfos:      file_gamecontroller_ssl_gc_game_event_proto_msgTypes,
-	}.Build()
-	File_gamecontroller_ssl_gc_game_event_proto = out.File
-	file_gamecontroller_ssl_gc_game_event_proto_goTypes = nil
-	file_gamecontroller_ssl_gc_game_event_proto_depIdxs = nil
-}
diff --git a/gui/internal/gamecontroller/ssl_gc_geometry.pb.go b/gui/internal/gamecontroller/ssl_gc_geometry.pb.go
deleted file mode 100644
index b03a087..0000000
--- a/gui/internal/gamecontroller/ssl_gc_geometry.pb.go
+++ /dev/null
@@ -1,198 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: gamecontroller/ssl_gc_geometry.proto
-
-package gamecontroller
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-// A vector with two dimensions
-type Vector2 struct {
-	state         protoimpl.MessageState `protogen:"open.v1"`
-	X             *float32               `protobuf:"fixed32,1,req,name=x" json:"x,omitempty"`
-	Y             *float32               `protobuf:"fixed32,2,req,name=y" json:"y,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *Vector2) Reset() {
-	*x = Vector2{}
-	mi := &file_gamecontroller_ssl_gc_geometry_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *Vector2) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*Vector2) ProtoMessage() {}
-
-func (x *Vector2) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_geometry_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use Vector2.ProtoReflect.Descriptor instead.
-func (*Vector2) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_geometry_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *Vector2) GetX() float32 {
-	if x != nil && x.X != nil {
-		return *x.X
-	}
-	return 0
-}
-
-func (x *Vector2) GetY() float32 {
-	if x != nil && x.Y != nil {
-		return *x.Y
-	}
-	return 0
-}
-
-// A vector with three dimensions
-type Vector3 struct {
-	state         protoimpl.MessageState `protogen:"open.v1"`
-	X             *float32               `protobuf:"fixed32,1,req,name=x" json:"x,omitempty"`
-	Y             *float32               `protobuf:"fixed32,2,req,name=y" json:"y,omitempty"`
-	Z             *float32               `protobuf:"fixed32,3,req,name=z" json:"z,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *Vector3) Reset() {
-	*x = Vector3{}
-	mi := &file_gamecontroller_ssl_gc_geometry_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *Vector3) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*Vector3) ProtoMessage() {}
-
-func (x *Vector3) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_geometry_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use Vector3.ProtoReflect.Descriptor instead.
-func (*Vector3) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_geometry_proto_rawDescGZIP(), []int{1}
-}
-
-func (x *Vector3) GetX() float32 {
-	if x != nil && x.X != nil {
-		return *x.X
-	}
-	return 0
-}
-
-func (x *Vector3) GetY() float32 {
-	if x != nil && x.Y != nil {
-		return *x.Y
-	}
-	return 0
-}
-
-func (x *Vector3) GetZ() float32 {
-	if x != nil && x.Z != nil {
-		return *x.Z
-	}
-	return 0
-}
-
-var File_gamecontroller_ssl_gc_geometry_proto protoreflect.FileDescriptor
-
-const file_gamecontroller_ssl_gc_geometry_proto_rawDesc = "" +
-	"\n" +
-	"$gamecontroller/ssl_gc_geometry.proto\"%\n" +
-	"\aVector2\x12\f\n" +
-	"\x01x\x18\x01 \x02(\x02R\x01x\x12\f\n" +
-	"\x01y\x18\x02 \x02(\x02R\x01y\"3\n" +
-	"\aVector3\x12\f\n" +
-	"\x01x\x18\x01 \x02(\x02R\x01x\x12\f\n" +
-	"\x01y\x18\x02 \x02(\x02R\x01y\x12\f\n" +
-	"\x01z\x18\x03 \x02(\x02R\x01zB_B\x12SslGcGeometryProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
-
-var (
-	file_gamecontroller_ssl_gc_geometry_proto_rawDescOnce sync.Once
-	file_gamecontroller_ssl_gc_geometry_proto_rawDescData []byte
-)
-
-func file_gamecontroller_ssl_gc_geometry_proto_rawDescGZIP() []byte {
-	file_gamecontroller_ssl_gc_geometry_proto_rawDescOnce.Do(func() {
-		file_gamecontroller_ssl_gc_geometry_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_geometry_proto_rawDesc), len(file_gamecontroller_ssl_gc_geometry_proto_rawDesc)))
-	})
-	return file_gamecontroller_ssl_gc_geometry_proto_rawDescData
-}
-
-var file_gamecontroller_ssl_gc_geometry_proto_msgTypes = make([]protoimpl.MessageInfo, 2)
-var file_gamecontroller_ssl_gc_geometry_proto_goTypes = []any{
-	(*Vector2)(nil), // 0: Vector2
-	(*Vector3)(nil), // 1: Vector3
-}
-var file_gamecontroller_ssl_gc_geometry_proto_depIdxs = []int32{
-	0, // [0:0] is the sub-list for method output_type
-	0, // [0:0] is the sub-list for method input_type
-	0, // [0:0] is the sub-list for extension type_name
-	0, // [0:0] is the sub-list for extension extendee
-	0, // [0:0] is the sub-list for field type_name
-}
-
-func init() { file_gamecontroller_ssl_gc_geometry_proto_init() }
-func file_gamecontroller_ssl_gc_geometry_proto_init() {
-	if File_gamecontroller_ssl_gc_geometry_proto != nil {
-		return
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_geometry_proto_rawDesc), len(file_gamecontroller_ssl_gc_geometry_proto_rawDesc)),
-			NumEnums:      0,
-			NumMessages:   2,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_gamecontroller_ssl_gc_geometry_proto_goTypes,
-		DependencyIndexes: file_gamecontroller_ssl_gc_geometry_proto_depIdxs,
-		MessageInfos:      file_gamecontroller_ssl_gc_geometry_proto_msgTypes,
-	}.Build()
-	File_gamecontroller_ssl_gc_geometry_proto = out.File
-	file_gamecontroller_ssl_gc_geometry_proto_goTypes = nil
-	file_gamecontroller_ssl_gc_geometry_proto_depIdxs = nil
-}
diff --git a/gui/internal/gamecontroller/ssl_gc_rcon.pb.go b/gui/internal/gamecontroller/ssl_gc_rcon.pb.go
deleted file mode 100644
index 4db9744..0000000
--- a/gui/internal/gamecontroller/ssl_gc_rcon.pb.go
+++ /dev/null
@@ -1,352 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: gamecontroller/ssl_gc_rcon.proto
-
-package gamecontroller
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-type ControllerReply_StatusCode int32
-
-const (
-	ControllerReply_UNKNOWN_STATUS_CODE ControllerReply_StatusCode = 0
-	ControllerReply_OK                  ControllerReply_StatusCode = 1
-	ControllerReply_REJECTED            ControllerReply_StatusCode = 2
-)
-
-// Enum value maps for ControllerReply_StatusCode.
-var (
-	ControllerReply_StatusCode_name = map[int32]string{
-		0: "UNKNOWN_STATUS_CODE",
-		1: "OK",
-		2: "REJECTED",
-	}
-	ControllerReply_StatusCode_value = map[string]int32{
-		"UNKNOWN_STATUS_CODE": 0,
-		"OK":                  1,
-		"REJECTED":            2,
-	}
-)
-
-func (x ControllerReply_StatusCode) Enum() *ControllerReply_StatusCode {
-	p := new(ControllerReply_StatusCode)
-	*p = x
-	return p
-}
-
-func (x ControllerReply_StatusCode) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (ControllerReply_StatusCode) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_rcon_proto_enumTypes[0].Descriptor()
-}
-
-func (ControllerReply_StatusCode) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_rcon_proto_enumTypes[0]
-}
-
-func (x ControllerReply_StatusCode) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *ControllerReply_StatusCode) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = ControllerReply_StatusCode(num)
-	return nil
-}
-
-// Deprecated: Use ControllerReply_StatusCode.Descriptor instead.
-func (ControllerReply_StatusCode) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_proto_rawDescGZIP(), []int{0, 0}
-}
-
-type ControllerReply_Verification int32
-
-const (
-	ControllerReply_UNKNOWN_VERIFICATION ControllerReply_Verification = 0
-	ControllerReply_VERIFIED             ControllerReply_Verification = 1
-	ControllerReply_UNVERIFIED           ControllerReply_Verification = 2
-)
-
-// Enum value maps for ControllerReply_Verification.
-var (
-	ControllerReply_Verification_name = map[int32]string{
-		0: "UNKNOWN_VERIFICATION",
-		1: "VERIFIED",
-		2: "UNVERIFIED",
-	}
-	ControllerReply_Verification_value = map[string]int32{
-		"UNKNOWN_VERIFICATION": 0,
-		"VERIFIED":             1,
-		"UNVERIFIED":           2,
-	}
-)
-
-func (x ControllerReply_Verification) Enum() *ControllerReply_Verification {
-	p := new(ControllerReply_Verification)
-	*p = x
-	return p
-}
-
-func (x ControllerReply_Verification) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (ControllerReply_Verification) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_rcon_proto_enumTypes[1].Descriptor()
-}
-
-func (ControllerReply_Verification) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_rcon_proto_enumTypes[1]
-}
-
-func (x ControllerReply_Verification) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *ControllerReply_Verification) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = ControllerReply_Verification(num)
-	return nil
-}
-
-// Deprecated: Use ControllerReply_Verification.Descriptor instead.
-func (ControllerReply_Verification) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_proto_rawDescGZIP(), []int{0, 1}
-}
-
-// a reply that is sent by the controller for each request from teams or autoRefs
-type ControllerReply struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// status_code is an optional code that indicates the result of the last request
-	StatusCode *ControllerReply_StatusCode `protobuf:"varint,1,opt,name=status_code,json=statusCode,enum=ControllerReply_StatusCode" json:"status_code,omitempty"`
-	// reason is an optional explanation of the status code
-	Reason *string `protobuf:"bytes,2,opt,name=reason" json:"reason,omitempty"`
-	// next_token must be send with the next request, if secure communication is used
-	// the token is used to avoid replay attacks
-	// the token is always present in the very first message before the registration starts
-	// the token is not present, if secure communication is not used
-	NextToken *string `protobuf:"bytes,3,opt,name=next_token,json=nextToken" json:"next_token,omitempty"`
-	// verification indicates if the last request could be verified (secure communication)
-	Verification  *ControllerReply_Verification `protobuf:"varint,4,opt,name=verification,enum=ControllerReply_Verification" json:"verification,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *ControllerReply) Reset() {
-	*x = ControllerReply{}
-	mi := &file_gamecontroller_ssl_gc_rcon_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *ControllerReply) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*ControllerReply) ProtoMessage() {}
-
-func (x *ControllerReply) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use ControllerReply.ProtoReflect.Descriptor instead.
-func (*ControllerReply) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *ControllerReply) GetStatusCode() ControllerReply_StatusCode {
-	if x != nil && x.StatusCode != nil {
-		return *x.StatusCode
-	}
-	return ControllerReply_UNKNOWN_STATUS_CODE
-}
-
-func (x *ControllerReply) GetReason() string {
-	if x != nil && x.Reason != nil {
-		return *x.Reason
-	}
-	return ""
-}
-
-func (x *ControllerReply) GetNextToken() string {
-	if x != nil && x.NextToken != nil {
-		return *x.NextToken
-	}
-	return ""
-}
-
-func (x *ControllerReply) GetVerification() ControllerReply_Verification {
-	if x != nil && x.Verification != nil {
-		return *x.Verification
-	}
-	return ControllerReply_UNKNOWN_VERIFICATION
-}
-
-// Signature can be added to a request to let it be verfied by the controller
-type Signature struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the token that was received with the last controller reply
-	Token *string `protobuf:"bytes,1,req,name=token" json:"token,omitempty"`
-	// the PKCS1v15 signature of this message
-	Pkcs1V15      []byte `protobuf:"bytes,2,req,name=pkcs1v15" json:"pkcs1v15,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *Signature) Reset() {
-	*x = Signature{}
-	mi := &file_gamecontroller_ssl_gc_rcon_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *Signature) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*Signature) ProtoMessage() {}
-
-func (x *Signature) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use Signature.ProtoReflect.Descriptor instead.
-func (*Signature) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_proto_rawDescGZIP(), []int{1}
-}
-
-func (x *Signature) GetToken() string {
-	if x != nil && x.Token != nil {
-		return *x.Token
-	}
-	return ""
-}
-
-func (x *Signature) GetPkcs1V15() []byte {
-	if x != nil {
-		return x.Pkcs1V15
-	}
-	return nil
-}
-
-var File_gamecontroller_ssl_gc_rcon_proto protoreflect.FileDescriptor
-
-const file_gamecontroller_ssl_gc_rcon_proto_rawDesc = "" +
-	"\n" +
-	" gamecontroller/ssl_gc_rcon.proto\"\xce\x02\n" +
-	"\x0fControllerReply\x12<\n" +
-	"\vstatus_code\x18\x01 \x01(\x0e2\x1b.ControllerReply.StatusCodeR\n" +
-	"statusCode\x12\x16\n" +
-	"\x06reason\x18\x02 \x01(\tR\x06reason\x12\x1d\n" +
-	"\n" +
-	"next_token\x18\x03 \x01(\tR\tnextToken\x12A\n" +
-	"\fverification\x18\x04 \x01(\x0e2\x1d.ControllerReply.VerificationR\fverification\";\n" +
-	"\n" +
-	"StatusCode\x12\x17\n" +
-	"\x13UNKNOWN_STATUS_CODE\x10\x00\x12\x06\n" +
-	"\x02OK\x10\x01\x12\f\n" +
-	"\bREJECTED\x10\x02\"F\n" +
-	"\fVerification\x12\x18\n" +
-	"\x14UNKNOWN_VERIFICATION\x10\x00\x12\f\n" +
-	"\bVERIFIED\x10\x01\x12\x0e\n" +
-	"\n" +
-	"UNVERIFIED\x10\x02\"=\n" +
-	"\tSignature\x12\x14\n" +
-	"\x05token\x18\x01 \x02(\tR\x05token\x12\x1a\n" +
-	"\bpkcs1v15\x18\x02 \x02(\fR\bpkcs1v15B[B\x0eSslGcRconProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
-
-var (
-	file_gamecontroller_ssl_gc_rcon_proto_rawDescOnce sync.Once
-	file_gamecontroller_ssl_gc_rcon_proto_rawDescData []byte
-)
-
-func file_gamecontroller_ssl_gc_rcon_proto_rawDescGZIP() []byte {
-	file_gamecontroller_ssl_gc_rcon_proto_rawDescOnce.Do(func() {
-		file_gamecontroller_ssl_gc_rcon_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_proto_rawDesc)))
-	})
-	return file_gamecontroller_ssl_gc_rcon_proto_rawDescData
-}
-
-var file_gamecontroller_ssl_gc_rcon_proto_enumTypes = make([]protoimpl.EnumInfo, 2)
-var file_gamecontroller_ssl_gc_rcon_proto_msgTypes = make([]protoimpl.MessageInfo, 2)
-var file_gamecontroller_ssl_gc_rcon_proto_goTypes = []any{
-	(ControllerReply_StatusCode)(0),   // 0: ControllerReply.StatusCode
-	(ControllerReply_Verification)(0), // 1: ControllerReply.Verification
-	(*ControllerReply)(nil),           // 2: ControllerReply
-	(*Signature)(nil),                 // 3: Signature
-}
-var file_gamecontroller_ssl_gc_rcon_proto_depIdxs = []int32{
-	0, // 0: ControllerReply.status_code:type_name -> ControllerReply.StatusCode
-	1, // 1: ControllerReply.verification:type_name -> ControllerReply.Verification
-	2, // [2:2] is the sub-list for method output_type
-	2, // [2:2] is the sub-list for method input_type
-	2, // [2:2] is the sub-list for extension type_name
-	2, // [2:2] is the sub-list for extension extendee
-	0, // [0:2] is the sub-list for field type_name
-}
-
-func init() { file_gamecontroller_ssl_gc_rcon_proto_init() }
-func file_gamecontroller_ssl_gc_rcon_proto_init() {
-	if File_gamecontroller_ssl_gc_rcon_proto != nil {
-		return
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_proto_rawDesc)),
-			NumEnums:      2,
-			NumMessages:   2,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_gamecontroller_ssl_gc_rcon_proto_goTypes,
-		DependencyIndexes: file_gamecontroller_ssl_gc_rcon_proto_depIdxs,
-		EnumInfos:         file_gamecontroller_ssl_gc_rcon_proto_enumTypes,
-		MessageInfos:      file_gamecontroller_ssl_gc_rcon_proto_msgTypes,
-	}.Build()
-	File_gamecontroller_ssl_gc_rcon_proto = out.File
-	file_gamecontroller_ssl_gc_rcon_proto_goTypes = nil
-	file_gamecontroller_ssl_gc_rcon_proto_depIdxs = nil
-}
diff --git a/gui/internal/gamecontroller/ssl_gc_rcon_autoref.pb.go b/gui/internal/gamecontroller/ssl_gc_rcon_autoref.pb.go
deleted file mode 100644
index 8a0ed95..0000000
--- a/gui/internal/gamecontroller/ssl_gc_rcon_autoref.pb.go
+++ /dev/null
@@ -1,283 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: gamecontroller/ssl_gc_rcon_autoref.proto
-
-package gamecontroller
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-// AutoRefRegistration is the first message that a client must send to the controller to identify itself
-type AutoRefRegistration struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// identifier is a unique name of the client
-	Identifier *string `protobuf:"bytes,1,req,name=identifier" json:"identifier,omitempty"`
-	// signature can optionally be specified to enable secure communication
-	Signature     *Signature `protobuf:"bytes,2,opt,name=signature" json:"signature,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *AutoRefRegistration) Reset() {
-	*x = AutoRefRegistration{}
-	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *AutoRefRegistration) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*AutoRefRegistration) ProtoMessage() {}
-
-func (x *AutoRefRegistration) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use AutoRefRegistration.ProtoReflect.Descriptor instead.
-func (*AutoRefRegistration) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *AutoRefRegistration) GetIdentifier() string {
-	if x != nil && x.Identifier != nil {
-		return *x.Identifier
-	}
-	return ""
-}
-
-func (x *AutoRefRegistration) GetSignature() *Signature {
-	if x != nil {
-		return x.Signature
-	}
-	return nil
-}
-
-// AutoRefToController is the wrapper message for all subsequent messages from the autoRef to the controller
-type AutoRefToController struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// signature can optionally be specified to enable secure communication
-	Signature *Signature `protobuf:"bytes,1,opt,name=signature" json:"signature,omitempty"`
-	// game_event is an optional event that the autoRef detected during the game
-	GameEvent     *GameEvent `protobuf:"bytes,2,opt,name=game_event,json=gameEvent" json:"game_event,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *AutoRefToController) Reset() {
-	*x = AutoRefToController{}
-	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *AutoRefToController) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*AutoRefToController) ProtoMessage() {}
-
-func (x *AutoRefToController) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use AutoRefToController.ProtoReflect.Descriptor instead.
-func (*AutoRefToController) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescGZIP(), []int{1}
-}
-
-func (x *AutoRefToController) GetSignature() *Signature {
-	if x != nil {
-		return x.Signature
-	}
-	return nil
-}
-
-func (x *AutoRefToController) GetGameEvent() *GameEvent {
-	if x != nil {
-		return x.GameEvent
-	}
-	return nil
-}
-
-// ControllerToAutoRef is the wrapper message for all messages from controller to autoRef
-type ControllerToAutoRef struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Types that are valid to be assigned to Msg:
-	//
-	//	*ControllerToAutoRef_ControllerReply
-	Msg           isControllerToAutoRef_Msg `protobuf_oneof:"msg"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *ControllerToAutoRef) Reset() {
-	*x = ControllerToAutoRef{}
-	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[2]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *ControllerToAutoRef) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*ControllerToAutoRef) ProtoMessage() {}
-
-func (x *ControllerToAutoRef) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[2]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use ControllerToAutoRef.ProtoReflect.Descriptor instead.
-func (*ControllerToAutoRef) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescGZIP(), []int{2}
-}
-
-func (x *ControllerToAutoRef) GetMsg() isControllerToAutoRef_Msg {
-	if x != nil {
-		return x.Msg
-	}
-	return nil
-}
-
-func (x *ControllerToAutoRef) GetControllerReply() *ControllerReply {
-	if x != nil {
-		if x, ok := x.Msg.(*ControllerToAutoRef_ControllerReply); ok {
-			return x.ControllerReply
-		}
-	}
-	return nil
-}
-
-type isControllerToAutoRef_Msg interface {
-	isControllerToAutoRef_Msg()
-}
-
-type ControllerToAutoRef_ControllerReply struct {
-	// a reply from the controller
-	ControllerReply *ControllerReply `protobuf:"bytes,1,opt,name=controller_reply,json=controllerReply,oneof"`
-}
-
-func (*ControllerToAutoRef_ControllerReply) isControllerToAutoRef_Msg() {}
-
-var File_gamecontroller_ssl_gc_rcon_autoref_proto protoreflect.FileDescriptor
-
-const file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDesc = "" +
-	"\n" +
-	"(gamecontroller/ssl_gc_rcon_autoref.proto\x1a&gamecontroller/ssl_gc_game_event.proto\x1a gamecontroller/ssl_gc_rcon.proto\"_\n" +
-	"\x13AutoRefRegistration\x12\x1e\n" +
-	"\n" +
-	"identifier\x18\x01 \x02(\tR\n" +
-	"identifier\x12(\n" +
-	"\tsignature\x18\x02 \x01(\v2\n" +
-	".SignatureR\tsignature\"v\n" +
-	"\x13AutoRefToController\x12(\n" +
-	"\tsignature\x18\x01 \x01(\v2\n" +
-	".SignatureR\tsignature\x12)\n" +
-	"\n" +
-	"game_event\x18\x02 \x01(\v2\n" +
-	".GameEventR\tgameEventJ\x04\b\x03\x10\x04J\x04\b\x04\x10\x05\"[\n" +
-	"\x13ControllerToAutoRef\x12=\n" +
-	"\x10controller_reply\x18\x01 \x01(\v2\x10.ControllerReplyH\x00R\x0fcontrollerReplyB\x05\n" +
-	"\x03msgBbB\x15SslGcRconAutorefProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
-
-var (
-	file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescOnce sync.Once
-	file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescData []byte
-)
-
-func file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescGZIP() []byte {
-	file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescOnce.Do(func() {
-		file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDesc)))
-	})
-	return file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDescData
-}
-
-var file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes = make([]protoimpl.MessageInfo, 3)
-var file_gamecontroller_ssl_gc_rcon_autoref_proto_goTypes = []any{
-	(*AutoRefRegistration)(nil), // 0: AutoRefRegistration
-	(*AutoRefToController)(nil), // 1: AutoRefToController
-	(*ControllerToAutoRef)(nil), // 2: ControllerToAutoRef
-	(*Signature)(nil),           // 3: Signature
-	(*GameEvent)(nil),           // 4: GameEvent
-	(*ControllerReply)(nil),     // 5: ControllerReply
-}
-var file_gamecontroller_ssl_gc_rcon_autoref_proto_depIdxs = []int32{
-	3, // 0: AutoRefRegistration.signature:type_name -> Signature
-	3, // 1: AutoRefToController.signature:type_name -> Signature
-	4, // 2: AutoRefToController.game_event:type_name -> GameEvent
-	5, // 3: ControllerToAutoRef.controller_reply:type_name -> ControllerReply
-	4, // [4:4] is the sub-list for method output_type
-	4, // [4:4] is the sub-list for method input_type
-	4, // [4:4] is the sub-list for extension type_name
-	4, // [4:4] is the sub-list for extension extendee
-	0, // [0:4] is the sub-list for field type_name
-}
-
-func init() { file_gamecontroller_ssl_gc_rcon_autoref_proto_init() }
-func file_gamecontroller_ssl_gc_rcon_autoref_proto_init() {
-	if File_gamecontroller_ssl_gc_rcon_autoref_proto != nil {
-		return
-	}
-	file_gamecontroller_ssl_gc_game_event_proto_init()
-	file_gamecontroller_ssl_gc_rcon_proto_init()
-	file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes[2].OneofWrappers = []any{
-		(*ControllerToAutoRef_ControllerReply)(nil),
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_autoref_proto_rawDesc)),
-			NumEnums:      0,
-			NumMessages:   3,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_gamecontroller_ssl_gc_rcon_autoref_proto_goTypes,
-		DependencyIndexes: file_gamecontroller_ssl_gc_rcon_autoref_proto_depIdxs,
-		MessageInfos:      file_gamecontroller_ssl_gc_rcon_autoref_proto_msgTypes,
-	}.Build()
-	File_gamecontroller_ssl_gc_rcon_autoref_proto = out.File
-	file_gamecontroller_ssl_gc_rcon_autoref_proto_goTypes = nil
-	file_gamecontroller_ssl_gc_rcon_autoref_proto_depIdxs = nil
-}
diff --git a/gui/internal/gamecontroller/ssl_gc_rcon_remotecontrol.pb.go b/gui/internal/gamecontroller/ssl_gc_rcon_remotecontrol.pb.go
deleted file mode 100644
index 9d7a3ff..0000000
--- a/gui/internal/gamecontroller/ssl_gc_rcon_remotecontrol.pb.go
+++ /dev/null
@@ -1,718 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: gamecontroller/ssl_gc_rcon_remotecontrol.proto
-
-package gamecontroller
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-// All possible request types that the remote control can make
-type RemoteControlRequestType int32
-
-const (
-	RemoteControlRequestType_UNKNOWN_REQUEST_TYPE RemoteControlRequestType = 0
-	RemoteControlRequestType_EMERGENCY_STOP       RemoteControlRequestType = 1
-	RemoteControlRequestType_ROBOT_SUBSTITUTION   RemoteControlRequestType = 2
-	RemoteControlRequestType_TIMEOUT              RemoteControlRequestType = 3
-	RemoteControlRequestType_CHALLENGE_FLAG       RemoteControlRequestType = 4
-	RemoteControlRequestType_CHANGE_KEEPER_ID     RemoteControlRequestType = 5
-	RemoteControlRequestType_STOP_TIMEOUT         RemoteControlRequestType = 6
-	RemoteControlRequestType_FAIL_BALLPLACEMENT   RemoteControlRequestType = 7
-)
-
-// Enum value maps for RemoteControlRequestType.
-var (
-	RemoteControlRequestType_name = map[int32]string{
-		0: "UNKNOWN_REQUEST_TYPE",
-		1: "EMERGENCY_STOP",
-		2: "ROBOT_SUBSTITUTION",
-		3: "TIMEOUT",
-		4: "CHALLENGE_FLAG",
-		5: "CHANGE_KEEPER_ID",
-		6: "STOP_TIMEOUT",
-		7: "FAIL_BALLPLACEMENT",
-	}
-	RemoteControlRequestType_value = map[string]int32{
-		"UNKNOWN_REQUEST_TYPE": 0,
-		"EMERGENCY_STOP":       1,
-		"ROBOT_SUBSTITUTION":   2,
-		"TIMEOUT":              3,
-		"CHALLENGE_FLAG":       4,
-		"CHANGE_KEEPER_ID":     5,
-		"STOP_TIMEOUT":         6,
-		"FAIL_BALLPLACEMENT":   7,
-	}
-)
-
-func (x RemoteControlRequestType) Enum() *RemoteControlRequestType {
-	p := new(RemoteControlRequestType)
-	*p = x
-	return p
-}
-
-func (x RemoteControlRequestType) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (RemoteControlRequestType) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes[0].Descriptor()
-}
-
-func (RemoteControlRequestType) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes[0]
-}
-
-func (x RemoteControlRequestType) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *RemoteControlRequestType) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = RemoteControlRequestType(num)
-	return nil
-}
-
-// Deprecated: Use RemoteControlRequestType.Descriptor instead.
-func (RemoteControlRequestType) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{0}
-}
-
-type RemoteControlToController_Request int32
-
-const (
-	RemoteControlToController_UNKNOWN RemoteControlToController_Request = 0
-	// Ping the GC to test the connection. The GC will respond with OK and the current team state
-	RemoteControlToController_PING RemoteControlToController_Request = 1
-	// Raise a challenge flag (this is not revocable)
-	RemoteControlToController_CHALLENGE_FLAG RemoteControlToController_Request = 2
-	// Stop an ongoing timeout
-	RemoteControlToController_STOP_TIMEOUT RemoteControlToController_Request = 3
-	// Fail a ball placement
-	RemoteControlToController_FAIL_BALLPLACEMENT RemoteControlToController_Request = 4
-)
-
-// Enum value maps for RemoteControlToController_Request.
-var (
-	RemoteControlToController_Request_name = map[int32]string{
-		0: "UNKNOWN",
-		1: "PING",
-		2: "CHALLENGE_FLAG",
-		3: "STOP_TIMEOUT",
-		4: "FAIL_BALLPLACEMENT",
-	}
-	RemoteControlToController_Request_value = map[string]int32{
-		"UNKNOWN":            0,
-		"PING":               1,
-		"CHALLENGE_FLAG":     2,
-		"STOP_TIMEOUT":       3,
-		"FAIL_BALLPLACEMENT": 4,
-	}
-)
-
-func (x RemoteControlToController_Request) Enum() *RemoteControlToController_Request {
-	p := new(RemoteControlToController_Request)
-	*p = x
-	return p
-}
-
-func (x RemoteControlToController_Request) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (RemoteControlToController_Request) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes[1].Descriptor()
-}
-
-func (RemoteControlToController_Request) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes[1]
-}
-
-func (x RemoteControlToController_Request) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *RemoteControlToController_Request) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = RemoteControlToController_Request(num)
-	return nil
-}
-
-// Deprecated: Use RemoteControlToController_Request.Descriptor instead.
-func (RemoteControlToController_Request) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{1, 0}
-}
-
-// a registration that must be send by the remote control to the controller as the very first message
-type RemoteControlRegistration struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team to be controlled
-	Team *Team `protobuf:"varint,1,req,name=team,enum=Team" json:"team,omitempty"`
-	// signature can optionally be specified to enable secure communication
-	Signature     *Signature `protobuf:"bytes,2,opt,name=signature" json:"signature,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *RemoteControlRegistration) Reset() {
-	*x = RemoteControlRegistration{}
-	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *RemoteControlRegistration) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*RemoteControlRegistration) ProtoMessage() {}
-
-func (x *RemoteControlRegistration) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use RemoteControlRegistration.ProtoReflect.Descriptor instead.
-func (*RemoteControlRegistration) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *RemoteControlRegistration) GetTeam() Team {
-	if x != nil && x.Team != nil {
-		return *x.Team
-	}
-	return Team_UNKNOWN
-}
-
-func (x *RemoteControlRegistration) GetSignature() *Signature {
-	if x != nil {
-		return x.Signature
-	}
-	return nil
-}
-
-// wrapper for all messages from the remote control to the controller
-type RemoteControlToController struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// signature can optionally be specified to enable secure communication
-	Signature *Signature `protobuf:"bytes,1,opt,name=signature" json:"signature,omitempty"`
-	// Types that are valid to be assigned to Msg:
-	//
-	//	*RemoteControlToController_Request_
-	//	*RemoteControlToController_DesiredKeeper
-	//	*RemoteControlToController_RequestRobotSubstitution
-	//	*RemoteControlToController_RequestTimeout
-	//	*RemoteControlToController_RequestEmergencyStop
-	Msg           isRemoteControlToController_Msg `protobuf_oneof:"msg"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *RemoteControlToController) Reset() {
-	*x = RemoteControlToController{}
-	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *RemoteControlToController) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*RemoteControlToController) ProtoMessage() {}
-
-func (x *RemoteControlToController) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use RemoteControlToController.ProtoReflect.Descriptor instead.
-func (*RemoteControlToController) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{1}
-}
-
-func (x *RemoteControlToController) GetSignature() *Signature {
-	if x != nil {
-		return x.Signature
-	}
-	return nil
-}
-
-func (x *RemoteControlToController) GetMsg() isRemoteControlToController_Msg {
-	if x != nil {
-		return x.Msg
-	}
-	return nil
-}
-
-func (x *RemoteControlToController) GetRequest() RemoteControlToController_Request {
-	if x != nil {
-		if x, ok := x.Msg.(*RemoteControlToController_Request_); ok {
-			return x.Request
-		}
-	}
-	return RemoteControlToController_UNKNOWN
-}
-
-func (x *RemoteControlToController) GetDesiredKeeper() int32 {
-	if x != nil {
-		if x, ok := x.Msg.(*RemoteControlToController_DesiredKeeper); ok {
-			return x.DesiredKeeper
-		}
-	}
-	return 0
-}
-
-func (x *RemoteControlToController) GetRequestRobotSubstitution() bool {
-	if x != nil {
-		if x, ok := x.Msg.(*RemoteControlToController_RequestRobotSubstitution); ok {
-			return x.RequestRobotSubstitution
-		}
-	}
-	return false
-}
-
-func (x *RemoteControlToController) GetRequestTimeout() bool {
-	if x != nil {
-		if x, ok := x.Msg.(*RemoteControlToController_RequestTimeout); ok {
-			return x.RequestTimeout
-		}
-	}
-	return false
-}
-
-func (x *RemoteControlToController) GetRequestEmergencyStop() bool {
-	if x != nil {
-		if x, ok := x.Msg.(*RemoteControlToController_RequestEmergencyStop); ok {
-			return x.RequestEmergencyStop
-		}
-	}
-	return false
-}
-
-type isRemoteControlToController_Msg interface {
-	isRemoteControlToController_Msg()
-}
-
-type RemoteControlToController_Request_ struct {
-	// send a request to the GC
-	Request RemoteControlToController_Request `protobuf:"varint,2,opt,name=request,enum=RemoteControlToController_Request,oneof"`
-}
-
-type RemoteControlToController_DesiredKeeper struct {
-	// request a new desired keeper id
-	DesiredKeeper int32 `protobuf:"varint,3,opt,name=desired_keeper,json=desiredKeeper,oneof"`
-}
-
-type RemoteControlToController_RequestRobotSubstitution struct {
-	// true: request to substitute a robot at the next possibility
-	// false: cancel request
-	RequestRobotSubstitution bool `protobuf:"varint,4,opt,name=request_robot_substitution,json=requestRobotSubstitution,oneof"`
-}
-
-type RemoteControlToController_RequestTimeout struct {
-	// true: request a timeout with the next stoppage
-	// false: cancel the request
-	RequestTimeout bool `protobuf:"varint,5,opt,name=request_timeout,json=requestTimeout,oneof"`
-}
-
-type RemoteControlToController_RequestEmergencyStop struct {
-	// true: initiate an emergency stop
-	// false: cancel the request
-	RequestEmergencyStop bool `protobuf:"varint,6,opt,name=request_emergency_stop,json=requestEmergencyStop,oneof"`
-}
-
-func (*RemoteControlToController_Request_) isRemoteControlToController_Msg() {}
-
-func (*RemoteControlToController_DesiredKeeper) isRemoteControlToController_Msg() {}
-
-func (*RemoteControlToController_RequestRobotSubstitution) isRemoteControlToController_Msg() {}
-
-func (*RemoteControlToController_RequestTimeout) isRemoteControlToController_Msg() {}
-
-func (*RemoteControlToController_RequestEmergencyStop) isRemoteControlToController_Msg() {}
-
-// wrapper for all messages from controller to a team's computer
-type ControllerToRemoteControl struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// a reply from the controller
-	ControllerReply *ControllerReply `protobuf:"bytes,1,opt,name=controller_reply,json=controllerReply" json:"controller_reply,omitempty"`
-	// current team state
-	State         *RemoteControlTeamState `protobuf:"bytes,2,opt,name=state" json:"state,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *ControllerToRemoteControl) Reset() {
-	*x = ControllerToRemoteControl{}
-	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[2]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *ControllerToRemoteControl) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*ControllerToRemoteControl) ProtoMessage() {}
-
-func (x *ControllerToRemoteControl) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[2]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use ControllerToRemoteControl.ProtoReflect.Descriptor instead.
-func (*ControllerToRemoteControl) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{2}
-}
-
-func (x *ControllerToRemoteControl) GetControllerReply() *ControllerReply {
-	if x != nil {
-		return x.ControllerReply
-	}
-	return nil
-}
-
-func (x *ControllerToRemoteControl) GetState() *RemoteControlTeamState {
-	if x != nil {
-		return x.State
-	}
-	return nil
-}
-
-// Current team state from Controller for remote control
-type RemoteControlTeamState struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the team that is controlled
-	Team *Team `protobuf:"varint,12,opt,name=team,enum=Team" json:"team,omitempty"`
-	// list of all currently available request types that can be made
-	AvailableRequests []RemoteControlRequestType `protobuf:"varint,1,rep,name=available_requests,json=availableRequests,enum=RemoteControlRequestType" json:"available_requests,omitempty"`
-	// list of all currently active request types that are pending
-	ActiveRequests []RemoteControlRequestType `protobuf:"varint,2,rep,name=active_requests,json=activeRequests,enum=RemoteControlRequestType" json:"active_requests,omitempty"`
-	// currently set keeper id
-	KeeperId *int32 `protobuf:"varint,3,opt,name=keeper_id,json=keeperId" json:"keeper_id,omitempty"`
-	// number of seconds till emergency stop is executed
-	// zero, if no emergency stop requested
-	EmergencyStopIn *float32 `protobuf:"fixed32,4,opt,name=emergency_stop_in,json=emergencyStopIn" json:"emergency_stop_in,omitempty"`
-	// number of timeouts left for the team
-	TimeoutsLeft *int32 `protobuf:"varint,5,opt,name=timeouts_left,json=timeoutsLeft" json:"timeouts_left,omitempty"`
-	// number of seconds left for timeout for the team
-	TimeoutTimeLeft *float32 `protobuf:"fixed32,10,opt,name=timeout_time_left,json=timeoutTimeLeft" json:"timeout_time_left,omitempty"`
-	// number of challenge flags left for the team
-	ChallengeFlagsLeft *int32 `protobuf:"varint,6,opt,name=challenge_flags_left,json=challengeFlagsLeft" json:"challenge_flags_left,omitempty"`
-	// max number of robots currently allowed
-	MaxRobots *int32 `protobuf:"varint,7,opt,name=max_robots,json=maxRobots" json:"max_robots,omitempty"`
-	// current number of robots visible on field
-	RobotsOnField *int32 `protobuf:"varint,9,opt,name=robots_on_field,json=robotsOnField" json:"robots_on_field,omitempty"`
-	// list of due times for each active yellow card (in seconds)
-	YellowCardsDue []float32 `protobuf:"fixed32,8,rep,name=yellow_cards_due,json=yellowCardsDue" json:"yellow_cards_due,omitempty"`
-	// if true, team is allowed to substitute robots
-	CanSubstituteRobot *bool `protobuf:"varint,11,opt,name=can_substitute_robot,json=canSubstituteRobot" json:"can_substitute_robot,omitempty"`
-	// number of bot substitutions left by the team in this halftime
-	BotSubstitutionsLeft *uint32 `protobuf:"varint,13,opt,name=bot_substitutions_left,json=botSubstitutionsLeft" json:"bot_substitutions_left,omitempty"`
-	// number of seconds left for current bot substitution
-	BotSubstitutionTimeLeft *float32 `protobuf:"fixed32,14,opt,name=bot_substitution_time_left,json=botSubstitutionTimeLeft" json:"bot_substitution_time_left,omitempty"`
-	unknownFields           protoimpl.UnknownFields
-	sizeCache               protoimpl.SizeCache
-}
-
-func (x *RemoteControlTeamState) Reset() {
-	*x = RemoteControlTeamState{}
-	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[3]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *RemoteControlTeamState) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*RemoteControlTeamState) ProtoMessage() {}
-
-func (x *RemoteControlTeamState) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[3]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use RemoteControlTeamState.ProtoReflect.Descriptor instead.
-func (*RemoteControlTeamState) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP(), []int{3}
-}
-
-func (x *RemoteControlTeamState) GetTeam() Team {
-	if x != nil && x.Team != nil {
-		return *x.Team
-	}
-	return Team_UNKNOWN
-}
-
-func (x *RemoteControlTeamState) GetAvailableRequests() []RemoteControlRequestType {
-	if x != nil {
-		return x.AvailableRequests
-	}
-	return nil
-}
-
-func (x *RemoteControlTeamState) GetActiveRequests() []RemoteControlRequestType {
-	if x != nil {
-		return x.ActiveRequests
-	}
-	return nil
-}
-
-func (x *RemoteControlTeamState) GetKeeperId() int32 {
-	if x != nil && x.KeeperId != nil {
-		return *x.KeeperId
-	}
-	return 0
-}
-
-func (x *RemoteControlTeamState) GetEmergencyStopIn() float32 {
-	if x != nil && x.EmergencyStopIn != nil {
-		return *x.EmergencyStopIn
-	}
-	return 0
-}
-
-func (x *RemoteControlTeamState) GetTimeoutsLeft() int32 {
-	if x != nil && x.TimeoutsLeft != nil {
-		return *x.TimeoutsLeft
-	}
-	return 0
-}
-
-func (x *RemoteControlTeamState) GetTimeoutTimeLeft() float32 {
-	if x != nil && x.TimeoutTimeLeft != nil {
-		return *x.TimeoutTimeLeft
-	}
-	return 0
-}
-
-func (x *RemoteControlTeamState) GetChallengeFlagsLeft() int32 {
-	if x != nil && x.ChallengeFlagsLeft != nil {
-		return *x.ChallengeFlagsLeft
-	}
-	return 0
-}
-
-func (x *RemoteControlTeamState) GetMaxRobots() int32 {
-	if x != nil && x.MaxRobots != nil {
-		return *x.MaxRobots
-	}
-	return 0
-}
-
-func (x *RemoteControlTeamState) GetRobotsOnField() int32 {
-	if x != nil && x.RobotsOnField != nil {
-		return *x.RobotsOnField
-	}
-	return 0
-}
-
-func (x *RemoteControlTeamState) GetYellowCardsDue() []float32 {
-	if x != nil {
-		return x.YellowCardsDue
-	}
-	return nil
-}
-
-func (x *RemoteControlTeamState) GetCanSubstituteRobot() bool {
-	if x != nil && x.CanSubstituteRobot != nil {
-		return *x.CanSubstituteRobot
-	}
-	return false
-}
-
-func (x *RemoteControlTeamState) GetBotSubstitutionsLeft() uint32 {
-	if x != nil && x.BotSubstitutionsLeft != nil {
-		return *x.BotSubstitutionsLeft
-	}
-	return 0
-}
-
-func (x *RemoteControlTeamState) GetBotSubstitutionTimeLeft() float32 {
-	if x != nil && x.BotSubstitutionTimeLeft != nil {
-		return *x.BotSubstitutionTimeLeft
-	}
-	return 0
-}
-
-var File_gamecontroller_ssl_gc_rcon_remotecontrol_proto protoreflect.FileDescriptor
-
-const file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDesc = "" +
-	"\n" +
-	".gamecontroller/ssl_gc_rcon_remotecontrol.proto\x1a\"gamecontroller/ssl_gc_common.proto\x1a gamecontroller/ssl_gc_rcon.proto\"`\n" +
-	"\x19RemoteControlRegistration\x12\x19\n" +
-	"\x04team\x18\x01 \x02(\x0e2\x05.TeamR\x04team\x12(\n" +
-	"\tsignature\x18\x02 \x01(\v2\n" +
-	".SignatureR\tsignature\"\xb8\x03\n" +
-	"\x19RemoteControlToController\x12(\n" +
-	"\tsignature\x18\x01 \x01(\v2\n" +
-	".SignatureR\tsignature\x12>\n" +
-	"\arequest\x18\x02 \x01(\x0e2\".RemoteControlToController.RequestH\x00R\arequest\x12'\n" +
-	"\x0edesired_keeper\x18\x03 \x01(\x05H\x00R\rdesiredKeeper\x12>\n" +
-	"\x1arequest_robot_substitution\x18\x04 \x01(\bH\x00R\x18requestRobotSubstitution\x12)\n" +
-	"\x0frequest_timeout\x18\x05 \x01(\bH\x00R\x0erequestTimeout\x126\n" +
-	"\x16request_emergency_stop\x18\x06 \x01(\bH\x00R\x14requestEmergencyStop\"^\n" +
-	"\aRequest\x12\v\n" +
-	"\aUNKNOWN\x10\x00\x12\b\n" +
-	"\x04PING\x10\x01\x12\x12\n" +
-	"\x0eCHALLENGE_FLAG\x10\x02\x12\x10\n" +
-	"\fSTOP_TIMEOUT\x10\x03\x12\x16\n" +
-	"\x12FAIL_BALLPLACEMENT\x10\x04B\x05\n" +
-	"\x03msg\"\x87\x01\n" +
-	"\x19ControllerToRemoteControl\x12;\n" +
-	"\x10controller_reply\x18\x01 \x01(\v2\x10.ControllerReplyR\x0fcontrollerReply\x12-\n" +
-	"\x05state\x18\x02 \x01(\v2\x17.RemoteControlTeamStateR\x05state\"\xa3\x05\n" +
-	"\x16RemoteControlTeamState\x12\x19\n" +
-	"\x04team\x18\f \x01(\x0e2\x05.TeamR\x04team\x12H\n" +
-	"\x12available_requests\x18\x01 \x03(\x0e2\x19.RemoteControlRequestTypeR\x11availableRequests\x12B\n" +
-	"\x0factive_requests\x18\x02 \x03(\x0e2\x19.RemoteControlRequestTypeR\x0eactiveRequests\x12\x1b\n" +
-	"\tkeeper_id\x18\x03 \x01(\x05R\bkeeperId\x12*\n" +
-	"\x11emergency_stop_in\x18\x04 \x01(\x02R\x0femergencyStopIn\x12#\n" +
-	"\rtimeouts_left\x18\x05 \x01(\x05R\ftimeoutsLeft\x12*\n" +
-	"\x11timeout_time_left\x18\n" +
-	" \x01(\x02R\x0ftimeoutTimeLeft\x120\n" +
-	"\x14challenge_flags_left\x18\x06 \x01(\x05R\x12challengeFlagsLeft\x12\x1d\n" +
-	"\n" +
-	"max_robots\x18\a \x01(\x05R\tmaxRobots\x12&\n" +
-	"\x0frobots_on_field\x18\t \x01(\x05R\rrobotsOnField\x12(\n" +
-	"\x10yellow_cards_due\x18\b \x03(\x02R\x0eyellowCardsDue\x120\n" +
-	"\x14can_substitute_robot\x18\v \x01(\bR\x12canSubstituteRobot\x124\n" +
-	"\x16bot_substitutions_left\x18\r \x01(\rR\x14botSubstitutionsLeft\x12;\n" +
-	"\x1abot_substitution_time_left\x18\x0e \x01(\x02R\x17botSubstitutionTimeLeft*\xc1\x01\n" +
-	"\x18RemoteControlRequestType\x12\x18\n" +
-	"\x14UNKNOWN_REQUEST_TYPE\x10\x00\x12\x12\n" +
-	"\x0eEMERGENCY_STOP\x10\x01\x12\x16\n" +
-	"\x12ROBOT_SUBSTITUTION\x10\x02\x12\v\n" +
-	"\aTIMEOUT\x10\x03\x12\x12\n" +
-	"\x0eCHALLENGE_FLAG\x10\x04\x12\x14\n" +
-	"\x10CHANGE_KEEPER_ID\x10\x05\x12\x10\n" +
-	"\fSTOP_TIMEOUT\x10\x06\x12\x16\n" +
-	"\x12FAIL_BALLPLACEMENT\x10\aBhB\x1bSslGcRconRemotecontrolProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
-
-var (
-	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescOnce sync.Once
-	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescData []byte
-)
-
-func file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescGZIP() []byte {
-	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescOnce.Do(func() {
-		file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDesc)))
-	})
-	return file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDescData
-}
-
-var file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes = make([]protoimpl.EnumInfo, 2)
-var file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes = make([]protoimpl.MessageInfo, 4)
-var file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_goTypes = []any{
-	(RemoteControlRequestType)(0),          // 0: RemoteControlRequestType
-	(RemoteControlToController_Request)(0), // 1: RemoteControlToController.Request
-	(*RemoteControlRegistration)(nil),      // 2: RemoteControlRegistration
-	(*RemoteControlToController)(nil),      // 3: RemoteControlToController
-	(*ControllerToRemoteControl)(nil),      // 4: ControllerToRemoteControl
-	(*RemoteControlTeamState)(nil),         // 5: RemoteControlTeamState
-	(Team)(0),                              // 6: Team
-	(*Signature)(nil),                      // 7: Signature
-	(*ControllerReply)(nil),                // 8: ControllerReply
-}
-var file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_depIdxs = []int32{
-	6, // 0: RemoteControlRegistration.team:type_name -> Team
-	7, // 1: RemoteControlRegistration.signature:type_name -> Signature
-	7, // 2: RemoteControlToController.signature:type_name -> Signature
-	1, // 3: RemoteControlToController.request:type_name -> RemoteControlToController.Request
-	8, // 4: ControllerToRemoteControl.controller_reply:type_name -> ControllerReply
-	5, // 5: ControllerToRemoteControl.state:type_name -> RemoteControlTeamState
-	6, // 6: RemoteControlTeamState.team:type_name -> Team
-	0, // 7: RemoteControlTeamState.available_requests:type_name -> RemoteControlRequestType
-	0, // 8: RemoteControlTeamState.active_requests:type_name -> RemoteControlRequestType
-	9, // [9:9] is the sub-list for method output_type
-	9, // [9:9] is the sub-list for method input_type
-	9, // [9:9] is the sub-list for extension type_name
-	9, // [9:9] is the sub-list for extension extendee
-	0, // [0:9] is the sub-list for field type_name
-}
-
-func init() { file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_init() }
-func file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_init() {
-	if File_gamecontroller_ssl_gc_rcon_remotecontrol_proto != nil {
-		return
-	}
-	file_gamecontroller_ssl_gc_common_proto_init()
-	file_gamecontroller_ssl_gc_rcon_proto_init()
-	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes[1].OneofWrappers = []any{
-		(*RemoteControlToController_Request_)(nil),
-		(*RemoteControlToController_DesiredKeeper)(nil),
-		(*RemoteControlToController_RequestRobotSubstitution)(nil),
-		(*RemoteControlToController_RequestTimeout)(nil),
-		(*RemoteControlToController_RequestEmergencyStop)(nil),
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_rawDesc)),
-			NumEnums:      2,
-			NumMessages:   4,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_goTypes,
-		DependencyIndexes: file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_depIdxs,
-		EnumInfos:         file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_enumTypes,
-		MessageInfos:      file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_msgTypes,
-	}.Build()
-	File_gamecontroller_ssl_gc_rcon_remotecontrol_proto = out.File
-	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_goTypes = nil
-	file_gamecontroller_ssl_gc_rcon_remotecontrol_proto_depIdxs = nil
-}
diff --git a/gui/internal/gamecontroller/ssl_gc_rcon_team.pb.go b/gui/internal/gamecontroller/ssl_gc_rcon_team.pb.go
deleted file mode 100644
index fc1ec5b..0000000
--- a/gui/internal/gamecontroller/ssl_gc_rcon_team.pb.go
+++ /dev/null
@@ -1,442 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: gamecontroller/ssl_gc_rcon_team.proto
-
-package gamecontroller
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-// the current advantage choice of the team
-// the choice is valid until another choice is received
-// if the team disconnects, the choice is reset to its default (STOP)
-// teams may either send their current choice continuously or only on change
-type AdvantageChoice int32
-
-const (
-	// stop the game
-	AdvantageChoice_STOP AdvantageChoice = 0
-	// keep the game running
-	AdvantageChoice_CONTINUE AdvantageChoice = 1
-)
-
-// Enum value maps for AdvantageChoice.
-var (
-	AdvantageChoice_name = map[int32]string{
-		0: "STOP",
-		1: "CONTINUE",
-	}
-	AdvantageChoice_value = map[string]int32{
-		"STOP":     0,
-		"CONTINUE": 1,
-	}
-)
-
-func (x AdvantageChoice) Enum() *AdvantageChoice {
-	p := new(AdvantageChoice)
-	*p = x
-	return p
-}
-
-func (x AdvantageChoice) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (AdvantageChoice) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_rcon_team_proto_enumTypes[0].Descriptor()
-}
-
-func (AdvantageChoice) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_rcon_team_proto_enumTypes[0]
-}
-
-func (x AdvantageChoice) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *AdvantageChoice) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = AdvantageChoice(num)
-	return nil
-}
-
-// Deprecated: Use AdvantageChoice.Descriptor instead.
-func (AdvantageChoice) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_team_proto_rawDescGZIP(), []int{0}
-}
-
-// a registration that must be send by teams to the controller as the very first message
-type TeamRegistration struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// the exact team name as published by the game-controller
-	TeamName *string `protobuf:"bytes,1,req,name=team_name,json=teamName" json:"team_name,omitempty"`
-	// signature can optionally be specified to enable secure communication
-	Signature *Signature `protobuf:"bytes,2,opt,name=signature" json:"signature,omitempty"`
-	// the team (relevant only if a team plays against itself)
-	Team          *Team `protobuf:"varint,3,opt,name=team,enum=Team" json:"team,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *TeamRegistration) Reset() {
-	*x = TeamRegistration{}
-	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *TeamRegistration) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*TeamRegistration) ProtoMessage() {}
-
-func (x *TeamRegistration) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use TeamRegistration.ProtoReflect.Descriptor instead.
-func (*TeamRegistration) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_team_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *TeamRegistration) GetTeamName() string {
-	if x != nil && x.TeamName != nil {
-		return *x.TeamName
-	}
-	return ""
-}
-
-func (x *TeamRegistration) GetSignature() *Signature {
-	if x != nil {
-		return x.Signature
-	}
-	return nil
-}
-
-func (x *TeamRegistration) GetTeam() Team {
-	if x != nil && x.Team != nil {
-		return *x.Team
-	}
-	return Team_UNKNOWN
-}
-
-// wrapper for all messages from a team's computer to the controller
-type TeamToController struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// signature can optionally be specified to enable secure communication
-	Signature *Signature `protobuf:"bytes,1,opt,name=signature" json:"signature,omitempty"`
-	// Types that are valid to be assigned to Msg:
-	//
-	//	*TeamToController_DesiredKeeper
-	//	*TeamToController_AdvantageChoice
-	//	*TeamToController_SubstituteBot
-	//	*TeamToController_Ping
-	Msg           isTeamToController_Msg `protobuf_oneof:"msg"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *TeamToController) Reset() {
-	*x = TeamToController{}
-	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *TeamToController) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*TeamToController) ProtoMessage() {}
-
-func (x *TeamToController) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use TeamToController.ProtoReflect.Descriptor instead.
-func (*TeamToController) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_team_proto_rawDescGZIP(), []int{1}
-}
-
-func (x *TeamToController) GetSignature() *Signature {
-	if x != nil {
-		return x.Signature
-	}
-	return nil
-}
-
-func (x *TeamToController) GetMsg() isTeamToController_Msg {
-	if x != nil {
-		return x.Msg
-	}
-	return nil
-}
-
-func (x *TeamToController) GetDesiredKeeper() int32 {
-	if x != nil {
-		if x, ok := x.Msg.(*TeamToController_DesiredKeeper); ok {
-			return x.DesiredKeeper
-		}
-	}
-	return 0
-}
-
-func (x *TeamToController) GetAdvantageChoice() AdvantageChoice {
-	if x != nil {
-		if x, ok := x.Msg.(*TeamToController_AdvantageChoice); ok {
-			return x.AdvantageChoice
-		}
-	}
-	return AdvantageChoice_STOP
-}
-
-func (x *TeamToController) GetSubstituteBot() bool {
-	if x != nil {
-		if x, ok := x.Msg.(*TeamToController_SubstituteBot); ok {
-			return x.SubstituteBot
-		}
-	}
-	return false
-}
-
-func (x *TeamToController) GetPing() bool {
-	if x != nil {
-		if x, ok := x.Msg.(*TeamToController_Ping); ok {
-			return x.Ping
-		}
-	}
-	return false
-}
-
-type isTeamToController_Msg interface {
-	isTeamToController_Msg()
-}
-
-type TeamToController_DesiredKeeper struct {
-	// request a new desired keeper id
-	DesiredKeeper int32 `protobuf:"varint,2,opt,name=desired_keeper,json=desiredKeeper,oneof"`
-}
-
-type TeamToController_AdvantageChoice struct {
-	// response to an advantage choice request
-	AdvantageChoice AdvantageChoice `protobuf:"varint,3,opt,name=advantage_choice,json=advantageChoice,enum=AdvantageChoice,oneof"`
-}
-
-type TeamToController_SubstituteBot struct {
-	// request to substitute a robot at the next possibility
-	SubstituteBot bool `protobuf:"varint,4,opt,name=substitute_bot,json=substituteBot,oneof"`
-}
-
-type TeamToController_Ping struct {
-	// send a ping to the GC to test if the connection is still open.
-	// the value is ignored and a reply is sent back
-	Ping bool `protobuf:"varint,5,opt,name=ping,oneof"`
-}
-
-func (*TeamToController_DesiredKeeper) isTeamToController_Msg() {}
-
-func (*TeamToController_AdvantageChoice) isTeamToController_Msg() {}
-
-func (*TeamToController_SubstituteBot) isTeamToController_Msg() {}
-
-func (*TeamToController_Ping) isTeamToController_Msg() {}
-
-// wrapper for all messages from controller to a team's computer
-type ControllerToTeam struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Types that are valid to be assigned to Msg:
-	//
-	//	*ControllerToTeam_ControllerReply
-	Msg           isControllerToTeam_Msg `protobuf_oneof:"msg"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *ControllerToTeam) Reset() {
-	*x = ControllerToTeam{}
-	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[2]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *ControllerToTeam) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*ControllerToTeam) ProtoMessage() {}
-
-func (x *ControllerToTeam) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[2]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use ControllerToTeam.ProtoReflect.Descriptor instead.
-func (*ControllerToTeam) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_rcon_team_proto_rawDescGZIP(), []int{2}
-}
-
-func (x *ControllerToTeam) GetMsg() isControllerToTeam_Msg {
-	if x != nil {
-		return x.Msg
-	}
-	return nil
-}
-
-func (x *ControllerToTeam) GetControllerReply() *ControllerReply {
-	if x != nil {
-		if x, ok := x.Msg.(*ControllerToTeam_ControllerReply); ok {
-			return x.ControllerReply
-		}
-	}
-	return nil
-}
-
-type isControllerToTeam_Msg interface {
-	isControllerToTeam_Msg()
-}
-
-type ControllerToTeam_ControllerReply struct {
-	// a reply from the controller
-	ControllerReply *ControllerReply `protobuf:"bytes,1,opt,name=controller_reply,json=controllerReply,oneof"`
-}
-
-func (*ControllerToTeam_ControllerReply) isControllerToTeam_Msg() {}
-
-var File_gamecontroller_ssl_gc_rcon_team_proto protoreflect.FileDescriptor
-
-const file_gamecontroller_ssl_gc_rcon_team_proto_rawDesc = "" +
-	"\n" +
-	"%gamecontroller/ssl_gc_rcon_team.proto\x1a\"gamecontroller/ssl_gc_common.proto\x1a gamecontroller/ssl_gc_rcon.proto\"t\n" +
-	"\x10TeamRegistration\x12\x1b\n" +
-	"\tteam_name\x18\x01 \x02(\tR\bteamName\x12(\n" +
-	"\tsignature\x18\x02 \x01(\v2\n" +
-	".SignatureR\tsignature\x12\x19\n" +
-	"\x04team\x18\x03 \x01(\x0e2\x05.TeamR\x04team\"\xea\x01\n" +
-	"\x10TeamToController\x12(\n" +
-	"\tsignature\x18\x01 \x01(\v2\n" +
-	".SignatureR\tsignature\x12'\n" +
-	"\x0edesired_keeper\x18\x02 \x01(\x05H\x00R\rdesiredKeeper\x12=\n" +
-	"\x10advantage_choice\x18\x03 \x01(\x0e2\x10.AdvantageChoiceH\x00R\x0fadvantageChoice\x12'\n" +
-	"\x0esubstitute_bot\x18\x04 \x01(\bH\x00R\rsubstituteBot\x12\x14\n" +
-	"\x04ping\x18\x05 \x01(\bH\x00R\x04pingB\x05\n" +
-	"\x03msg\"^\n" +
-	"\x10ControllerToTeam\x12=\n" +
-	"\x10controller_reply\x18\x01 \x01(\v2\x10.ControllerReplyH\x00R\x0fcontrollerReplyB\x05\n" +
-	"\x03msgJ\x04\b\x02\x10\x03*)\n" +
-	"\x0fAdvantageChoice\x12\b\n" +
-	"\x04STOP\x10\x00\x12\f\n" +
-	"\bCONTINUE\x10\x01B_B\x12SslGcRconTeamProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
-
-var (
-	file_gamecontroller_ssl_gc_rcon_team_proto_rawDescOnce sync.Once
-	file_gamecontroller_ssl_gc_rcon_team_proto_rawDescData []byte
-)
-
-func file_gamecontroller_ssl_gc_rcon_team_proto_rawDescGZIP() []byte {
-	file_gamecontroller_ssl_gc_rcon_team_proto_rawDescOnce.Do(func() {
-		file_gamecontroller_ssl_gc_rcon_team_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_team_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_team_proto_rawDesc)))
-	})
-	return file_gamecontroller_ssl_gc_rcon_team_proto_rawDescData
-}
-
-var file_gamecontroller_ssl_gc_rcon_team_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes = make([]protoimpl.MessageInfo, 3)
-var file_gamecontroller_ssl_gc_rcon_team_proto_goTypes = []any{
-	(AdvantageChoice)(0),     // 0: AdvantageChoice
-	(*TeamRegistration)(nil), // 1: TeamRegistration
-	(*TeamToController)(nil), // 2: TeamToController
-	(*ControllerToTeam)(nil), // 3: ControllerToTeam
-	(*Signature)(nil),        // 4: Signature
-	(Team)(0),                // 5: Team
-	(*ControllerReply)(nil),  // 6: ControllerReply
-}
-var file_gamecontroller_ssl_gc_rcon_team_proto_depIdxs = []int32{
-	4, // 0: TeamRegistration.signature:type_name -> Signature
-	5, // 1: TeamRegistration.team:type_name -> Team
-	4, // 2: TeamToController.signature:type_name -> Signature
-	0, // 3: TeamToController.advantage_choice:type_name -> AdvantageChoice
-	6, // 4: ControllerToTeam.controller_reply:type_name -> ControllerReply
-	5, // [5:5] is the sub-list for method output_type
-	5, // [5:5] is the sub-list for method input_type
-	5, // [5:5] is the sub-list for extension type_name
-	5, // [5:5] is the sub-list for extension extendee
-	0, // [0:5] is the sub-list for field type_name
-}
-
-func init() { file_gamecontroller_ssl_gc_rcon_team_proto_init() }
-func file_gamecontroller_ssl_gc_rcon_team_proto_init() {
-	if File_gamecontroller_ssl_gc_rcon_team_proto != nil {
-		return
-	}
-	file_gamecontroller_ssl_gc_common_proto_init()
-	file_gamecontroller_ssl_gc_rcon_proto_init()
-	file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[1].OneofWrappers = []any{
-		(*TeamToController_DesiredKeeper)(nil),
-		(*TeamToController_AdvantageChoice)(nil),
-		(*TeamToController_SubstituteBot)(nil),
-		(*TeamToController_Ping)(nil),
-	}
-	file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes[2].OneofWrappers = []any{
-		(*ControllerToTeam_ControllerReply)(nil),
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_rcon_team_proto_rawDesc), len(file_gamecontroller_ssl_gc_rcon_team_proto_rawDesc)),
-			NumEnums:      1,
-			NumMessages:   3,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_gamecontroller_ssl_gc_rcon_team_proto_goTypes,
-		DependencyIndexes: file_gamecontroller_ssl_gc_rcon_team_proto_depIdxs,
-		EnumInfos:         file_gamecontroller_ssl_gc_rcon_team_proto_enumTypes,
-		MessageInfos:      file_gamecontroller_ssl_gc_rcon_team_proto_msgTypes,
-	}.Build()
-	File_gamecontroller_ssl_gc_rcon_team_proto = out.File
-	file_gamecontroller_ssl_gc_rcon_team_proto_goTypes = nil
-	file_gamecontroller_ssl_gc_rcon_team_proto_depIdxs = nil
-}
diff --git a/gui/internal/gamecontroller/ssl_gc_referee_message.pb.go b/gui/internal/gamecontroller/ssl_gc_referee_message.pb.go
deleted file mode 100644
index 84dd959..0000000
--- a/gui/internal/gamecontroller/ssl_gc_referee_message.pb.go
+++ /dev/null
@@ -1,1113 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: gamecontroller/ssl_gc_referee_message.proto
-
-package gamecontroller
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-// MatchType is a meta information about the current match for easier log processing
-type MatchType int32
-
-const (
-	// not set
-	MatchType_UNKNOWN_MATCH MatchType = 0
-	// match is part of the group phase
-	MatchType_GROUP_PHASE MatchType = 1
-	// match is part of the elimination phase
-	MatchType_ELIMINATION_PHASE MatchType = 2
-	// a friendly match, not part of a tournament
-	MatchType_FRIENDLY MatchType = 3
-)
-
-// Enum value maps for MatchType.
-var (
-	MatchType_name = map[int32]string{
-		0: "UNKNOWN_MATCH",
-		1: "GROUP_PHASE",
-		2: "ELIMINATION_PHASE",
-		3: "FRIENDLY",
-	}
-	MatchType_value = map[string]int32{
-		"UNKNOWN_MATCH":     0,
-		"GROUP_PHASE":       1,
-		"ELIMINATION_PHASE": 2,
-		"FRIENDLY":          3,
-	}
-)
-
-func (x MatchType) Enum() *MatchType {
-	p := new(MatchType)
-	*p = x
-	return p
-}
-
-func (x MatchType) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (MatchType) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[0].Descriptor()
-}
-
-func (MatchType) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[0]
-}
-
-func (x MatchType) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *MatchType) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = MatchType(num)
-	return nil
-}
-
-// Deprecated: Use MatchType.Descriptor instead.
-func (MatchType) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0}
-}
-
-// HullColor is the color of the hull of the robots of a team
-type HullColor int32
-
-const (
-	// not set
-	HullColor_HULL_COLOR_UNKNOWN HullColor = 0
-	// dark hull color
-	HullColor_HULL_COLOR_DARK HullColor = 1
-	// light hull color
-	HullColor_HULL_COLOR_LIGHT HullColor = 2
-)
-
-// Enum value maps for HullColor.
-var (
-	HullColor_name = map[int32]string{
-		0: "HULL_COLOR_UNKNOWN",
-		1: "HULL_COLOR_DARK",
-		2: "HULL_COLOR_LIGHT",
-	}
-	HullColor_value = map[string]int32{
-		"HULL_COLOR_UNKNOWN": 0,
-		"HULL_COLOR_DARK":    1,
-		"HULL_COLOR_LIGHT":   2,
-	}
-)
-
-func (x HullColor) Enum() *HullColor {
-	p := new(HullColor)
-	*p = x
-	return p
-}
-
-func (x HullColor) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (HullColor) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[1].Descriptor()
-}
-
-func (HullColor) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[1]
-}
-
-func (x HullColor) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *HullColor) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = HullColor(num)
-	return nil
-}
-
-// Deprecated: Use HullColor.Descriptor instead.
-func (HullColor) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{1}
-}
-
-// These are the "coarse" stages of the game.
-type Referee_Stage int32
-
-const (
-	// The first half is about to start.
-	// A kickoff is called within this stage.
-	// This stage ends with the NORMAL_START.
-	Referee_NORMAL_FIRST_HALF_PRE Referee_Stage = 0
-	// The first half of the normal game, before half time.
-	Referee_NORMAL_FIRST_HALF Referee_Stage = 1
-	// Half time between first and second halves.
-	Referee_NORMAL_HALF_TIME Referee_Stage = 2
-	// The second half is about to start.
-	// A kickoff is called within this stage.
-	// This stage ends with the NORMAL_START.
-	Referee_NORMAL_SECOND_HALF_PRE Referee_Stage = 3
-	// The second half of the normal game, after half time.
-	Referee_NORMAL_SECOND_HALF Referee_Stage = 4
-	// The break before extra time.
-	Referee_EXTRA_TIME_BREAK Referee_Stage = 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.
-	Referee_EXTRA_FIRST_HALF_PRE Referee_Stage = 6
-	// The first half of extra time.
-	Referee_EXTRA_FIRST_HALF Referee_Stage = 7
-	// Half time between first and second extra halves.
-	Referee_EXTRA_HALF_TIME Referee_Stage = 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.
-	Referee_EXTRA_SECOND_HALF_PRE Referee_Stage = 9
-	// The second half of extra time.
-	Referee_EXTRA_SECOND_HALF Referee_Stage = 10
-	// The break before penalty shootout.
-	Referee_PENALTY_SHOOTOUT_BREAK Referee_Stage = 11
-	// The penalty shootout.
-	Referee_PENALTY_SHOOTOUT Referee_Stage = 12
-	// The game is over.
-	Referee_POST_GAME Referee_Stage = 13
-)
-
-// Enum value maps for Referee_Stage.
-var (
-	Referee_Stage_name = map[int32]string{
-		0:  "NORMAL_FIRST_HALF_PRE",
-		1:  "NORMAL_FIRST_HALF",
-		2:  "NORMAL_HALF_TIME",
-		3:  "NORMAL_SECOND_HALF_PRE",
-		4:  "NORMAL_SECOND_HALF",
-		5:  "EXTRA_TIME_BREAK",
-		6:  "EXTRA_FIRST_HALF_PRE",
-		7:  "EXTRA_FIRST_HALF",
-		8:  "EXTRA_HALF_TIME",
-		9:  "EXTRA_SECOND_HALF_PRE",
-		10: "EXTRA_SECOND_HALF",
-		11: "PENALTY_SHOOTOUT_BREAK",
-		12: "PENALTY_SHOOTOUT",
-		13: "POST_GAME",
-	}
-	Referee_Stage_value = map[string]int32{
-		"NORMAL_FIRST_HALF_PRE":  0,
-		"NORMAL_FIRST_HALF":      1,
-		"NORMAL_HALF_TIME":       2,
-		"NORMAL_SECOND_HALF_PRE": 3,
-		"NORMAL_SECOND_HALF":     4,
-		"EXTRA_TIME_BREAK":       5,
-		"EXTRA_FIRST_HALF_PRE":   6,
-		"EXTRA_FIRST_HALF":       7,
-		"EXTRA_HALF_TIME":        8,
-		"EXTRA_SECOND_HALF_PRE":  9,
-		"EXTRA_SECOND_HALF":      10,
-		"PENALTY_SHOOTOUT_BREAK": 11,
-		"PENALTY_SHOOTOUT":       12,
-		"POST_GAME":              13,
-	}
-)
-
-func (x Referee_Stage) Enum() *Referee_Stage {
-	p := new(Referee_Stage)
-	*p = x
-	return p
-}
-
-func (x Referee_Stage) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (Referee_Stage) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[2].Descriptor()
-}
-
-func (Referee_Stage) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[2]
-}
-
-func (x Referee_Stage) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *Referee_Stage) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = Referee_Stage(num)
-	return nil
-}
-
-// Deprecated: Use Referee_Stage.Descriptor instead.
-func (Referee_Stage) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0, 0}
-}
-
-// These are the "fine" states of play on the field.
-type Referee_Command int32
-
-const (
-	// All robots should completely stop moving.
-	Referee_HALT Referee_Command = 0
-	// Robots must keep 50 cm from the ball.
-	Referee_STOP Referee_Command = 1
-	// A prepared kickoff or penalty may now be taken.
-	Referee_NORMAL_START Referee_Command = 2
-	// The ball is dropped and free for either team.
-	Referee_FORCE_START Referee_Command = 3
-	// The yellow team may move into kickoff position.
-	Referee_PREPARE_KICKOFF_YELLOW Referee_Command = 4
-	// The blue team may move into kickoff position.
-	Referee_PREPARE_KICKOFF_BLUE Referee_Command = 5
-	// The yellow team may move into penalty position.
-	Referee_PREPARE_PENALTY_YELLOW Referee_Command = 6
-	// The blue team may move into penalty position.
-	Referee_PREPARE_PENALTY_BLUE Referee_Command = 7
-	// The yellow team may take a direct free kick.
-	Referee_DIRECT_FREE_YELLOW Referee_Command = 8
-	// The blue team may take a direct free kick.
-	Referee_DIRECT_FREE_BLUE Referee_Command = 9
-	// The yellow team may take an indirect free kick.
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_referee_message.proto.
-	Referee_INDIRECT_FREE_YELLOW Referee_Command = 10
-	// The blue team may take an indirect free kick.
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_referee_message.proto.
-	Referee_INDIRECT_FREE_BLUE Referee_Command = 11
-	// The yellow team is currently in a timeout.
-	Referee_TIMEOUT_YELLOW Referee_Command = 12
-	// The blue team is currently in a timeout.
-	Referee_TIMEOUT_BLUE Referee_Command = 13
-	// The yellow team just scored a goal.
-	// For information only.
-	// Deprecated: Use the score field from the team infos instead. That way, you can also detect revoked goals.
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_referee_message.proto.
-	Referee_GOAL_YELLOW Referee_Command = 14
-	// The blue team just scored a goal. See also GOAL_YELLOW.
-	//
-	// Deprecated: Marked as deprecated in gamecontroller/ssl_gc_referee_message.proto.
-	Referee_GOAL_BLUE Referee_Command = 15
-	// Equivalent to STOP, but the yellow team must pick up the ball and
-	// drop it in the Designated Position.
-	Referee_BALL_PLACEMENT_YELLOW Referee_Command = 16
-	// Equivalent to STOP, but the blue team must pick up the ball and drop
-	// it in the Designated Position.
-	Referee_BALL_PLACEMENT_BLUE Referee_Command = 17
-)
-
-// Enum value maps for Referee_Command.
-var (
-	Referee_Command_name = map[int32]string{
-		0:  "HALT",
-		1:  "STOP",
-		2:  "NORMAL_START",
-		3:  "FORCE_START",
-		4:  "PREPARE_KICKOFF_YELLOW",
-		5:  "PREPARE_KICKOFF_BLUE",
-		6:  "PREPARE_PENALTY_YELLOW",
-		7:  "PREPARE_PENALTY_BLUE",
-		8:  "DIRECT_FREE_YELLOW",
-		9:  "DIRECT_FREE_BLUE",
-		10: "INDIRECT_FREE_YELLOW",
-		11: "INDIRECT_FREE_BLUE",
-		12: "TIMEOUT_YELLOW",
-		13: "TIMEOUT_BLUE",
-		14: "GOAL_YELLOW",
-		15: "GOAL_BLUE",
-		16: "BALL_PLACEMENT_YELLOW",
-		17: "BALL_PLACEMENT_BLUE",
-	}
-	Referee_Command_value = map[string]int32{
-		"HALT":                   0,
-		"STOP":                   1,
-		"NORMAL_START":           2,
-		"FORCE_START":            3,
-		"PREPARE_KICKOFF_YELLOW": 4,
-		"PREPARE_KICKOFF_BLUE":   5,
-		"PREPARE_PENALTY_YELLOW": 6,
-		"PREPARE_PENALTY_BLUE":   7,
-		"DIRECT_FREE_YELLOW":     8,
-		"DIRECT_FREE_BLUE":       9,
-		"INDIRECT_FREE_YELLOW":   10,
-		"INDIRECT_FREE_BLUE":     11,
-		"TIMEOUT_YELLOW":         12,
-		"TIMEOUT_BLUE":           13,
-		"GOAL_YELLOW":            14,
-		"GOAL_BLUE":              15,
-		"BALL_PLACEMENT_YELLOW":  16,
-		"BALL_PLACEMENT_BLUE":    17,
-	}
-)
-
-func (x Referee_Command) Enum() *Referee_Command {
-	p := new(Referee_Command)
-	*p = x
-	return p
-}
-
-func (x Referee_Command) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (Referee_Command) Descriptor() protoreflect.EnumDescriptor {
-	return file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[3].Descriptor()
-}
-
-func (Referee_Command) Type() protoreflect.EnumType {
-	return &file_gamecontroller_ssl_gc_referee_message_proto_enumTypes[3]
-}
-
-func (x Referee_Command) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *Referee_Command) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = Referee_Command(num)
-	return nil
-}
-
-// Deprecated: Use Referee_Command.Descriptor instead.
-func (Referee_Command) EnumDescriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0, 1}
-}
-
-// Each UDP packet contains one of these messages.
-type Referee struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// A random UUID of the source that is kept constant at the source while running
-	// If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
-	SourceIdentifier *string `protobuf:"bytes,18,opt,name=source_identifier,json=sourceIdentifier" json:"source_identifier,omitempty"`
-	// The match type is a meta information about the current match that helps to process the logs after a competition
-	MatchType *MatchType `protobuf:"varint,19,opt,name=match_type,json=matchType,enum=MatchType,def=0" json:"match_type,omitempty"`
-	// The UNIX timestamp when the packet was sent, in microseconds.
-	// Divide by 1,000,000 to get a time_t.
-	PacketTimestamp *uint64        `protobuf:"varint,1,req,name=packet_timestamp,json=packetTimestamp" json:"packet_timestamp,omitempty"`
-	Stage           *Referee_Stage `protobuf:"varint,2,req,name=stage,enum=Referee_Stage" json:"stage,omitempty"`
-	// The number of microseconds 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.
-	StageTimeLeft *int64           `protobuf:"zigzag64,3,opt,name=stage_time_left,json=stageTimeLeft" json:"stage_time_left,omitempty"`
-	Command       *Referee_Command `protobuf:"varint,4,req,name=command,enum=Referee_Command" json:"command,omitempty"`
-	// The number of commands issued since startup (mod 2^32).
-	CommandCounter *uint32 `protobuf:"varint,5,req,name=command_counter,json=commandCounter" json:"command_counter,omitempty"`
-	// The UNIX timestamp when the command was issued, in microseconds.
-	// This value changes only when a new command is issued, not on each packet.
-	CommandTimestamp *uint64 `protobuf:"varint,6,req,name=command_timestamp,json=commandTimestamp" json:"command_timestamp,omitempty"`
-	// Information about the two teams.
-	Yellow             *Referee_TeamInfo `protobuf:"bytes,7,req,name=yellow" json:"yellow,omitempty"`
-	Blue               *Referee_TeamInfo `protobuf:"bytes,8,req,name=blue" json:"blue,omitempty"`
-	DesignatedPosition *Referee_Point    `protobuf:"bytes,9,opt,name=designated_position,json=designatedPosition" json:"designated_position,omitempty"`
-	// Information about the direction of play.
-	// True, if the blue team will have it's goal on the positive x-axis of the ssl-vision coordinate system.
-	// Obviously, the yellow team will play on the opposite half.
-	BlueTeamOnPositiveHalf *bool `protobuf:"varint,10,opt,name=blue_team_on_positive_half,json=blueTeamOnPositiveHalf" json:"blue_team_on_positive_half,omitempty"`
-	// The command that will be issued after the current stoppage and ball placement to continue the game.
-	NextCommand        *Referee_Command          `protobuf:"varint,12,opt,name=next_command,json=nextCommand,enum=Referee_Command" json:"next_command,omitempty"`
-	GameEvents         []*GameEvent              `protobuf:"bytes,16,rep,name=game_events,json=gameEvents" json:"game_events,omitempty"`
-	GameEventProposals []*GameEventProposalGroup `protobuf:"bytes,17,rep,name=game_event_proposals,json=gameEventProposals" json:"game_event_proposals,omitempty"`
-	// The time in microseconds that is remaining until the current action times out
-	// The time will not be reset. It can get negative.
-	// An autoRef would raise an appropriate event, if the time gets negative.
-	// Possible actions where this time is relevant:
-	//   - free kicks
-	//   - kickoff, penalty kick, force start
-	//   - ball placement
-	CurrentActionTimeRemaining *int64 `protobuf:"varint,15,opt,name=current_action_time_remaining,json=currentActionTimeRemaining" json:"current_action_time_remaining,omitempty"`
-	// A message that can be displayed to the spectators, like a reason for a stoppage.
-	StatusMessage *string `protobuf:"bytes,20,opt,name=status_message,json=statusMessage" json:"status_message,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-// Default values for Referee fields.
-const (
-	Default_Referee_MatchType = MatchType_UNKNOWN_MATCH
-)
-
-func (x *Referee) Reset() {
-	*x = Referee{}
-	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *Referee) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*Referee) ProtoMessage() {}
-
-func (x *Referee) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use Referee.ProtoReflect.Descriptor instead.
-func (*Referee) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *Referee) GetSourceIdentifier() string {
-	if x != nil && x.SourceIdentifier != nil {
-		return *x.SourceIdentifier
-	}
-	return ""
-}
-
-func (x *Referee) GetMatchType() MatchType {
-	if x != nil && x.MatchType != nil {
-		return *x.MatchType
-	}
-	return Default_Referee_MatchType
-}
-
-func (x *Referee) GetPacketTimestamp() uint64 {
-	if x != nil && x.PacketTimestamp != nil {
-		return *x.PacketTimestamp
-	}
-	return 0
-}
-
-func (x *Referee) GetStage() Referee_Stage {
-	if x != nil && x.Stage != nil {
-		return *x.Stage
-	}
-	return Referee_NORMAL_FIRST_HALF_PRE
-}
-
-func (x *Referee) GetStageTimeLeft() int64 {
-	if x != nil && x.StageTimeLeft != nil {
-		return *x.StageTimeLeft
-	}
-	return 0
-}
-
-func (x *Referee) GetCommand() Referee_Command {
-	if x != nil && x.Command != nil {
-		return *x.Command
-	}
-	return Referee_HALT
-}
-
-func (x *Referee) GetCommandCounter() uint32 {
-	if x != nil && x.CommandCounter != nil {
-		return *x.CommandCounter
-	}
-	return 0
-}
-
-func (x *Referee) GetCommandTimestamp() uint64 {
-	if x != nil && x.CommandTimestamp != nil {
-		return *x.CommandTimestamp
-	}
-	return 0
-}
-
-func (x *Referee) GetYellow() *Referee_TeamInfo {
-	if x != nil {
-		return x.Yellow
-	}
-	return nil
-}
-
-func (x *Referee) GetBlue() *Referee_TeamInfo {
-	if x != nil {
-		return x.Blue
-	}
-	return nil
-}
-
-func (x *Referee) GetDesignatedPosition() *Referee_Point {
-	if x != nil {
-		return x.DesignatedPosition
-	}
-	return nil
-}
-
-func (x *Referee) GetBlueTeamOnPositiveHalf() bool {
-	if x != nil && x.BlueTeamOnPositiveHalf != nil {
-		return *x.BlueTeamOnPositiveHalf
-	}
-	return false
-}
-
-func (x *Referee) GetNextCommand() Referee_Command {
-	if x != nil && x.NextCommand != nil {
-		return *x.NextCommand
-	}
-	return Referee_HALT
-}
-
-func (x *Referee) GetGameEvents() []*GameEvent {
-	if x != nil {
-		return x.GameEvents
-	}
-	return nil
-}
-
-func (x *Referee) GetGameEventProposals() []*GameEventProposalGroup {
-	if x != nil {
-		return x.GameEventProposals
-	}
-	return nil
-}
-
-func (x *Referee) GetCurrentActionTimeRemaining() int64 {
-	if x != nil && x.CurrentActionTimeRemaining != nil {
-		return *x.CurrentActionTimeRemaining
-	}
-	return 0
-}
-
-func (x *Referee) GetStatusMessage() string {
-	if x != nil && x.StatusMessage != nil {
-		return *x.StatusMessage
-	}
-	return ""
-}
-
-// List of matching proposals
-type GameEventProposalGroup struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Unique ID of this group
-	Id *string `protobuf:"bytes,3,opt,name=id" json:"id,omitempty"`
-	// The proposed game events
-	GameEvents []*GameEvent `protobuf:"bytes,1,rep,name=game_events,json=gameEvents" json:"game_events,omitempty"`
-	// Whether the proposal group was accepted
-	Accepted      *bool `protobuf:"varint,2,opt,name=accepted" json:"accepted,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *GameEventProposalGroup) Reset() {
-	*x = GameEventProposalGroup{}
-	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *GameEventProposalGroup) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*GameEventProposalGroup) ProtoMessage() {}
-
-func (x *GameEventProposalGroup) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use GameEventProposalGroup.ProtoReflect.Descriptor instead.
-func (*GameEventProposalGroup) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{1}
-}
-
-func (x *GameEventProposalGroup) GetId() string {
-	if x != nil && x.Id != nil {
-		return *x.Id
-	}
-	return ""
-}
-
-func (x *GameEventProposalGroup) GetGameEvents() []*GameEvent {
-	if x != nil {
-		return x.GameEvents
-	}
-	return nil
-}
-
-func (x *GameEventProposalGroup) GetAccepted() bool {
-	if x != nil && x.Accepted != nil {
-		return *x.Accepted
-	}
-	return false
-}
-
-// Information about a single team.
-type Referee_TeamInfo struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// The team's name (empty string if operator has not typed anything).
-	Name *string `protobuf:"bytes,1,req,name=name" json:"name,omitempty"`
-	// The number of goals scored by the team during normal play and overtime.
-	Score *uint32 `protobuf:"varint,2,req,name=score" json:"score,omitempty"`
-	// The number of red cards issued to the team since the beginning of the game.
-	RedCards *uint32 `protobuf:"varint,3,req,name=red_cards,json=redCards" json:"red_cards,omitempty"`
-	// The amount of time (in microseconds) left on each yellow card issued to the team.
-	// If no yellow cards are issued, this array has no elements.
-	// Otherwise, times are ordered from smallest to largest.
-	YellowCardTimes []uint32 `protobuf:"varint,4,rep,packed,name=yellow_card_times,json=yellowCardTimes" json:"yellow_card_times,omitempty"`
-	// The total number of yellow cards ever issued to the team.
-	YellowCards *uint32 `protobuf:"varint,5,req,name=yellow_cards,json=yellowCards" json:"yellow_cards,omitempty"`
-	// The number of timeouts this team can still call.
-	// If in a timeout right now, that timeout is excluded.
-	Timeouts *uint32 `protobuf:"varint,6,req,name=timeouts" json:"timeouts,omitempty"`
-	// The number of microseconds of timeout this team can use.
-	TimeoutTime *uint32 `protobuf:"varint,7,req,name=timeout_time,json=timeoutTime" json:"timeout_time,omitempty"`
-	// The pattern number of this team's goalkeeper.
-	Goalkeeper *uint32 `protobuf:"varint,8,req,name=goalkeeper" json:"goalkeeper,omitempty"`
-	// The total number of countable fouls that act towards yellow cards
-	FoulCounter *uint32 `protobuf:"varint,9,opt,name=foul_counter,json=foulCounter" json:"foul_counter,omitempty"`
-	// The number of consecutive ball placement failures of this team
-	BallPlacementFailures *uint32 `protobuf:"varint,10,opt,name=ball_placement_failures,json=ballPlacementFailures" json:"ball_placement_failures,omitempty"`
-	// Indicate if the team is able and allowed to place the ball
-	CanPlaceBall *bool `protobuf:"varint,12,opt,name=can_place_ball,json=canPlaceBall" json:"can_place_ball,omitempty"`
-	// The maximum number of bots allowed on the field based on division and cards
-	MaxAllowedBots *uint32 `protobuf:"varint,13,opt,name=max_allowed_bots,json=maxAllowedBots" json:"max_allowed_bots,omitempty"`
-	// The team has submitted an intent to substitute one or more robots at the next chance
-	BotSubstitutionIntent *bool `protobuf:"varint,14,opt,name=bot_substitution_intent,json=botSubstitutionIntent" json:"bot_substitution_intent,omitempty"`
-	// Indicate if the team reached the maximum allowed ball placement failures and is thus not allowed to place the ball anymore
-	BallPlacementFailuresReached *bool `protobuf:"varint,15,opt,name=ball_placement_failures_reached,json=ballPlacementFailuresReached" json:"ball_placement_failures_reached,omitempty"`
-	// The team is allowed to substitute one or more robots currently
-	BotSubstitutionAllowed *bool `protobuf:"varint,16,opt,name=bot_substitution_allowed,json=botSubstitutionAllowed" json:"bot_substitution_allowed,omitempty"`
-	// The number of bot substitutions left by the team in this halftime
-	BotSubstitutionsLeft *uint32 `protobuf:"varint,17,opt,name=bot_substitutions_left,json=botSubstitutionsLeft" json:"bot_substitutions_left,omitempty"`
-	// The number of microseconds left for current bot substitution
-	BotSubstitutionTimeLeft *uint32 `protobuf:"varint,18,opt,name=bot_substitution_time_left,json=botSubstitutionTimeLeft" json:"bot_substitution_time_left,omitempty"`
-	// The color of the hull of the robots of this team
-	HullColor     *HullColor `protobuf:"varint,19,opt,name=hull_color,json=hullColor,enum=HullColor" json:"hull_color,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *Referee_TeamInfo) Reset() {
-	*x = Referee_TeamInfo{}
-	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[2]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *Referee_TeamInfo) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*Referee_TeamInfo) ProtoMessage() {}
-
-func (x *Referee_TeamInfo) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[2]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use Referee_TeamInfo.ProtoReflect.Descriptor instead.
-func (*Referee_TeamInfo) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0, 0}
-}
-
-func (x *Referee_TeamInfo) GetName() string {
-	if x != nil && x.Name != nil {
-		return *x.Name
-	}
-	return ""
-}
-
-func (x *Referee_TeamInfo) GetScore() uint32 {
-	if x != nil && x.Score != nil {
-		return *x.Score
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetRedCards() uint32 {
-	if x != nil && x.RedCards != nil {
-		return *x.RedCards
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetYellowCardTimes() []uint32 {
-	if x != nil {
-		return x.YellowCardTimes
-	}
-	return nil
-}
-
-func (x *Referee_TeamInfo) GetYellowCards() uint32 {
-	if x != nil && x.YellowCards != nil {
-		return *x.YellowCards
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetTimeouts() uint32 {
-	if x != nil && x.Timeouts != nil {
-		return *x.Timeouts
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetTimeoutTime() uint32 {
-	if x != nil && x.TimeoutTime != nil {
-		return *x.TimeoutTime
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetGoalkeeper() uint32 {
-	if x != nil && x.Goalkeeper != nil {
-		return *x.Goalkeeper
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetFoulCounter() uint32 {
-	if x != nil && x.FoulCounter != nil {
-		return *x.FoulCounter
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetBallPlacementFailures() uint32 {
-	if x != nil && x.BallPlacementFailures != nil {
-		return *x.BallPlacementFailures
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetCanPlaceBall() bool {
-	if x != nil && x.CanPlaceBall != nil {
-		return *x.CanPlaceBall
-	}
-	return false
-}
-
-func (x *Referee_TeamInfo) GetMaxAllowedBots() uint32 {
-	if x != nil && x.MaxAllowedBots != nil {
-		return *x.MaxAllowedBots
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetBotSubstitutionIntent() bool {
-	if x != nil && x.BotSubstitutionIntent != nil {
-		return *x.BotSubstitutionIntent
-	}
-	return false
-}
-
-func (x *Referee_TeamInfo) GetBallPlacementFailuresReached() bool {
-	if x != nil && x.BallPlacementFailuresReached != nil {
-		return *x.BallPlacementFailuresReached
-	}
-	return false
-}
-
-func (x *Referee_TeamInfo) GetBotSubstitutionAllowed() bool {
-	if x != nil && x.BotSubstitutionAllowed != nil {
-		return *x.BotSubstitutionAllowed
-	}
-	return false
-}
-
-func (x *Referee_TeamInfo) GetBotSubstitutionsLeft() uint32 {
-	if x != nil && x.BotSubstitutionsLeft != nil {
-		return *x.BotSubstitutionsLeft
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetBotSubstitutionTimeLeft() uint32 {
-	if x != nil && x.BotSubstitutionTimeLeft != nil {
-		return *x.BotSubstitutionTimeLeft
-	}
-	return 0
-}
-
-func (x *Referee_TeamInfo) GetHullColor() HullColor {
-	if x != nil && x.HullColor != nil {
-		return *x.HullColor
-	}
-	return HullColor_HULL_COLOR_UNKNOWN
-}
-
-// The coordinates of the Designated Position. These are measured in
-// millimetres and correspond to SSL-Vision coordinates. These fields are
-// always either both present (in the case of a ball placement command) or
-// both absent (in the case of any other command).
-type Referee_Point struct {
-	state         protoimpl.MessageState `protogen:"open.v1"`
-	X             *float32               `protobuf:"fixed32,1,req,name=x" json:"x,omitempty"`
-	Y             *float32               `protobuf:"fixed32,2,req,name=y" json:"y,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *Referee_Point) Reset() {
-	*x = Referee_Point{}
-	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[3]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *Referee_Point) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*Referee_Point) ProtoMessage() {}
-
-func (x *Referee_Point) ProtoReflect() protoreflect.Message {
-	mi := &file_gamecontroller_ssl_gc_referee_message_proto_msgTypes[3]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use Referee_Point.ProtoReflect.Descriptor instead.
-func (*Referee_Point) Descriptor() ([]byte, []int) {
-	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP(), []int{0, 1}
-}
-
-func (x *Referee_Point) GetX() float32 {
-	if x != nil && x.X != nil {
-		return *x.X
-	}
-	return 0
-}
-
-func (x *Referee_Point) GetY() float32 {
-	if x != nil && x.Y != nil {
-		return *x.Y
-	}
-	return 0
-}
-
-var File_gamecontroller_ssl_gc_referee_message_proto protoreflect.FileDescriptor
-
-const file_gamecontroller_ssl_gc_referee_message_proto_rawDesc = "" +
-	"\n" +
-	"+gamecontroller/ssl_gc_referee_message.proto\x1a&gamecontroller/ssl_gc_game_event.proto\"\xfd\x12\n" +
-	"\aReferee\x12+\n" +
-	"\x11source_identifier\x18\x12 \x01(\tR\x10sourceIdentifier\x128\n" +
-	"\n" +
-	"match_type\x18\x13 \x01(\x0e2\n" +
-	".MatchType:\rUNKNOWN_MATCHR\tmatchType\x12)\n" +
-	"\x10packet_timestamp\x18\x01 \x02(\x04R\x0fpacketTimestamp\x12$\n" +
-	"\x05stage\x18\x02 \x02(\x0e2\x0e.Referee.StageR\x05stage\x12&\n" +
-	"\x0fstage_time_left\x18\x03 \x01(\x12R\rstageTimeLeft\x12*\n" +
-	"\acommand\x18\x04 \x02(\x0e2\x10.Referee.CommandR\acommand\x12'\n" +
-	"\x0fcommand_counter\x18\x05 \x02(\rR\x0ecommandCounter\x12+\n" +
-	"\x11command_timestamp\x18\x06 \x02(\x04R\x10commandTimestamp\x12)\n" +
-	"\x06yellow\x18\a \x02(\v2\x11.Referee.TeamInfoR\x06yellow\x12%\n" +
-	"\x04blue\x18\b \x02(\v2\x11.Referee.TeamInfoR\x04blue\x12?\n" +
-	"\x13designated_position\x18\t \x01(\v2\x0e.Referee.PointR\x12designatedPosition\x12:\n" +
-	"\x1ablue_team_on_positive_half\x18\n" +
-	" \x01(\bR\x16blueTeamOnPositiveHalf\x123\n" +
-	"\fnext_command\x18\f \x01(\x0e2\x10.Referee.CommandR\vnextCommand\x12+\n" +
-	"\vgame_events\x18\x10 \x03(\v2\n" +
-	".GameEventR\n" +
-	"gameEvents\x12I\n" +
-	"\x14game_event_proposals\x18\x11 \x03(\v2\x17.GameEventProposalGroupR\x12gameEventProposals\x12A\n" +
-	"\x1dcurrent_action_time_remaining\x18\x0f \x01(\x03R\x1acurrentActionTimeRemaining\x12%\n" +
-	"\x0estatus_message\x18\x14 \x01(\tR\rstatusMessage\x1a\x85\x06\n" +
-	"\bTeamInfo\x12\x12\n" +
-	"\x04name\x18\x01 \x02(\tR\x04name\x12\x14\n" +
-	"\x05score\x18\x02 \x02(\rR\x05score\x12\x1b\n" +
-	"\tred_cards\x18\x03 \x02(\rR\bredCards\x12.\n" +
-	"\x11yellow_card_times\x18\x04 \x03(\rB\x02\x10\x01R\x0fyellowCardTimes\x12!\n" +
-	"\fyellow_cards\x18\x05 \x02(\rR\vyellowCards\x12\x1a\n" +
-	"\btimeouts\x18\x06 \x02(\rR\btimeouts\x12!\n" +
-	"\ftimeout_time\x18\a \x02(\rR\vtimeoutTime\x12\x1e\n" +
-	"\n" +
-	"goalkeeper\x18\b \x02(\rR\n" +
-	"goalkeeper\x12!\n" +
-	"\ffoul_counter\x18\t \x01(\rR\vfoulCounter\x126\n" +
-	"\x17ball_placement_failures\x18\n" +
-	" \x01(\rR\x15ballPlacementFailures\x12$\n" +
-	"\x0ecan_place_ball\x18\f \x01(\bR\fcanPlaceBall\x12(\n" +
-	"\x10max_allowed_bots\x18\r \x01(\rR\x0emaxAllowedBots\x126\n" +
-	"\x17bot_substitution_intent\x18\x0e \x01(\bR\x15botSubstitutionIntent\x12E\n" +
-	"\x1fball_placement_failures_reached\x18\x0f \x01(\bR\x1cballPlacementFailuresReached\x128\n" +
-	"\x18bot_substitution_allowed\x18\x10 \x01(\bR\x16botSubstitutionAllowed\x124\n" +
-	"\x16bot_substitutions_left\x18\x11 \x01(\rR\x14botSubstitutionsLeft\x12;\n" +
-	"\x1abot_substitution_time_left\x18\x12 \x01(\rR\x17botSubstitutionTimeLeft\x12)\n" +
-	"\n" +
-	"hull_color\x18\x13 \x01(\x0e2\n" +
-	".HullColorR\thullColor\x1a#\n" +
-	"\x05Point\x12\f\n" +
-	"\x01x\x18\x01 \x02(\x02R\x01x\x12\f\n" +
-	"\x01y\x18\x02 \x02(\x02R\x01y\"\xd1\x02\n" +
-	"\x05Stage\x12\x19\n" +
-	"\x15NORMAL_FIRST_HALF_PRE\x10\x00\x12\x15\n" +
-	"\x11NORMAL_FIRST_HALF\x10\x01\x12\x14\n" +
-	"\x10NORMAL_HALF_TIME\x10\x02\x12\x1a\n" +
-	"\x16NORMAL_SECOND_HALF_PRE\x10\x03\x12\x16\n" +
-	"\x12NORMAL_SECOND_HALF\x10\x04\x12\x14\n" +
-	"\x10EXTRA_TIME_BREAK\x10\x05\x12\x18\n" +
-	"\x14EXTRA_FIRST_HALF_PRE\x10\x06\x12\x14\n" +
-	"\x10EXTRA_FIRST_HALF\x10\a\x12\x13\n" +
-	"\x0fEXTRA_HALF_TIME\x10\b\x12\x19\n" +
-	"\x15EXTRA_SECOND_HALF_PRE\x10\t\x12\x15\n" +
-	"\x11EXTRA_SECOND_HALF\x10\n" +
-	"\x12\x1a\n" +
-	"\x16PENALTY_SHOOTOUT_BREAK\x10\v\x12\x14\n" +
-	"\x10PENALTY_SHOOTOUT\x10\f\x12\r\n" +
-	"\tPOST_GAME\x10\r\"\x96\x03\n" +
-	"\aCommand\x12\b\n" +
-	"\x04HALT\x10\x00\x12\b\n" +
-	"\x04STOP\x10\x01\x12\x10\n" +
-	"\fNORMAL_START\x10\x02\x12\x0f\n" +
-	"\vFORCE_START\x10\x03\x12\x1a\n" +
-	"\x16PREPARE_KICKOFF_YELLOW\x10\x04\x12\x18\n" +
-	"\x14PREPARE_KICKOFF_BLUE\x10\x05\x12\x1a\n" +
-	"\x16PREPARE_PENALTY_YELLOW\x10\x06\x12\x18\n" +
-	"\x14PREPARE_PENALTY_BLUE\x10\a\x12\x16\n" +
-	"\x12DIRECT_FREE_YELLOW\x10\b\x12\x14\n" +
-	"\x10DIRECT_FREE_BLUE\x10\t\x12\x1c\n" +
-	"\x14INDIRECT_FREE_YELLOW\x10\n" +
-	"\x1a\x02\b\x01\x12\x1a\n" +
-	"\x12INDIRECT_FREE_BLUE\x10\v\x1a\x02\b\x01\x12\x12\n" +
-	"\x0eTIMEOUT_YELLOW\x10\f\x12\x10\n" +
-	"\fTIMEOUT_BLUE\x10\r\x12\x13\n" +
-	"\vGOAL_YELLOW\x10\x0e\x1a\x02\b\x01\x12\x11\n" +
-	"\tGOAL_BLUE\x10\x0f\x1a\x02\b\x01\x12\x19\n" +
-	"\x15BALL_PLACEMENT_YELLOW\x10\x10\x12\x17\n" +
-	"\x13BALL_PLACEMENT_BLUE\x10\x11J\x04\b\v\x10\fJ\x04\b\r\x10\x0eJ\x04\b\x0e\x10\x0f\"q\n" +
-	"\x16GameEventProposalGroup\x12\x0e\n" +
-	"\x02id\x18\x03 \x01(\tR\x02id\x12+\n" +
-	"\vgame_events\x18\x01 \x03(\v2\n" +
-	".GameEventR\n" +
-	"gameEvents\x12\x1a\n" +
-	"\baccepted\x18\x02 \x01(\bR\baccepted*T\n" +
-	"\tMatchType\x12\x11\n" +
-	"\rUNKNOWN_MATCH\x10\x00\x12\x0f\n" +
-	"\vGROUP_PHASE\x10\x01\x12\x15\n" +
-	"\x11ELIMINATION_PHASE\x10\x02\x12\f\n" +
-	"\bFRIENDLY\x10\x03*N\n" +
-	"\tHullColor\x12\x16\n" +
-	"\x12HULL_COLOR_UNKNOWN\x10\x00\x12\x13\n" +
-	"\x0fHULL_COLOR_DARK\x10\x01\x12\x14\n" +
-	"\x10HULL_COLOR_LIGHT\x10\x02BeB\x18SslGcRefereeMessageProtoP\x01ZGgithub.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
-
-var (
-	file_gamecontroller_ssl_gc_referee_message_proto_rawDescOnce sync.Once
-	file_gamecontroller_ssl_gc_referee_message_proto_rawDescData []byte
-)
-
-func file_gamecontroller_ssl_gc_referee_message_proto_rawDescGZIP() []byte {
-	file_gamecontroller_ssl_gc_referee_message_proto_rawDescOnce.Do(func() {
-		file_gamecontroller_ssl_gc_referee_message_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_referee_message_proto_rawDesc), len(file_gamecontroller_ssl_gc_referee_message_proto_rawDesc)))
-	})
-	return file_gamecontroller_ssl_gc_referee_message_proto_rawDescData
-}
-
-var file_gamecontroller_ssl_gc_referee_message_proto_enumTypes = make([]protoimpl.EnumInfo, 4)
-var file_gamecontroller_ssl_gc_referee_message_proto_msgTypes = make([]protoimpl.MessageInfo, 4)
-var file_gamecontroller_ssl_gc_referee_message_proto_goTypes = []any{
-	(MatchType)(0),                 // 0: MatchType
-	(HullColor)(0),                 // 1: HullColor
-	(Referee_Stage)(0),             // 2: Referee.Stage
-	(Referee_Command)(0),           // 3: Referee.Command
-	(*Referee)(nil),                // 4: Referee
-	(*GameEventProposalGroup)(nil), // 5: GameEventProposalGroup
-	(*Referee_TeamInfo)(nil),       // 6: Referee.TeamInfo
-	(*Referee_Point)(nil),          // 7: Referee.Point
-	(*GameEvent)(nil),              // 8: GameEvent
-}
-var file_gamecontroller_ssl_gc_referee_message_proto_depIdxs = []int32{
-	0,  // 0: Referee.match_type:type_name -> MatchType
-	2,  // 1: Referee.stage:type_name -> Referee.Stage
-	3,  // 2: Referee.command:type_name -> Referee.Command
-	6,  // 3: Referee.yellow:type_name -> Referee.TeamInfo
-	6,  // 4: Referee.blue:type_name -> Referee.TeamInfo
-	7,  // 5: Referee.designated_position:type_name -> Referee.Point
-	3,  // 6: Referee.next_command:type_name -> Referee.Command
-	8,  // 7: Referee.game_events:type_name -> GameEvent
-	5,  // 8: Referee.game_event_proposals:type_name -> GameEventProposalGroup
-	8,  // 9: GameEventProposalGroup.game_events:type_name -> GameEvent
-	1,  // 10: Referee.TeamInfo.hull_color:type_name -> HullColor
-	11, // [11:11] is the sub-list for method output_type
-	11, // [11:11] is the sub-list for method input_type
-	11, // [11:11] is the sub-list for extension type_name
-	11, // [11:11] is the sub-list for extension extendee
-	0,  // [0:11] is the sub-list for field type_name
-}
-
-func init() { file_gamecontroller_ssl_gc_referee_message_proto_init() }
-func file_gamecontroller_ssl_gc_referee_message_proto_init() {
-	if File_gamecontroller_ssl_gc_referee_message_proto != nil {
-		return
-	}
-	file_gamecontroller_ssl_gc_game_event_proto_init()
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_gamecontroller_ssl_gc_referee_message_proto_rawDesc), len(file_gamecontroller_ssl_gc_referee_message_proto_rawDesc)),
-			NumEnums:      4,
-			NumMessages:   4,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_gamecontroller_ssl_gc_referee_message_proto_goTypes,
-		DependencyIndexes: file_gamecontroller_ssl_gc_referee_message_proto_depIdxs,
-		EnumInfos:         file_gamecontroller_ssl_gc_referee_message_proto_enumTypes,
-		MessageInfos:      file_gamecontroller_ssl_gc_referee_message_proto_msgTypes,
-	}.Build()
-	File_gamecontroller_ssl_gc_referee_message_proto = out.File
-	file_gamecontroller_ssl_gc_referee_message_proto_goTypes = nil
-	file_gamecontroller_ssl_gc_referee_message_proto_depIdxs = nil
-}
diff --git a/gui/internal/vision/ssl_vision_detection.pb.go b/gui/internal/vision/ssl_vision_detection.pb.go
deleted file mode 100644
index 040f87a..0000000
--- a/gui/internal/vision/ssl_vision_detection.pb.go
+++ /dev/null
@@ -1,439 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: vision/ssl_vision_detection.proto
-
-package vision
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-type SSL_DetectionBall struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Confidence in [0-1] of the detection
-	Confidence *float32 `protobuf:"fixed32,1,req,name=confidence" json:"confidence,omitempty"`
-	Area       *uint32  `protobuf:"varint,2,opt,name=area" json:"area,omitempty"`
-	// X-coordinate in [mm] in global ssl-vision coordinate system
-	X *float32 `protobuf:"fixed32,3,req,name=x" json:"x,omitempty"`
-	// Y-coordinate in [mm] in global ssl-vision coordinate system
-	Y *float32 `protobuf:"fixed32,4,req,name=y" json:"y,omitempty"`
-	// Z-coordinate in [mm] in global ssl-vision coordinate system
-	// Not supported by ssl-vision, but might be set by simulators
-	Z *float32 `protobuf:"fixed32,5,opt,name=z" json:"z,omitempty"`
-	// X-coordinate in [pixel] in the image
-	PixelX *float32 `protobuf:"fixed32,6,req,name=pixel_x,json=pixelX" json:"pixel_x,omitempty"`
-	// Y-coordinate in [pixel] in the image
-	PixelY        *float32 `protobuf:"fixed32,7,req,name=pixel_y,json=pixelY" json:"pixel_y,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *SSL_DetectionBall) Reset() {
-	*x = SSL_DetectionBall{}
-	mi := &file_vision_ssl_vision_detection_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_DetectionBall) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_DetectionBall) ProtoMessage() {}
-
-func (x *SSL_DetectionBall) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_detection_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_DetectionBall.ProtoReflect.Descriptor instead.
-func (*SSL_DetectionBall) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_detection_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *SSL_DetectionBall) GetConfidence() float32 {
-	if x != nil && x.Confidence != nil {
-		return *x.Confidence
-	}
-	return 0
-}
-
-func (x *SSL_DetectionBall) GetArea() uint32 {
-	if x != nil && x.Area != nil {
-		return *x.Area
-	}
-	return 0
-}
-
-func (x *SSL_DetectionBall) GetX() float32 {
-	if x != nil && x.X != nil {
-		return *x.X
-	}
-	return 0
-}
-
-func (x *SSL_DetectionBall) GetY() float32 {
-	if x != nil && x.Y != nil {
-		return *x.Y
-	}
-	return 0
-}
-
-func (x *SSL_DetectionBall) GetZ() float32 {
-	if x != nil && x.Z != nil {
-		return *x.Z
-	}
-	return 0
-}
-
-func (x *SSL_DetectionBall) GetPixelX() float32 {
-	if x != nil && x.PixelX != nil {
-		return *x.PixelX
-	}
-	return 0
-}
-
-func (x *SSL_DetectionBall) GetPixelY() float32 {
-	if x != nil && x.PixelY != nil {
-		return *x.PixelY
-	}
-	return 0
-}
-
-type SSL_DetectionRobot struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Confidence in [0-1] of the detection
-	Confidence *float32 `protobuf:"fixed32,1,req,name=confidence" json:"confidence,omitempty"`
-	// Id of the robot
-	RobotId *uint32 `protobuf:"varint,2,opt,name=robot_id,json=robotId" json:"robot_id,omitempty"`
-	// X-coordinate in [mm] in global ssl-vision coordinate system
-	X *float32 `protobuf:"fixed32,3,req,name=x" json:"x,omitempty"`
-	// Y-coordinate in [mm] in global ssl-vision coordinate system
-	Y *float32 `protobuf:"fixed32,4,req,name=y" json:"y,omitempty"`
-	// Orientation in [rad]
-	Orientation *float32 `protobuf:"fixed32,5,opt,name=orientation" json:"orientation,omitempty"`
-	// X-coordinate in [pixel] in the image
-	PixelX *float32 `protobuf:"fixed32,6,req,name=pixel_x,json=pixelX" json:"pixel_x,omitempty"`
-	// Y-coordinate in [pixel] in the image
-	PixelY *float32 `protobuf:"fixed32,7,req,name=pixel_y,json=pixelY" json:"pixel_y,omitempty"`
-	// Height, as configured in ssl-vision for the respective team
-	Height        *float32 `protobuf:"fixed32,8,opt,name=height" json:"height,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *SSL_DetectionRobot) Reset() {
-	*x = SSL_DetectionRobot{}
-	mi := &file_vision_ssl_vision_detection_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_DetectionRobot) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_DetectionRobot) ProtoMessage() {}
-
-func (x *SSL_DetectionRobot) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_detection_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_DetectionRobot.ProtoReflect.Descriptor instead.
-func (*SSL_DetectionRobot) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_detection_proto_rawDescGZIP(), []int{1}
-}
-
-func (x *SSL_DetectionRobot) GetConfidence() float32 {
-	if x != nil && x.Confidence != nil {
-		return *x.Confidence
-	}
-	return 0
-}
-
-func (x *SSL_DetectionRobot) GetRobotId() uint32 {
-	if x != nil && x.RobotId != nil {
-		return *x.RobotId
-	}
-	return 0
-}
-
-func (x *SSL_DetectionRobot) GetX() float32 {
-	if x != nil && x.X != nil {
-		return *x.X
-	}
-	return 0
-}
-
-func (x *SSL_DetectionRobot) GetY() float32 {
-	if x != nil && x.Y != nil {
-		return *x.Y
-	}
-	return 0
-}
-
-func (x *SSL_DetectionRobot) GetOrientation() float32 {
-	if x != nil && x.Orientation != nil {
-		return *x.Orientation
-	}
-	return 0
-}
-
-func (x *SSL_DetectionRobot) GetPixelX() float32 {
-	if x != nil && x.PixelX != nil {
-		return *x.PixelX
-	}
-	return 0
-}
-
-func (x *SSL_DetectionRobot) GetPixelY() float32 {
-	if x != nil && x.PixelY != nil {
-		return *x.PixelY
-	}
-	return 0
-}
-
-func (x *SSL_DetectionRobot) GetHeight() float32 {
-	if x != nil && x.Height != nil {
-		return *x.Height
-	}
-	return 0
-}
-
-type SSL_DetectionFrame struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// monotonously increasing frame number
-	FrameNumber *uint32 `protobuf:"varint,1,req,name=frame_number,json=frameNumber" json:"frame_number,omitempty"`
-	// Unix timestamp in [seconds] at which the image has been received by ssl-vision
-	TCapture *float64 `protobuf:"fixed64,2,req,name=t_capture,json=tCapture" json:"t_capture,omitempty"`
-	// Unix timestamp in [seconds] at which this message has been sent to the network
-	TSent *float64 `protobuf:"fixed64,3,req,name=t_sent,json=tSent" json:"t_sent,omitempty"`
-	// Camera timestamp in [seconds] as reported by the camera, if supported
-	// This is not necessarily a unix timestamp
-	TCaptureCamera *float64 `protobuf:"fixed64,8,opt,name=t_capture_camera,json=tCaptureCamera" json:"t_capture_camera,omitempty"`
-	// Internal VisionProcessor field for clock synchronization,
-	// containing the time offset of received packets for each cam relative to the local clock.
-	TOffsets []float32 `protobuf:"fixed32,9,rep,name=t_offsets,json=tOffsets" json:"t_offsets,omitempty"`
-	// Identifier of the camera
-	CameraId *uint32 `protobuf:"varint,4,req,name=camera_id,json=cameraId" json:"camera_id,omitempty"`
-	// Detected balls
-	Balls []*SSL_DetectionBall `protobuf:"bytes,5,rep,name=balls" json:"balls,omitempty"`
-	// Detected yellow robots
-	RobotsYellow []*SSL_DetectionRobot `protobuf:"bytes,6,rep,name=robots_yellow,json=robotsYellow" json:"robots_yellow,omitempty"`
-	// Detected blue robots
-	RobotsBlue    []*SSL_DetectionRobot `protobuf:"bytes,7,rep,name=robots_blue,json=robotsBlue" json:"robots_blue,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *SSL_DetectionFrame) Reset() {
-	*x = SSL_DetectionFrame{}
-	mi := &file_vision_ssl_vision_detection_proto_msgTypes[2]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_DetectionFrame) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_DetectionFrame) ProtoMessage() {}
-
-func (x *SSL_DetectionFrame) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_detection_proto_msgTypes[2]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_DetectionFrame.ProtoReflect.Descriptor instead.
-func (*SSL_DetectionFrame) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_detection_proto_rawDescGZIP(), []int{2}
-}
-
-func (x *SSL_DetectionFrame) GetFrameNumber() uint32 {
-	if x != nil && x.FrameNumber != nil {
-		return *x.FrameNumber
-	}
-	return 0
-}
-
-func (x *SSL_DetectionFrame) GetTCapture() float64 {
-	if x != nil && x.TCapture != nil {
-		return *x.TCapture
-	}
-	return 0
-}
-
-func (x *SSL_DetectionFrame) GetTSent() float64 {
-	if x != nil && x.TSent != nil {
-		return *x.TSent
-	}
-	return 0
-}
-
-func (x *SSL_DetectionFrame) GetTCaptureCamera() float64 {
-	if x != nil && x.TCaptureCamera != nil {
-		return *x.TCaptureCamera
-	}
-	return 0
-}
-
-func (x *SSL_DetectionFrame) GetTOffsets() []float32 {
-	if x != nil {
-		return x.TOffsets
-	}
-	return nil
-}
-
-func (x *SSL_DetectionFrame) GetCameraId() uint32 {
-	if x != nil && x.CameraId != nil {
-		return *x.CameraId
-	}
-	return 0
-}
-
-func (x *SSL_DetectionFrame) GetBalls() []*SSL_DetectionBall {
-	if x != nil {
-		return x.Balls
-	}
-	return nil
-}
-
-func (x *SSL_DetectionFrame) GetRobotsYellow() []*SSL_DetectionRobot {
-	if x != nil {
-		return x.RobotsYellow
-	}
-	return nil
-}
-
-func (x *SSL_DetectionFrame) GetRobotsBlue() []*SSL_DetectionRobot {
-	if x != nil {
-		return x.RobotsBlue
-	}
-	return nil
-}
-
-var File_vision_ssl_vision_detection_proto protoreflect.FileDescriptor
-
-const file_vision_ssl_vision_detection_proto_rawDesc = "" +
-	"\n" +
-	"!vision/ssl_vision_detection.proto\"\xa3\x01\n" +
-	"\x11SSL_DetectionBall\x12\x1e\n" +
-	"\n" +
-	"confidence\x18\x01 \x02(\x02R\n" +
-	"confidence\x12\x12\n" +
-	"\x04area\x18\x02 \x01(\rR\x04area\x12\f\n" +
-	"\x01x\x18\x03 \x02(\x02R\x01x\x12\f\n" +
-	"\x01y\x18\x04 \x02(\x02R\x01y\x12\f\n" +
-	"\x01z\x18\x05 \x01(\x02R\x01z\x12\x17\n" +
-	"\apixel_x\x18\x06 \x02(\x02R\x06pixelX\x12\x17\n" +
-	"\apixel_y\x18\a \x02(\x02R\x06pixelY\"\xd7\x01\n" +
-	"\x12SSL_DetectionRobot\x12\x1e\n" +
-	"\n" +
-	"confidence\x18\x01 \x02(\x02R\n" +
-	"confidence\x12\x19\n" +
-	"\brobot_id\x18\x02 \x01(\rR\arobotId\x12\f\n" +
-	"\x01x\x18\x03 \x02(\x02R\x01x\x12\f\n" +
-	"\x01y\x18\x04 \x02(\x02R\x01y\x12 \n" +
-	"\vorientation\x18\x05 \x01(\x02R\vorientation\x12\x17\n" +
-	"\apixel_x\x18\x06 \x02(\x02R\x06pixelX\x12\x17\n" +
-	"\apixel_y\x18\a \x02(\x02R\x06pixelY\x12\x16\n" +
-	"\x06height\x18\b \x01(\x02R\x06height\"\xe9\x02\n" +
-	"\x12SSL_DetectionFrame\x12!\n" +
-	"\fframe_number\x18\x01 \x02(\rR\vframeNumber\x12\x1b\n" +
-	"\tt_capture\x18\x02 \x02(\x01R\btCapture\x12\x15\n" +
-	"\x06t_sent\x18\x03 \x02(\x01R\x05tSent\x12(\n" +
-	"\x10t_capture_camera\x18\b \x01(\x01R\x0etCaptureCamera\x12\x1b\n" +
-	"\tt_offsets\x18\t \x03(\x02R\btOffsets\x12\x1b\n" +
-	"\tcamera_id\x18\x04 \x02(\rR\bcameraId\x12(\n" +
-	"\x05balls\x18\x05 \x03(\v2\x12.SSL_DetectionBallR\x05balls\x128\n" +
-	"\rrobots_yellow\x18\x06 \x03(\v2\x13.SSL_DetectionRobotR\frobotsYellow\x124\n" +
-	"\vrobots_blue\x18\a \x03(\v2\x13.SSL_DetectionRobotR\n" +
-	"robotsBlueB\\B\x17SslVisionDetectionProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
-
-var (
-	file_vision_ssl_vision_detection_proto_rawDescOnce sync.Once
-	file_vision_ssl_vision_detection_proto_rawDescData []byte
-)
-
-func file_vision_ssl_vision_detection_proto_rawDescGZIP() []byte {
-	file_vision_ssl_vision_detection_proto_rawDescOnce.Do(func() {
-		file_vision_ssl_vision_detection_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_detection_proto_rawDesc), len(file_vision_ssl_vision_detection_proto_rawDesc)))
-	})
-	return file_vision_ssl_vision_detection_proto_rawDescData
-}
-
-var file_vision_ssl_vision_detection_proto_msgTypes = make([]protoimpl.MessageInfo, 3)
-var file_vision_ssl_vision_detection_proto_goTypes = []any{
-	(*SSL_DetectionBall)(nil),  // 0: SSL_DetectionBall
-	(*SSL_DetectionRobot)(nil), // 1: SSL_DetectionRobot
-	(*SSL_DetectionFrame)(nil), // 2: SSL_DetectionFrame
-}
-var file_vision_ssl_vision_detection_proto_depIdxs = []int32{
-	0, // 0: SSL_DetectionFrame.balls:type_name -> SSL_DetectionBall
-	1, // 1: SSL_DetectionFrame.robots_yellow:type_name -> SSL_DetectionRobot
-	1, // 2: SSL_DetectionFrame.robots_blue:type_name -> SSL_DetectionRobot
-	3, // [3:3] is the sub-list for method output_type
-	3, // [3:3] is the sub-list for method input_type
-	3, // [3:3] is the sub-list for extension type_name
-	3, // [3:3] is the sub-list for extension extendee
-	0, // [0:3] is the sub-list for field type_name
-}
-
-func init() { file_vision_ssl_vision_detection_proto_init() }
-func file_vision_ssl_vision_detection_proto_init() {
-	if File_vision_ssl_vision_detection_proto != nil {
-		return
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_detection_proto_rawDesc), len(file_vision_ssl_vision_detection_proto_rawDesc)),
-			NumEnums:      0,
-			NumMessages:   3,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_vision_ssl_vision_detection_proto_goTypes,
-		DependencyIndexes: file_vision_ssl_vision_detection_proto_depIdxs,
-		MessageInfos:      file_vision_ssl_vision_detection_proto_msgTypes,
-	}.Build()
-	File_vision_ssl_vision_detection_proto = out.File
-	file_vision_ssl_vision_detection_proto_goTypes = nil
-	file_vision_ssl_vision_detection_proto_depIdxs = nil
-}
diff --git a/gui/internal/vision/ssl_vision_detection_tracked.pb.go b/gui/internal/vision/ssl_vision_detection_tracked.pb.go
deleted file mode 100644
index d0b462a..0000000
--- a/gui/internal/vision/ssl_vision_detection_tracked.pb.go
+++ /dev/null
@@ -1,544 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: vision/ssl_vision_detection_tracked.proto
-
-package vision
-
-import (
-	gamecontroller "github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-// Capabilities that a source implementation can have
-type Capability int32
-
-const (
-	Capability_CAPABILITY_UNKNOWN               Capability = 0
-	Capability_CAPABILITY_DETECT_FLYING_BALLS   Capability = 1
-	Capability_CAPABILITY_DETECT_MULTIPLE_BALLS Capability = 2
-	Capability_CAPABILITY_DETECT_KICKED_BALLS   Capability = 3
-)
-
-// Enum value maps for Capability.
-var (
-	Capability_name = map[int32]string{
-		0: "CAPABILITY_UNKNOWN",
-		1: "CAPABILITY_DETECT_FLYING_BALLS",
-		2: "CAPABILITY_DETECT_MULTIPLE_BALLS",
-		3: "CAPABILITY_DETECT_KICKED_BALLS",
-	}
-	Capability_value = map[string]int32{
-		"CAPABILITY_UNKNOWN":               0,
-		"CAPABILITY_DETECT_FLYING_BALLS":   1,
-		"CAPABILITY_DETECT_MULTIPLE_BALLS": 2,
-		"CAPABILITY_DETECT_KICKED_BALLS":   3,
-	}
-)
-
-func (x Capability) Enum() *Capability {
-	p := new(Capability)
-	*p = x
-	return p
-}
-
-func (x Capability) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (Capability) Descriptor() protoreflect.EnumDescriptor {
-	return file_vision_ssl_vision_detection_tracked_proto_enumTypes[0].Descriptor()
-}
-
-func (Capability) Type() protoreflect.EnumType {
-	return &file_vision_ssl_vision_detection_tracked_proto_enumTypes[0]
-}
-
-func (x Capability) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *Capability) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = Capability(num)
-	return nil
-}
-
-// Deprecated: Use Capability.Descriptor instead.
-func (Capability) EnumDescriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP(), []int{0}
-}
-
-// A single tracked ball
-type TrackedBall struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// The position (x, y, height) [m] in the ssl-vision coordinate system
-	Pos *gamecontroller.Vector3 `protobuf:"bytes,1,req,name=pos" json:"pos,omitempty"`
-	// The velocity [m/s] in the ssl-vision coordinate system
-	Vel *gamecontroller.Vector3 `protobuf:"bytes,2,opt,name=vel" json:"vel,omitempty"`
-	// The visibility of the ball
-	// A value between 0 (not visible) and 1 (visible)
-	// The exact implementation depends on the source software
-	Visibility    *float32 `protobuf:"fixed32,3,opt,name=visibility" json:"visibility,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *TrackedBall) Reset() {
-	*x = TrackedBall{}
-	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *TrackedBall) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*TrackedBall) ProtoMessage() {}
-
-func (x *TrackedBall) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use TrackedBall.ProtoReflect.Descriptor instead.
-func (*TrackedBall) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *TrackedBall) GetPos() *gamecontroller.Vector3 {
-	if x != nil {
-		return x.Pos
-	}
-	return nil
-}
-
-func (x *TrackedBall) GetVel() *gamecontroller.Vector3 {
-	if x != nil {
-		return x.Vel
-	}
-	return nil
-}
-
-func (x *TrackedBall) GetVisibility() float32 {
-	if x != nil && x.Visibility != nil {
-		return *x.Visibility
-	}
-	return 0
-}
-
-// A ball kicked by a robot, including predictions when the ball will come to a stop
-type KickedBall struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// The initial position [m] from which the ball was kicked
-	Pos *gamecontroller.Vector2 `protobuf:"bytes,1,req,name=pos" json:"pos,omitempty"`
-	// The initial velocity [m/s] with which the ball was kicked
-	Vel *gamecontroller.Vector3 `protobuf:"bytes,2,req,name=vel" json:"vel,omitempty"`
-	// The unix timestamp [s] when the kick was performed
-	StartTimestamp *float64 `protobuf:"fixed64,3,req,name=start_timestamp,json=startTimestamp" json:"start_timestamp,omitempty"`
-	// The predicted unix timestamp [s] when the ball comes to a stop
-	StopTimestamp *float64 `protobuf:"fixed64,4,opt,name=stop_timestamp,json=stopTimestamp" json:"stop_timestamp,omitempty"`
-	// The predicted position [m] at which the ball will come to a stop
-	StopPos *gamecontroller.Vector2 `protobuf:"bytes,5,opt,name=stop_pos,json=stopPos" json:"stop_pos,omitempty"`
-	// The robot that kicked the ball
-	RobotId       *gamecontroller.RobotId `protobuf:"bytes,6,opt,name=robot_id,json=robotId" json:"robot_id,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *KickedBall) Reset() {
-	*x = KickedBall{}
-	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *KickedBall) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*KickedBall) ProtoMessage() {}
-
-func (x *KickedBall) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use KickedBall.ProtoReflect.Descriptor instead.
-func (*KickedBall) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP(), []int{1}
-}
-
-func (x *KickedBall) GetPos() *gamecontroller.Vector2 {
-	if x != nil {
-		return x.Pos
-	}
-	return nil
-}
-
-func (x *KickedBall) GetVel() *gamecontroller.Vector3 {
-	if x != nil {
-		return x.Vel
-	}
-	return nil
-}
-
-func (x *KickedBall) GetStartTimestamp() float64 {
-	if x != nil && x.StartTimestamp != nil {
-		return *x.StartTimestamp
-	}
-	return 0
-}
-
-func (x *KickedBall) GetStopTimestamp() float64 {
-	if x != nil && x.StopTimestamp != nil {
-		return *x.StopTimestamp
-	}
-	return 0
-}
-
-func (x *KickedBall) GetStopPos() *gamecontroller.Vector2 {
-	if x != nil {
-		return x.StopPos
-	}
-	return nil
-}
-
-func (x *KickedBall) GetRobotId() *gamecontroller.RobotId {
-	if x != nil {
-		return x.RobotId
-	}
-	return nil
-}
-
-// A single tracked robot
-type TrackedRobot struct {
-	state   protoimpl.MessageState  `protogen:"open.v1"`
-	RobotId *gamecontroller.RobotId `protobuf:"bytes,1,req,name=robot_id,json=robotId" json:"robot_id,omitempty"`
-	// The position [m] in the ssl-vision coordinate system
-	Pos *gamecontroller.Vector2 `protobuf:"bytes,2,req,name=pos" json:"pos,omitempty"`
-	// The orientation [rad] in the ssl-vision coordinate system
-	Orientation *float32 `protobuf:"fixed32,3,req,name=orientation" json:"orientation,omitempty"`
-	// The velocity [m/s] in the ssl-vision coordinate system
-	Vel *gamecontroller.Vector2 `protobuf:"bytes,4,opt,name=vel" json:"vel,omitempty"`
-	// The angular velocity [rad/s] in the ssl-vision coordinate system
-	VelAngular *float32 `protobuf:"fixed32,5,opt,name=vel_angular,json=velAngular" json:"vel_angular,omitempty"`
-	// The visibility of the robot
-	// A value between 0 (not visible) and 1 (visible)
-	// The exact implementation depends on the source software
-	Visibility    *float32 `protobuf:"fixed32,6,opt,name=visibility" json:"visibility,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *TrackedRobot) Reset() {
-	*x = TrackedRobot{}
-	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[2]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *TrackedRobot) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*TrackedRobot) ProtoMessage() {}
-
-func (x *TrackedRobot) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[2]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use TrackedRobot.ProtoReflect.Descriptor instead.
-func (*TrackedRobot) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP(), []int{2}
-}
-
-func (x *TrackedRobot) GetRobotId() *gamecontroller.RobotId {
-	if x != nil {
-		return x.RobotId
-	}
-	return nil
-}
-
-func (x *TrackedRobot) GetPos() *gamecontroller.Vector2 {
-	if x != nil {
-		return x.Pos
-	}
-	return nil
-}
-
-func (x *TrackedRobot) GetOrientation() float32 {
-	if x != nil && x.Orientation != nil {
-		return *x.Orientation
-	}
-	return 0
-}
-
-func (x *TrackedRobot) GetVel() *gamecontroller.Vector2 {
-	if x != nil {
-		return x.Vel
-	}
-	return nil
-}
-
-func (x *TrackedRobot) GetVelAngular() float32 {
-	if x != nil && x.VelAngular != nil {
-		return *x.VelAngular
-	}
-	return 0
-}
-
-func (x *TrackedRobot) GetVisibility() float32 {
-	if x != nil && x.Visibility != nil {
-		return *x.Visibility
-	}
-	return 0
-}
-
-// A frame that contains all currently tracked objects on the field on all cameras
-type TrackedFrame struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// A monotonous increasing frame counter
-	FrameNumber *uint32 `protobuf:"varint,1,req,name=frame_number,json=frameNumber" json:"frame_number,omitempty"`
-	// The unix timestamp in [s] of the data
-	// If timestamp is larger than timestamp_captured, the source has applied a prediction already
-	Timestamp *float64 `protobuf:"fixed64,2,req,name=timestamp" json:"timestamp,omitempty"`
-	// The list of detected balls
-	// The first ball is the primary one
-	// Sources may add additional balls based on their capabilities
-	Balls []*TrackedBall `protobuf:"bytes,3,rep,name=balls" json:"balls,omitempty"`
-	// The list of detected robots of both teams
-	Robots []*TrackedRobot `protobuf:"bytes,4,rep,name=robots" json:"robots,omitempty"`
-	// Information about a kicked ball, if the ball was kicked by a robot and is still moving
-	// Note: This field is optional. Some source implementations might not set this at any time
-	KickedBall *KickedBall `protobuf:"bytes,5,opt,name=kicked_ball,json=kickedBall" json:"kicked_ball,omitempty"`
-	// List of capabilities of the source implementation
-	Capabilities  []Capability `protobuf:"varint,6,rep,name=capabilities,enum=Capability" json:"capabilities,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *TrackedFrame) Reset() {
-	*x = TrackedFrame{}
-	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[3]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *TrackedFrame) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*TrackedFrame) ProtoMessage() {}
-
-func (x *TrackedFrame) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_detection_tracked_proto_msgTypes[3]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use TrackedFrame.ProtoReflect.Descriptor instead.
-func (*TrackedFrame) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP(), []int{3}
-}
-
-func (x *TrackedFrame) GetFrameNumber() uint32 {
-	if x != nil && x.FrameNumber != nil {
-		return *x.FrameNumber
-	}
-	return 0
-}
-
-func (x *TrackedFrame) GetTimestamp() float64 {
-	if x != nil && x.Timestamp != nil {
-		return *x.Timestamp
-	}
-	return 0
-}
-
-func (x *TrackedFrame) GetBalls() []*TrackedBall {
-	if x != nil {
-		return x.Balls
-	}
-	return nil
-}
-
-func (x *TrackedFrame) GetRobots() []*TrackedRobot {
-	if x != nil {
-		return x.Robots
-	}
-	return nil
-}
-
-func (x *TrackedFrame) GetKickedBall() *KickedBall {
-	if x != nil {
-		return x.KickedBall
-	}
-	return nil
-}
-
-func (x *TrackedFrame) GetCapabilities() []Capability {
-	if x != nil {
-		return x.Capabilities
-	}
-	return nil
-}
-
-var File_vision_ssl_vision_detection_tracked_proto protoreflect.FileDescriptor
-
-const file_vision_ssl_vision_detection_tracked_proto_rawDesc = "" +
-	"\n" +
-	")vision/ssl_vision_detection_tracked.proto\x1a\"gamecontroller/ssl_gc_common.proto\x1a$gamecontroller/ssl_gc_geometry.proto\"e\n" +
-	"\vTrackedBall\x12\x1a\n" +
-	"\x03pos\x18\x01 \x02(\v2\b.Vector3R\x03pos\x12\x1a\n" +
-	"\x03vel\x18\x02 \x01(\v2\b.Vector3R\x03vel\x12\x1e\n" +
-	"\n" +
-	"visibility\x18\x03 \x01(\x02R\n" +
-	"visibility\"\xde\x01\n" +
-	"\n" +
-	"KickedBall\x12\x1a\n" +
-	"\x03pos\x18\x01 \x02(\v2\b.Vector2R\x03pos\x12\x1a\n" +
-	"\x03vel\x18\x02 \x02(\v2\b.Vector3R\x03vel\x12'\n" +
-	"\x0fstart_timestamp\x18\x03 \x02(\x01R\x0estartTimestamp\x12%\n" +
-	"\x0estop_timestamp\x18\x04 \x01(\x01R\rstopTimestamp\x12#\n" +
-	"\bstop_pos\x18\x05 \x01(\v2\b.Vector2R\astopPos\x12#\n" +
-	"\brobot_id\x18\x06 \x01(\v2\b.RobotIdR\arobotId\"\xce\x01\n" +
-	"\fTrackedRobot\x12#\n" +
-	"\brobot_id\x18\x01 \x02(\v2\b.RobotIdR\arobotId\x12\x1a\n" +
-	"\x03pos\x18\x02 \x02(\v2\b.Vector2R\x03pos\x12 \n" +
-	"\vorientation\x18\x03 \x02(\x02R\vorientation\x12\x1a\n" +
-	"\x03vel\x18\x04 \x01(\v2\b.Vector2R\x03vel\x12\x1f\n" +
-	"\vvel_angular\x18\x05 \x01(\x02R\n" +
-	"velAngular\x12\x1e\n" +
-	"\n" +
-	"visibility\x18\x06 \x01(\x02R\n" +
-	"visibility\"\xf9\x01\n" +
-	"\fTrackedFrame\x12!\n" +
-	"\fframe_number\x18\x01 \x02(\rR\vframeNumber\x12\x1c\n" +
-	"\ttimestamp\x18\x02 \x02(\x01R\ttimestamp\x12\"\n" +
-	"\x05balls\x18\x03 \x03(\v2\f.TrackedBallR\x05balls\x12%\n" +
-	"\x06robots\x18\x04 \x03(\v2\r.TrackedRobotR\x06robots\x12,\n" +
-	"\vkicked_ball\x18\x05 \x01(\v2\v.KickedBallR\n" +
-	"kickedBall\x12/\n" +
-	"\fcapabilities\x18\x06 \x03(\x0e2\v.CapabilityR\fcapabilities*\x92\x01\n" +
-	"\n" +
-	"Capability\x12\x16\n" +
-	"\x12CAPABILITY_UNKNOWN\x10\x00\x12\"\n" +
-	"\x1eCAPABILITY_DETECT_FLYING_BALLS\x10\x01\x12$\n" +
-	" CAPABILITY_DETECT_MULTIPLE_BALLS\x10\x02\x12\"\n" +
-	"\x1eCAPABILITY_DETECT_KICKED_BALLS\x10\x03BcB\x1eSslVisionDetectionTrackedProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
-
-var (
-	file_vision_ssl_vision_detection_tracked_proto_rawDescOnce sync.Once
-	file_vision_ssl_vision_detection_tracked_proto_rawDescData []byte
-)
-
-func file_vision_ssl_vision_detection_tracked_proto_rawDescGZIP() []byte {
-	file_vision_ssl_vision_detection_tracked_proto_rawDescOnce.Do(func() {
-		file_vision_ssl_vision_detection_tracked_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_detection_tracked_proto_rawDesc), len(file_vision_ssl_vision_detection_tracked_proto_rawDesc)))
-	})
-	return file_vision_ssl_vision_detection_tracked_proto_rawDescData
-}
-
-var file_vision_ssl_vision_detection_tracked_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_vision_ssl_vision_detection_tracked_proto_msgTypes = make([]protoimpl.MessageInfo, 4)
-var file_vision_ssl_vision_detection_tracked_proto_goTypes = []any{
-	(Capability)(0),                // 0: Capability
-	(*TrackedBall)(nil),            // 1: TrackedBall
-	(*KickedBall)(nil),             // 2: KickedBall
-	(*TrackedRobot)(nil),           // 3: TrackedRobot
-	(*TrackedFrame)(nil),           // 4: TrackedFrame
-	(*gamecontroller.Vector3)(nil), // 5: Vector3
-	(*gamecontroller.Vector2)(nil), // 6: Vector2
-	(*gamecontroller.RobotId)(nil), // 7: RobotId
-}
-var file_vision_ssl_vision_detection_tracked_proto_depIdxs = []int32{
-	5,  // 0: TrackedBall.pos:type_name -> Vector3
-	5,  // 1: TrackedBall.vel:type_name -> Vector3
-	6,  // 2: KickedBall.pos:type_name -> Vector2
-	5,  // 3: KickedBall.vel:type_name -> Vector3
-	6,  // 4: KickedBall.stop_pos:type_name -> Vector2
-	7,  // 5: KickedBall.robot_id:type_name -> RobotId
-	7,  // 6: TrackedRobot.robot_id:type_name -> RobotId
-	6,  // 7: TrackedRobot.pos:type_name -> Vector2
-	6,  // 8: TrackedRobot.vel:type_name -> Vector2
-	1,  // 9: TrackedFrame.balls:type_name -> TrackedBall
-	3,  // 10: TrackedFrame.robots:type_name -> TrackedRobot
-	2,  // 11: TrackedFrame.kicked_ball:type_name -> KickedBall
-	0,  // 12: TrackedFrame.capabilities:type_name -> Capability
-	13, // [13:13] is the sub-list for method output_type
-	13, // [13:13] is the sub-list for method input_type
-	13, // [13:13] is the sub-list for extension type_name
-	13, // [13:13] is the sub-list for extension extendee
-	0,  // [0:13] is the sub-list for field type_name
-}
-
-func init() { file_vision_ssl_vision_detection_tracked_proto_init() }
-func file_vision_ssl_vision_detection_tracked_proto_init() {
-	if File_vision_ssl_vision_detection_tracked_proto != nil {
-		return
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_detection_tracked_proto_rawDesc), len(file_vision_ssl_vision_detection_tracked_proto_rawDesc)),
-			NumEnums:      1,
-			NumMessages:   4,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_vision_ssl_vision_detection_tracked_proto_goTypes,
-		DependencyIndexes: file_vision_ssl_vision_detection_tracked_proto_depIdxs,
-		EnumInfos:         file_vision_ssl_vision_detection_tracked_proto_enumTypes,
-		MessageInfos:      file_vision_ssl_vision_detection_tracked_proto_msgTypes,
-	}.Build()
-	File_vision_ssl_vision_detection_tracked_proto = out.File
-	file_vision_ssl_vision_detection_tracked_proto_goTypes = nil
-	file_vision_ssl_vision_detection_tracked_proto_depIdxs = nil
-}
diff --git a/gui/internal/vision/ssl_vision_geometry.pb.go b/gui/internal/vision/ssl_vision_geometry.pb.go
deleted file mode 100644
index e93b604..0000000
--- a/gui/internal/vision/ssl_vision_geometry.pb.go
+++ /dev/null
@@ -1,1135 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: vision/ssl_vision_geometry.proto
-
-package vision
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-type SSL_FieldShapeType int32
-
-const (
-	SSL_FieldShapeType_Undefined                     SSL_FieldShapeType = 0
-	SSL_FieldShapeType_CenterCircle                  SSL_FieldShapeType = 1
-	SSL_FieldShapeType_TopTouchLine                  SSL_FieldShapeType = 2
-	SSL_FieldShapeType_BottomTouchLine               SSL_FieldShapeType = 3
-	SSL_FieldShapeType_LeftGoalLine                  SSL_FieldShapeType = 4
-	SSL_FieldShapeType_RightGoalLine                 SSL_FieldShapeType = 5
-	SSL_FieldShapeType_HalfwayLine                   SSL_FieldShapeType = 6
-	SSL_FieldShapeType_CenterLine                    SSL_FieldShapeType = 7
-	SSL_FieldShapeType_LeftPenaltyStretch            SSL_FieldShapeType = 8
-	SSL_FieldShapeType_RightPenaltyStretch           SSL_FieldShapeType = 9
-	SSL_FieldShapeType_LeftFieldLeftPenaltyStretch   SSL_FieldShapeType = 10
-	SSL_FieldShapeType_LeftFieldRightPenaltyStretch  SSL_FieldShapeType = 11
-	SSL_FieldShapeType_RightFieldLeftPenaltyStretch  SSL_FieldShapeType = 12
-	SSL_FieldShapeType_RightFieldRightPenaltyStretch SSL_FieldShapeType = 13
-)
-
-// Enum value maps for SSL_FieldShapeType.
-var (
-	SSL_FieldShapeType_name = map[int32]string{
-		0:  "Undefined",
-		1:  "CenterCircle",
-		2:  "TopTouchLine",
-		3:  "BottomTouchLine",
-		4:  "LeftGoalLine",
-		5:  "RightGoalLine",
-		6:  "HalfwayLine",
-		7:  "CenterLine",
-		8:  "LeftPenaltyStretch",
-		9:  "RightPenaltyStretch",
-		10: "LeftFieldLeftPenaltyStretch",
-		11: "LeftFieldRightPenaltyStretch",
-		12: "RightFieldLeftPenaltyStretch",
-		13: "RightFieldRightPenaltyStretch",
-	}
-	SSL_FieldShapeType_value = map[string]int32{
-		"Undefined":                     0,
-		"CenterCircle":                  1,
-		"TopTouchLine":                  2,
-		"BottomTouchLine":               3,
-		"LeftGoalLine":                  4,
-		"RightGoalLine":                 5,
-		"HalfwayLine":                   6,
-		"CenterLine":                    7,
-		"LeftPenaltyStretch":            8,
-		"RightPenaltyStretch":           9,
-		"LeftFieldLeftPenaltyStretch":   10,
-		"LeftFieldRightPenaltyStretch":  11,
-		"RightFieldLeftPenaltyStretch":  12,
-		"RightFieldRightPenaltyStretch": 13,
-	}
-)
-
-func (x SSL_FieldShapeType) Enum() *SSL_FieldShapeType {
-	p := new(SSL_FieldShapeType)
-	*p = x
-	return p
-}
-
-func (x SSL_FieldShapeType) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (SSL_FieldShapeType) Descriptor() protoreflect.EnumDescriptor {
-	return file_vision_ssl_vision_geometry_proto_enumTypes[0].Descriptor()
-}
-
-func (SSL_FieldShapeType) Type() protoreflect.EnumType {
-	return &file_vision_ssl_vision_geometry_proto_enumTypes[0]
-}
-
-func (x SSL_FieldShapeType) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *SSL_FieldShapeType) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = SSL_FieldShapeType(num)
-	return nil
-}
-
-// Deprecated: Use SSL_FieldShapeType.Descriptor instead.
-func (SSL_FieldShapeType) EnumDescriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{0}
-}
-
-// A 2D float vector.
-type Vector2F struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// X-coordinate in mm
-	X *float32 `protobuf:"fixed32,1,req,name=x" json:"x,omitempty"`
-	// Y-coordinate in mm
-	Y             *float32 `protobuf:"fixed32,2,req,name=y" json:"y,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *Vector2F) Reset() {
-	*x = Vector2F{}
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *Vector2F) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*Vector2F) ProtoMessage() {}
-
-func (x *Vector2F) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use Vector2F.ProtoReflect.Descriptor instead.
-func (*Vector2F) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *Vector2F) GetX() float32 {
-	if x != nil && x.X != nil {
-		return *x.X
-	}
-	return 0
-}
-
-func (x *Vector2F) GetY() float32 {
-	if x != nil && x.Y != nil {
-		return *x.Y
-	}
-	return 0
-}
-
-// Represents a field marking as a line segment represented by a start point p1,
-// and end point p2, and a line thickness. The start and end points are along
-// the center of the line, so the thickness of the line extends by thickness / 2
-// on either side of the line.
-type SSL_FieldLineSegment struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Name of this field marking.
-	Name *string `protobuf:"bytes,1,req,name=name" json:"name,omitempty"`
-	// Start point of the line segment.
-	P1 *Vector2F `protobuf:"bytes,2,req,name=p1" json:"p1,omitempty"`
-	// End point of the line segment.
-	P2 *Vector2F `protobuf:"bytes,3,req,name=p2" json:"p2,omitempty"`
-	// Thickness of the line segment.
-	Thickness *float32 `protobuf:"fixed32,4,req,name=thickness" json:"thickness,omitempty"`
-	// The type of this shape
-	Type          *SSL_FieldShapeType `protobuf:"varint,5,opt,name=type,enum=SSL_FieldShapeType" json:"type,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *SSL_FieldLineSegment) Reset() {
-	*x = SSL_FieldLineSegment{}
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_FieldLineSegment) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_FieldLineSegment) ProtoMessage() {}
-
-func (x *SSL_FieldLineSegment) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_FieldLineSegment.ProtoReflect.Descriptor instead.
-func (*SSL_FieldLineSegment) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{1}
-}
-
-func (x *SSL_FieldLineSegment) GetName() string {
-	if x != nil && x.Name != nil {
-		return *x.Name
-	}
-	return ""
-}
-
-func (x *SSL_FieldLineSegment) GetP1() *Vector2F {
-	if x != nil {
-		return x.P1
-	}
-	return nil
-}
-
-func (x *SSL_FieldLineSegment) GetP2() *Vector2F {
-	if x != nil {
-		return x.P2
-	}
-	return nil
-}
-
-func (x *SSL_FieldLineSegment) GetThickness() float32 {
-	if x != nil && x.Thickness != nil {
-		return *x.Thickness
-	}
-	return 0
-}
-
-func (x *SSL_FieldLineSegment) GetType() SSL_FieldShapeType {
-	if x != nil && x.Type != nil {
-		return *x.Type
-	}
-	return SSL_FieldShapeType_Undefined
-}
-
-// Represents a field marking as a circular arc segment represented by center point, a
-// start angle, an end angle, and an arc thickness.
-type SSL_FieldCircularArc struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Name of this field marking.
-	Name *string `protobuf:"bytes,1,req,name=name" json:"name,omitempty"`
-	// Center point of the circular arc.
-	Center *Vector2F `protobuf:"bytes,2,req,name=center" json:"center,omitempty"`
-	// Radius of the arc.
-	Radius *float32 `protobuf:"fixed32,3,req,name=radius" json:"radius,omitempty"`
-	// Start angle in counter-clockwise order.
-	A1 *float32 `protobuf:"fixed32,4,req,name=a1" json:"a1,omitempty"`
-	// End angle in counter-clockwise order.
-	A2 *float32 `protobuf:"fixed32,5,req,name=a2" json:"a2,omitempty"`
-	// Thickness of the arc.
-	Thickness *float32 `protobuf:"fixed32,6,req,name=thickness" json:"thickness,omitempty"`
-	// The type of this shape
-	Type          *SSL_FieldShapeType `protobuf:"varint,7,opt,name=type,enum=SSL_FieldShapeType" json:"type,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *SSL_FieldCircularArc) Reset() {
-	*x = SSL_FieldCircularArc{}
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[2]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_FieldCircularArc) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_FieldCircularArc) ProtoMessage() {}
-
-func (x *SSL_FieldCircularArc) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[2]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_FieldCircularArc.ProtoReflect.Descriptor instead.
-func (*SSL_FieldCircularArc) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{2}
-}
-
-func (x *SSL_FieldCircularArc) GetName() string {
-	if x != nil && x.Name != nil {
-		return *x.Name
-	}
-	return ""
-}
-
-func (x *SSL_FieldCircularArc) GetCenter() *Vector2F {
-	if x != nil {
-		return x.Center
-	}
-	return nil
-}
-
-func (x *SSL_FieldCircularArc) GetRadius() float32 {
-	if x != nil && x.Radius != nil {
-		return *x.Radius
-	}
-	return 0
-}
-
-func (x *SSL_FieldCircularArc) GetA1() float32 {
-	if x != nil && x.A1 != nil {
-		return *x.A1
-	}
-	return 0
-}
-
-func (x *SSL_FieldCircularArc) GetA2() float32 {
-	if x != nil && x.A2 != nil {
-		return *x.A2
-	}
-	return 0
-}
-
-func (x *SSL_FieldCircularArc) GetThickness() float32 {
-	if x != nil && x.Thickness != nil {
-		return *x.Thickness
-	}
-	return 0
-}
-
-func (x *SSL_FieldCircularArc) GetType() SSL_FieldShapeType {
-	if x != nil && x.Type != nil {
-		return *x.Type
-	}
-	return SSL_FieldShapeType_Undefined
-}
-
-type SSL_GeometryFieldSize struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Field length (distance between goal lines) in mm
-	FieldLength *int32 `protobuf:"varint,1,req,name=field_length,json=fieldLength" json:"field_length,omitempty"`
-	// Field width (distance between touch lines) in mm
-	FieldWidth *int32 `protobuf:"varint,2,req,name=field_width,json=fieldWidth" json:"field_width,omitempty"`
-	// Goal width (distance between inner edges of goal posts) in mm
-	GoalWidth *int32 `protobuf:"varint,3,req,name=goal_width,json=goalWidth" json:"goal_width,omitempty"`
-	// Goal depth (distance from outer goal line edge to inner goal back) in mm
-	GoalDepth *int32 `protobuf:"varint,4,req,name=goal_depth,json=goalDepth" json:"goal_depth,omitempty"`
-	// Boundary width (distance from touch line centers to boundary walls) in mm
-	BoundaryWidth *int32 `protobuf:"varint,5,req,name=boundary_width,json=boundaryWidth" json:"boundary_width,omitempty"`
-	// Boundary width at the goal lines (distance from goal line centers to boundary walls) in mm
-	BoundaryWidthGoalLine *int32 `protobuf:"varint,16,opt,name=boundary_width_goal_line,json=boundaryWidthGoalLine" json:"boundary_width_goal_line,omitempty"`
-	// Generated line segments based on the other parameters
-	FieldLines []*SSL_FieldLineSegment `protobuf:"bytes,6,rep,name=field_lines,json=fieldLines" json:"field_lines,omitempty"`
-	// Generated circular arcs based on the other parameters
-	FieldArcs []*SSL_FieldCircularArc `protobuf:"bytes,7,rep,name=field_arcs,json=fieldArcs" json:"field_arcs,omitempty"`
-	// Depth of the penalty/defense area (measured between line centers) in mm
-	PenaltyAreaDepth *int32 `protobuf:"varint,8,opt,name=penalty_area_depth,json=penaltyAreaDepth" json:"penalty_area_depth,omitempty"`
-	// Width of the penalty/defense area (measured between line centers) in mm
-	PenaltyAreaWidth *int32 `protobuf:"varint,9,opt,name=penalty_area_width,json=penaltyAreaWidth" json:"penalty_area_width,omitempty"`
-	// Radius of the center circle (measured between line centers) in mm
-	CenterCircleRadius *int32 `protobuf:"varint,10,opt,name=center_circle_radius,json=centerCircleRadius" json:"center_circle_radius,omitempty"`
-	// Thickness/width of the lines on the field in mm
-	LineThickness *int32 `protobuf:"varint,11,opt,name=line_thickness,json=lineThickness" json:"line_thickness,omitempty"`
-	// Distance between the goal center and the center of the penalty mark in mm
-	GoalCenterToPenaltyMark *int32 `protobuf:"varint,12,opt,name=goal_center_to_penalty_mark,json=goalCenterToPenaltyMark" json:"goal_center_to_penalty_mark,omitempty"`
-	// Goal height in mm
-	GoalHeight *int32 `protobuf:"varint,13,opt,name=goal_height,json=goalHeight" json:"goal_height,omitempty"`
-	// Ball radius in mm (note that this is a float type to represent sub-mm precision)
-	BallRadius *float32 `protobuf:"fixed32,14,opt,name=ball_radius,json=ballRadius" json:"ball_radius,omitempty"`
-	// Max allowed robot radius in mm (note that this is a float type to represent sub-mm precision)
-	MaxRobotRadius *float32 `protobuf:"fixed32,15,opt,name=max_robot_radius,json=maxRobotRadius" json:"max_robot_radius,omitempty"`
-	// Width of the goal substitution area (distance from goal line center plus boundary width to boundary walls) in mm
-	GoalSubstitutionAreaWidth *int32 `protobuf:"varint,17,opt,name=goal_substitution_area_width,json=goalSubstitutionAreaWidth" json:"goal_substitution_area_width,omitempty"`
-	unknownFields             protoimpl.UnknownFields
-	sizeCache                 protoimpl.SizeCache
-}
-
-func (x *SSL_GeometryFieldSize) Reset() {
-	*x = SSL_GeometryFieldSize{}
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[3]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_GeometryFieldSize) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_GeometryFieldSize) ProtoMessage() {}
-
-func (x *SSL_GeometryFieldSize) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[3]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_GeometryFieldSize.ProtoReflect.Descriptor instead.
-func (*SSL_GeometryFieldSize) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{3}
-}
-
-func (x *SSL_GeometryFieldSize) GetFieldLength() int32 {
-	if x != nil && x.FieldLength != nil {
-		return *x.FieldLength
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetFieldWidth() int32 {
-	if x != nil && x.FieldWidth != nil {
-		return *x.FieldWidth
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetGoalWidth() int32 {
-	if x != nil && x.GoalWidth != nil {
-		return *x.GoalWidth
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetGoalDepth() int32 {
-	if x != nil && x.GoalDepth != nil {
-		return *x.GoalDepth
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetBoundaryWidth() int32 {
-	if x != nil && x.BoundaryWidth != nil {
-		return *x.BoundaryWidth
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetBoundaryWidthGoalLine() int32 {
-	if x != nil && x.BoundaryWidthGoalLine != nil {
-		return *x.BoundaryWidthGoalLine
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetFieldLines() []*SSL_FieldLineSegment {
-	if x != nil {
-		return x.FieldLines
-	}
-	return nil
-}
-
-func (x *SSL_GeometryFieldSize) GetFieldArcs() []*SSL_FieldCircularArc {
-	if x != nil {
-		return x.FieldArcs
-	}
-	return nil
-}
-
-func (x *SSL_GeometryFieldSize) GetPenaltyAreaDepth() int32 {
-	if x != nil && x.PenaltyAreaDepth != nil {
-		return *x.PenaltyAreaDepth
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetPenaltyAreaWidth() int32 {
-	if x != nil && x.PenaltyAreaWidth != nil {
-		return *x.PenaltyAreaWidth
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetCenterCircleRadius() int32 {
-	if x != nil && x.CenterCircleRadius != nil {
-		return *x.CenterCircleRadius
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetLineThickness() int32 {
-	if x != nil && x.LineThickness != nil {
-		return *x.LineThickness
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetGoalCenterToPenaltyMark() int32 {
-	if x != nil && x.GoalCenterToPenaltyMark != nil {
-		return *x.GoalCenterToPenaltyMark
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetGoalHeight() int32 {
-	if x != nil && x.GoalHeight != nil {
-		return *x.GoalHeight
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetBallRadius() float32 {
-	if x != nil && x.BallRadius != nil {
-		return *x.BallRadius
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetMaxRobotRadius() float32 {
-	if x != nil && x.MaxRobotRadius != nil {
-		return *x.MaxRobotRadius
-	}
-	return 0
-}
-
-func (x *SSL_GeometryFieldSize) GetGoalSubstitutionAreaWidth() int32 {
-	if x != nil && x.GoalSubstitutionAreaWidth != nil {
-		return *x.GoalSubstitutionAreaWidth
-	}
-	return 0
-}
-
-type SSL_GeometryCameraCalibration struct {
-	state                protoimpl.MessageState `protogen:"open.v1"`
-	CameraId             *uint32                `protobuf:"varint,1,req,name=camera_id,json=cameraId" json:"camera_id,omitempty"`
-	FocalLength          *float32               `protobuf:"fixed32,2,req,name=focal_length,json=focalLength" json:"focal_length,omitempty"`
-	PrincipalPointX      *float32               `protobuf:"fixed32,3,req,name=principal_point_x,json=principalPointX" json:"principal_point_x,omitempty"`
-	PrincipalPointY      *float32               `protobuf:"fixed32,4,req,name=principal_point_y,json=principalPointY" json:"principal_point_y,omitempty"`
-	Distortion           *float32               `protobuf:"fixed32,5,req,name=distortion" json:"distortion,omitempty"`
-	Q0                   *float32               `protobuf:"fixed32,6,req,name=q0" json:"q0,omitempty"`
-	Q1                   *float32               `protobuf:"fixed32,7,req,name=q1" json:"q1,omitempty"`
-	Q2                   *float32               `protobuf:"fixed32,8,req,name=q2" json:"q2,omitempty"`
-	Q3                   *float32               `protobuf:"fixed32,9,req,name=q3" json:"q3,omitempty"`
-	Tx                   *float32               `protobuf:"fixed32,10,req,name=tx" json:"tx,omitempty"`
-	Ty                   *float32               `protobuf:"fixed32,11,req,name=ty" json:"ty,omitempty"`
-	Tz                   *float32               `protobuf:"fixed32,12,req,name=tz" json:"tz,omitempty"`
-	DerivedCameraWorldTx *float32               `protobuf:"fixed32,13,opt,name=derived_camera_world_tx,json=derivedCameraWorldTx" json:"derived_camera_world_tx,omitempty"`
-	DerivedCameraWorldTy *float32               `protobuf:"fixed32,14,opt,name=derived_camera_world_ty,json=derivedCameraWorldTy" json:"derived_camera_world_ty,omitempty"`
-	DerivedCameraWorldTz *float32               `protobuf:"fixed32,15,opt,name=derived_camera_world_tz,json=derivedCameraWorldTz" json:"derived_camera_world_tz,omitempty"`
-	PixelImageWidth      *uint32                `protobuf:"varint,16,opt,name=pixel_image_width,json=pixelImageWidth" json:"pixel_image_width,omitempty"`
-	PixelImageHeight     *uint32                `protobuf:"varint,17,opt,name=pixel_image_height,json=pixelImageHeight" json:"pixel_image_height,omitempty"`
-	unknownFields        protoimpl.UnknownFields
-	sizeCache            protoimpl.SizeCache
-}
-
-func (x *SSL_GeometryCameraCalibration) Reset() {
-	*x = SSL_GeometryCameraCalibration{}
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[4]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_GeometryCameraCalibration) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_GeometryCameraCalibration) ProtoMessage() {}
-
-func (x *SSL_GeometryCameraCalibration) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[4]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_GeometryCameraCalibration.ProtoReflect.Descriptor instead.
-func (*SSL_GeometryCameraCalibration) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{4}
-}
-
-func (x *SSL_GeometryCameraCalibration) GetCameraId() uint32 {
-	if x != nil && x.CameraId != nil {
-		return *x.CameraId
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetFocalLength() float32 {
-	if x != nil && x.FocalLength != nil {
-		return *x.FocalLength
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetPrincipalPointX() float32 {
-	if x != nil && x.PrincipalPointX != nil {
-		return *x.PrincipalPointX
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetPrincipalPointY() float32 {
-	if x != nil && x.PrincipalPointY != nil {
-		return *x.PrincipalPointY
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetDistortion() float32 {
-	if x != nil && x.Distortion != nil {
-		return *x.Distortion
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetQ0() float32 {
-	if x != nil && x.Q0 != nil {
-		return *x.Q0
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetQ1() float32 {
-	if x != nil && x.Q1 != nil {
-		return *x.Q1
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetQ2() float32 {
-	if x != nil && x.Q2 != nil {
-		return *x.Q2
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetQ3() float32 {
-	if x != nil && x.Q3 != nil {
-		return *x.Q3
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetTx() float32 {
-	if x != nil && x.Tx != nil {
-		return *x.Tx
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetTy() float32 {
-	if x != nil && x.Ty != nil {
-		return *x.Ty
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetTz() float32 {
-	if x != nil && x.Tz != nil {
-		return *x.Tz
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetDerivedCameraWorldTx() float32 {
-	if x != nil && x.DerivedCameraWorldTx != nil {
-		return *x.DerivedCameraWorldTx
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetDerivedCameraWorldTy() float32 {
-	if x != nil && x.DerivedCameraWorldTy != nil {
-		return *x.DerivedCameraWorldTy
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetDerivedCameraWorldTz() float32 {
-	if x != nil && x.DerivedCameraWorldTz != nil {
-		return *x.DerivedCameraWorldTz
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetPixelImageWidth() uint32 {
-	if x != nil && x.PixelImageWidth != nil {
-		return *x.PixelImageWidth
-	}
-	return 0
-}
-
-func (x *SSL_GeometryCameraCalibration) GetPixelImageHeight() uint32 {
-	if x != nil && x.PixelImageHeight != nil {
-		return *x.PixelImageHeight
-	}
-	return 0
-}
-
-// Two-Phase model for straight-kicked balls.
-// There are two phases with different accelerations during the ball kicks:
-// 1. Sliding
-// 2. Rolling
-// The full model is described in the TDP of ER-Force from 2016, which can be found here:
-// https://ssl.robocup.org/wp-content/uploads/2019/01/2016_ETDP_ER-Force.pdf
-type SSL_BallModelStraightTwoPhase struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Ball sliding acceleration [m/s^2] (should be negative)
-	AccSlide *float64 `protobuf:"fixed64,1,req,name=acc_slide,json=accSlide" json:"acc_slide,omitempty"`
-	// Ball rolling acceleration [m/s^2] (should be negative)
-	AccRoll *float64 `protobuf:"fixed64,2,req,name=acc_roll,json=accRoll" json:"acc_roll,omitempty"`
-	// Fraction of the initial velocity where the ball starts to roll
-	KSwitch       *float64 `protobuf:"fixed64,3,req,name=k_switch,json=kSwitch" json:"k_switch,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *SSL_BallModelStraightTwoPhase) Reset() {
-	*x = SSL_BallModelStraightTwoPhase{}
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[5]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_BallModelStraightTwoPhase) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_BallModelStraightTwoPhase) ProtoMessage() {}
-
-func (x *SSL_BallModelStraightTwoPhase) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[5]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_BallModelStraightTwoPhase.ProtoReflect.Descriptor instead.
-func (*SSL_BallModelStraightTwoPhase) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{5}
-}
-
-func (x *SSL_BallModelStraightTwoPhase) GetAccSlide() float64 {
-	if x != nil && x.AccSlide != nil {
-		return *x.AccSlide
-	}
-	return 0
-}
-
-func (x *SSL_BallModelStraightTwoPhase) GetAccRoll() float64 {
-	if x != nil && x.AccRoll != nil {
-		return *x.AccRoll
-	}
-	return 0
-}
-
-func (x *SSL_BallModelStraightTwoPhase) GetKSwitch() float64 {
-	if x != nil && x.KSwitch != nil {
-		return *x.KSwitch
-	}
-	return 0
-}
-
-// Fixed-Loss model for chipped balls.
-// Uses fixed damping factors for xy and z direction per hop.
-type SSL_BallModelChipFixedLoss struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Chip kick velocity damping factor in XY direction for the first hop
-	DampingXyFirstHop *float64 `protobuf:"fixed64,1,req,name=damping_xy_first_hop,json=dampingXyFirstHop" json:"damping_xy_first_hop,omitempty"`
-	// Chip kick velocity damping factor in XY direction for all following hops
-	DampingXyOtherHops *float64 `protobuf:"fixed64,2,req,name=damping_xy_other_hops,json=dampingXyOtherHops" json:"damping_xy_other_hops,omitempty"`
-	// Chip kick velocity damping factor in Z direction for all hops
-	DampingZ      *float64 `protobuf:"fixed64,3,req,name=damping_z,json=dampingZ" json:"damping_z,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *SSL_BallModelChipFixedLoss) Reset() {
-	*x = SSL_BallModelChipFixedLoss{}
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[6]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_BallModelChipFixedLoss) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_BallModelChipFixedLoss) ProtoMessage() {}
-
-func (x *SSL_BallModelChipFixedLoss) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[6]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_BallModelChipFixedLoss.ProtoReflect.Descriptor instead.
-func (*SSL_BallModelChipFixedLoss) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{6}
-}
-
-func (x *SSL_BallModelChipFixedLoss) GetDampingXyFirstHop() float64 {
-	if x != nil && x.DampingXyFirstHop != nil {
-		return *x.DampingXyFirstHop
-	}
-	return 0
-}
-
-func (x *SSL_BallModelChipFixedLoss) GetDampingXyOtherHops() float64 {
-	if x != nil && x.DampingXyOtherHops != nil {
-		return *x.DampingXyOtherHops
-	}
-	return 0
-}
-
-func (x *SSL_BallModelChipFixedLoss) GetDampingZ() float64 {
-	if x != nil && x.DampingZ != nil {
-		return *x.DampingZ
-	}
-	return 0
-}
-
-type SSL_GeometryModels struct {
-	state            protoimpl.MessageState         `protogen:"open.v1"`
-	StraightTwoPhase *SSL_BallModelStraightTwoPhase `protobuf:"bytes,1,opt,name=straight_two_phase,json=straightTwoPhase" json:"straight_two_phase,omitempty"`
-	ChipFixedLoss    *SSL_BallModelChipFixedLoss    `protobuf:"bytes,2,opt,name=chip_fixed_loss,json=chipFixedLoss" json:"chip_fixed_loss,omitempty"`
-	unknownFields    protoimpl.UnknownFields
-	sizeCache        protoimpl.SizeCache
-}
-
-func (x *SSL_GeometryModels) Reset() {
-	*x = SSL_GeometryModels{}
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[7]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_GeometryModels) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_GeometryModels) ProtoMessage() {}
-
-func (x *SSL_GeometryModels) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[7]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_GeometryModels.ProtoReflect.Descriptor instead.
-func (*SSL_GeometryModels) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{7}
-}
-
-func (x *SSL_GeometryModels) GetStraightTwoPhase() *SSL_BallModelStraightTwoPhase {
-	if x != nil {
-		return x.StraightTwoPhase
-	}
-	return nil
-}
-
-func (x *SSL_GeometryModels) GetChipFixedLoss() *SSL_BallModelChipFixedLoss {
-	if x != nil {
-		return x.ChipFixedLoss
-	}
-	return nil
-}
-
-type SSL_GeometryData struct {
-	state         protoimpl.MessageState           `protogen:"open.v1"`
-	Field         *SSL_GeometryFieldSize           `protobuf:"bytes,1,req,name=field" json:"field,omitempty"`
-	Calib         []*SSL_GeometryCameraCalibration `protobuf:"bytes,2,rep,name=calib" json:"calib,omitempty"`
-	Models        *SSL_GeometryModels              `protobuf:"bytes,3,opt,name=models" json:"models,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *SSL_GeometryData) Reset() {
-	*x = SSL_GeometryData{}
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[8]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_GeometryData) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_GeometryData) ProtoMessage() {}
-
-func (x *SSL_GeometryData) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_geometry_proto_msgTypes[8]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_GeometryData.ProtoReflect.Descriptor instead.
-func (*SSL_GeometryData) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_geometry_proto_rawDescGZIP(), []int{8}
-}
-
-func (x *SSL_GeometryData) GetField() *SSL_GeometryFieldSize {
-	if x != nil {
-		return x.Field
-	}
-	return nil
-}
-
-func (x *SSL_GeometryData) GetCalib() []*SSL_GeometryCameraCalibration {
-	if x != nil {
-		return x.Calib
-	}
-	return nil
-}
-
-func (x *SSL_GeometryData) GetModels() *SSL_GeometryModels {
-	if x != nil {
-		return x.Models
-	}
-	return nil
-}
-
-var File_vision_ssl_vision_geometry_proto protoreflect.FileDescriptor
-
-const file_vision_ssl_vision_geometry_proto_rawDesc = "" +
-	"\n" +
-	" vision/ssl_vision_geometry.proto\"&\n" +
-	"\bVector2f\x12\f\n" +
-	"\x01x\x18\x01 \x02(\x02R\x01x\x12\f\n" +
-	"\x01y\x18\x02 \x02(\x02R\x01y\"\xa7\x01\n" +
-	"\x14SSL_FieldLineSegment\x12\x12\n" +
-	"\x04name\x18\x01 \x02(\tR\x04name\x12\x19\n" +
-	"\x02p1\x18\x02 \x02(\v2\t.Vector2fR\x02p1\x12\x19\n" +
-	"\x02p2\x18\x03 \x02(\v2\t.Vector2fR\x02p2\x12\x1c\n" +
-	"\tthickness\x18\x04 \x02(\x02R\tthickness\x12'\n" +
-	"\x04type\x18\x05 \x01(\x0e2\x13.SSL_FieldShapeTypeR\x04type\"\xcc\x01\n" +
-	"\x14SSL_FieldCircularArc\x12\x12\n" +
-	"\x04name\x18\x01 \x02(\tR\x04name\x12!\n" +
-	"\x06center\x18\x02 \x02(\v2\t.Vector2fR\x06center\x12\x16\n" +
-	"\x06radius\x18\x03 \x02(\x02R\x06radius\x12\x0e\n" +
-	"\x02a1\x18\x04 \x02(\x02R\x02a1\x12\x0e\n" +
-	"\x02a2\x18\x05 \x02(\x02R\x02a2\x12\x1c\n" +
-	"\tthickness\x18\x06 \x02(\x02R\tthickness\x12'\n" +
-	"\x04type\x18\a \x01(\x0e2\x13.SSL_FieldShapeTypeR\x04type\"\x87\x06\n" +
-	"\x15SSL_GeometryFieldSize\x12!\n" +
-	"\ffield_length\x18\x01 \x02(\x05R\vfieldLength\x12\x1f\n" +
-	"\vfield_width\x18\x02 \x02(\x05R\n" +
-	"fieldWidth\x12\x1d\n" +
-	"\n" +
-	"goal_width\x18\x03 \x02(\x05R\tgoalWidth\x12\x1d\n" +
-	"\n" +
-	"goal_depth\x18\x04 \x02(\x05R\tgoalDepth\x12%\n" +
-	"\x0eboundary_width\x18\x05 \x02(\x05R\rboundaryWidth\x127\n" +
-	"\x18boundary_width_goal_line\x18\x10 \x01(\x05R\x15boundaryWidthGoalLine\x126\n" +
-	"\vfield_lines\x18\x06 \x03(\v2\x15.SSL_FieldLineSegmentR\n" +
-	"fieldLines\x124\n" +
-	"\n" +
-	"field_arcs\x18\a \x03(\v2\x15.SSL_FieldCircularArcR\tfieldArcs\x12,\n" +
-	"\x12penalty_area_depth\x18\b \x01(\x05R\x10penaltyAreaDepth\x12,\n" +
-	"\x12penalty_area_width\x18\t \x01(\x05R\x10penaltyAreaWidth\x120\n" +
-	"\x14center_circle_radius\x18\n" +
-	" \x01(\x05R\x12centerCircleRadius\x12%\n" +
-	"\x0eline_thickness\x18\v \x01(\x05R\rlineThickness\x12<\n" +
-	"\x1bgoal_center_to_penalty_mark\x18\f \x01(\x05R\x17goalCenterToPenaltyMark\x12\x1f\n" +
-	"\vgoal_height\x18\r \x01(\x05R\n" +
-	"goalHeight\x12\x1f\n" +
-	"\vball_radius\x18\x0e \x01(\x02R\n" +
-	"ballRadius\x12(\n" +
-	"\x10max_robot_radius\x18\x0f \x01(\x02R\x0emaxRobotRadius\x12?\n" +
-	"\x1cgoal_substitution_area_width\x18\x11 \x01(\x05R\x19goalSubstitutionAreaWidth\"\xc6\x04\n" +
-	"\x1dSSL_GeometryCameraCalibration\x12\x1b\n" +
-	"\tcamera_id\x18\x01 \x02(\rR\bcameraId\x12!\n" +
-	"\ffocal_length\x18\x02 \x02(\x02R\vfocalLength\x12*\n" +
-	"\x11principal_point_x\x18\x03 \x02(\x02R\x0fprincipalPointX\x12*\n" +
-	"\x11principal_point_y\x18\x04 \x02(\x02R\x0fprincipalPointY\x12\x1e\n" +
-	"\n" +
-	"distortion\x18\x05 \x02(\x02R\n" +
-	"distortion\x12\x0e\n" +
-	"\x02q0\x18\x06 \x02(\x02R\x02q0\x12\x0e\n" +
-	"\x02q1\x18\a \x02(\x02R\x02q1\x12\x0e\n" +
-	"\x02q2\x18\b \x02(\x02R\x02q2\x12\x0e\n" +
-	"\x02q3\x18\t \x02(\x02R\x02q3\x12\x0e\n" +
-	"\x02tx\x18\n" +
-	" \x02(\x02R\x02tx\x12\x0e\n" +
-	"\x02ty\x18\v \x02(\x02R\x02ty\x12\x0e\n" +
-	"\x02tz\x18\f \x02(\x02R\x02tz\x125\n" +
-	"\x17derived_camera_world_tx\x18\r \x01(\x02R\x14derivedCameraWorldTx\x125\n" +
-	"\x17derived_camera_world_ty\x18\x0e \x01(\x02R\x14derivedCameraWorldTy\x125\n" +
-	"\x17derived_camera_world_tz\x18\x0f \x01(\x02R\x14derivedCameraWorldTz\x12*\n" +
-	"\x11pixel_image_width\x18\x10 \x01(\rR\x0fpixelImageWidth\x12,\n" +
-	"\x12pixel_image_height\x18\x11 \x01(\rR\x10pixelImageHeight\"r\n" +
-	"\x1dSSL_BallModelStraightTwoPhase\x12\x1b\n" +
-	"\tacc_slide\x18\x01 \x02(\x01R\baccSlide\x12\x19\n" +
-	"\bacc_roll\x18\x02 \x02(\x01R\aaccRoll\x12\x19\n" +
-	"\bk_switch\x18\x03 \x02(\x01R\akSwitch\"\x9d\x01\n" +
-	"\x1aSSL_BallModelChipFixedLoss\x12/\n" +
-	"\x14damping_xy_first_hop\x18\x01 \x02(\x01R\x11dampingXyFirstHop\x121\n" +
-	"\x15damping_xy_other_hops\x18\x02 \x02(\x01R\x12dampingXyOtherHops\x12\x1b\n" +
-	"\tdamping_z\x18\x03 \x02(\x01R\bdampingZ\"\xa7\x01\n" +
-	"\x12SSL_GeometryModels\x12L\n" +
-	"\x12straight_two_phase\x18\x01 \x01(\v2\x1e.SSL_BallModelStraightTwoPhaseR\x10straightTwoPhase\x12C\n" +
-	"\x0fchip_fixed_loss\x18\x02 \x01(\v2\x1b.SSL_BallModelChipFixedLossR\rchipFixedLoss\"\xa3\x01\n" +
-	"\x10SSL_GeometryData\x12,\n" +
-	"\x05field\x18\x01 \x02(\v2\x16.SSL_GeometryFieldSizeR\x05field\x124\n" +
-	"\x05calib\x18\x02 \x03(\v2\x1e.SSL_GeometryCameraCalibrationR\x05calib\x12+\n" +
-	"\x06models\x18\x03 \x01(\v2\x13.SSL_GeometryModelsR\x06models*\xdb\x02\n" +
-	"\x12SSL_FieldShapeType\x12\r\n" +
-	"\tUndefined\x10\x00\x12\x10\n" +
-	"\fCenterCircle\x10\x01\x12\x10\n" +
-	"\fTopTouchLine\x10\x02\x12\x13\n" +
-	"\x0fBottomTouchLine\x10\x03\x12\x10\n" +
-	"\fLeftGoalLine\x10\x04\x12\x11\n" +
-	"\rRightGoalLine\x10\x05\x12\x0f\n" +
-	"\vHalfwayLine\x10\x06\x12\x0e\n" +
-	"\n" +
-	"CenterLine\x10\a\x12\x16\n" +
-	"\x12LeftPenaltyStretch\x10\b\x12\x17\n" +
-	"\x13RightPenaltyStretch\x10\t\x12\x1f\n" +
-	"\x1bLeftFieldLeftPenaltyStretch\x10\n" +
-	"\x12 \n" +
-	"\x1cLeftFieldRightPenaltyStretch\x10\v\x12 \n" +
-	"\x1cRightFieldLeftPenaltyStretch\x10\f\x12!\n" +
-	"\x1dRightFieldRightPenaltyStretch\x10\rB[B\x16SslVisionGeometryProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
-
-var (
-	file_vision_ssl_vision_geometry_proto_rawDescOnce sync.Once
-	file_vision_ssl_vision_geometry_proto_rawDescData []byte
-)
-
-func file_vision_ssl_vision_geometry_proto_rawDescGZIP() []byte {
-	file_vision_ssl_vision_geometry_proto_rawDescOnce.Do(func() {
-		file_vision_ssl_vision_geometry_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_geometry_proto_rawDesc), len(file_vision_ssl_vision_geometry_proto_rawDesc)))
-	})
-	return file_vision_ssl_vision_geometry_proto_rawDescData
-}
-
-var file_vision_ssl_vision_geometry_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_vision_ssl_vision_geometry_proto_msgTypes = make([]protoimpl.MessageInfo, 9)
-var file_vision_ssl_vision_geometry_proto_goTypes = []any{
-	(SSL_FieldShapeType)(0),               // 0: SSL_FieldShapeType
-	(*Vector2F)(nil),                      // 1: Vector2f
-	(*SSL_FieldLineSegment)(nil),          // 2: SSL_FieldLineSegment
-	(*SSL_FieldCircularArc)(nil),          // 3: SSL_FieldCircularArc
-	(*SSL_GeometryFieldSize)(nil),         // 4: SSL_GeometryFieldSize
-	(*SSL_GeometryCameraCalibration)(nil), // 5: SSL_GeometryCameraCalibration
-	(*SSL_BallModelStraightTwoPhase)(nil), // 6: SSL_BallModelStraightTwoPhase
-	(*SSL_BallModelChipFixedLoss)(nil),    // 7: SSL_BallModelChipFixedLoss
-	(*SSL_GeometryModels)(nil),            // 8: SSL_GeometryModels
-	(*SSL_GeometryData)(nil),              // 9: SSL_GeometryData
-}
-var file_vision_ssl_vision_geometry_proto_depIdxs = []int32{
-	1,  // 0: SSL_FieldLineSegment.p1:type_name -> Vector2f
-	1,  // 1: SSL_FieldLineSegment.p2:type_name -> Vector2f
-	0,  // 2: SSL_FieldLineSegment.type:type_name -> SSL_FieldShapeType
-	1,  // 3: SSL_FieldCircularArc.center:type_name -> Vector2f
-	0,  // 4: SSL_FieldCircularArc.type:type_name -> SSL_FieldShapeType
-	2,  // 5: SSL_GeometryFieldSize.field_lines:type_name -> SSL_FieldLineSegment
-	3,  // 6: SSL_GeometryFieldSize.field_arcs:type_name -> SSL_FieldCircularArc
-	6,  // 7: SSL_GeometryModels.straight_two_phase:type_name -> SSL_BallModelStraightTwoPhase
-	7,  // 8: SSL_GeometryModels.chip_fixed_loss:type_name -> SSL_BallModelChipFixedLoss
-	4,  // 9: SSL_GeometryData.field:type_name -> SSL_GeometryFieldSize
-	5,  // 10: SSL_GeometryData.calib:type_name -> SSL_GeometryCameraCalibration
-	8,  // 11: SSL_GeometryData.models:type_name -> SSL_GeometryModels
-	12, // [12:12] is the sub-list for method output_type
-	12, // [12:12] is the sub-list for method input_type
-	12, // [12:12] is the sub-list for extension type_name
-	12, // [12:12] is the sub-list for extension extendee
-	0,  // [0:12] is the sub-list for field type_name
-}
-
-func init() { file_vision_ssl_vision_geometry_proto_init() }
-func file_vision_ssl_vision_geometry_proto_init() {
-	if File_vision_ssl_vision_geometry_proto != nil {
-		return
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_geometry_proto_rawDesc), len(file_vision_ssl_vision_geometry_proto_rawDesc)),
-			NumEnums:      1,
-			NumMessages:   9,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_vision_ssl_vision_geometry_proto_goTypes,
-		DependencyIndexes: file_vision_ssl_vision_geometry_proto_depIdxs,
-		EnumInfos:         file_vision_ssl_vision_geometry_proto_enumTypes,
-		MessageInfos:      file_vision_ssl_vision_geometry_proto_msgTypes,
-	}.Build()
-	File_vision_ssl_vision_geometry_proto = out.File
-	file_vision_ssl_vision_geometry_proto_goTypes = nil
-	file_vision_ssl_vision_geometry_proto_depIdxs = nil
-}
diff --git a/gui/internal/vision/ssl_vision_wrapper.pb.go b/gui/internal/vision/ssl_vision_wrapper.pb.go
deleted file mode 100644
index ecbee04..0000000
--- a/gui/internal/vision/ssl_vision_wrapper.pb.go
+++ /dev/null
@@ -1,238 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: vision/ssl_vision_wrapper.proto
-
-package vision
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-type SSL_Source int32
-
-const (
-	SSL_Source_SSL_SOURCE_UNKNOWN          SSL_Source = 0
-	SSL_Source_SSL_SOURCE_OTHER            SSL_Source = 1
-	SSL_Source_SSL_SOURCE_SSL_VISION       SSL_Source = 2
-	SSL_Source_SSL_SOURCE_VISION_PROCESSOR SSL_Source = 3
-	SSL_Source_SSL_SOURCE_GRSIM            SSL_Source = 4
-	SSL_Source_SSL_SOURCE_ERFORCE_SIM      SSL_Source = 5
-)
-
-// Enum value maps for SSL_Source.
-var (
-	SSL_Source_name = map[int32]string{
-		0: "SSL_SOURCE_UNKNOWN",
-		1: "SSL_SOURCE_OTHER",
-		2: "SSL_SOURCE_SSL_VISION",
-		3: "SSL_SOURCE_VISION_PROCESSOR",
-		4: "SSL_SOURCE_GRSIM",
-		5: "SSL_SOURCE_ERFORCE_SIM",
-	}
-	SSL_Source_value = map[string]int32{
-		"SSL_SOURCE_UNKNOWN":          0,
-		"SSL_SOURCE_OTHER":            1,
-		"SSL_SOURCE_SSL_VISION":       2,
-		"SSL_SOURCE_VISION_PROCESSOR": 3,
-		"SSL_SOURCE_GRSIM":            4,
-		"SSL_SOURCE_ERFORCE_SIM":      5,
-	}
-)
-
-func (x SSL_Source) Enum() *SSL_Source {
-	p := new(SSL_Source)
-	*p = x
-	return p
-}
-
-func (x SSL_Source) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (SSL_Source) Descriptor() protoreflect.EnumDescriptor {
-	return file_vision_ssl_vision_wrapper_proto_enumTypes[0].Descriptor()
-}
-
-func (SSL_Source) Type() protoreflect.EnumType {
-	return &file_vision_ssl_vision_wrapper_proto_enumTypes[0]
-}
-
-func (x SSL_Source) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *SSL_Source) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = SSL_Source(num)
-	return nil
-}
-
-// Deprecated: Use SSL_Source.Descriptor instead.
-func (SSL_Source) EnumDescriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_wrapper_proto_rawDescGZIP(), []int{0}
-}
-
-type SSL_WrapperPacket struct {
-	state         protoimpl.MessageState `protogen:"open.v1"`
-	Detection     *SSL_DetectionFrame    `protobuf:"bytes,1,opt,name=detection" json:"detection,omitempty"`
-	Geometry      *SSL_GeometryData      `protobuf:"bytes,2,opt,name=geometry" json:"geometry,omitempty"`
-	Source        *SSL_Source            `protobuf:"varint,3,opt,name=source,enum=SSL_Source" json:"source,omitempty"`
-	Config        *SSL_VPConfig          `protobuf:"bytes,4,opt,name=config" json:"config,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *SSL_WrapperPacket) Reset() {
-	*x = SSL_WrapperPacket{}
-	mi := &file_vision_ssl_vision_wrapper_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_WrapperPacket) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_WrapperPacket) ProtoMessage() {}
-
-func (x *SSL_WrapperPacket) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_wrapper_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_WrapperPacket.ProtoReflect.Descriptor instead.
-func (*SSL_WrapperPacket) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_wrapper_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *SSL_WrapperPacket) GetDetection() *SSL_DetectionFrame {
-	if x != nil {
-		return x.Detection
-	}
-	return nil
-}
-
-func (x *SSL_WrapperPacket) GetGeometry() *SSL_GeometryData {
-	if x != nil {
-		return x.Geometry
-	}
-	return nil
-}
-
-func (x *SSL_WrapperPacket) GetSource() SSL_Source {
-	if x != nil && x.Source != nil {
-		return *x.Source
-	}
-	return SSL_Source_SSL_SOURCE_UNKNOWN
-}
-
-func (x *SSL_WrapperPacket) GetConfig() *SSL_VPConfig {
-	if x != nil {
-		return x.Config
-	}
-	return nil
-}
-
-var File_vision_ssl_vision_wrapper_proto protoreflect.FileDescriptor
-
-const file_vision_ssl_vision_wrapper_proto_rawDesc = "" +
-	"\n" +
-	"\x1fvision/ssl_vision_wrapper.proto\x1a!vision/ssl_vision_detection.proto\x1a vision/ssl_vision_geometry.proto\x1a\x1avision/ssl_vp_config.proto\"\xc1\x01\n" +
-	"\x11SSL_WrapperPacket\x121\n" +
-	"\tdetection\x18\x01 \x01(\v2\x13.SSL_DetectionFrameR\tdetection\x12-\n" +
-	"\bgeometry\x18\x02 \x01(\v2\x11.SSL_GeometryDataR\bgeometry\x12#\n" +
-	"\x06source\x18\x03 \x01(\x0e2\v.SSL_SourceR\x06source\x12%\n" +
-	"\x06config\x18\x04 \x01(\v2\r.SSL_VPConfigR\x06config*\xa8\x01\n" +
-	"\n" +
-	"SSL_Source\x12\x16\n" +
-	"\x12SSL_SOURCE_UNKNOWN\x10\x00\x12\x14\n" +
-	"\x10SSL_SOURCE_OTHER\x10\x01\x12\x19\n" +
-	"\x15SSL_SOURCE_SSL_VISION\x10\x02\x12\x1f\n" +
-	"\x1bSSL_SOURCE_VISION_PROCESSOR\x10\x03\x12\x14\n" +
-	"\x10SSL_SOURCE_GRSIM\x10\x04\x12\x1a\n" +
-	"\x16SSL_SOURCE_ERFORCE_SIM\x10\x05BZB\x15SslVisionWrapperProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
-
-var (
-	file_vision_ssl_vision_wrapper_proto_rawDescOnce sync.Once
-	file_vision_ssl_vision_wrapper_proto_rawDescData []byte
-)
-
-func file_vision_ssl_vision_wrapper_proto_rawDescGZIP() []byte {
-	file_vision_ssl_vision_wrapper_proto_rawDescOnce.Do(func() {
-		file_vision_ssl_vision_wrapper_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_wrapper_proto_rawDesc), len(file_vision_ssl_vision_wrapper_proto_rawDesc)))
-	})
-	return file_vision_ssl_vision_wrapper_proto_rawDescData
-}
-
-var file_vision_ssl_vision_wrapper_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_vision_ssl_vision_wrapper_proto_msgTypes = make([]protoimpl.MessageInfo, 1)
-var file_vision_ssl_vision_wrapper_proto_goTypes = []any{
-	(SSL_Source)(0),            // 0: SSL_Source
-	(*SSL_WrapperPacket)(nil),  // 1: SSL_WrapperPacket
-	(*SSL_DetectionFrame)(nil), // 2: SSL_DetectionFrame
-	(*SSL_GeometryData)(nil),   // 3: SSL_GeometryData
-	(*SSL_VPConfig)(nil),       // 4: SSL_VPConfig
-}
-var file_vision_ssl_vision_wrapper_proto_depIdxs = []int32{
-	2, // 0: SSL_WrapperPacket.detection:type_name -> SSL_DetectionFrame
-	3, // 1: SSL_WrapperPacket.geometry:type_name -> SSL_GeometryData
-	0, // 2: SSL_WrapperPacket.source:type_name -> SSL_Source
-	4, // 3: SSL_WrapperPacket.config:type_name -> SSL_VPConfig
-	4, // [4:4] is the sub-list for method output_type
-	4, // [4:4] is the sub-list for method input_type
-	4, // [4:4] is the sub-list for extension type_name
-	4, // [4:4] is the sub-list for extension extendee
-	0, // [0:4] is the sub-list for field type_name
-}
-
-func init() { file_vision_ssl_vision_wrapper_proto_init() }
-func file_vision_ssl_vision_wrapper_proto_init() {
-	if File_vision_ssl_vision_wrapper_proto != nil {
-		return
-	}
-	file_vision_ssl_vision_detection_proto_init()
-	file_vision_ssl_vision_geometry_proto_init()
-	file_vision_ssl_vp_config_proto_init()
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_wrapper_proto_rawDesc), len(file_vision_ssl_vision_wrapper_proto_rawDesc)),
-			NumEnums:      1,
-			NumMessages:   1,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_vision_ssl_vision_wrapper_proto_goTypes,
-		DependencyIndexes: file_vision_ssl_vision_wrapper_proto_depIdxs,
-		EnumInfos:         file_vision_ssl_vision_wrapper_proto_enumTypes,
-		MessageInfos:      file_vision_ssl_vision_wrapper_proto_msgTypes,
-	}.Build()
-	File_vision_ssl_vision_wrapper_proto = out.File
-	file_vision_ssl_vision_wrapper_proto_goTypes = nil
-	file_vision_ssl_vision_wrapper_proto_depIdxs = nil
-}
diff --git a/gui/internal/vision/ssl_vision_wrapper_tracked.pb.go b/gui/internal/vision/ssl_vision_wrapper_tracked.pb.go
deleted file mode 100644
index f993a0b..0000000
--- a/gui/internal/vision/ssl_vision_wrapper_tracked.pb.go
+++ /dev/null
@@ -1,150 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: vision/ssl_vision_wrapper_tracked.proto
-
-package vision
-
-import (
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-// A wrapper packet containing meta data of the source
-// Also serves for the possibility to extend the protocol later
-type TrackerWrapperPacket struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// A random UUID of the source that is kept constant at the source while running
-	// If multiple sources are broadcasting to the same network, this id can be used to identify individual sources
-	Uuid *string `protobuf:"bytes,1,req,name=uuid" json:"uuid,omitempty"`
-	// The name of the source software that is producing this messages.
-	SourceName *string `protobuf:"bytes,2,opt,name=source_name,json=sourceName" json:"source_name,omitempty"`
-	// The tracked frame
-	TrackedFrame  *TrackedFrame `protobuf:"bytes,3,opt,name=tracked_frame,json=trackedFrame" json:"tracked_frame,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *TrackerWrapperPacket) Reset() {
-	*x = TrackerWrapperPacket{}
-	mi := &file_vision_ssl_vision_wrapper_tracked_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *TrackerWrapperPacket) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*TrackerWrapperPacket) ProtoMessage() {}
-
-func (x *TrackerWrapperPacket) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vision_wrapper_tracked_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use TrackerWrapperPacket.ProtoReflect.Descriptor instead.
-func (*TrackerWrapperPacket) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vision_wrapper_tracked_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *TrackerWrapperPacket) GetUuid() string {
-	if x != nil && x.Uuid != nil {
-		return *x.Uuid
-	}
-	return ""
-}
-
-func (x *TrackerWrapperPacket) GetSourceName() string {
-	if x != nil && x.SourceName != nil {
-		return *x.SourceName
-	}
-	return ""
-}
-
-func (x *TrackerWrapperPacket) GetTrackedFrame() *TrackedFrame {
-	if x != nil {
-		return x.TrackedFrame
-	}
-	return nil
-}
-
-var File_vision_ssl_vision_wrapper_tracked_proto protoreflect.FileDescriptor
-
-const file_vision_ssl_vision_wrapper_tracked_proto_rawDesc = "" +
-	"\n" +
-	"'vision/ssl_vision_wrapper_tracked.proto\x1a)vision/ssl_vision_detection_tracked.proto\"\x7f\n" +
-	"\x14TrackerWrapperPacket\x12\x12\n" +
-	"\x04uuid\x18\x01 \x02(\tR\x04uuid\x12\x1f\n" +
-	"\vsource_name\x18\x02 \x01(\tR\n" +
-	"sourceName\x122\n" +
-	"\rtracked_frame\x18\x03 \x01(\v2\r.TrackedFrameR\ftrackedFrameBaB\x1cSslVisionWrapperTrackedProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
-
-var (
-	file_vision_ssl_vision_wrapper_tracked_proto_rawDescOnce sync.Once
-	file_vision_ssl_vision_wrapper_tracked_proto_rawDescData []byte
-)
-
-func file_vision_ssl_vision_wrapper_tracked_proto_rawDescGZIP() []byte {
-	file_vision_ssl_vision_wrapper_tracked_proto_rawDescOnce.Do(func() {
-		file_vision_ssl_vision_wrapper_tracked_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_wrapper_tracked_proto_rawDesc), len(file_vision_ssl_vision_wrapper_tracked_proto_rawDesc)))
-	})
-	return file_vision_ssl_vision_wrapper_tracked_proto_rawDescData
-}
-
-var file_vision_ssl_vision_wrapper_tracked_proto_msgTypes = make([]protoimpl.MessageInfo, 1)
-var file_vision_ssl_vision_wrapper_tracked_proto_goTypes = []any{
-	(*TrackerWrapperPacket)(nil), // 0: TrackerWrapperPacket
-	(*TrackedFrame)(nil),         // 1: TrackedFrame
-}
-var file_vision_ssl_vision_wrapper_tracked_proto_depIdxs = []int32{
-	1, // 0: TrackerWrapperPacket.tracked_frame:type_name -> TrackedFrame
-	1, // [1:1] is the sub-list for method output_type
-	1, // [1:1] is the sub-list for method input_type
-	1, // [1:1] is the sub-list for extension type_name
-	1, // [1:1] is the sub-list for extension extendee
-	0, // [0:1] is the sub-list for field type_name
-}
-
-func init() { file_vision_ssl_vision_wrapper_tracked_proto_init() }
-func file_vision_ssl_vision_wrapper_tracked_proto_init() {
-	if File_vision_ssl_vision_wrapper_tracked_proto != nil {
-		return
-	}
-	file_vision_ssl_vision_detection_tracked_proto_init()
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vision_wrapper_tracked_proto_rawDesc), len(file_vision_ssl_vision_wrapper_tracked_proto_rawDesc)),
-			NumEnums:      0,
-			NumMessages:   1,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_vision_ssl_vision_wrapper_tracked_proto_goTypes,
-		DependencyIndexes: file_vision_ssl_vision_wrapper_tracked_proto_depIdxs,
-		MessageInfos:      file_vision_ssl_vision_wrapper_tracked_proto_msgTypes,
-	}.Build()
-	File_vision_ssl_vision_wrapper_tracked_proto = out.File
-	file_vision_ssl_vision_wrapper_tracked_proto_goTypes = nil
-	file_vision_ssl_vision_wrapper_tracked_proto_depIdxs = nil
-}
diff --git a/gui/internal/vision/ssl_vp_config.pb.go b/gui/internal/vision/ssl_vp_config.pb.go
deleted file mode 100644
index 9529600..0000000
--- a/gui/internal/vision/ssl_vp_config.pb.go
+++ /dev/null
@@ -1,1230 +0,0 @@
-// Code generated by protoc-gen-go. DO NOT EDIT.
-// versions:
-// 	protoc-gen-go v1.36.6
-// 	protoc        (unknown)
-// source: vision/ssl_vp_config.proto
-
-package vision
-
-import (
-	gamecontroller "github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
-	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
-	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
-	reflect "reflect"
-	sync "sync"
-	unsafe "unsafe"
-)
-
-const (
-	// Verify that this generated code is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion)
-	// Verify that runtime/protoimpl is sufficiently up-to-date.
-	_ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20)
-)
-
-type SSL_VPConfigCameraDriver int32
-
-const (
-	// FLIR cameras
-	SSL_VPConfigCameraDriver_SPINNAKER SSL_VPConfigCameraDriver = 0
-	// Video and image files, video4linux2 (e.g. webcams) cameras
-	SSL_VPConfigCameraDriver_OPENCV SSL_VPConfigCameraDriver = 1
-	// Bluefox3 cameras
-	SSL_VPConfigCameraDriver_MVIMPACT SSL_VPConfigCameraDriver = 2
-)
-
-// Enum value maps for SSL_VPConfigCameraDriver.
-var (
-	SSL_VPConfigCameraDriver_name = map[int32]string{
-		0: "SPINNAKER",
-		1: "OPENCV",
-		2: "MVIMPACT",
-	}
-	SSL_VPConfigCameraDriver_value = map[string]int32{
-		"SPINNAKER": 0,
-		"OPENCV":    1,
-		"MVIMPACT":  2,
-	}
-)
-
-func (x SSL_VPConfigCameraDriver) Enum() *SSL_VPConfigCameraDriver {
-	p := new(SSL_VPConfigCameraDriver)
-	*p = x
-	return p
-}
-
-func (x SSL_VPConfigCameraDriver) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (SSL_VPConfigCameraDriver) Descriptor() protoreflect.EnumDescriptor {
-	return file_vision_ssl_vp_config_proto_enumTypes[0].Descriptor()
-}
-
-func (SSL_VPConfigCameraDriver) Type() protoreflect.EnumType {
-	return &file_vision_ssl_vp_config_proto_enumTypes[0]
-}
-
-func (x SSL_VPConfigCameraDriver) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *SSL_VPConfigCameraDriver) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = SSL_VPConfigCameraDriver(num)
-	return nil
-}
-
-// Deprecated: Use SSL_VPConfigCameraDriver.Descriptor instead.
-func (SSL_VPConfigCameraDriver) EnumDescriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{0}
-}
-
-type SSL_VPConfigCameraWBType int32
-
-const (
-	SSL_VPConfigCameraWBType_OUTDOOR SSL_VPConfigCameraWBType = 0
-	SSL_VPConfigCameraWBType_INDOOR  SSL_VPConfigCameraWBType = 1
-	SSL_VPConfigCameraWBType_MANUAL  SSL_VPConfigCameraWBType = 2
-)
-
-// Enum value maps for SSL_VPConfigCameraWBType.
-var (
-	SSL_VPConfigCameraWBType_name = map[int32]string{
-		0: "OUTDOOR",
-		1: "INDOOR",
-		2: "MANUAL",
-	}
-	SSL_VPConfigCameraWBType_value = map[string]int32{
-		"OUTDOOR": 0,
-		"INDOOR":  1,
-		"MANUAL":  2,
-	}
-)
-
-func (x SSL_VPConfigCameraWBType) Enum() *SSL_VPConfigCameraWBType {
-	p := new(SSL_VPConfigCameraWBType)
-	*p = x
-	return p
-}
-
-func (x SSL_VPConfigCameraWBType) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (SSL_VPConfigCameraWBType) Descriptor() protoreflect.EnumDescriptor {
-	return file_vision_ssl_vp_config_proto_enumTypes[1].Descriptor()
-}
-
-func (SSL_VPConfigCameraWBType) Type() protoreflect.EnumType {
-	return &file_vision_ssl_vp_config_proto_enumTypes[1]
-}
-
-func (x SSL_VPConfigCameraWBType) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *SSL_VPConfigCameraWBType) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = SSL_VPConfigCameraWBType(num)
-	return nil
-}
-
-// Deprecated: Use SSL_VPConfigCameraWBType.Descriptor instead.
-func (SSL_VPConfigCameraWBType) EnumDescriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{1}
-}
-
-type SSL_VPConfigStreamType int32
-
-const (
-	SSL_VPConfigStreamType_RAW                 SSL_VPConfigStreamType = 0
-	SSL_VPConfigStreamType_REPROJ_FALSE_COLOR  SSL_VPConfigStreamType = 1
-	SSL_VPConfigStreamType_REPROJ_GRADIENT_DOT SSL_VPConfigStreamType = 2
-	SSL_VPConfigStreamType_REPROJ_BLOB_SCORE   SSL_VPConfigStreamType = 3
-)
-
-// Enum value maps for SSL_VPConfigStreamType.
-var (
-	SSL_VPConfigStreamType_name = map[int32]string{
-		0: "RAW",
-		1: "REPROJ_FALSE_COLOR",
-		2: "REPROJ_GRADIENT_DOT",
-		3: "REPROJ_BLOB_SCORE",
-	}
-	SSL_VPConfigStreamType_value = map[string]int32{
-		"RAW":                 0,
-		"REPROJ_FALSE_COLOR":  1,
-		"REPROJ_GRADIENT_DOT": 2,
-		"REPROJ_BLOB_SCORE":   3,
-	}
-)
-
-func (x SSL_VPConfigStreamType) Enum() *SSL_VPConfigStreamType {
-	p := new(SSL_VPConfigStreamType)
-	*p = x
-	return p
-}
-
-func (x SSL_VPConfigStreamType) String() string {
-	return protoimpl.X.EnumStringOf(x.Descriptor(), protoreflect.EnumNumber(x))
-}
-
-func (SSL_VPConfigStreamType) Descriptor() protoreflect.EnumDescriptor {
-	return file_vision_ssl_vp_config_proto_enumTypes[2].Descriptor()
-}
-
-func (SSL_VPConfigStreamType) Type() protoreflect.EnumType {
-	return &file_vision_ssl_vp_config_proto_enumTypes[2]
-}
-
-func (x SSL_VPConfigStreamType) Number() protoreflect.EnumNumber {
-	return protoreflect.EnumNumber(x)
-}
-
-// Deprecated: Do not use.
-func (x *SSL_VPConfigStreamType) UnmarshalJSON(b []byte) error {
-	num, err := protoimpl.X.UnmarshalJSONEnum(x.Descriptor(), b)
-	if err != nil {
-		return err
-	}
-	*x = SSL_VPConfigStreamType(num)
-	return nil
-}
-
-// Deprecated: Use SSL_VPConfigStreamType.Descriptor instead.
-func (SSL_VPConfigStreamType) EnumDescriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{2}
-}
-
-type SSL_VPConfigCamera struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Camera driver type. Availability depending on libraries installed.
-	Driver *SSL_VPConfigCameraDriver `protobuf:"varint,1,opt,name=driver,enum=SSL_VPConfigCameraDriver" json:"driver,omitempty"`
-	// Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
-	Id *uint32 `protobuf:"varint,2,opt,name=id,def=0" json:"id,omitempty"`
-	// OpenCV camera device, image or video file path (if unset id is used instead)
-	Path *string `protobuf:"bytes,3,opt,name=path,def=" json:"path,omitempty"`
-	// Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
-	// 0 = Highest resolution supported by camera
-	Width  *uint32 `protobuf:"varint,4,opt,name=width,def=0" json:"width,omitempty"`
-	Height *uint32 `protobuf:"varint,5,opt,name=height,def=0" json:"height,omitempty"`
-	// Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
-	// Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
-	// 0.0 = automatic exposure
-	Exposure *float32 `protobuf:"fixed32,6,opt,name=exposure,def=0" json:"exposure,omitempty"`
-	// Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
-	// Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
-	// 0.0 = automatic gain
-	Gain *float32 `protobuf:"fixed32,7,opt,name=gain,def=0" json:"gain,omitempty"`
-	// Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
-	// Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
-	// 1.0 = no gamma
-	Gamma *float32 `protobuf:"fixed32,8,opt,name=gamma,def=1" json:"gamma,omitempty"`
-	// Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
-	// (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
-	WbType        *SSL_VPConfigCameraWBType `protobuf:"varint,9,opt,name=wb_type,json=wbType,enum=SSL_VPConfigCameraWBType,def=0" json:"wb_type,omitempty"`
-	WbRed         *float32                  `protobuf:"fixed32,10,opt,name=wb_red,json=wbRed,def=1" json:"wb_red,omitempty"`
-	WbBlue        *float32                  `protobuf:"fixed32,11,opt,name=wb_blue,json=wbBlue,def=1" json:"wb_blue,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-// Default values for SSL_VPConfigCamera fields.
-const (
-	Default_SSL_VPConfigCamera_Id       = uint32(0)
-	Default_SSL_VPConfigCamera_Path     = string("")
-	Default_SSL_VPConfigCamera_Width    = uint32(0)
-	Default_SSL_VPConfigCamera_Height   = uint32(0)
-	Default_SSL_VPConfigCamera_Exposure = float32(0)
-	Default_SSL_VPConfigCamera_Gain     = float32(0)
-	Default_SSL_VPConfigCamera_Gamma    = float32(1)
-	Default_SSL_VPConfigCamera_WbType   = SSL_VPConfigCameraWBType_OUTDOOR
-	Default_SSL_VPConfigCamera_WbRed    = float32(1)
-	Default_SSL_VPConfigCamera_WbBlue   = float32(1)
-)
-
-func (x *SSL_VPConfigCamera) Reset() {
-	*x = SSL_VPConfigCamera{}
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[0]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_VPConfigCamera) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_VPConfigCamera) ProtoMessage() {}
-
-func (x *SSL_VPConfigCamera) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[0]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_VPConfigCamera.ProtoReflect.Descriptor instead.
-func (*SSL_VPConfigCamera) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{0}
-}
-
-func (x *SSL_VPConfigCamera) GetDriver() SSL_VPConfigCameraDriver {
-	if x != nil && x.Driver != nil {
-		return *x.Driver
-	}
-	return SSL_VPConfigCameraDriver_SPINNAKER
-}
-
-func (x *SSL_VPConfigCamera) GetId() uint32 {
-	if x != nil && x.Id != nil {
-		return *x.Id
-	}
-	return Default_SSL_VPConfigCamera_Id
-}
-
-func (x *SSL_VPConfigCamera) GetPath() string {
-	if x != nil && x.Path != nil {
-		return *x.Path
-	}
-	return Default_SSL_VPConfigCamera_Path
-}
-
-func (x *SSL_VPConfigCamera) GetWidth() uint32 {
-	if x != nil && x.Width != nil {
-		return *x.Width
-	}
-	return Default_SSL_VPConfigCamera_Width
-}
-
-func (x *SSL_VPConfigCamera) GetHeight() uint32 {
-	if x != nil && x.Height != nil {
-		return *x.Height
-	}
-	return Default_SSL_VPConfigCamera_Height
-}
-
-func (x *SSL_VPConfigCamera) GetExposure() float32 {
-	if x != nil && x.Exposure != nil {
-		return *x.Exposure
-	}
-	return Default_SSL_VPConfigCamera_Exposure
-}
-
-func (x *SSL_VPConfigCamera) GetGain() float32 {
-	if x != nil && x.Gain != nil {
-		return *x.Gain
-	}
-	return Default_SSL_VPConfigCamera_Gain
-}
-
-func (x *SSL_VPConfigCamera) GetGamma() float32 {
-	if x != nil && x.Gamma != nil {
-		return *x.Gamma
-	}
-	return Default_SSL_VPConfigCamera_Gamma
-}
-
-func (x *SSL_VPConfigCamera) GetWbType() SSL_VPConfigCameraWBType {
-	if x != nil && x.WbType != nil {
-		return *x.WbType
-	}
-	return Default_SSL_VPConfigCamera_WbType
-}
-
-func (x *SSL_VPConfigCamera) GetWbRed() float32 {
-	if x != nil && x.WbRed != nil {
-		return *x.WbRed
-	}
-	return Default_SSL_VPConfigCamera_WbRed
-}
-
-func (x *SSL_VPConfigCamera) GetWbBlue() float32 {
-	if x != nil && x.WbBlue != nil {
-		return *x.WbBlue
-	}
-	return Default_SSL_VPConfigCamera_WbBlue
-}
-
-type SSL_VPConfigGeometry struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Total camera amount over the field
-	CameraAmount *uint32 `protobuf:"varint,1,opt,name=camera_amount,json=cameraAmount,def=1" json:"camera_amount,omitempty"`
-	// Camera height above field in mm
-	// 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field.
-	CameraHeight *float32 `protobuf:"fixed32,2,opt,name=camera_height,json=cameraHeight,def=0" json:"camera_height,omitempty"`
-	// Field line crossings at the edges of the camera extent in pixels from the top left image corner.
-	// The first coordinate must be the edge with the smallest x and y field coordinate.
-	LineCorners []*gamecontroller.Vector2 `protobuf:"bytes,3,rep,name=line_corners,json=lineCorners" json:"line_corners,omitempty"`
-	// Enable field line pixel refinement.
-	// Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
-	Refinement    *bool `protobuf:"varint,4,opt,name=refinement,def=1" json:"refinement,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-// Default values for SSL_VPConfigGeometry fields.
-const (
-	Default_SSL_VPConfigGeometry_CameraAmount = uint32(1)
-	Default_SSL_VPConfigGeometry_CameraHeight = float32(0)
-	Default_SSL_VPConfigGeometry_Refinement   = bool(true)
-)
-
-func (x *SSL_VPConfigGeometry) Reset() {
-	*x = SSL_VPConfigGeometry{}
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[1]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_VPConfigGeometry) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_VPConfigGeometry) ProtoMessage() {}
-
-func (x *SSL_VPConfigGeometry) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[1]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_VPConfigGeometry.ProtoReflect.Descriptor instead.
-func (*SSL_VPConfigGeometry) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{1}
-}
-
-func (x *SSL_VPConfigGeometry) GetCameraAmount() uint32 {
-	if x != nil && x.CameraAmount != nil {
-		return *x.CameraAmount
-	}
-	return Default_SSL_VPConfigGeometry_CameraAmount
-}
-
-func (x *SSL_VPConfigGeometry) GetCameraHeight() float32 {
-	if x != nil && x.CameraHeight != nil {
-		return *x.CameraHeight
-	}
-	return Default_SSL_VPConfigGeometry_CameraHeight
-}
-
-func (x *SSL_VPConfigGeometry) GetLineCorners() []*gamecontroller.Vector2 {
-	if x != nil {
-		return x.LineCorners
-	}
-	return nil
-}
-
-func (x *SSL_VPConfigGeometry) GetRefinement() bool {
-	if x != nil && x.Refinement != nil {
-		return *x.Refinement
-	}
-	return Default_SSL_VPConfigGeometry_Refinement
-}
-
-type SSL_VPConfigThresholds struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
-	// High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
-	Circularity *float32 `protobuf:"fixed32,1,opt,name=circularity,def=15" json:"circularity,omitempty"`
-	// Minimum circularity/(3*stddev) ball blob score
-	Score *float32 `protobuf:"fixed32,2,opt,name=score,def=5" json:"score,omitempty"`
-	// Minimum confidence (0.0 - 1.0)
-	MinConfidence *float32 `protobuf:"fixed32,3,opt,name=min_confidence,json=minConfidence,def=0.2" json:"min_confidence,omitempty"`
-	// Min ball camera edge distance in mm
-	MinCamEdgeDistance *float32 `protobuf:"fixed32,4,opt,name=min_cam_edge_distance,json=minCamEdgeDistance,def=170" json:"min_cam_edge_distance,omitempty"`
-	// Maximum allowed clipping of two objects in mm
-	ClippingTolerance *float32 `protobuf:"fixed32,5,opt,name=clipping_tolerance,json=clippingTolerance,def=10" json:"clipping_tolerance,omitempty"`
-	// Added tolerance to geometry related operations in mm.
-	// Affects field border cutoff area and field line blob classification.
-	GeometryTolerance *float32 `protobuf:"fixed32,6,opt,name=geometry_tolerance,json=geometryTolerance,def=10" json:"geometry_tolerance,omitempty"`
-	unknownFields     protoimpl.UnknownFields
-	sizeCache         protoimpl.SizeCache
-}
-
-// Default values for SSL_VPConfigThresholds fields.
-const (
-	Default_SSL_VPConfigThresholds_Circularity        = float32(15)
-	Default_SSL_VPConfigThresholds_Score              = float32(5)
-	Default_SSL_VPConfigThresholds_MinConfidence      = float32(0.20000000298023224)
-	Default_SSL_VPConfigThresholds_MinCamEdgeDistance = float32(170)
-	Default_SSL_VPConfigThresholds_ClippingTolerance  = float32(10)
-	Default_SSL_VPConfigThresholds_GeometryTolerance  = float32(10)
-)
-
-func (x *SSL_VPConfigThresholds) Reset() {
-	*x = SSL_VPConfigThresholds{}
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[2]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_VPConfigThresholds) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_VPConfigThresholds) ProtoMessage() {}
-
-func (x *SSL_VPConfigThresholds) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[2]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_VPConfigThresholds.ProtoReflect.Descriptor instead.
-func (*SSL_VPConfigThresholds) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{2}
-}
-
-func (x *SSL_VPConfigThresholds) GetCircularity() float32 {
-	if x != nil && x.Circularity != nil {
-		return *x.Circularity
-	}
-	return Default_SSL_VPConfigThresholds_Circularity
-}
-
-func (x *SSL_VPConfigThresholds) GetScore() float32 {
-	if x != nil && x.Score != nil {
-		return *x.Score
-	}
-	return Default_SSL_VPConfigThresholds_Score
-}
-
-func (x *SSL_VPConfigThresholds) GetMinConfidence() float32 {
-	if x != nil && x.MinConfidence != nil {
-		return *x.MinConfidence
-	}
-	return Default_SSL_VPConfigThresholds_MinConfidence
-}
-
-func (x *SSL_VPConfigThresholds) GetMinCamEdgeDistance() float32 {
-	if x != nil && x.MinCamEdgeDistance != nil {
-		return *x.MinCamEdgeDistance
-	}
-	return Default_SSL_VPConfigThresholds_MinCamEdgeDistance
-}
-
-func (x *SSL_VPConfigThresholds) GetClippingTolerance() float32 {
-	if x != nil && x.ClippingTolerance != nil {
-		return *x.ClippingTolerance
-	}
-	return Default_SSL_VPConfigThresholds_ClippingTolerance
-}
-
-func (x *SSL_VPConfigThresholds) GetGeometryTolerance() float32 {
-	if x != nil && x.GeometryTolerance != nil {
-		return *x.GeometryTolerance
-	}
-	return Default_SSL_VPConfigThresholds_GeometryTolerance
-}
-
-type Color struct {
-	state         protoimpl.MessageState `protogen:"open.v1"`
-	Red           *uint32                `protobuf:"varint,1,opt,name=red,def=128" json:"red,omitempty"`
-	Green         *uint32                `protobuf:"varint,2,opt,name=green,def=128" json:"green,omitempty"`
-	Blue          *uint32                `protobuf:"varint,3,opt,name=blue,def=128" json:"blue,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-// Default values for Color fields.
-const (
-	Default_Color_Red   = uint32(128)
-	Default_Color_Green = uint32(128)
-	Default_Color_Blue  = uint32(128)
-)
-
-func (x *Color) Reset() {
-	*x = Color{}
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[3]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *Color) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*Color) ProtoMessage() {}
-
-func (x *Color) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[3]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use Color.ProtoReflect.Descriptor instead.
-func (*Color) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{3}
-}
-
-func (x *Color) GetRed() uint32 {
-	if x != nil && x.Red != nil {
-		return *x.Red
-	}
-	return Default_Color_Red
-}
-
-func (x *Color) GetGreen() uint32 {
-	if x != nil && x.Green != nil {
-		return *x.Green
-	}
-	return Default_Color_Green
-}
-
-func (x *Color) GetBlue() uint32 {
-	if x != nil && x.Blue != nil {
-		return *x.Blue
-	}
-	return Default_Color_Blue
-}
-
-type VPColor struct {
-	state         protoimpl.MessageState `protogen:"open.v1"`
-	Reference     *Color                 `protobuf:"bytes,1,opt,name=reference" json:"reference,omitempty"`
-	Live          *Color                 `protobuf:"bytes,2,opt,name=live" json:"live,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-func (x *VPColor) Reset() {
-	*x = VPColor{}
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[4]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *VPColor) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*VPColor) ProtoMessage() {}
-
-func (x *VPColor) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[4]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use VPColor.ProtoReflect.Descriptor instead.
-func (*VPColor) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{4}
-}
-
-func (x *VPColor) GetReference() *Color {
-	if x != nil {
-		return x.Reference
-	}
-	return nil
-}
-
-func (x *VPColor) GetLive() *Color {
-	if x != nil {
-		return x.Live
-	}
-	return nil
-}
-
-type SSL_VPConfigColor struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
-	ReferenceForce *float32 `protobuf:"fixed32,1,opt,name=reference_force,json=referenceForce,def=0.1" json:"reference_force,omitempty"`
-	// Strength of the previous color during color updates (0.0 - 1.0-reference_force)
-	HistoryForce *float32 `protobuf:"fixed32,2,opt,name=history_force,json=historyForce,def=0.7" json:"history_force,omitempty"`
-	// Colors used for ball determination
-	Orange *VPColor `protobuf:"bytes,3,opt,name=orange" json:"orange,omitempty"`
-	Field  *VPColor `protobuf:"bytes,4,opt,name=field" json:"field,omitempty"`
-	// Colors used for center blob determination
-	Yellow *VPColor `protobuf:"bytes,5,opt,name=yellow" json:"yellow,omitempty"`
-	Blue   *VPColor `protobuf:"bytes,6,opt,name=blue" json:"blue,omitempty"`
-	// Colors used for side blob determination
-	Green         *VPColor `protobuf:"bytes,7,opt,name=green" json:"green,omitempty"`
-	Pink          *VPColor `protobuf:"bytes,8,opt,name=pink" json:"pink,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-// Default values for SSL_VPConfigColor fields.
-const (
-	Default_SSL_VPConfigColor_ReferenceForce = float32(0.10000000149011612)
-	Default_SSL_VPConfigColor_HistoryForce   = float32(0.699999988079071)
-)
-
-func (x *SSL_VPConfigColor) Reset() {
-	*x = SSL_VPConfigColor{}
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[5]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_VPConfigColor) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_VPConfigColor) ProtoMessage() {}
-
-func (x *SSL_VPConfigColor) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[5]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_VPConfigColor.ProtoReflect.Descriptor instead.
-func (*SSL_VPConfigColor) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{5}
-}
-
-func (x *SSL_VPConfigColor) GetReferenceForce() float32 {
-	if x != nil && x.ReferenceForce != nil {
-		return *x.ReferenceForce
-	}
-	return Default_SSL_VPConfigColor_ReferenceForce
-}
-
-func (x *SSL_VPConfigColor) GetHistoryForce() float32 {
-	if x != nil && x.HistoryForce != nil {
-		return *x.HistoryForce
-	}
-	return Default_SSL_VPConfigColor_HistoryForce
-}
-
-func (x *SSL_VPConfigColor) GetOrange() *VPColor {
-	if x != nil {
-		return x.Orange
-	}
-	return nil
-}
-
-func (x *SSL_VPConfigColor) GetField() *VPColor {
-	if x != nil {
-		return x.Field
-	}
-	return nil
-}
-
-func (x *SSL_VPConfigColor) GetYellow() *VPColor {
-	if x != nil {
-		return x.Yellow
-	}
-	return nil
-}
-
-func (x *SSL_VPConfigColor) GetBlue() *VPColor {
-	if x != nil {
-		return x.Blue
-	}
-	return nil
-}
-
-func (x *SSL_VPConfigColor) GetGreen() *VPColor {
-	if x != nil {
-		return x.Green
-	}
-	return nil
-}
-
-func (x *SSL_VPConfigColor) GetPink() *VPColor {
-	if x != nil {
-		return x.Pink
-	}
-	return nil
-}
-
-type SSL_VPConfigNetwork struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Game controller ip address
-	GcIp *string `protobuf:"bytes,1,opt,name=gc_ip,json=gcIp,def=224.5.23.1" json:"gc_ip,omitempty"`
-	// Game controller UDP port
-	GcPort *uint32 `protobuf:"varint,2,opt,name=gc_port,json=gcPort,def=10003" json:"gc_port,omitempty"`
-	// Vision IP address (port impossible to adjust over network)
-	VisionIp      *string `protobuf:"bytes,3,opt,name=vision_ip,json=visionIp,def=224.5.23.2" json:"vision_ip,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-// Default values for SSL_VPConfigNetwork fields.
-const (
-	Default_SSL_VPConfigNetwork_GcIp     = string("224.5.23.1")
-	Default_SSL_VPConfigNetwork_GcPort   = uint32(10003)
-	Default_SSL_VPConfigNetwork_VisionIp = string("224.5.23.2")
-)
-
-func (x *SSL_VPConfigNetwork) Reset() {
-	*x = SSL_VPConfigNetwork{}
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[6]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_VPConfigNetwork) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_VPConfigNetwork) ProtoMessage() {}
-
-func (x *SSL_VPConfigNetwork) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[6]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_VPConfigNetwork.ProtoReflect.Descriptor instead.
-func (*SSL_VPConfigNetwork) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{6}
-}
-
-func (x *SSL_VPConfigNetwork) GetGcIp() string {
-	if x != nil && x.GcIp != nil {
-		return *x.GcIp
-	}
-	return Default_SSL_VPConfigNetwork_GcIp
-}
-
-func (x *SSL_VPConfigNetwork) GetGcPort() uint32 {
-	if x != nil && x.GcPort != nil {
-		return *x.GcPort
-	}
-	return Default_SSL_VPConfigNetwork_GcPort
-}
-
-func (x *SSL_VPConfigNetwork) GetVisionIp() string {
-	if x != nil && x.VisionIp != nil {
-		return *x.VisionIp
-	}
-	return Default_SSL_VPConfigNetwork_VisionIp
-}
-
-type SSL_VPConfigStream struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// If false no network live stream will be encoded and sent.
-	Active *bool `protobuf:"varint,1,opt,name=active,def=1" json:"active,omitempty"`
-	// Type of image to transmit.
-	Type *SSL_VPConfigStreamType `protobuf:"varint,2,opt,name=type,enum=SSL_VPConfigStreamType,def=0" json:"type,omitempty"`
-	// Camera RTP stream destination IP
-	StreamIp      *string `protobuf:"bytes,3,opt,name=stream_ip,json=streamIp,def=127.0.0.1" json:"stream_ip,omitempty"`
-	StreamPort    *uint32 `protobuf:"varint,4,opt,name=stream_port,json=streamPort,def=10100" json:"stream_port,omitempty"`
-	unknownFields protoimpl.UnknownFields
-	sizeCache     protoimpl.SizeCache
-}
-
-// Default values for SSL_VPConfigStream fields.
-const (
-	Default_SSL_VPConfigStream_Active     = bool(true)
-	Default_SSL_VPConfigStream_Type       = SSL_VPConfigStreamType_RAW
-	Default_SSL_VPConfigStream_StreamIp   = string("127.0.0.1")
-	Default_SSL_VPConfigStream_StreamPort = uint32(10100)
-)
-
-func (x *SSL_VPConfigStream) Reset() {
-	*x = SSL_VPConfigStream{}
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[7]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_VPConfigStream) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_VPConfigStream) ProtoMessage() {}
-
-func (x *SSL_VPConfigStream) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[7]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_VPConfigStream.ProtoReflect.Descriptor instead.
-func (*SSL_VPConfigStream) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{7}
-}
-
-func (x *SSL_VPConfigStream) GetActive() bool {
-	if x != nil && x.Active != nil {
-		return *x.Active
-	}
-	return Default_SSL_VPConfigStream_Active
-}
-
-func (x *SSL_VPConfigStream) GetType() SSL_VPConfigStreamType {
-	if x != nil && x.Type != nil {
-		return *x.Type
-	}
-	return Default_SSL_VPConfigStream_Type
-}
-
-func (x *SSL_VPConfigStream) GetStreamIp() string {
-	if x != nil && x.StreamIp != nil {
-		return *x.StreamIp
-	}
-	return Default_SSL_VPConfigStream_StreamIp
-}
-
-func (x *SSL_VPConfigStream) GetStreamPort() uint32 {
-	if x != nil && x.StreamPort != nil {
-		return *x.StreamPort
-	}
-	return Default_SSL_VPConfigStream_StreamPort
-}
-
-type SSL_VPConfig struct {
-	state protoimpl.MessageState `protogen:"open.v1"`
-	// Persistent human-readable network unique identifier (e.g. hostname or hostname:suffix if multiple VP instances on the same host).
-	Instance *string `protobuf:"bytes,1,req,name=instance" json:"instance,omitempty"`
-	// Corresponding to the camera_id used in SSL_DetectionFrame. Unique per field and implies position on the field:
-	// Single camera field: 0 = global field
-	// Double camera field: 0 = -x side, 1 = +x side
-	// Quadruple cam field: 0 = -x and -y, 1 = -x and +y, 2 = +x and -y, 3 = +x and +y
-	// Configuration for more cams depending on field shape.
-	CameraId *uint32 `protobuf:"varint,2,opt,name=camera_id,json=cameraId,def=0" json:"camera_id,omitempty"`
-	// Database of SSL game controller team names and robot heights in mm.
-	// If the team broadcasted by the game controller has no entry, the average robot height is used.
-	RobotHeights map[string]float32      `protobuf:"bytes,3,rep,name=robot_heights,json=robotHeights" json:"robot_heights,omitempty" protobuf_key:"bytes,1,opt,name=key" protobuf_val:"fixed32,2,opt,name=value"`
-	Camera       *SSL_VPConfigCamera     `protobuf:"bytes,4,opt,name=camera" json:"camera,omitempty"`
-	Geometry     *SSL_VPConfigGeometry   `protobuf:"bytes,5,opt,name=geometry" json:"geometry,omitempty"`
-	Thresholds   *SSL_VPConfigThresholds `protobuf:"bytes,6,opt,name=thresholds" json:"thresholds,omitempty"`
-	Color        *SSL_VPConfigColor      `protobuf:"bytes,7,opt,name=color" json:"color,omitempty"`
-	Network      *SSL_VPConfigNetwork    `protobuf:"bytes,8,opt,name=network" json:"network,omitempty"`
-	Stream       *SSL_VPConfigStream     `protobuf:"bytes,9,opt,name=stream" json:"stream,omitempty"`
-	// Wait for geometry prior to processing frames
-	WaitForGeometry *bool `protobuf:"varint,10,opt,name=wait_for_geometry,json=waitForGeometry,def=0" json:"wait_for_geometry,omitempty"`
-	unknownFields   protoimpl.UnknownFields
-	sizeCache       protoimpl.SizeCache
-}
-
-// Default values for SSL_VPConfig fields.
-const (
-	Default_SSL_VPConfig_CameraId        = uint32(0)
-	Default_SSL_VPConfig_WaitForGeometry = bool(false)
-)
-
-func (x *SSL_VPConfig) Reset() {
-	*x = SSL_VPConfig{}
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[8]
-	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-	ms.StoreMessageInfo(mi)
-}
-
-func (x *SSL_VPConfig) String() string {
-	return protoimpl.X.MessageStringOf(x)
-}
-
-func (*SSL_VPConfig) ProtoMessage() {}
-
-func (x *SSL_VPConfig) ProtoReflect() protoreflect.Message {
-	mi := &file_vision_ssl_vp_config_proto_msgTypes[8]
-	if x != nil {
-		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
-		if ms.LoadMessageInfo() == nil {
-			ms.StoreMessageInfo(mi)
-		}
-		return ms
-	}
-	return mi.MessageOf(x)
-}
-
-// Deprecated: Use SSL_VPConfig.ProtoReflect.Descriptor instead.
-func (*SSL_VPConfig) Descriptor() ([]byte, []int) {
-	return file_vision_ssl_vp_config_proto_rawDescGZIP(), []int{8}
-}
-
-func (x *SSL_VPConfig) GetInstance() string {
-	if x != nil && x.Instance != nil {
-		return *x.Instance
-	}
-	return ""
-}
-
-func (x *SSL_VPConfig) GetCameraId() uint32 {
-	if x != nil && x.CameraId != nil {
-		return *x.CameraId
-	}
-	return Default_SSL_VPConfig_CameraId
-}
-
-func (x *SSL_VPConfig) GetRobotHeights() map[string]float32 {
-	if x != nil {
-		return x.RobotHeights
-	}
-	return nil
-}
-
-func (x *SSL_VPConfig) GetCamera() *SSL_VPConfigCamera {
-	if x != nil {
-		return x.Camera
-	}
-	return nil
-}
-
-func (x *SSL_VPConfig) GetGeometry() *SSL_VPConfigGeometry {
-	if x != nil {
-		return x.Geometry
-	}
-	return nil
-}
-
-func (x *SSL_VPConfig) GetThresholds() *SSL_VPConfigThresholds {
-	if x != nil {
-		return x.Thresholds
-	}
-	return nil
-}
-
-func (x *SSL_VPConfig) GetColor() *SSL_VPConfigColor {
-	if x != nil {
-		return x.Color
-	}
-	return nil
-}
-
-func (x *SSL_VPConfig) GetNetwork() *SSL_VPConfigNetwork {
-	if x != nil {
-		return x.Network
-	}
-	return nil
-}
-
-func (x *SSL_VPConfig) GetStream() *SSL_VPConfigStream {
-	if x != nil {
-		return x.Stream
-	}
-	return nil
-}
-
-func (x *SSL_VPConfig) GetWaitForGeometry() bool {
-	if x != nil && x.WaitForGeometry != nil {
-		return *x.WaitForGeometry
-	}
-	return Default_SSL_VPConfig_WaitForGeometry
-}
-
-var File_vision_ssl_vp_config_proto protoreflect.FileDescriptor
-
-const file_vision_ssl_vp_config_proto_rawDesc = "" +
-	"\n" +
-	"\x1avision/ssl_vp_config.proto\x1a$gamecontroller/ssl_gc_geometry.proto\"\xe6\x02\n" +
-	"\x12SSL_VPConfigCamera\x121\n" +
-	"\x06driver\x18\x01 \x01(\x0e2\x19.SSL_VPConfigCameraDriverR\x06driver\x12\x11\n" +
-	"\x02id\x18\x02 \x01(\r:\x010R\x02id\x12\x14\n" +
-	"\x04path\x18\x03 \x01(\t:\x00R\x04path\x12\x17\n" +
-	"\x05width\x18\x04 \x01(\r:\x010R\x05width\x12\x19\n" +
-	"\x06height\x18\x05 \x01(\r:\x010R\x06height\x12\x1d\n" +
-	"\bexposure\x18\x06 \x01(\x02:\x010R\bexposure\x12\x15\n" +
-	"\x04gain\x18\a \x01(\x02:\x010R\x04gain\x12\x17\n" +
-	"\x05gamma\x18\b \x01(\x02:\x011R\x05gamma\x12;\n" +
-	"\awb_type\x18\t \x01(\x0e2\x19.SSL_VPConfigCameraWBType:\aOUTDOORR\x06wbType\x12\x18\n" +
-	"\x06wb_red\x18\n" +
-	" \x01(\x02:\x011R\x05wbRed\x12\x1a\n" +
-	"\awb_blue\x18\v \x01(\x02:\x011R\x06wbBlue\"\xb9\x01\n" +
-	"\x14SSL_VPConfigGeometry\x12&\n" +
-	"\rcamera_amount\x18\x01 \x01(\r:\x011R\fcameraAmount\x12&\n" +
-	"\rcamera_height\x18\x02 \x01(\x02:\x010R\fcameraHeight\x12+\n" +
-	"\fline_corners\x18\x03 \x03(\v2\b.Vector2R\vlineCorners\x12$\n" +
-	"\n" +
-	"refinement\x18\x04 \x01(\b:\x04trueR\n" +
-	"refinement\"\xb1\x02\n" +
-	"\x16SSL_VPConfigThresholds\x12$\n" +
-	"\vcircularity\x18\x01 \x01(\x02:\x0215R\vcircularity\x12\x17\n" +
-	"\x05score\x18\x02 \x01(\x02:\x015R\x05score\x12:\n" +
-	"\x0emin_confidence\x18\x03 \x01(\x02:\x130.20000000298023224R\rminConfidence\x126\n" +
-	"\x15min_cam_edge_distance\x18\x04 \x01(\x02:\x03170R\x12minCamEdgeDistance\x121\n" +
-	"\x12clipping_tolerance\x18\x05 \x01(\x02:\x0210R\x11clippingTolerance\x121\n" +
-	"\x12geometry_tolerance\x18\x06 \x01(\x02:\x0210R\x11geometryTolerance\"R\n" +
-	"\x05Color\x12\x15\n" +
-	"\x03red\x18\x01 \x01(\r:\x03128R\x03red\x12\x19\n" +
-	"\x05green\x18\x02 \x01(\r:\x03128R\x05green\x12\x17\n" +
-	"\x04blue\x18\x03 \x01(\r:\x03128R\x04blue\"K\n" +
-	"\aVPColor\x12$\n" +
-	"\treference\x18\x01 \x01(\v2\x06.ColorR\treference\x12\x1a\n" +
-	"\x04live\x18\x02 \x01(\v2\x06.ColorR\x04live\"\xc9\x02\n" +
-	"\x11SSL_VPConfigColor\x12<\n" +
-	"\x0freference_force\x18\x01 \x01(\x02:\x130.10000000149011612R\x0ereferenceForce\x126\n" +
-	"\rhistory_force\x18\x02 \x01(\x02:\x110.699999988079071R\fhistoryForce\x12 \n" +
-	"\x06orange\x18\x03 \x01(\v2\b.VPColorR\x06orange\x12\x1e\n" +
-	"\x05field\x18\x04 \x01(\v2\b.VPColorR\x05field\x12 \n" +
-	"\x06yellow\x18\x05 \x01(\v2\b.VPColorR\x06yellow\x12\x1c\n" +
-	"\x04blue\x18\x06 \x01(\v2\b.VPColorR\x04blue\x12\x1e\n" +
-	"\x05green\x18\a \x01(\v2\b.VPColorR\x05green\x12\x1c\n" +
-	"\x04pink\x18\b \x01(\v2\b.VPColorR\x04pink\"\x7f\n" +
-	"\x13SSL_VPConfigNetwork\x12\x1f\n" +
-	"\x05gc_ip\x18\x01 \x01(\t:\n" +
-	"224.5.23.1R\x04gcIp\x12\x1e\n" +
-	"\agc_port\x18\x02 \x01(\r:\x0510003R\x06gcPort\x12'\n" +
-	"\tvision_ip\x18\x03 \x01(\t:\n" +
-	"224.5.23.2R\bvisionIp\"\xb4\x01\n" +
-	"\x12SSL_VPConfigStream\x12\x1c\n" +
-	"\x06active\x18\x01 \x01(\b:\x04trueR\x06active\x120\n" +
-	"\x04type\x18\x02 \x01(\x0e2\x17.SSL_VPConfigStreamType:\x03RAWR\x04type\x12&\n" +
-	"\tstream_ip\x18\x03 \x01(\t:\t127.0.0.1R\bstreamIp\x12&\n" +
-	"\vstream_port\x18\x04 \x01(\r:\x0510100R\n" +
-	"streamPort\"\xa4\x04\n" +
-	"\fSSL_VPConfig\x12\x1a\n" +
-	"\binstance\x18\x01 \x02(\tR\binstance\x12\x1e\n" +
-	"\tcamera_id\x18\x02 \x01(\r:\x010R\bcameraId\x12D\n" +
-	"\rrobot_heights\x18\x03 \x03(\v2\x1f.SSL_VPConfig.RobotHeightsEntryR\frobotHeights\x12+\n" +
-	"\x06camera\x18\x04 \x01(\v2\x13.SSL_VPConfigCameraR\x06camera\x121\n" +
-	"\bgeometry\x18\x05 \x01(\v2\x15.SSL_VPConfigGeometryR\bgeometry\x127\n" +
-	"\n" +
-	"thresholds\x18\x06 \x01(\v2\x17.SSL_VPConfigThresholdsR\n" +
-	"thresholds\x12(\n" +
-	"\x05color\x18\a \x01(\v2\x12.SSL_VPConfigColorR\x05color\x12.\n" +
-	"\anetwork\x18\b \x01(\v2\x14.SSL_VPConfigNetworkR\anetwork\x12+\n" +
-	"\x06stream\x18\t \x01(\v2\x13.SSL_VPConfigStreamR\x06stream\x121\n" +
-	"\x11wait_for_geometry\x18\n" +
-	" \x01(\b:\x05falseR\x0fwaitForGeometry\x1a?\n" +
-	"\x11RobotHeightsEntry\x12\x10\n" +
-	"\x03key\x18\x01 \x01(\tR\x03key\x12\x14\n" +
-	"\x05value\x18\x02 \x01(\x02R\x05value:\x028\x01*C\n" +
-	"\x18SSL_VPConfigCameraDriver\x12\r\n" +
-	"\tSPINNAKER\x10\x00\x12\n" +
-	"\n" +
-	"\x06OPENCV\x10\x01\x12\f\n" +
-	"\bMVIMPACT\x10\x02*?\n" +
-	"\x18SSL_VPConfigCameraWBType\x12\v\n" +
-	"\aOUTDOOR\x10\x00\x12\n" +
-	"\n" +
-	"\x06INDOOR\x10\x01\x12\n" +
-	"\n" +
-	"\x06MANUAL\x10\x02*i\n" +
-	"\x16SSL_VPConfigStreamType\x12\a\n" +
-	"\x03RAW\x10\x00\x12\x16\n" +
-	"\x12REPROJ_FALSE_COLOR\x10\x01\x12\x17\n" +
-	"\x13REPROJ_GRADIENT_DOT\x10\x02\x12\x15\n" +
-	"\x11REPROJ_BLOB_SCORE\x10\x03BUB\x10SslVpConfigProtoP\x01Z?github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
-
-var (
-	file_vision_ssl_vp_config_proto_rawDescOnce sync.Once
-	file_vision_ssl_vp_config_proto_rawDescData []byte
-)
-
-func file_vision_ssl_vp_config_proto_rawDescGZIP() []byte {
-	file_vision_ssl_vp_config_proto_rawDescOnce.Do(func() {
-		file_vision_ssl_vp_config_proto_rawDescData = protoimpl.X.CompressGZIP(unsafe.Slice(unsafe.StringData(file_vision_ssl_vp_config_proto_rawDesc), len(file_vision_ssl_vp_config_proto_rawDesc)))
-	})
-	return file_vision_ssl_vp_config_proto_rawDescData
-}
-
-var file_vision_ssl_vp_config_proto_enumTypes = make([]protoimpl.EnumInfo, 3)
-var file_vision_ssl_vp_config_proto_msgTypes = make([]protoimpl.MessageInfo, 10)
-var file_vision_ssl_vp_config_proto_goTypes = []any{
-	(SSL_VPConfigCameraDriver)(0),  // 0: SSL_VPConfigCameraDriver
-	(SSL_VPConfigCameraWBType)(0),  // 1: SSL_VPConfigCameraWBType
-	(SSL_VPConfigStreamType)(0),    // 2: SSL_VPConfigStreamType
-	(*SSL_VPConfigCamera)(nil),     // 3: SSL_VPConfigCamera
-	(*SSL_VPConfigGeometry)(nil),   // 4: SSL_VPConfigGeometry
-	(*SSL_VPConfigThresholds)(nil), // 5: SSL_VPConfigThresholds
-	(*Color)(nil),                  // 6: Color
-	(*VPColor)(nil),                // 7: VPColor
-	(*SSL_VPConfigColor)(nil),      // 8: SSL_VPConfigColor
-	(*SSL_VPConfigNetwork)(nil),    // 9: SSL_VPConfigNetwork
-	(*SSL_VPConfigStream)(nil),     // 10: SSL_VPConfigStream
-	(*SSL_VPConfig)(nil),           // 11: SSL_VPConfig
-	nil,                            // 12: SSL_VPConfig.RobotHeightsEntry
-	(*gamecontroller.Vector2)(nil), // 13: Vector2
-}
-var file_vision_ssl_vp_config_proto_depIdxs = []int32{
-	0,  // 0: SSL_VPConfigCamera.driver:type_name -> SSL_VPConfigCameraDriver
-	1,  // 1: SSL_VPConfigCamera.wb_type:type_name -> SSL_VPConfigCameraWBType
-	13, // 2: SSL_VPConfigGeometry.line_corners:type_name -> Vector2
-	6,  // 3: VPColor.reference:type_name -> Color
-	6,  // 4: VPColor.live:type_name -> Color
-	7,  // 5: SSL_VPConfigColor.orange:type_name -> VPColor
-	7,  // 6: SSL_VPConfigColor.field:type_name -> VPColor
-	7,  // 7: SSL_VPConfigColor.yellow:type_name -> VPColor
-	7,  // 8: SSL_VPConfigColor.blue:type_name -> VPColor
-	7,  // 9: SSL_VPConfigColor.green:type_name -> VPColor
-	7,  // 10: SSL_VPConfigColor.pink:type_name -> VPColor
-	2,  // 11: SSL_VPConfigStream.type:type_name -> SSL_VPConfigStreamType
-	12, // 12: SSL_VPConfig.robot_heights:type_name -> SSL_VPConfig.RobotHeightsEntry
-	3,  // 13: SSL_VPConfig.camera:type_name -> SSL_VPConfigCamera
-	4,  // 14: SSL_VPConfig.geometry:type_name -> SSL_VPConfigGeometry
-	5,  // 15: SSL_VPConfig.thresholds:type_name -> SSL_VPConfigThresholds
-	8,  // 16: SSL_VPConfig.color:type_name -> SSL_VPConfigColor
-	9,  // 17: SSL_VPConfig.network:type_name -> SSL_VPConfigNetwork
-	10, // 18: SSL_VPConfig.stream:type_name -> SSL_VPConfigStream
-	19, // [19:19] is the sub-list for method output_type
-	19, // [19:19] is the sub-list for method input_type
-	19, // [19:19] is the sub-list for extension type_name
-	19, // [19:19] is the sub-list for extension extendee
-	0,  // [0:19] is the sub-list for field type_name
-}
-
-func init() { file_vision_ssl_vp_config_proto_init() }
-func file_vision_ssl_vp_config_proto_init() {
-	if File_vision_ssl_vp_config_proto != nil {
-		return
-	}
-	type x struct{}
-	out := protoimpl.TypeBuilder{
-		File: protoimpl.DescBuilder{
-			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
-			RawDescriptor: unsafe.Slice(unsafe.StringData(file_vision_ssl_vp_config_proto_rawDesc), len(file_vision_ssl_vp_config_proto_rawDesc)),
-			NumEnums:      3,
-			NumMessages:   10,
-			NumExtensions: 0,
-			NumServices:   0,
-		},
-		GoTypes:           file_vision_ssl_vp_config_proto_goTypes,
-		DependencyIndexes: file_vision_ssl_vp_config_proto_depIdxs,
-		EnumInfos:         file_vision_ssl_vp_config_proto_enumTypes,
-		MessageInfos:      file_vision_ssl_vp_config_proto_msgTypes,
-	}.Build()
-	File_vision_ssl_vp_config_proto = out.File
-	file_vision_ssl_vp_config_proto_goTypes = nil
-	file_vision_ssl_vp_config_proto_depIdxs = nil
-}

From 7a38b0a9d308fc39a7579b5c7e673949bb59e06b Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Fri, 25 Sep 2026 15:11:40 -0400
Subject: [PATCH 09/23] cleanup after code review

---
 .github/workflows/ci.yml                      |  16 +-
 .gitignore                                    |  17 ++
 README.md                                     |   6 +
 config-camtest.yml                            | 159 -----------------
 config-testpatch.yml                          | 159 -----------------
 geometry-testpatch.yml                        |  30 ----
 gui/Makefile                                  |  20 ++-
 gui/cmd/ssl-vision-processor-gui/server.go    |  59 ++++---
 gui/config.yml                                | 157 -----------------
 gui/frontend/src/App.svelte                   |  42 ++++-
 gui/frontend/src/lib/CornerPicker.svelte      | 129 ++++++--------
 gui/frontend/src/lib/FieldEditor.svelte       |  11 +-
 gui/frontend/src/lib/api.ts                   |  40 +++++
 .../config/ConfigCategoryPlaceholder.svelte   |  33 +---
 .../src/lib/config/ConfigFieldList.svelte     |  43 +++++
 .../src/lib/config/GeometryPanel.svelte       |  37 +---
 gui/frontend/src/lib/geometry.svelte.ts       | 163 +++++++-----------
 gui/frontend/src/lib/layout/ConfigNav.svelte  |  11 +-
 gui/frontend/src/lib/lineCorners.svelte.ts    |  73 ++++++++
 gui/internal/geometry/field_config.go         |  65 ++++---
 gui/internal/geometry/geometry.go             |  13 +-
 gui/internal/geometry/geometry_test.go        |  44 +++++
 gui/internal/geometry/instance_config.go      |  29 +++-
 gui/internal/geometry/instance_config_test.go |  40 +++++
 gui/internal/hub/hub.go                       |  27 ++-
 gui/internal/hub/hub_test.go                  |  23 +++
 gui/internal/hub/websocket.go                 |  20 ++-
 gui/internal/logging/logging.go               |  24 +--
 gui/internal/snapshot/snapshot.go             |  21 ++-
 gui/internal/snapshot/snapshot_test.go        |  33 ++++
 30 files changed, 681 insertions(+), 863 deletions(-)
 delete mode 100644 config-camtest.yml
 delete mode 100644 config-testpatch.yml
 delete mode 100644 geometry-testpatch.yml
 delete mode 100644 gui/config.yml
 create mode 100644 gui/frontend/src/lib/api.ts
 create mode 100644 gui/frontend/src/lib/config/ConfigFieldList.svelte
 create mode 100644 gui/frontend/src/lib/lineCorners.svelte.ts

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index c617dde..4f2abbb 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -49,15 +49,15 @@ jobs:
       - uses: DeterminateSystems/nix-installer-action@main
       - uses: DeterminateSystems/magic-nix-cache-action@main
 
-      - name: Format, vet, test
+      - name: Format, vet, build, test
         run: |
           nix develop --command bash -c '
             cd gui
             make .proto
             test -z "$(gofmt -l .)" || { gofmt -l .; exit 1; }
-            go vet ./cmd/... ./internal/... ./frontend
-            go build ./cmd/... ./internal/... ./frontend
-            go test ./cmd/... ./internal/... ./frontend -race
+            make vet
+            make build
+            make go-test
           '
 
   frontend:
@@ -77,9 +77,7 @@ jobs:
       - name: Lint, check, build
         run: |
           nix develop --command bash -c '
-            cd gui && make .proto && cd frontend
-            npm run lint
-            npm run format:check
-            npm run check
-            npm run build
+            cd gui
+            make frontend-test
+            make frontend
           '
diff --git a/.gitignore b/.gitignore
index c1fc702..28f9a35 100644
--- a/.gitignore
+++ b/.gitignore
@@ -16,6 +16,23 @@ __pycache__
 /test-data
 *.log
 
+# Device/venue-specific configs -- only the reference templates below are
+# tracked. Anything else matching config*.yml/geometry*.yml at the repo root
+# (config-camtest.yml, a real venue's calibration, ...) is a personal/local
+# working file per the README's config[X].yml/geometry[X].yml convention, not
+# shipped source -- `git add -A` has swept these in by accident before.
+/config*.yml
+/geometry*.yml
+!/config.yml
+!/config-minimal.yml
+!/geometry-divA.yml
+!/geometry-divB.yml
+
+# gui/'s own working copies of the above, bootstrapped from geometry-divB.yml
+# / vision_processor's own config.yml default -- same reasoning.
+/gui/config.yml
+/gui/geometry.yml
+
 #Output binaries
 vision_processor
 blob_benchmark
diff --git a/README.md b/README.md
index 16aca7e..c69fac1 100644
--- a/README.md
+++ b/README.md
@@ -85,6 +85,12 @@ Installation with PIP: `pip install protobuf pyyaml`
    If the calibration is unsuccessful, restart the geom_publisher for a new geometry calibration.
    For setups with multiple cameras it is recommended to tune the calibration by hand.
 
+Your own `config[X].yml`/`geometry[X].yml` files (camera or venue specific) are gitignored by
+default and won't be committed. Only the reference templates -- `config.yml`, `config-minimal.yml`,
+`geometry-divA.yml`, `geometry-divB.yml` -- are tracked; `gui/config.yml` and `gui/geometry.yml`
+(the GUI's own working copies, bootstrapped from these) are gitignored the same way. If you need to
+track a variant anyway, `git add -f` it.
+
 
 ## Troubleshooting
 
diff --git a/config-camtest.yml b/config-camtest.yml
deleted file mode 100644
index 88c8867..0000000
--- a/config-camtest.yml
+++ /dev/null
@@ -1,159 +0,0 @@
-# VisionProcessor configuration
-
-# Vision camera ID handled by this VisionProcessor instance.
-# On multi camera fields the IDs have to be ordered according to camera_ids.png.
-#cam_id: 0
-
-# Team bot heights yml file (heights in mm)
-#bot_heights_file: robot-heights.yml
-
-camera:
-  # Camera driver type. Availability depending on libraries installed.
-  # Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
-  driver: OPENCV
-
-  # Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
-  #id: 0
-  # OpenCV camera device, image or video file path (if unset id is used instead)
-  path: /dev/video0
-
-  # Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
-  # 0 = highest resolution supported by the camera
-  #width: 0
-  #height: 0
-
-  # Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
-  # Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
-  # 0.0 = automatic exposure
-  #exposure: 0.0
-  # Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
-  # Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
-  # 0.0 = automatic gain
-  #gain: 0.0
-  # Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
-  # Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
-  # 1.0 = no gamma
-  #gamma: 1.0
-
-  # Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
-  # (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
-  #white_balance: OUTDOOR
-  # If you want to set manual white balance values use this format:
-  #white_balance:
-  #  red: 1.0
-  #  blue: 1.0
-
-geometry:
-  # Total camera amount over the field
-  camera_amount: 2
-  # Camera height above field in mm
-  # 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
-  #camera_height: 0.0
-
-  # Field line crossings at the edges of the camera extent in pixels from the top left image corner.
-  # The first coordinate must be the edge with the smallest x and y field coordinate.
-  # Only the first point's identity matters -- GeomModel.cpp brute-forces the
-  # correct clockwise order for the other three. First point = the corner
-  # picker's marker 4, which touches the goal box (confirmed against
-  # img/0.geomcalib_input.png; marker 3 is the same goal-box edge's other end
-  # and would also be a valid choice). Left/right (marker 3 vs 4 first) is an
-  # arbitrary but so-far-unverified choice: doesn't matter with one camera,
-  # would need to agree with camera 1 if a second one joins.
-  line_corners:
-  - [398, 422]
-  - [247, 135]
-  - [455, 33]
-  - [564, 327]
-
-  # Enable field line pixel refinement.
-  # Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
-  #refinement: true
-
-  # Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
-  #field_line_threshold: 5
-  # Minimum length of line segments to ensure angular stability in pixels
-  #min_line_segment_length: 10.0
-  # Maximum perpendicular offset of line segments for merging in pixels
-  #max_line_segment_offset: 10.0
-  # Maximum relative angle of line segments for merging in °
-  #max_line_segment_angle: 3.0
-
-thresholds:
-  # Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
-  # High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
-  #circularity: 15.0
-  # Minimum circularity/(3*stddev) ball blob score
-  #score: 5.0
-
-  # Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
-  #blobs: 2000
-
-  # Minimum confidence (0.0 - 1.0)
-  #min_confidence: 0.2
-
-  # Min ball camera edge distance in mm
-  #min_cam_edge_distance: 170.0
-
-  # Maximum allowed clipping of two objects in mm
-  #clipping_tolerance: 10.0
-
-  # Added tolerance to geometry related operations in mm.
-  # Affects field border cutoff area and field line blob classification.
-  #geometry_tolerance: 10.0
-
-color:
-  # Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
-  #reference_force: 0.1
-  # Strength of the previous color during color updates (0.0 - 1.0-reference_force)
-  #history_force: 0.7
-
-  # Reference colors used for ball determination
-  #orange: [192, 128, 64]
-  #field: [128, 128, 128]
-  # Reference colors used for center blob determination
-  #yellow: [255, 128, 0]
-  #blue: [0, 128, 255]
-  # Reference colors used for side blob determination
-  #green: [0, 255, 128]
-  #pink: [255, 0, 128]
-
-tracking:
-  # Min tracking radius in mm
-  #min_tracking_radius: 20.0
-
-  # Max tracked bot acceleration in m/s^2
-  #max_bot_acceleration: 6.5
-
-network:
-  # Game controller multicast ip address
-  #gc_ip: "224.5.23.1"
-  # Game controller multicast port
-  #gc_port: 10003
-
-  # Vision multicast IP address
-  #vision_ip: "224.5.23.2"
-  # Vision multicast port
-  #vision_port: 10006
-
-stream:
-  # If false no network live stream will be encoded and sent
-  #active: true
-  # Only stream raw camera footage. Useful for recordings.
-  #raw_feed: false
-
-  # Camera stream ip prefix
-  #ip_base_prefix: 224.5.23.
-  # Camera stream ip end base (cam_id is added to maintain separation)
-  #ip_base_end: 100
-  # Camera stream port
-  #port: 10100
-
-debug:
-  # Ground truth file. Only used by blob and geometry benchmark.
-  #ground_truth: gt.yml
-  # Wait for geometry prior to processing frames
-  #wait_for_geometry: false
-  # Save additional debug images in img/.
-  #debug_images: false
-  # Periodically overwrite img/.sample.<camId>.png while calibration isn't accepted yet, every N milliseconds. 0 disables.
-  debug_stream_interval_ms: 3000
diff --git a/config-testpatch.yml b/config-testpatch.yml
deleted file mode 100644
index 25a7d77..0000000
--- a/config-testpatch.yml
+++ /dev/null
@@ -1,159 +0,0 @@
-# VisionProcessor configuration
-
-# Vision camera ID handled by this VisionProcessor instance.
-# On multi camera fields the IDs have to be ordered according to camera_ids.png.
-#cam_id: 0
-
-# Team bot heights yml file (heights in mm)
-#bot_heights_file: robot-heights.yml
-
-camera:
-  # Camera driver type. Availability depending on libraries installed.
-  # Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
-  #driver: SPINNAKER
-
-  # Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
-  #id: 0
-  # OpenCV camera device, image or video file path (if unset id is used instead)
-  #path: /dev/video0
-
-  # Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
-  # 0 = highest resolution supported by the camera
-  #width: 0
-  #height: 0
-
-  # Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
-  # Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
-  # 0.0 = automatic exposure
-  #exposure: 0.0
-  # Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
-  # Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
-  # 0.0 = automatic gain
-  #gain: 0.0
-  # Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
-  # Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
-  # 1.0 = no gamma
-  #gamma: 1.0
-
-  # Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
-  # (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
-  #white_balance: OUTDOOR
-  # If you want to set manual white balance values use this format:
-  #white_balance:
-  #  red: 1.0
-  #  blue: 1.0
-
-geometry:
-  line_corners:
-  - [1134, 948]
-  - [1509, 729]
-  - [1266, 69]
-  - [798, 300]
-  # Total camera amount over the field
-  #camera_amount: 1
-  # Camera height above field in mm
-  # 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
-  #camera_height: 0.0
-
-  # Field line crossings at the edges of the camera extent in pixels from the top left image corner.
-  # The first coordinate must be the edge with the smallest x and y field coordinate.
-  #line_corners:
-  #- [0 , 1000]
-  #- [0 , 0]
-  #- [1000, 0]
-  #- [1000, 1000]
-
-  # Enable field line pixel refinement.
-  # Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
-  #refinement: true
-
-  # Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
-  #field_line_threshold: 5
-  # Minimum length of line segments to ensure angular stability in pixels
-  #min_line_segment_length: 10.0
-  # Maximum perpendicular offset of line segments for merging in pixels
-  #max_line_segment_offset: 10.0
-  # Maximum relative angle of line segments for merging in °
-  #max_line_segment_angle: 3.0
-
-  # Which corner-picker marker (1-4, its on-screen number) was chosen as the goal-side corner. Not read by vision_processor -- record only.
-  goal_side_marker: 1
-thresholds:
-  # Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
-  # High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
-  #circularity: 15.0
-  # Minimum circularity/(3*stddev) ball blob score
-  #score: 5.0
-
-  # Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
-  #blobs: 2000
-
-  # Minimum confidence (0.0 - 1.0)
-  #min_confidence: 0.2
-
-  # Min ball camera edge distance in mm
-  #min_cam_edge_distance: 170.0
-
-  # Maximum allowed clipping of two objects in mm
-  #clipping_tolerance: 10.0
-
-  # Added tolerance to geometry related operations in mm.
-  # Affects field border cutoff area and field line blob classification.
-  #geometry_tolerance: 10.0
-
-color:
-  # Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
-  #reference_force: 0.1
-  # Strength of the previous color during color updates (0.0 - 1.0-reference_force)
-  #history_force: 0.7
-
-  # Reference colors used for ball determination
-  #orange: [192, 128, 64]
-  #field: [128, 128, 128]
-  # Reference colors used for center blob determination
-  #yellow: [255, 128, 0]
-  #blue: [0, 128, 255]
-  # Reference colors used for side blob determination
-  #green: [0, 255, 128]
-  #pink: [255, 0, 128]
-
-tracking:
-  # Min tracking radius in mm
-  #min_tracking_radius: 20.0
-
-  # Max tracked bot acceleration in m/s^2
-  #max_bot_acceleration: 6.5
-
-network:
-  # Game controller multicast ip address
-  #gc_ip: "224.5.23.1"
-  # Game controller multicast port
-  #gc_port: 10003
-
-  # Vision multicast IP address
-  #vision_ip: "224.5.23.2"
-  # Vision multicast port
-  #vision_port: 10006
-
-stream:
-  # If false no network live stream will be encoded and sent
-  #active: true
-  # Only stream raw camera footage. Useful for recordings.
-  #raw_feed: false
-
-  # Camera stream ip prefix
-  #ip_base_prefix: 224.5.23.
-  # Camera stream ip end base (cam_id is added to maintain separation)
-  #ip_base_end: 100
-  # Camera stream port
-  #port: 10100
-
-debug:
-  # Ground truth file. Only used by blob and geometry benchmark.
-  #ground_truth: gt.yml
-  # Wait for geometry prior to processing frames
-  #wait_for_geometry: false
-  # Save additional debug images in img/.
-  #debug_images: false
-  # Periodically overwrite img/.sample.<camId>.png while calibration isn't accepted yet, every N milliseconds. 0 disables.
-  #debug_stream_interval_ms: 0
diff --git a/geometry-testpatch.yml b/geometry-testpatch.yml
deleted file mode 100644
index 0eba29c..0000000
--- a/geometry-testpatch.yml
+++ /dev/null
@@ -1,30 +0,0 @@
-field:
-    field_length: 2160
-    field_width: 1680
-    goal_width: 280
-    goal_depth: 50
-    goal_height: 160
-    penalty_area_depth: 290
-    penalty_area_width: 570
-    goal_center_to_penalty_mark: 1440
-    boundary_width: 100
-    boundary_width_goal_line: 100
-    center_circle_radius: 140
-    line_thickness: 10
-    ball_radius: 22
-    max_robot_radius: 90
-    goal_substitution_area_width: 0
-models:
-    chip_fixed_loss:
-        damping_xy_first_hop: 0.55
-        damping_xy_other_hops: 0.88
-        damping_z: 0.54
-    straight_two_phase:
-        acc_roll: -0.45
-        acc_slide: -3.4
-        k_switch: 0.64
-optional_field_lines:
-    centercircle: false
-    goal2goal: false
-    halfway: true
-    penalty: true
diff --git a/gui/Makefile b/gui/Makefile
index bbf09eb..fb97694 100644
--- a/gui/Makefile
+++ b/gui/Makefile
@@ -11,7 +11,7 @@ FRONTEND_SOURCES = $(shell find frontend -type f \
 
 PROTO_SOURCES = $(shell find ../proto/proto -type f 2>/dev/null)
 
-.PHONY: all frontend install test run proto clean
+.PHONY: all frontend install test go-test frontend-test vet build run proto clean
 
 all: install
 
@@ -47,9 +47,23 @@ frontend: .frontend
 install: frontend
 	go install -v $(GO_PACKAGES)
 
-test: frontend
+vet: frontend
+	go vet $(GO_PACKAGES)
+
+build: frontend
+	go build $(GO_PACKAGES)
+
+go-test: frontend
+	go test $(GO_PACKAGES) -race
+
+frontend-test: frontend
 	cd frontend && npm run check && npm run lint && npm run format:check
-	go test $(GO_PACKAGES)
+
+# CI runs go-test and frontend-test as separate parallel jobs (see
+# .github/workflows/ci.yml) -- this is the single "everything before you
+# push" target for local use, composed of exactly those same two so the
+# package/command lists live in one place either way.
+test: go-test frontend-test
 
 run: frontend
 	go run ./cmd/$(BINARY)
diff --git a/gui/cmd/ssl-vision-processor-gui/server.go b/gui/cmd/ssl-vision-processor-gui/server.go
index 48aa0bd..f0bc2bf 100644
--- a/gui/cmd/ssl-vision-processor-gui/server.go
+++ b/gui/cmd/ssl-vision-processor-gui/server.go
@@ -81,6 +81,29 @@ func (s *VisionServer) handleGetFieldConfig() http.HandlerFunc {
 	}
 }
 
+// respondGeometryErr classifies an error from a geometry package call and
+// writes the matching HTTP response: a caller-fixable *ValidationError or
+// *ReadOnlyError becomes 400 (the error's own message is safe to return --
+// both types exist specifically to describe the caller's mistake back to
+// them), anything else is logged and reported as a generic 500. Shared by
+// every handler whose geometry call can fail either way.
+//
+// handlePostLoad deliberately does not use this: every LoadFrom failure is
+// about the path the caller gave, not an internal failure on our part, so
+// it's unconditionally 400 regardless of error type -- see its own comment.
+func respondGeometryErr(w http.ResponseWriter, err error, logMsg string, logArgs ...any) {
+	var validation *geometry.ValidationError
+	var readOnly *geometry.ReadOnlyError
+
+	switch {
+	case errors.As(err, &validation), errors.As(err, &readOnly):
+		http.Error(w, err.Error(), http.StatusBadRequest)
+	default:
+		slog.Error(logMsg, append(logArgs, "err", err)...)
+		http.Error(w, "internal error", http.StatusInternalServerError)
+	}
+}
+
 // handlePutFieldConfig edits the virtual field: dimensions and which optional
 // markings exist. Regenerates the derived field lines/arcs and persists to
 // geometry.yml -- see geometry.Geometry.UpdateField.
@@ -94,16 +117,7 @@ func (s *VisionServer) handlePutFieldConfig() http.HandlerFunc {
 		}
 
 		if err := s.geometry.UpdateField(req.Field, req.OptionalFieldLines); err != nil {
-			var validation *geometry.ValidationError
-			var readOnly *geometry.ReadOnlyError
-
-			switch {
-			case errors.As(err, &validation), errors.As(err, &readOnly):
-				http.Error(w, err.Error(), http.StatusBadRequest)
-			default:
-				slog.Error("updating field config", "err", err)
-				http.Error(w, "internal error", http.StatusInternalServerError)
-			}
+			respondGeometryErr(w, err, "updating field config")
 
 			return
 		}
@@ -135,16 +149,7 @@ func (s *VisionServer) handlePostSaveAs() http.HandlerFunc {
 		}
 
 		if err := s.geometry.SaveAs(req.Path, req.Field, req.OptionalFieldLines); err != nil {
-			var validation *geometry.ValidationError
-			var readOnly *geometry.ReadOnlyError
-
-			switch {
-			case errors.As(err, &validation), errors.As(err, &readOnly):
-				http.Error(w, err.Error(), http.StatusBadRequest)
-			default:
-				slog.Error("saving field config as", "path", req.Path, "err", err)
-				http.Error(w, "internal error", http.StatusInternalServerError)
-			}
+			respondGeometryErr(w, err, "saving field config as", "path", req.Path)
 
 			return
 		}
@@ -245,17 +250,11 @@ func (s *VisionServer) handlePutLineCorners() http.HandlerFunc {
 			return
 		}
 
-		if req.GoalSideMarker < 1 || req.GoalSideMarker > len(req.Corners) {
-			http.Error(w, "goalSideMarker: must identify one of the given corners", http.StatusBadRequest)
-
-			return
-		}
-
-		// s.configFile is server config, not part of the request -- a
-		// failure here is our problem, not the caller's, so 500.
+		// goalSideMarker's own range check lives in WriteLineCorners, not
+		// duplicated here -- it returns a *ValidationError for exactly this
+		// case, which respondGeometryErr turns back into a 400.
 		if err := geometry.WriteLineCorners(s.configFile, req.Corners, req.GoalSideMarker); err != nil {
-			slog.Error("writing line corners", "path", s.configFile, "err", err)
-			http.Error(w, "internal error", http.StatusInternalServerError)
+			respondGeometryErr(w, err, "writing line corners", "path", s.configFile)
 
 			return
 		}
diff --git a/gui/config.yml b/gui/config.yml
deleted file mode 100644
index 7892dcc..0000000
--- a/gui/config.yml
+++ /dev/null
@@ -1,157 +0,0 @@
-# VisionProcessor configuration
-
-# Vision camera ID handled by this VisionProcessor instance.
-# On multi camera fields the IDs have to be ordered according to camera_ids.png.
-#cam_id: 0
-
-# Team bot heights yml file (heights in mm)
-#bot_heights_file: robot-heights.yml
-
-camera:
-  # Camera driver type. Availability depending on libraries installed.
-  # Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
-  #driver: SPINNAKER
-
-  # Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
-  #id: 0
-  # OpenCV camera device, image or video file path (if unset id is used instead)
-  #path: /dev/video0
-
-  # Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
-  # 0 = highest resolution supported by the camera
-  #width: 0
-  #height: 0
-
-  # Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
-  # Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
-  # 0.0 = automatic exposure
-  #exposure: 0.0
-  # Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
-  # Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
-  # 0.0 = automatic gain
-  #gain: 0.0
-  # Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
-  # Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
-  # 1.0 = no gamma
-  #gamma: 1.0
-
-  # Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
-  # (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
-  #white_balance: OUTDOOR
-  # If you want to set manual white balance values use this format:
-  #white_balance:
-  #  red: 1.0
-  #  blue: 1.0
-
-geometry:
-  line_corners:
-  - [1131, 945]
-  - [1263, 69]
-  - [1509, 726]
-  - [792, 300]
-  # Total camera amount over the field
-  #camera_amount: 1
-  # Camera height above field in mm
-  # 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
-  #camera_height: 0.0
-
-  # Field line crossings at the edges of the camera extent in pixels from the top left image corner.
-  # The first coordinate must be the edge with the smallest x and y field coordinate.
-  #line_corners:
-  #- [0 , 1000]
-  #- [0 , 0]
-  #- [1000, 0]
-  #- [1000, 1000]
-
-  # Enable field line pixel refinement.
-  # Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
-  #refinement: true
-
-  # Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
-  #field_line_threshold: 5
-  # Minimum length of line segments to ensure angular stability in pixels
-  #min_line_segment_length: 10.0
-  # Maximum perpendicular offset of line segments for merging in pixels
-  #max_line_segment_offset: 10.0
-  # Maximum relative angle of line segments for merging in °
-  #max_line_segment_angle: 3.0
-
-thresholds:
-  # Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
-  # High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
-  #circularity: 15.0
-  # Minimum circularity/(3*stddev) ball blob score
-  #score: 5.0
-
-  # Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
-  #blobs: 2000
-
-  # Minimum confidence (0.0 - 1.0)
-  #min_confidence: 0.2
-
-  # Min ball camera edge distance in mm
-  #min_cam_edge_distance: 170.0
-
-  # Maximum allowed clipping of two objects in mm
-  #clipping_tolerance: 10.0
-
-  # Added tolerance to geometry related operations in mm.
-  # Affects field border cutoff area and field line blob classification.
-  #geometry_tolerance: 10.0
-
-color:
-  # Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
-  #reference_force: 0.1
-  # Strength of the previous color during color updates (0.0 - 1.0-reference_force)
-  #history_force: 0.7
-
-  # Reference colors used for ball determination
-  #orange: [192, 128, 64]
-  #field: [128, 128, 128]
-  # Reference colors used for center blob determination
-  #yellow: [255, 128, 0]
-  #blue: [0, 128, 255]
-  # Reference colors used for side blob determination
-  #green: [0, 255, 128]
-  #pink: [255, 0, 128]
-
-tracking:
-  # Min tracking radius in mm
-  #min_tracking_radius: 20.0
-
-  # Max tracked bot acceleration in m/s^2
-  #max_bot_acceleration: 6.5
-
-network:
-  # Game controller multicast ip address
-  #gc_ip: "224.5.23.1"
-  # Game controller multicast port
-  #gc_port: 10003
-
-  # Vision multicast IP address
-  #vision_ip: "224.5.23.2"
-  # Vision multicast port
-  #vision_port: 10006
-
-stream:
-  # If false no network live stream will be encoded and sent
-  #active: true
-  # Only stream raw camera footage. Useful for recordings.
-  #raw_feed: false
-
-  # Camera stream ip prefix
-  #ip_base_prefix: 224.5.23.
-  # Camera stream ip end base (cam_id is added to maintain separation)
-  #ip_base_end: 100
-  # Camera stream port
-  #port: 10100
-
-debug:
-  # Ground truth file. Only used by blob and geometry benchmark.
-  #ground_truth: gt.yml
-  # Wait for geometry prior to processing frames
-  #wait_for_geometry: false
-  # Save additional debug images in img/.
-  #debug_images: false
-  # Periodically overwrite img/.sample.<camId>.png while calibration isn't accepted yet, every N milliseconds. 0 disables.
-  #debug_stream_interval_ms: 0
diff --git a/gui/frontend/src/App.svelte b/gui/frontend/src/App.svelte
index 700555f..7ec0626 100644
--- a/gui/frontend/src/App.svelte
+++ b/gui/frontend/src/App.svelte
@@ -2,10 +2,38 @@
   import { onMount } from "svelte";
   import { topic } from "./lib/wrapper-bus";
   import Shell from "./lib/layout/Shell.svelte";
-  import { nav } from "./lib/layout/nav.svelte";
+  import { nav, selectedCategory } from "./lib/layout/nav.svelte";
+  import { requestJSON } from "./lib/api";
 
   let subscribed = $state(false);
-  const wrapperPacket = topic<Record<string, unknown>>("wrapper_packet.out");
+  let wrapperPacket = $state<Record<string, unknown> | null>(null);
+
+  // topic()'s store only subscribes to the bus (sending the WS "subscribe"
+  // message) once something calls .subscribe() on it -- gating that call on
+  // `subscribed` here, instead of an auto-subscribing `$wrapperPacket`
+  // reference in the template, is what makes the toggle below actually
+  // control the traffic. A `$store` reference anywhere in a component
+  // auto-subscribes at init regardless of which template branch it's in, so
+  // referencing it only inside `{#if subscribed}` would NOT have gated
+  // anything -- the WS subscribe message would still fire on mount.
+  $effect(() => {
+    if (!subscribed) {
+      wrapperPacket = null;
+
+      return;
+    }
+
+    const unsubscribe = topic<Record<string, unknown>>(
+      "wrapper_packet.out",
+    ).subscribe((value) => {
+      wrapperPacket = value;
+    });
+
+    return () => {
+      unsubscribe();
+      wrapperPacket = null;
+    };
+  });
 
   // Same-origin: the Go host serves /api itself, alongside /ws and the frontend.
   interface Snapshot {
@@ -27,8 +55,8 @@
 
   async function refreshSnapshotList(): Promise<void> {
     try {
-      const response = await fetch("/api/snapshots");
-      if (response.ok) snapshots = (await response.json()) as Snapshot[];
+      const response = await requestJSON("/api/snapshots");
+      snapshots = (await response.json()) as Snapshot[];
     } catch {
       // ignore: next tick will retry
     }
@@ -65,7 +93,7 @@
       Temporary debug utilities -- see the note in this file's source.
     </p>
 
-    {#if nav.selectedCategoryId !== "field"}
+    {#if selectedCategory().scope === "per-instance"}
       <section>
         <h2>Snapshots</h2>
         {#if visibleSnapshots.length === 0}
@@ -92,8 +120,8 @@
       </button>
 
       {#if subscribed}
-        {#if $wrapperPacket}
-          <pre>{JSON.stringify($wrapperPacket, null, 2)}</pre>
+        {#if wrapperPacket}
+          <pre>{JSON.stringify(wrapperPacket, null, 2)}</pre>
         {:else}
           <p class="hint">Waiting for first frame…</p>
         {/if}
diff --git a/gui/frontend/src/lib/CornerPicker.svelte b/gui/frontend/src/lib/CornerPicker.svelte
index 12bd77e..2f3fa73 100644
--- a/gui/frontend/src/lib/CornerPicker.svelte
+++ b/gui/frontend/src/lib/CornerPicker.svelte
@@ -1,5 +1,10 @@
 <script lang="ts">
   import { onMount } from "svelte";
+  import {
+    lineCorners,
+    loadLineCorners,
+    saveLineCorners,
+  } from "./lineCorners.svelte";
 
   // Hacky first pass at the corner-drag picker from the calibration UI plan.
   // Web-only: no C++ changes, camera hardcoded to 0 (no camera selector yet).
@@ -18,8 +23,6 @@
   let imageWidth = $state(0);
   let imageHeight = $state(0);
 
-  // Default to an inset rectangle rather than the image edges, so all four
-  // handles are visible and draggable as soon as the image loads.
   let corners = $state<{ x: number; y: number }[]>([]);
 
   let svgEl: SVGSVGElement | undefined = $state();
@@ -29,20 +32,51 @@
   // to the first handle; click a different one to change it.
   let originIndex = $state(0);
 
+  // corners is seeded exactly once, from whichever of these two independent
+  // async sources (the <img> loading, the saved-corners fetch) finishes
+  // last -- not from whichever happens to win a race. Without this, a fast
+  // cached image load could seed the default rectangle before the fetch
+  // resolves, and the fetch would then see corners already non-empty and
+  // silently skip applying the user's real, already-saved calibration.
+  let imageReady = $state(false);
+  let fetchDone = $state(false);
+
   function handleImageLoad(img: HTMLImageElement): void {
     imageWidth = img.naturalWidth;
     imageHeight = img.naturalHeight;
+    imageReady = true;
+    maybeInitializeCorners();
+  }
+
+  onMount(() => {
+    void loadLineCorners().then(() => {
+      fetchDone = true;
+      maybeInitializeCorners();
+    });
+  });
+
+  // Saved corners take priority (already reordered with the goal-side corner
+  // first -- see saveLineCorners's callers below, so origin is always index
+  // 0). Otherwise, default to an inset rectangle so all four handles are
+  // visible and draggable immediately.
+  function maybeInitializeCorners(): void {
+    if (corners.length !== 0 || !imageReady || !fetchDone) return;
 
-    if (corners.length === 0) {
-      const marginX = imageWidth * 0.15;
-      const marginY = imageHeight * 0.15;
-      corners = [
-        { x: marginX, y: marginY },
-        { x: imageWidth - marginX, y: marginY },
-        { x: imageWidth - marginX, y: imageHeight - marginY },
-        { x: marginX, y: imageHeight - marginY },
-      ];
+    if (lineCorners.corners.length === 4) {
+      corners = lineCorners.corners;
+      originIndex = 0;
+
+      return;
     }
+
+    const marginX = imageWidth * 0.15;
+    const marginY = imageHeight * 0.15;
+    corners = [
+      { x: marginX, y: marginY },
+      { x: imageWidth - marginX, y: marginY },
+      { x: imageWidth - marginX, y: imageHeight - marginY },
+      { x: marginX, y: imageHeight - marginY },
+    ];
   }
 
   // Screen pixels -> SVG user-space (== image pixel space, since viewBox is
@@ -78,7 +112,7 @@
       x: Math.round(Math.max(0, Math.min(imageWidth, p.x))),
       y: Math.round(Math.max(0, Math.min(imageHeight, p.y))),
     };
-    savedAt = null;
+    lineCorners.savedAt = null;
   }
 
   function endDrag(): void {
@@ -105,10 +139,6 @@
         .join("\n"),
   );
 
-  let saving = $state(false);
-  let saveError = $state<string | null>(null);
-  let savedAt = $state<number | null>(null);
-
   // The label/stroke sizes below are SVG user-space units, i.e. image
   // pixels (viewBox == the image's natural size) -- not screen pixels. They
   // must scale with image resolution the same way the handle radius already
@@ -120,59 +150,8 @@
   let labelDy = $derived(-(handleRadius * 1.8));
   let labelStrokeWidth = $derived(handleRadius * 0.3);
 
-  // Load whatever was last saved so a reload shows the real calibration
-  // instead of always resetting to the default inset rectangle. Only applied
-  // if nothing's been placed yet (corners.length === 0) and the file has a
-  // full set of 4 -- a partial/absent save just leaves the default in place.
-  onMount(() => {
-    void loadExistingLineCorners();
-  });
-
-  async function loadExistingLineCorners(): Promise<void> {
-    try {
-      const response = await fetch("/api/config/line-corners");
-      if (!response.ok) return;
-
-      const data = (await response.json()) as {
-        corners?: { x: number; y: number }[];
-      };
-
-      // saveLineCorners always sends the origin corner first (see
-      // orderedCorners) -- what comes back is that same saved order, so the
-      // origin is always index 0 here. goalSideMarker is not it: that's the
-      // *original*, pre-reorder marker number, kept only as a record in
-      // config.yml, and doesn't describe this already-reordered array.
-      if (corners.length === 0 && data.corners?.length === 4) {
-        corners = data.corners;
-        originIndex = 0;
-      }
-    } catch {
-      // Nothing saved yet, or it couldn't be read -- the default inset
-      // rectangle is a fine starting point.
-    }
-  }
-
-  async function saveLineCorners(): Promise<void> {
-    saving = true;
-    saveError = null;
-
-    try {
-      const response = await fetch("/api/config/line-corners", {
-        method: "PUT",
-        headers: { "Content-Type": "application/json" },
-        body: JSON.stringify({
-          corners: orderedCorners,
-          goalSideMarker: originIndex + 1,
-        }),
-      });
-
-      if (!response.ok) throw new Error(await response.text());
-      savedAt = Date.now();
-    } catch (err) {
-      saveError = err instanceof Error ? err.message : String(err);
-    } finally {
-      saving = false;
-    }
+  function handleSave(): void {
+    void saveLineCorners(orderedCorners, originIndex + 1);
   }
 </script>
 
@@ -254,16 +233,16 @@
   <div class="save-row">
     <button
       type="button"
-      onclick={saveLineCorners}
-      disabled={saving || orderedCorners.length !== 4}
+      onclick={handleSave}
+      disabled={lineCorners.saving || orderedCorners.length !== 4}
     >
-      {saving ? "Saving..." : "Save to config.yml"}
+      {lineCorners.saving ? "Saving..." : "Save to config.yml"}
     </button>
-    {#if savedAt}
+    {#if lineCorners.savedAt}
       <span class="saved">Saved.</span>
     {/if}
-    {#if saveError}
-      <span class="error">Error: {saveError}</span>
+    {#if lineCorners.error}
+      <span class="error">Error: {lineCorners.error}</span>
     {/if}
   </div>
 </section>
diff --git a/gui/frontend/src/lib/FieldEditor.svelte b/gui/frontend/src/lib/FieldEditor.svelte
index 36f9da6..e743fd1 100644
--- a/gui/frontend/src/lib/FieldEditor.svelte
+++ b/gui/frontend/src/lib/FieldEditor.svelte
@@ -129,8 +129,17 @@
     { key: "penalty", label: "Penalty area" },
   ];
 
+  // virtualField is a module-level singleton, not component-local state --
+  // switching tabs away and back destroys and recreates this component
+  // (MainContent's {#if}/{:else if}), re-running onMount, but virtualField
+  // itself survives that unmount with whatever dirty edits were in progress.
+  // Reloading unconditionally would silently discard them; guard it exactly
+  // like handleLoad below does for the same class of data loss.
   onMount(() => {
-    void loadVirtualField();
+    if (!virtualField.dirty || confirm("Discard unsaved changes?")) {
+      void loadVirtualField();
+    }
+
     void loadFieldPresets();
   });
 
diff --git a/gui/frontend/src/lib/api.ts b/gui/frontend/src/lib/api.ts
new file mode 100644
index 0000000..0c34f26
--- /dev/null
+++ b/gui/frontend/src/lib/api.ts
@@ -0,0 +1,40 @@
+// Shared fetch helpers, used by every module that owns request state
+// (geometry.svelte.ts, lineCorners.svelte.ts, App.svelte's snapshot poll):
+// the same "set a loading/saving flag, clear the error, run the request,
+// catch and format any failure, always clear the flag" and "throw the
+// backend's own error text on a non-2xx response" shapes were previously
+// hand-repeated at every call site.
+
+// Runs fn with setLoading(true) for its duration. Clears the error first;
+// sets it (formatted the same way everywhere) if fn throws.
+export async function withLoadingState(
+  setLoading: (loading: boolean) => void,
+  setError: (message: string | null) => void,
+  fn: () => Promise<void>,
+): Promise<void> {
+  setLoading(true);
+  setError(null);
+
+  try {
+    await fn();
+  } catch (err) {
+    setError(err instanceof Error ? err.message : String(err));
+  } finally {
+    setLoading(false);
+  }
+}
+
+// fetch that throws the backend's own response body as the Error message on
+// a non-2xx status, instead of every caller re-deriving that (or, worse,
+// just the numeric status code) from scratch.
+export async function requestJSON(
+  url: string,
+  init?: RequestInit,
+): Promise<Response> {
+  const response = await fetch(url, init);
+  if (!response.ok) {
+    throw new Error(await response.text());
+  }
+
+  return response;
+}
diff --git a/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte b/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
index 38de4ed..91541f6 100644
--- a/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
+++ b/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
@@ -1,6 +1,7 @@
 <script lang="ts">
   import type { ConfigCategory } from "../layout/configCategories";
   import type { VisionInstance } from "../layout/nav.svelte";
+  import ConfigFieldList from "./ConfigFieldList.svelte";
 
   interface Props {
     category: ConfigCategory;
@@ -30,14 +31,7 @@
     below (see config.yml at the repo root for exact defaults/ranges).
   </p>
 
-  <dl>
-    {#each category.fields as field (field.name)}
-      <div class="field">
-        <dt>{field.name}</dt>
-        <dd>{field.comment}</dd>
-      </div>
-    {/each}
-  </dl>
+  <ConfigFieldList fields={category.fields} />
 </section>
 
 <style>
@@ -63,29 +57,6 @@
     font-size: 0.8rem;
   }
 
-  dl {
-    margin: 1rem 0 0;
-  }
-
-  .field {
-    display: flex;
-    gap: 1rem;
-    padding: 0.35rem 0;
-    border-bottom: 1px solid #eee;
-    font-size: 0.85rem;
-  }
-
-  dt {
-    flex: 0 0 12rem;
-    font-family: monospace;
-    font-weight: 600;
-  }
-
-  dd {
-    margin: 0;
-    color: #555;
-  }
-
   code {
     background: #eee;
     padding: 0.1rem 0.3rem;
diff --git a/gui/frontend/src/lib/config/ConfigFieldList.svelte b/gui/frontend/src/lib/config/ConfigFieldList.svelte
new file mode 100644
index 0000000..3ef6756
--- /dev/null
+++ b/gui/frontend/src/lib/config/ConfigFieldList.svelte
@@ -0,0 +1,43 @@
+<script lang="ts">
+  import type { ConfigField } from "../layout/configCategories";
+
+  interface Props {
+    fields: ConfigField[];
+  }
+
+  let { fields }: Props = $props();
+</script>
+
+<dl>
+  {#each fields as field (field.name)}
+    <div class="field">
+      <dt>{field.name}</dt>
+      <dd>{field.comment}</dd>
+    </div>
+  {/each}
+</dl>
+
+<style>
+  dl {
+    margin: 1rem 0 0;
+  }
+
+  .field {
+    display: flex;
+    gap: 1rem;
+    padding: 0.35rem 0;
+    border-bottom: 1px solid #eee;
+    font-size: 0.85rem;
+  }
+
+  dt {
+    flex: 0 0 12rem;
+    font-family: monospace;
+    font-weight: 600;
+  }
+
+  dd {
+    margin: 0;
+    color: #555;
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/GeometryPanel.svelte b/gui/frontend/src/lib/config/GeometryPanel.svelte
index 9646c19..567943a 100644
--- a/gui/frontend/src/lib/config/GeometryPanel.svelte
+++ b/gui/frontend/src/lib/config/GeometryPanel.svelte
@@ -2,6 +2,7 @@
   import type { ConfigCategory } from "../layout/configCategories";
   import type { VisionInstance } from "../layout/nav.svelte";
   import CornerPicker from "../CornerPicker.svelte";
+  import ConfigFieldList from "./ConfigFieldList.svelte";
 
   interface Props {
     category: ConfigCategory;
@@ -18,21 +19,14 @@
     <p class="hint">
       {instance.host} / cam {instance.cameraId}. The numeric settings below
       (config.yml's <code>geometry:</code> block) aren't wired to a backend yet; the
-      corner picker further down already is (writes to whichever config.yml you tell
-      it to, by hand -- see its own hint text).
+      corner picker further down already is (writes to this host's configured config.yml
+      automatically).
     </p>
   {:else}
     <p class="hint">Select a vision processor on the left first.</p>
   {/if}
 
-  <dl>
-    {#each category.fields as field (field.name)}
-      <div class="field">
-        <dt>{field.name}</dt>
-        <dd>{field.comment}</dd>
-      </div>
-    {/each}
-  </dl>
+  <ConfigFieldList fields={category.fields} />
 
   <CornerPicker />
 </section>
@@ -51,29 +45,6 @@
     font-size: 0.85rem;
   }
 
-  dl {
-    margin: 1rem 0;
-  }
-
-  .field {
-    display: flex;
-    gap: 1rem;
-    padding: 0.35rem 0;
-    border-bottom: 1px solid #eee;
-    font-size: 0.85rem;
-  }
-
-  dt {
-    flex: 0 0 12rem;
-    font-family: monospace;
-    font-weight: 600;
-  }
-
-  dd {
-    margin: 0;
-    color: #555;
-  }
-
   code {
     background: #eee;
     padding: 0.1rem 0.3rem;
diff --git a/gui/frontend/src/lib/geometry.svelte.ts b/gui/frontend/src/lib/geometry.svelte.ts
index e39eee1..6392b50 100644
--- a/gui/frontend/src/lib/geometry.svelte.ts
+++ b/gui/frontend/src/lib/geometry.svelte.ts
@@ -5,6 +5,7 @@ import type {
   SSL_FieldLineSegmentJson,
   SSL_FieldCircularArcJson,
 } from "../proto/vision/ssl_vision_geometry_pb";
+import { requestJSON, withLoadingState } from "./api";
 
 // The editable dimensions: everything the generated field size carries except
 // fieldLines/fieldArcs, which are derived server-side and never hand-edited.
@@ -75,16 +76,14 @@ export const virtualField = $state<{
 
 // Presets are loaded separately from loadVirtualField: a preset endpoint that
 // can't be read (see the Go handler's graceful degradation) shouldn't stop
-// the actual field config from loading, and vice versa.
+// the actual field config from loading, and vice versa -- a convenience, not
+// required, so a failure here is silently ignored rather than surfaced.
 export async function loadFieldPresets(): Promise<void> {
   try {
-    const response = await fetch("/api/geometry/presets");
-    if (response.ok) {
-      virtualField.presets = (await response.json()) as FieldPreset[];
-    }
+    const response = await requestJSON("/api/geometry/presets");
+    virtualField.presets = (await response.json()) as FieldPreset[];
   } catch {
-    // Presets are a convenience, not required for the editor to work -- an
-    // empty list just means the preset section has nothing to offer.
+    // An empty list just means the preset section has nothing to offer.
   }
 }
 
@@ -93,9 +92,7 @@ export async function loadFieldPresets(): Promise<void> {
 // them (load, save, save-as) leaves the server having just regenerated these
 // from whatever field config is now active.
 async function refreshFieldMarkings(): Promise<void> {
-  const response = await fetch("/api/geometry");
-  if (!response.ok) return;
-
+  const response = await requestJSON("/api/geometry");
   const geometry = (await response.json()) as GeometryResponse;
   virtualField.fieldLines = geometry.geometry?.field?.fieldLines ?? [];
   virtualField.fieldArcs = geometry.geometry?.field?.fieldArcs ?? [];
@@ -109,106 +106,78 @@ function applyFieldConfigResponse(config: FieldConfigResponse): void {
 }
 
 export async function loadVirtualField(): Promise<void> {
-  virtualField.loading = true;
-  virtualField.error = null;
-
-  try {
-    const response = await fetch("/api/geometry/field");
-    if (!response.ok) {
-      throw new Error(`GET /api/geometry/field: ${String(response.status)}`);
-    }
-
-    applyFieldConfigResponse((await response.json()) as FieldConfigResponse);
-    await refreshFieldMarkings();
-  } catch (err) {
-    virtualField.error = err instanceof Error ? err.message : String(err);
-  } finally {
-    virtualField.loading = false;
-  }
+  await withLoadingState(
+    (v) => (virtualField.loading = v),
+    (v) => (virtualField.error = v),
+    async () => {
+      const response = await requestJSON("/api/geometry/field");
+      applyFieldConfigResponse((await response.json()) as FieldConfigResponse);
+      await refreshFieldMarkings();
+    },
+  );
 }
 
 export async function saveVirtualField(): Promise<void> {
-  virtualField.saving = true;
-  virtualField.error = null;
-
-  try {
-    const response = await fetch("/api/geometry/field", {
-      method: "PUT",
-      headers: { "Content-Type": "application/json" },
-      body: JSON.stringify({
-        field: virtualField.field,
-        optionalFieldLines: virtualField.optionalFieldLines,
-      } satisfies FieldConfigResponse),
-    });
-
-    if (!response.ok) {
-      throw new Error(await response.text());
-    }
-
-    virtualField.dirty = false;
-    await refreshFieldMarkings();
-  } catch (err) {
-    virtualField.error = err instanceof Error ? err.message : String(err);
-  } finally {
-    virtualField.saving = false;
-  }
+  await withLoadingState(
+    (v) => (virtualField.saving = v),
+    (v) => (virtualField.error = v),
+    async () => {
+      await requestJSON("/api/geometry/field", {
+        method: "PUT",
+        headers: { "Content-Type": "application/json" },
+        body: JSON.stringify({
+          field: virtualField.field,
+          optionalFieldLines: virtualField.optionalFieldLines,
+        } satisfies FieldConfigResponse),
+      });
+
+      virtualField.dirty = false;
+      await refreshFieldMarkings();
+    },
+  );
 }
 
 // Writes the current field config to a new path and switches to editing that
 // file (see geometry.Geometry.SaveAs) -- subsequent saveVirtualField calls go
 // there, not wherever this session started out.
 export async function saveVirtualFieldAs(path: string): Promise<void> {
-  virtualField.saving = true;
-  virtualField.error = null;
-
-  try {
-    const response = await fetch("/api/geometry/field/save-as", {
-      method: "POST",
-      headers: { "Content-Type": "application/json" },
-      body: JSON.stringify({
-        path,
-        field: virtualField.field,
-        optionalFieldLines: virtualField.optionalFieldLines,
-      } satisfies FieldConfigResponse),
-    });
-
-    if (!response.ok) {
-      throw new Error(await response.text());
-    }
-
-    virtualField.path = path;
-    virtualField.dirty = false;
-    await refreshFieldMarkings();
-  } catch (err) {
-    virtualField.error = err instanceof Error ? err.message : String(err);
-  } finally {
-    virtualField.saving = false;
-  }
+  await withLoadingState(
+    (v) => (virtualField.saving = v),
+    (v) => (virtualField.error = v),
+    async () => {
+      await requestJSON("/api/geometry/field/save-as", {
+        method: "POST",
+        headers: { "Content-Type": "application/json" },
+        body: JSON.stringify({
+          path,
+          field: virtualField.field,
+          optionalFieldLines: virtualField.optionalFieldLines,
+        } satisfies FieldConfigResponse),
+      });
+
+      virtualField.path = path;
+      virtualField.dirty = false;
+      await refreshFieldMarkings();
+    },
+  );
 }
 
 // Discards the current field config and replaces it with whatever's at path
 // (see geometry.Geometry.LoadFrom). Existing calibrations are dropped
 // server-side -- they belonged to the field this used to be.
 export async function loadVirtualFieldFrom(path: string): Promise<void> {
-  virtualField.loading = true;
-  virtualField.error = null;
-
-  try {
-    const response = await fetch("/api/geometry/field/load", {
-      method: "POST",
-      headers: { "Content-Type": "application/json" },
-      body: JSON.stringify({ path }),
-    });
-
-    if (!response.ok) {
-      throw new Error(await response.text());
-    }
-
-    applyFieldConfigResponse((await response.json()) as FieldConfigResponse);
-    await refreshFieldMarkings();
-  } catch (err) {
-    virtualField.error = err instanceof Error ? err.message : String(err);
-  } finally {
-    virtualField.loading = false;
-  }
+  await withLoadingState(
+    (v) => (virtualField.loading = v),
+    (v) => (virtualField.error = v),
+    async () => {
+      const response = await requestJSON("/api/geometry/field/load", {
+        method: "POST",
+        headers: { "Content-Type": "application/json" },
+        body: JSON.stringify({ path }),
+      });
+
+      applyFieldConfigResponse((await response.json()) as FieldConfigResponse);
+      await refreshFieldMarkings();
+    },
+  );
 }
diff --git a/gui/frontend/src/lib/layout/ConfigNav.svelte b/gui/frontend/src/lib/layout/ConfigNav.svelte
index ea19700..96b2dea 100644
--- a/gui/frontend/src/lib/layout/ConfigNav.svelte
+++ b/gui/frontend/src/lib/layout/ConfigNav.svelte
@@ -8,6 +8,11 @@
   let instanceCategories = $derived(
     CONFIG_CATEGORIES.filter((c) => c.scope === "per-instance"),
   );
+
+  // Computed once, matching MainContent.svelte's own pattern for the same
+  // function, rather than calling selectedInstance() again at each of the
+  // template sites below.
+  let instance = $derived(selectedInstance());
 </script>
 
 <nav class="config-nav">
@@ -29,8 +34,8 @@
   </ul>
 
   <h2>
-    {#if selectedInstance()}
-      {selectedInstance()?.host} / cam {selectedInstance()?.cameraId}
+    {#if instance}
+      {instance.host} / cam {instance.cameraId}
     {:else}
       Per-instance (select one above)
     {/if}
@@ -41,7 +46,7 @@
         <button
           type="button"
           class:selected={category.id === nav.selectedCategoryId}
-          disabled={!selectedInstance()}
+          disabled={!instance}
           onclick={() => {
             nav.selectedCategoryId = category.id;
           }}
diff --git a/gui/frontend/src/lib/lineCorners.svelte.ts b/gui/frontend/src/lib/lineCorners.svelte.ts
new file mode 100644
index 0000000..e267e67
--- /dev/null
+++ b/gui/frontend/src/lib/lineCorners.svelte.ts
@@ -0,0 +1,73 @@
+// Shared state for the corner picker, mirroring geometry.svelte.ts's pattern
+// for the virtual field editor: a module-level $state object plus load/save
+// functions built on the shared api.ts helpers, instead of the corner picker
+// hand-rolling its own one-off fetch/loading/error shape.
+import { requestJSON, withLoadingState } from "./api";
+
+export interface Corner {
+  x: number;
+  y: number;
+}
+
+interface LineCornersResponse {
+  corners?: Corner[];
+  goalSideMarker?: number;
+}
+
+export const lineCorners = $state<{
+  corners: Corner[];
+  goalSideMarker: number | null;
+  loading: boolean;
+  saving: boolean;
+  error: string | null;
+  savedAt: number | null;
+}>({
+  corners: [],
+  goalSideMarker: null,
+  loading: false,
+  saving: false,
+  error: null,
+  savedAt: null,
+});
+
+// Loads whatever was last saved to the instance's config.yml (see
+// geometry.ReadLineCorners). lineCorners.corners stays empty if nothing's
+// been saved yet, or if what's there isn't a complete set of 4 -- that's the
+// normal, not-yet-calibrated state, not a failure.
+export async function loadLineCorners(): Promise<void> {
+  await withLoadingState(
+    (v) => (lineCorners.loading = v),
+    (v) => (lineCorners.error = v),
+    async () => {
+      const response = await requestJSON("/api/config/line-corners");
+      const data = (await response.json()) as LineCornersResponse;
+      lineCorners.corners = data.corners?.length === 4 ? data.corners : [];
+      lineCorners.goalSideMarker = data.goalSideMarker ?? null;
+    },
+  );
+}
+
+// Saves corners (already reordered so the goal-side corner is first -- see
+// orderedCorners in CornerPicker.svelte) and which original on-screen marker
+// number (1-4) was chosen, to the instance's config.yml (see
+// geometry.WriteLineCorners).
+export async function saveLineCorners(
+  corners: Corner[],
+  goalSideMarker: number,
+): Promise<void> {
+  lineCorners.savedAt = null;
+
+  await withLoadingState(
+    (v) => (lineCorners.saving = v),
+    (v) => (lineCorners.error = v),
+    async () => {
+      await requestJSON("/api/config/line-corners", {
+        method: "PUT",
+        headers: { "Content-Type": "application/json" },
+        body: JSON.stringify({ corners, goalSideMarker }),
+      });
+
+      lineCorners.savedAt = Date.now();
+    },
+  );
+}
diff --git a/gui/internal/geometry/field_config.go b/gui/internal/geometry/field_config.go
index 0e02c96..98d927d 100644
--- a/gui/internal/geometry/field_config.go
+++ b/gui/internal/geometry/field_config.go
@@ -189,6 +189,41 @@ func (g *Geometry) applyFieldConfig(cfg FieldConfig, opt OptionalLinesConfig) {
 	g.optional = optional
 }
 
+// applyAndPersist mutates g to reflect cfg/opt, re-encodes, and calls persist
+// to write the change to disk -- rolling the in-memory mutation back if
+// either step fails, so a rejected save never leaves g holding (and
+// broadcasting, over multicast and the WS hub) field data that was never
+// actually written anywhere. Callers must hold mu, must have already
+// validated cfg, and must have already checked ReadOnlyFiles for whichever
+// path persist is about to write to.
+func (g *Geometry) applyAndPersist(cfg FieldConfig, opt OptionalLinesConfig, persist func() error) error {
+	previousField := g.wrapper.Geometry.Field
+	previousOptional := g.optional
+	previousEncoded := g.encoded
+
+	rollback := func() {
+		g.wrapper.Geometry.Field = previousField
+		g.optional = previousOptional
+		g.encoded = previousEncoded
+	}
+
+	g.applyFieldConfig(cfg, opt)
+
+	if err := g.reencode(); err != nil {
+		rollback()
+
+		return fmt.Errorf("encode updated geometry: %w", err)
+	}
+
+	if err := persist(); err != nil {
+		rollback()
+
+		return fmt.Errorf("save %s: %w", g.path, err)
+	}
+
+	return nil
+}
+
 // UpdateField replaces the field dimensions and optional-line toggles,
 // regenerates the derived field lines/arcs, and persists the change to the
 // file Geometry was loaded from. Existing calibrations are kept.
@@ -210,17 +245,7 @@ func (g *Geometry) UpdateField(cfg FieldConfig, opt OptionalLinesConfig) error {
 		return &ReadOnlyError{path: g.path}
 	}
 
-	g.applyFieldConfig(cfg, opt)
-
-	if err := g.reencode(); err != nil {
-		return fmt.Errorf("encode updated geometry: %w", err)
-	}
-
-	if err := g.saveYAML(cfg, opt); err != nil {
-		return fmt.Errorf("save %s: %w", g.path, err)
-	}
-
-	return nil
+	return g.applyAndPersist(cfg, opt, func() error { return g.saveYAML(cfg, opt) })
 }
 
 // SaveAs is UpdateField plus switching which file Geometry edits: it writes
@@ -240,22 +265,18 @@ func (g *Geometry) SaveAs(path string, cfg FieldConfig, opt OptionalLinesConfig)
 		return &ReadOnlyError{path: path}
 	}
 
-	g.applyFieldConfig(cfg, opt)
-
-	if err := g.reencode(); err != nil {
-		return fmt.Errorf("encode updated geometry: %w", err)
-	}
-
-	// g.path only changes once we're past validation and encoding, so a
-	// rejected SaveAs never leaves Geometry claiming to be a file nothing was
-	// actually written to.
+	// g.path changes before persisting so applyAndPersist's error message (and
+	// saveYAML's ReadOnlyFiles recheck) refer to the new path -- rolled back
+	// on any failure, same as the field/optional/encoded state, so a rejected
+	// SaveAs never leaves Geometry claiming to be a file nothing was actually
+	// written to.
 	previousPath := g.path
 	g.path = path
 
-	if err := g.saveYAML(cfg, opt); err != nil {
+	if err := g.applyAndPersist(cfg, opt, func() error { return g.saveYAML(cfg, opt) }); err != nil {
 		g.path = previousPath
 
-		return fmt.Errorf("save %s: %w", path, err)
+		return err
 	}
 
 	return nil
diff --git a/gui/internal/geometry/geometry.go b/gui/internal/geometry/geometry.go
index f639bf3..4452dd6 100644
--- a/gui/internal/geometry/geometry.go
+++ b/gui/internal/geometry/geometry.go
@@ -129,12 +129,23 @@ func (g *Geometry) mergeCalib(camera *vision.SSL_GeometryCameraCalibration) bool
 	return true
 }
 
-// Run republishes via publish once per PublishInterval until ctx is cancelled.
+// Run publishes immediately, then republishes via publish once per
+// PublishInterval until ctx is cancelled. Publishing before the first wait
+// (not after) matters here: real vision_processor instances on the network
+// wait to receive the field-geometry template before they can calibrate, so
+// a restart of this host should hand it to them right away, not after an
+// extra idle PublishInterval.
 func (g *Geometry) Run(ctx context.Context, publish func([]byte)) error {
 	return g.run(ctx, PublishInterval, publish)
 }
 
 func (g *Geometry) run(ctx context.Context, interval time.Duration, publish func([]byte)) error {
+	// Skipped if ctx is already cancelled -- Run should do nothing and return
+	// immediately in that case, same as before this published up front.
+	if ctx.Err() == nil {
+		publish(g.Encoded())
+	}
+
 	ticker := time.NewTicker(interval)
 	defer ticker.Stop()
 
diff --git a/gui/internal/geometry/geometry_test.go b/gui/internal/geometry/geometry_test.go
index 9b8f807..53924a2 100644
--- a/gui/internal/geometry/geometry_test.go
+++ b/gui/internal/geometry/geometry_test.go
@@ -170,6 +170,50 @@ func TestConcurrentAbsorbAndRead(t *testing.T) {
 	}
 }
 
+// Real vision_processor instances wait for the field-geometry template
+// before they can calibrate -- Run must hand it to them immediately on
+// startup, not only after the first interval elapses.
+func TestRunPublishesImmediatelyBeforeTheFirstInterval(t *testing.T) {
+	g := testGeometry(t)
+
+	ctx, cancel := context.WithCancel(context.Background())
+	defer cancel()
+
+	published := make(chan []byte, 1)
+
+	// An interval far longer than the test's own timeout: if a publish
+	// arrives at all, it can only be the immediate one, not a ticked one.
+	go func() { _ = g.run(ctx, time.Hour, func(b []byte) { published <- b }) }()
+
+	select {
+	case <-published:
+	case <-time.After(time.Second):
+		t.Fatal("Run did not publish immediately")
+	}
+}
+
+// A Run started with an already-cancelled context does nothing at all --
+// confirms the immediate publish above doesn't fire unconditionally.
+func TestRunSkipsTheImmediatePublishIfAlreadyCancelled(t *testing.T) {
+	g := testGeometry(t)
+
+	ctx, cancel := context.WithCancel(context.Background())
+	cancel()
+
+	published := make(chan []byte, 1)
+
+	err := g.run(ctx, time.Hour, func(b []byte) { published <- b })
+	if err != context.Canceled { //nolint:errorlint // exact sentinel, not a wrapped error
+		t.Fatalf("run returned %v, want context.Canceled", err)
+	}
+
+	select {
+	case <-published:
+		t.Fatal("run published despite an already-cancelled context")
+	default:
+	}
+}
+
 func TestRunPublishesUntilCancelled(t *testing.T) {
 	g := testGeometry(t)
 
diff --git a/gui/internal/geometry/instance_config.go b/gui/internal/geometry/instance_config.go
index 0243dfb..52443db 100644
--- a/gui/internal/geometry/instance_config.go
+++ b/gui/internal/geometry/instance_config.go
@@ -5,10 +5,23 @@ import (
 	"os"
 	"regexp"
 	"strings"
+	"sync"
 
 	"gopkg.in/yaml.v3"
 )
 
+// instanceConfigMu serializes every WriteLineCorners/ReadLineCorners call.
+// Unlike Geometry, there's no per-instance object to hang a mutex off of --
+// this is a bare read-modify-write of a file on disk -- so a single
+// package-level lock is what keeps two concurrent PUT /api/config/line-corners
+// requests (two browser tabs, a double-click before the Save button disables)
+// from each doing their own unsynchronized os.ReadFile/os.WriteFile and
+// silently clobbering one another, and keeps a concurrent read from ever
+// seeing a half-written file. Matches this package's existing single,
+// same-host-instance assumption (see gui/CLAUDE.md) -- one config.yml, one
+// lock.
+var instanceConfigMu sync.Mutex
+
 // Corner is one point in image pixel coordinates, as produced by the corner
 // picker. Only the first element of a slice passed to WriteLineCorners is
 // meaningful to src/calib/GeomModel.cpp's cornerCalibration -- it must be the
@@ -31,6 +44,12 @@ var (
 // goal_side_marker (yaml-cpp's Node["key"] lookups ignore unknown keys), it's
 // purely a record for whoever looks at this file next.
 //
+// A bad corners/goalSideMarker argument is reported as a *ValidationError
+// (the caller's mistake), same type UpdateField/SaveAs use for the same
+// purpose -- callers use errors.As to give it a 400 instead of a 500, so this
+// bounds check only has to live here, not also at whatever HTTP handler
+// calls in.
+//
 // This edits the text directly rather than decoding/re-encoding the file as
 // YAML (contrast Geometry.saveYAML for geometry.yml): config.yml ships full
 // of comments and commented-out example values meant to be hand-read, and
@@ -40,13 +59,16 @@ var (
 // splice touches nothing outside the two keys it's asked to set.
 func WriteLineCorners(path string, corners []Corner, goalSideMarker int) error {
 	if len(corners) == 0 {
-		return fmt.Errorf("no corners given")
+		return &ValidationError{fmt.Errorf("no corners given")}
 	}
 
 	if goalSideMarker < 1 || goalSideMarker > len(corners) {
-		return fmt.Errorf("goalSideMarker must identify one of the %d corners, got %d", len(corners), goalSideMarker)
+		return &ValidationError{fmt.Errorf("goalSideMarker must identify one of the %d corners, got %d", len(corners), goalSideMarker)}
 	}
 
+	instanceConfigMu.Lock()
+	defer instanceConfigMu.Unlock()
+
 	data, err := os.ReadFile(path)
 	if err != nil {
 		return fmt.Errorf("read %s: %w", path, err)
@@ -85,6 +107,9 @@ type instanceConfig struct {
 // file has no line_corners yet -- that's the normal, not-yet-calibrated
 // state, not a failure.
 func ReadLineCorners(path string) ([]Corner, int, error) {
+	instanceConfigMu.Lock()
+	defer instanceConfigMu.Unlock()
+
 	data, err := os.ReadFile(path)
 	if err != nil {
 		return nil, 0, fmt.Errorf("read %s: %w", path, err)
diff --git a/gui/internal/geometry/instance_config_test.go b/gui/internal/geometry/instance_config_test.go
index b375362..4bb225f 100644
--- a/gui/internal/geometry/instance_config_test.go
+++ b/gui/internal/geometry/instance_config_test.go
@@ -4,6 +4,7 @@ import (
 	"os"
 	"path/filepath"
 	"strings"
+	"sync"
 	"testing"
 )
 
@@ -250,3 +251,42 @@ func TestWriteLineCornersUpdatesAnExistingGoalSideMarkerInPlace(t *testing.T) {
 		t.Errorf("goal_side_marker was not updated to the new value:\n%s", got)
 	}
 }
+
+// Two browser tabs (or a double-click racing the Save button's disabled
+// state) can call this concurrently on the same file. instanceConfigMu must
+// serialize them -- run under -race, and check the result is one complete
+// write, not a torn mix of two.
+func TestWriteLineCornersIsSafeForConcurrentCallers(t *testing.T) {
+	path := testConfigFile(t)
+
+	var wg sync.WaitGroup
+
+	for i := 1; i <= 8; i++ {
+		wg.Add(1)
+
+		go func(marker int) {
+			defer wg.Done()
+
+			corners := []Corner{
+				{X: marker, Y: marker},
+				{X: marker + 1, Y: marker + 1},
+				{X: marker + 2, Y: marker + 2},
+				{X: marker + 3, Y: marker + 3},
+			}
+			if err := WriteLineCorners(path, corners, 1); err != nil {
+				t.Errorf("WriteLineCorners: %v", err)
+			}
+		}(i)
+	}
+
+	wg.Wait()
+
+	corners, marker, err := ReadLineCorners(path)
+	if err != nil {
+		t.Fatalf("ReadLineCorners: %v", err)
+	}
+
+	if len(corners) != 4 || marker != 1 {
+		t.Errorf("got corners=%v marker=%d, want exactly one complete write's worth of data", corners, marker)
+	}
+}
diff --git a/gui/internal/hub/hub.go b/gui/internal/hub/hub.go
index f557d30..8fe58e0 100644
--- a/gui/internal/hub/hub.go
+++ b/gui/internal/hub/hub.go
@@ -54,18 +54,27 @@ func (h *Hub) Publish(topic string, data []byte) {
 	defer h.mu.Unlock()
 
 	for ch := range h.subs[topic] {
+		sendLatest(ch, data)
+	}
+}
+
+// sendLatest sends data on ch, dropping whatever unread value is already
+// queued rather than blocking or letting a backlog grow -- the drop-stale,
+// keep-latest guarantee this package makes wherever it multiplexes onto a
+// size-limited channel: a topic's own per-subscriber channel here, and (see
+// websocket.go's forwardTopic) a connection's shared outbound channel.
+func sendLatest(ch chan []byte, data []byte) {
+	select {
+	case ch <- data:
+	default:
 		select {
-		case ch <- data:
+		case <-ch:
 		default:
-			select {
-			case <-ch:
-			default:
-			}
+		}
 
-			select {
-			case ch <- data:
-			default:
-			}
+		select {
+		case ch <- data:
+		default:
 		}
 	}
 }
diff --git a/gui/internal/hub/hub_test.go b/gui/internal/hub/hub_test.go
index 2e5da76..145844b 100644
--- a/gui/internal/hub/hub_test.go
+++ b/gui/internal/hub/hub_test.go
@@ -103,6 +103,29 @@ func TestSlowSubscriberSeesOnlyLatestValue(t *testing.T) {
 	}
 }
 
+// forwardTopic (websocket.go) shares one connection-wide channel across every
+// topic a client subscribes to, unlike Publish's per-subscriber channel --
+// sendLatest is what both rely on for the same drop-stale, keep-latest
+// guarantee, so it's worth testing directly against a channel with room for
+// more than one queued value, not just the size-1 case Publish/Subscribe use.
+func TestSendLatestDropsTheOldestQueuedValueWhenFull(t *testing.T) {
+	ch := make(chan []byte, 2)
+
+	sendLatest(ch, []byte("a"))
+	sendLatest(ch, []byte("b"))
+	sendLatest(ch, []byte("c")) // full (a, b): must drop "a", never silently drop "c" itself
+
+	var got []string
+	for len(ch) > 0 {
+		got = append(got, string(<-ch))
+	}
+
+	want := []string{"b", "c"}
+	if len(got) != len(want) || got[0] != want[0] || got[1] != want[1] {
+		t.Errorf("queue ended up %v, want %v -- the newest value must never be the one dropped", got, want)
+	}
+}
+
 func TestConcurrentSubscribePublishUnsubscribe(t *testing.T) {
 	h := New()
 
diff --git a/gui/internal/hub/websocket.go b/gui/internal/hub/websocket.go
index fd112e6..6dc7b29 100644
--- a/gui/internal/hub/websocket.go
+++ b/gui/internal/hub/websocket.go
@@ -113,8 +113,16 @@ func serveConnection(h *Hub, conn *websocket.Conn) {
 }
 
 // forwardTopic relays one hub topic's values onto outbound until the topic is
-// unsubscribed (the hub channel closes).
-func forwardTopic(topic string, ch <-chan []byte, outbound chan<- []byte) {
+// unsubscribed (the hub channel closes). outbound is shared across every
+// topic this connection subscribes to, so uses the same drop-stale,
+// keep-latest sendLatest as a topic's own per-subscriber channel -- a slow
+// connection sees the latest value across its subscriptions, never a growing
+// backlog of stale ones queued ahead of it. (Concurrent forwardTopic
+// goroutines for different topics may occasionally race on which one's stale
+// entry gets dropped when both find outbound full at once; sendLatest's
+// channel ops are safe for that, and the guarantee that matters -- no
+// unbounded backlog -- still holds either way.)
+func forwardTopic(topic string, ch <-chan []byte, outbound chan []byte) {
 	for data := range ch {
 		envelope, err := json.Marshal(serverMessage{Topic: topic, Data: data})
 		if err != nil {
@@ -122,13 +130,7 @@ func forwardTopic(topic string, ch <-chan []byte, outbound chan<- []byte) {
 			continue
 		}
 
-		select {
-		case outbound <- envelope:
-		default:
-			// This connection is behind; drop rather than block every other
-			// topic (and every other connection sharing the hub) on one slow
-			// client.
-		}
+		sendLatest(outbound, envelope)
 	}
 }
 
diff --git a/gui/internal/logging/logging.go b/gui/internal/logging/logging.go
index ba5fade..df91e1b 100644
--- a/gui/internal/logging/logging.go
+++ b/gui/internal/logging/logging.go
@@ -17,9 +17,9 @@ import (
 )
 
 const (
-	defaultMaxSizeMB  = 50
-	defaultMaxBackups = 5
-	defaultMaxAgeDays = 14
+	rotateMaxSizeMB  = 50
+	rotateMaxBackups = 5
+	rotateMaxAgeDays = 14
 )
 
 // logLevel is package level so that an API handler can raise the level at
@@ -35,10 +35,6 @@ type Config struct {
 	// File is the rotating log file to write alongside stderr. Empty disables
 	// file logging entirely.
 	File string
-
-	MaxSizeMB  int
-	MaxBackups int
-	MaxAgeDays int
 }
 
 // SetLevel changes the level of every handler installed by Setup. Safe to call
@@ -101,9 +97,9 @@ func Setup(cfg Config) (func(), error) {
 		} else {
 			rotator := &lumberjack.Logger{
 				Filename:   cfg.File,
-				MaxSize:    orDefault(cfg.MaxSizeMB, defaultMaxSizeMB), // megabytes per file
-				MaxBackups: orDefault(cfg.MaxBackups, defaultMaxBackups),
-				MaxAge:     orDefault(cfg.MaxAgeDays, defaultMaxAgeDays), // days
+				MaxSize:    rotateMaxSizeMB, // megabytes per file
+				MaxBackups: rotateMaxBackups,
+				MaxAge:     rotateMaxAgeDays, // days
 				Compress:   false,
 			}
 			handlers = append(handlers, slog.NewTextHandler(rotator, &slog.HandlerOptions{
@@ -123,14 +119,6 @@ func Setup(cfg Config) (func(), error) {
 	return closeLog, setupErr
 }
 
-func orDefault(value, fallback int) int {
-	if value == 0 {
-		return fallback
-	}
-
-	return value
-}
-
 // colorSupported reports whether ANSI colour should be emitted to f. A pipe or
 // a redirect to a file is not a terminal, and NO_COLOR is the cross-tool
 // convention for turning colour off on one that is.
diff --git a/gui/internal/snapshot/snapshot.go b/gui/internal/snapshot/snapshot.go
index a770774..dffd120 100644
--- a/gui/internal/snapshot/snapshot.go
+++ b/gui/internal/snapshot/snapshot.go
@@ -16,11 +16,13 @@ import (
 	"sort"
 )
 
-// filename matches "<cam_id>.<view>.<ext>", e.g. "0.raw.jpg". Both captured
-// groups are also validated against this same character set before use in a
-// filepath.Glob, since Glob treats *, ?, and [ as metacharacters and an
-// unvalidated view name could turn a lookup into a directory listing.
-var filename = regexp.MustCompile(`^(\d+)\.([a-zA-Z0-9_-]+)\.(?:jpg|jpeg|png)$`)
+// filename matches "<cam_id>.<view>.<ext>", e.g. "0.raw.jpg" or
+// "0.pixels.corner.png" -- view itself may contain dots (GeomModel.cpp writes
+// "pixels.corner"/"pixels.refined"), so it's `.+`, not a restricted character
+// class. This only ever runs against real names returned by os.ReadDir, never
+// untrusted input, so there's no injection risk in being permissive here; see
+// validSegment below for the regex that actually guards a filepath.Glob call.
+var filename = regexp.MustCompile(`^(\d+)\.(.+)\.(?:jpg|jpeg|png)$`)
 
 // Entry identifies one available snapshot. Field names match what the
 // frontend already expects.
@@ -89,9 +91,12 @@ func list(dir string) ([]Entry, error) {
 }
 
 // validSegment matches one path-value component of a snapshot request: digits
-// for a camera id, or the same character set the filename itself uses for a
-// view name.
-var validSegment = regexp.MustCompile(`^[a-zA-Z0-9_-]+$`)
+// for a camera id, or a view name (which may contain dots, e.g.
+// "pixels.corner"). This guards untrusted URL input right before it reaches
+// filepath.Glob in latest() -- it excludes '/' (no escaping the single path
+// segment camID+"."+view+".*" is joined into) and Glob's own metacharacters
+// (*, ?, [, ]), which is what actually matters; dots are harmless here.
+var validSegment = regexp.MustCompile(`^[a-zA-Z0-9_.-]+$`)
 
 // HandleGet serves the most recently written {camID}.{view}.* file in dir.
 func HandleGet(dir string) http.HandlerFunc {
diff --git a/gui/internal/snapshot/snapshot_test.go b/gui/internal/snapshot/snapshot_test.go
index bcb188c..b0328ea 100644
--- a/gui/internal/snapshot/snapshot_test.go
+++ b/gui/internal/snapshot/snapshot_test.go
@@ -53,6 +53,23 @@ func TestListFindsMatchingFilesAndSkipsOthers(t *testing.T) {
 	}
 }
 
+// GeomModel.cpp writes debug overlays as "<camId>.pixels.corner.png" and
+// "<camId>.pixels.refined.png" -- view itself contains a dot.
+func TestListHandlesADottedViewName(t *testing.T) {
+	dir := t.TempDir()
+	writeFile(t, dir, "0.pixels.corner.png")
+
+	entries, err := list(dir)
+	if err != nil {
+		t.Fatalf("list: %v", err)
+	}
+
+	want := Entry{CamID: "0", View: "pixels.corner"}
+	if len(entries) != 1 || entries[0] != want {
+		t.Fatalf("entries = %v, want [%v]", entries, want)
+	}
+}
+
 func TestListDedupesSameCameraAndView(t *testing.T) {
 	dir := t.TempDir()
 	writeFile(t, dir, "0.raw.jpg")
@@ -131,6 +148,22 @@ func TestHandleGetServesTheMostRecentlyModifiedMatch(t *testing.T) {
 	}
 }
 
+func TestHandleGetServesADottedViewName(t *testing.T) {
+	dir := t.TempDir()
+	writeFile(t, dir, "0.pixels.corner.png")
+
+	rec := httptest.NewRecorder()
+	snapshotMux(dir).ServeHTTP(rec, httptest.NewRequest(http.MethodGet, "/api/snapshot/0/pixels.corner", nil))
+
+	if rec.Code != http.StatusOK {
+		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
+	}
+
+	if rec.Body.String() != "0.pixels.corner.png" {
+		t.Errorf("body = %q, want file contents", rec.Body.String())
+	}
+}
+
 func TestHandleGetReturns404ForNoMatch(t *testing.T) {
 	dir := t.TempDir()
 

From 166706cf54347884789f896b9956a33cd1ea22b9 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Fri, 25 Sep 2026 15:30:05 -0400
Subject: [PATCH 10/23] update docs

---
 README.md              |   2 +-
 gui/ARCHITECTURE.md    | 183 +++++++++++++++++++++++++++++++++++++++++
 gui/README.md          |  72 ++++++++++++++++
 gui/frontend/README.md |  57 ++++++++-----
 4 files changed, 294 insertions(+), 20 deletions(-)
 create mode 100644 gui/ARCHITECTURE.md
 create mode 100644 gui/README.md

diff --git a/README.md b/README.md
index c69fac1..fe70465 100644
--- a/README.md
+++ b/README.md
@@ -16,7 +16,7 @@ for all vision_processors, teams and the game controller.
 
 A Go host plus a browser UI, replacing `geom_publisher.py` for anyone running it:
 
-- `gui/` — Go host (`cmd/ssl-vision-processor-gui`). Owns the field geometry, absorbs calibrations from vision processors over multicast, and serves the embedded frontend, JSON API, a WebSocket for live updates, and debug snapshot images all on one port. Run with `cd gui && make run` (defaults to `geometry-divB.yml`).
+- `gui/` — Go host (`cmd/ssl-vision-processor-gui`). Owns the field geometry, absorbs calibrations from vision processors over multicast, and serves the embedded frontend, JSON API, a WebSocket for live updates, and debug snapshot images all on one port. Run with `cd gui && make run` (defaults to `geometry-divB.yml`). See [`gui/README.md`](gui/README.md) for development and [`gui/ARCHITECTURE.md`](gui/ARCHITECTURE.md) for its design.
 - `gui/frontend/` — Svelte 5 + TypeScript + Vite, embedded into the Go binary. Run standalone with `cd gui && make proto && cd frontend && npm install && npm run dev` (proxies `/api` and `/ws` to the Go host), or serve it from the Go host directly with `make run`. `make proto` regenerates the protobuf bindings the frontend imports (not committed to git; needs `buf`, or use `nix develop`, see [`gui/CLAUDE.md`](gui/CLAUDE.md)) and only needs to be rerun after the `proto/` submodule changes. See [`gui/frontend/README.md`](gui/frontend/README.md).
 
 ## Dependency installation and compilation
diff --git a/gui/ARCHITECTURE.md b/gui/ARCHITECTURE.md
new file mode 100644
index 0000000..c8b2436
--- /dev/null
+++ b/gui/ARCHITECTURE.md
@@ -0,0 +1,183 @@
+# gui Architecture
+
+This document describes the design of `gui`, the Go host and browser UI for vision_processor. It covers the
+subsystem in this directory only. The C++ vision_processor and the Python scripts in `python/` are described in
+the root README and are not modified by this subsystem.
+
+`gui` replaces `python/geom_publisher.py` for anyone running it. It is a single Go binary with an embedded
+Svelte frontend. It owns the shared field geometry, absorbs camera calibrations from vision_processor instances
+over multicast, and serves the frontend, a JSON API, and a WebSocket for live updates, all on one port.
+
+## System overview
+
+A venue runs one or more vision_processor instances, one per camera. Each instance shares a filesystem with the
+gui host (debug images in `img/`, the instance's own `config.yml`) and exchanges SSL vision protocol messages
+with it over the same multicast group the rest of the league uses.
+
+```mermaid
+graph LR
+    subgraph Venue Host
+        VP0["vision_processor cam 0"]
+        VP1["vision_processor cam 1"]
+        FS[("shared filesystem\nimg/, config.yml")]
+    end
+
+    GUI["gui host\nssl-vision-processor-gui"]
+    MC(("multicast\n224.5.23.2:10006"))
+    Browser["Browser UI"]
+
+    VP0 -->|"detections"| MC
+    VP1 -->|"detections"| MC
+    MC -->|"calibration"| GUI
+    GUI -->|"field template,\nmerged wrapper packet"| MC
+    MC -->|"field template"| VP0
+    MC -->|"field template"| VP1
+    VP0 -.-> FS
+    GUI -.-> FS
+    Browser --> GUI
+    GUI --> Browser
+```
+
+The gui host does not talk to a vision_processor instance directly. Both sides only ever speak to the multicast
+group, the same way any other league consumer would. This keeps the host interchangeable with the legacy
+`geom_publisher.py` service from the vision_processor's point of view. The browser talks to the gui host over
+HTTP and a WebSocket instead, covered under HTTP API and WebSocket protocol below.
+
+## Process layout
+
+`ssl-vision-processor-gui` is one process with three concurrent responsibilities, wired together in
+`cmd/ssl-vision-processor-gui/main.go`.
+
+```mermaid
+graph TD
+    main["main() / run()"]
+    http["HTTP server\ngoroutine"]
+    bridge["multicast bridge\ngoroutine"]
+    publish["geometry publish loop\ngoroutine, 1Hz"]
+
+    main --> http
+    main --> bridge
+    main --> publish
+    bridge -- "Absorb(calib)" --> Geometry
+    publish -- "Encoded()" --> Geometry
+    http -- "reads/writes" --> Geometry
+```
+
+All three goroutines share one `*geometry.Geometry` instance, guarded by its own mutex. Shutdown is graceful: an
+`os.Interrupt`/`SIGTERM` cancels a shared context, the HTTP server drains in-flight requests, and `main` waits for
+both other goroutines to exit before returning.
+
+## Package responsibilities
+
+| Package                | Responsibility                                                                 |
+| ---------------------- | -------------------------------------------------------------------------------|
+| `cmd/ssl-vision-processor-gui` | Flags, wiring, HTTP handlers and routes.                                |
+| `internal/geometry`    | Field configuration, calibration merge, the 1Hz publish loop, and the corner picker's config.yml writeback. |
+| `internal/multicast`   | Bridge to the SSL vision multicast group.                                     |
+| `internal/hub`         | In-process topic pub/sub and the `/ws` WebSocket handler.                     |
+| `internal/snapshot`    | Debug image listing and serving.                                              |
+| `internal/logging`     | slog setup: a coloured console handler and a rotating file handler.           |
+| `internal/vision`, `internal/gamecontroller` | Generated protobuf bindings. Not committed, see Build-time codegen below. |
+| `frontend`             | Svelte 5 and TypeScript, embedded into the binary via `//go:embed`.           |
+
+## Data flow: geometry state
+
+`Geometry` holds one `SSL_WrapperPacket`: the field template plus every camera's absorbed calibration. It keeps a
+cached protobuf encoding alongside the live message, since `proto.Marshal` writes to the message's own size cache
+and is not safe to call from multiple goroutines without a lock.
+
+```mermaid
+graph LR
+    Absorb["Absorb(calib)\nfrom multicast"] -->|"validated,\nmerged"| State[("Geometry\n(wrapper + encoded)")]
+    UpdateField["UpdateField / SaveAs / LoadFrom\nfrom HTTP"] -->|"validated,\npersisted to disk"| State
+    State -->|"Encoded()"| Multicast["multicast bridge"]
+    State -->|"Snapshot() -> protojson"| API["GET /api/geometry"]
+```
+
+A calibration missing a required proto2 field is rejected with `proto.CheckInitialized` before it can touch
+`State`, so a malformed message from one instance never desyncs the held message from its cached encoding. A
+field edit that fails to persist to disk (`UpdateField`, `SaveAs`) is rolled back the same way, so the live,
+broadcast state never claims a change that was never actually saved.
+
+## Data flow: corner picker calibration hint
+
+The corner picker lets an operator mark the field's first calibration corner directly on a debug snapshot in the
+browser, instead of estimating pixel coordinates by eye. It writes into the target instance's own `config.yml`,
+not into the shared `geometry.yml`.
+
+```mermaid
+sequenceDiagram
+    participant Browser
+    participant GUI as gui host
+    participant Config as config.yml
+    participant VP as vision_processor
+
+    Browser->>GUI: PUT /api/config/line-corners
+    GUI->>Config: splice geometry.line_corners, goal_side_marker
+    Note over VP: reloadConfigIfChanged() picks up<br/>the edit on its next frame
+    VP->>VP: geometryCalibration()
+    VP-->>GUI: SSL_GeometryData (multicast)
+    GUI->>GUI: Absorb(calib)
+    GUI-->>Browser: wrapper_packet.out (WebSocket)
+```
+
+`internal/geometry.WriteLineCorners` edits `config.yml` as text, not as decoded and re-encoded YAML. The file
+ships full of comments and commented out example values meant for a human to read, and a decode and re-encode
+round trip through the YAML library does not reliably preserve those. A line based splice touches only the two
+keys it is asked to set.
+
+## HTTP API
+
+All routes are registered in `cmd/ssl-vision-processor-gui/routes.go`.
+
+| Method | Path                          | Purpose                                                             |
+| ------ | ----------------------------- | -------------------------------------------------------------------|
+| GET    | `/api/health`                 | Liveness check.                                                     |
+| GET    | `/api/geometry`                | The full wrapper packet, as canonical protojson.                   |
+| GET    | `/api/geometry/field`          | The editable field dimensions and optional line toggles.           |
+| PUT    | `/api/geometry/field`          | Update the field dimensions, persisted to the current geometry file. |
+| POST   | `/api/geometry/field/save-as`  | Save the field config to a new file and switch to editing it.      |
+| POST   | `/api/geometry/field/load`     | Discard the current field config and load another file.            |
+| GET    | `/api/geometry/presets`        | The rulebook presets, read live from `geometry-divA.yml`/`geometry-divB.yml`. |
+| GET    | `/api/config/line-corners`     | The corner picker's last saved corners and goal side marker.        |
+| PUT    | `/api/config/line-corners`     | Save the corner picker's calibration hint to `config.yml`.          |
+| GET    | `/api/snapshots`               | List of debug images currently on disk.                            |
+| GET    | `/api/snapshot/{camID}/{view}` | One debug image.                                                    |
+| GET    | `/ws`                          | WebSocket, see below.                                               |
+
+An unrouted `/api/*` path returns 404 rather than falling through to the frontend, so a typo'd endpoint fails
+with a clear status instead of returning HTML to a caller expecting JSON. Every other path serves the embedded
+frontend, with a fallback to `index.html` for client side routes.
+
+## WebSocket protocol
+
+`/ws` is a single connection carrying a topic based publish/subscribe protocol, implemented in `internal/hub`.
+
+```json
+// client -> server
+{ "action": "subscribe",   "topic": "wrapper_packet.out" }
+{ "action": "unsubscribe", "topic": "wrapper_packet.out" }
+// server -> client
+{ "topic": "wrapper_packet.out", "data": { /* protojson */ } }
+```
+
+`wrapper_packet.out` carries the current `SSL_WrapperPacket` as canonical protojson, published once per second.
+Every channel in this path, from a topic's own subscriber channel to a connection's shared outbound channel, is
+size limited and drops the oldest queued value in favor of the newest one. A slow client sees only the latest
+value once it catches up, never a growing backlog of stale ones.
+
+## Build-time codegen
+
+`internal/vision`, `internal/gamecontroller`, and `frontend/src/proto` are `buf generate` output and are not
+committed. `buf.gen.yaml` uses local plugins (`go tool protoc-gen-go`, `protoc-gen-es` from the frontend's own
+`node_modules`), so generation needs no network beyond the already checked out `proto/` submodule. `gui/Makefile`
+regenerates them as an ordinary build prerequisite. See `gui/README.md` for the exact commands.
+
+## Not yet built
+
+- **Discovery.** Parsing `SSL_VPConfig` announces off multicast into an instance table. The C++ side does not
+  emit these yet.
+- **Host owned config push.** Diffing an instance's announced config against a desired one and pushing the
+  difference, rather than editing its `config.yml` by hand as the corner picker does today.
+- **Remote video.** `internal/snapshot` assumes the gui host and the vision_processor instance share a
+  filesystem. This does not hold once instances run on other hosts.
diff --git a/gui/README.md b/gui/README.md
new file mode 100644
index 0000000..5acb6bc
--- /dev/null
+++ b/gui/README.md
@@ -0,0 +1,72 @@
+# gui
+
+Go host and browser UI for vision_processor. Owns the shared field geometry, absorbs camera calibrations from
+vision_processor instances over multicast, and serves the frontend, a JSON API, and a WebSocket for live updates,
+all on one port. See [ARCHITECTURE.md](ARCHITECTURE.md) for how it fits together and why it is built this way.
+
+This document covers development on `gui` itself. For running vision_processor at a venue, see the root
+[README.md](../README.md). For the frontend's own layout and scripts, see
+[frontend/README.md](frontend/README.md).
+
+## Requirements
+
+The root `flake.nix` provides everything needed: `go`, `buf`, `nodejs_22`, and the C++ toolchain for the rest of
+the repo. Run `nix develop` from the repo root before any command below.
+
+Without nix, you need `buf` on your `PATH`, a Go toolchain matching the `go` directive in `gui/go.mod`, and
+Node 22. `protoc-gen-go` and `protoc-gen-es` do not need to be installed separately: `go tool protoc-gen-go` is
+resolved from `gui/go.mod`'s `tool` directive, and `protoc-gen-es` is a `frontend/package.json` devDependency
+installed by `npm ci`.
+
+## Commands
+
+Run these from `gui/`.
+
+| Command        | Effect                                                                        |
+| -------------- | -------------------------------------------------------------------------------|
+| `make run`     | Regenerate protobuf bindings, build the frontend, and run the Go host on `:8085`. |
+| `make test`    | Frontend check, lint, and format, plus `go test -race` for every package.     |
+| `make install` | `go install` after a frontend build.                                          |
+| `make proto`   | Regenerate `internal/vision`, `internal/gamecontroller`, and `frontend/src/proto`. |
+| `make vet`     | `go vet` for every package.                                                    |
+| `make build`   | `go build` for every package, without installing.                            |
+| `make clean`   | Remove the frontend build, generated protobuf code, and build sentinels.      |
+
+`make proto` needs `git submodule update --init` to have been run once, but no network beyond that: both of
+`buf.gen.yaml`'s plugins are local, not buf.build remotes. `make run`, `make test`, and `make install` all depend
+on it, so a fresh checkout builds correctly without a separate manual step.
+
+For frontend only work with hot reload:
+
+```
+cd frontend
+npm run dev
+```
+
+This proxies `/api` and `/ws` to the Go host, so `gui`'s own server still needs to be running (`make run` in a
+second terminal) for the page to show anything.
+
+## Repository layout
+
+```
+cmd/ssl-vision-processor-gui/   entry point: flags, wiring, HTTP server
+internal/
+  geometry/    field config, calibration merge, the 1Hz publish loop, corner picker writeback
+  multicast/   bridge to the SSL vision multicast group
+  hub/         topic pub/sub and the /ws handler
+  snapshot/    debug image listing and serving
+  logging/     slog setup
+  vision/      generated protobuf bindings, not committed
+  gamecontroller/  generated protobuf bindings, not committed
+frontend/      Svelte 5, TypeScript, and Vite, embedded via //go:embed
+buf.gen.yaml   buf configuration for the two packages above
+```
+
+## Testing
+
+`go test -race` runs on every package. This code is concurrent by construction: a mutex guarded `Geometry` and a
+multi goroutine WebSocket hub. Tests that exercise a file write (`internal/geometry`, `cmd/.../server_test.go`)
+copy their fixture into `t.TempDir()` first and never operate on the checked in `testdata/` files directly.
+
+`go test ./...` from `gui/` will try to compile stray Go source inside `frontend/node_modules`. Use
+`go test ./cmd/... ./internal/... ./frontend`, which is what `Makefile` and CI both do.
diff --git a/gui/frontend/README.md b/gui/frontend/README.md
index 3071a21..3c13fe1 100644
--- a/gui/frontend/README.md
+++ b/gui/frontend/README.md
@@ -1,11 +1,19 @@
 # vision-processor-gui-frontend
 
-Browser UI for the vision-processor GUI. Svelte 5 + TypeScript + Vite.
-
-Currently a skeleton: connects to a WebSocket at `/ws` and asks the
-backend (via `GET /api/snapshots`) which debug images currently exist
-on disk (only meaningful when the browser and the vision processor
-share a filesystem -- see the root [README.md](../../README.md)).
+Browser UI for the vision-processor GUI. Svelte 5, TypeScript, and Vite. See
+[`gui/README.md`](../README.md) for building it as part of the Go host, and
+[`gui/ARCHITECTURE.md`](../ARCHITECTURE.md) for how the whole system fits
+together. This document covers the frontend's own layout and scripts.
+
+The UI is organized as a two column shell: an instance list and config
+category nav on the left, the selected category's panel on the right. A tab
+bar above the panel gives quick access to the categories used most, Virtual
+Field, Geometry, and Color. Virtual Field edits the shared `geometry.yml`
+field template. Geometry embeds the corner picker, which lets an operator
+mark a calibration corner on a debug snapshot and save it into that
+instance's `config.yml`. Debug snapshots (via `GET /api/snapshots`) are only
+meaningful when the browser and the vision processor share a filesystem, see
+the root [README.md](../../README.md).
 
 ## Run
 
@@ -28,19 +36,30 @@ make run
 Either way the Go host in `gui/` must be running for the connection
 badge and snapshot grid to show anything.
 
-## Architecture
-
-- `src/lib/wrapper-bus.ts` — single `WebSocket` client. Exposes
-  `connectionState` (Svelte store) and `topic<T>(name)` (returns a
-  store of the latest message). Subscribes to a topic lazily on first
-  reader, unsubscribes when the last reader goes away. Reconnects on
-  close with exponential backoff (1s → 30s).
-- `src/App.svelte` — placeholder UI: connection badge + a grid of
-  `<img>` tags, one per entry returned by `GET /api/snapshots`. The list is
-  refreshed every 5 s; each `<img>` is refreshed once per second via a
-  cache-busting `?t=<ms>` query. Plus a dev panel with a subscribe
-  toggle + JSON dump for `wrapper_packet.out`.
-- `src/main.ts` — mounts `App` into `#app`.
+## Layout
+
+- `src/lib/layout/` holds the shell: `Shell.svelte` (the two column grid and
+  connection badge), `InstanceList.svelte`, `ConfigNav.svelte`, `TabBar.svelte`,
+  and `MainContent.svelte`, which switches panels on `nav.selectedCategoryId`.
+  `nav.svelte.ts` and `configCategories.ts` hold the shared navigation state
+  and the category list itself.
+- `src/lib/FieldEditor.svelte` is the Virtual Field editor, backed by
+  `src/lib/geometry.svelte.ts`, a module level `$state` object shared with
+  anything else that needs the field config.
+- `src/lib/config/GeometryPanel.svelte` is the Geometry category's panel. It
+  embeds `src/lib/CornerPicker.svelte`, backed by
+  `src/lib/lineCorners.svelte.ts` in the same way.
+- `src/lib/api.ts` holds the fetch helpers (`requestJSON`, `withLoadingState`)
+  every panel's load and save functions are built on.
+- `src/lib/wrapper-bus.ts` is a single `WebSocket` client. It exposes
+  `connectionState` (a Svelte store) and `topic<T>(name)` (a store of the
+  latest message on that topic). A topic subscribes lazily on first reader
+  and unsubscribes when the last reader goes away. It reconnects on close
+  with exponential backoff, from 1 second up to 30.
+- `src/App.svelte` mounts the shell and still carries a couple of temporary
+  debug utilities predating it (a snapshot grid and a raw `wrapper_packet.out`
+  dump), kept until the mockup's real Video and Debug Console panels exist.
+- `src/main.ts` mounts `App` into `#app`.
 
 The WS wire format (`gui/internal/hub`):
 

From 7749c3c2578f975d7e8b3a90d7f0e97d508fbd3e Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Fri, 25 Sep 2026 15:46:43 -0400
Subject: [PATCH 11/23] minor docs correction

---
 gui/ARCHITECTURE.md | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/gui/ARCHITECTURE.md b/gui/ARCHITECTURE.md
index c8b2436..24302ea 100644
--- a/gui/ARCHITECTURE.md
+++ b/gui/ARCHITECTURE.md
@@ -114,7 +114,7 @@ sequenceDiagram
 
     Browser->>GUI: PUT /api/config/line-corners
     GUI->>Config: splice geometry.line_corners, goal_side_marker
-    Note over VP: reloadConfigIfChanged() picks up<br/>the edit on its next frame
+    Note over VP: geometry: is only read at startup,<br/>not by reloadConfigIfChanged() -- restart required
     VP->>VP: geometryCalibration()
     VP-->>GUI: SSL_GeometryData (multicast)
     GUI->>GUI: Absorb(calib)
@@ -126,6 +126,11 @@ ships full of comments and commented out example values meant for a human to rea
 round trip through the YAML library does not reliably preserve those. A line based splice touches only the two
 keys it is asked to set.
 
+The `geometry:` section is only read once, when `Resources` is constructed at process startup
+(`src/Resources.cpp`). `reloadConfigIfChanged()` hot reloads `thresholds`, `tracking`, `color`, and `debug` every
+half second, but never `geometry`, `camera`, `network`, or `stream`. A corner saved through this endpoint has no
+effect until the target vision_processor instance is restarted.
+
 ## HTTP API
 
 All routes are registered in `cmd/ssl-vision-processor-gui/routes.go`.

From d963b4e04871b76a97cffa2bf4e4ffabea2b2877 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Fri, 25 Sep 2026 21:29:52 -0400
Subject: [PATCH 12/23] dimension view layout updates

---
 gui/frontend/package-lock.json                | 714 ++++++++++++++++--
 gui/frontend/package.json                     |   6 +-
 gui/frontend/src/App.svelte                   |   3 +
 gui/frontend/src/app.css                      |  54 ++
 gui/frontend/src/lib/FieldEditor.svelte       |  63 +-
 gui/frontend/src/lib/fieldConfigFields.ts     |  51 ++
 gui/frontend/src/lib/fieldSplit.ts            |   8 +
 .../src/lib/wizard/SetupWizard.svelte         |  84 +++
 .../wizard/steps/WizardDimensionLine.svelte   | 198 +++++
 .../lib/wizard/steps/WizardDimensions.svelte  |  86 +++
 .../steps/WizardDimensionsPreview.svelte      | 235 ++++++
 .../wizard/steps/WizardFieldPreview.svelte    | 137 ++++
 .../src/lib/wizard/steps/WizardFinish.svelte  |  33 +
 .../src/lib/wizard/steps/WizardLayout.svelte  |  61 ++
 .../wizard/steps/WizardOptionalLines.svelte   |  25 +
 .../wizard/steps/WizardRadiusDimension.svelte | 139 ++++
 .../src/lib/wizard/steps/WizardStart.svelte   |  46 ++
 gui/frontend/src/lib/wizard/wizard.svelte.ts  | 111 +++
 gui/frontend/src/main.ts                      |   1 +
 gui/frontend/vite.config.ts                   |   5 +-
 20 files changed, 1965 insertions(+), 95 deletions(-)
 create mode 100644 gui/frontend/src/app.css
 create mode 100644 gui/frontend/src/lib/fieldConfigFields.ts
 create mode 100644 gui/frontend/src/lib/wizard/SetupWizard.svelte
 create mode 100644 gui/frontend/src/lib/wizard/steps/WizardDimensionLine.svelte
 create mode 100644 gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
 create mode 100644 gui/frontend/src/lib/wizard/steps/WizardDimensionsPreview.svelte
 create mode 100644 gui/frontend/src/lib/wizard/steps/WizardFieldPreview.svelte
 create mode 100644 gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
 create mode 100644 gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
 create mode 100644 gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
 create mode 100644 gui/frontend/src/lib/wizard/steps/WizardRadiusDimension.svelte
 create mode 100644 gui/frontend/src/lib/wizard/steps/WizardStart.svelte
 create mode 100644 gui/frontend/src/lib/wizard/wizard.svelte.ts

diff --git a/gui/frontend/package-lock.json b/gui/frontend/package-lock.json
index 3aa8502..1f6875a 100644
--- a/gui/frontend/package-lock.json
+++ b/gui/frontend/package-lock.json
@@ -8,12 +8,15 @@
       "name": "vision-processor-gui-frontend",
       "version": "0.0.0",
       "dependencies": {
-        "@bufbuild/protobuf": "^2.14.1"
+        "@bufbuild/protobuf": "^2.14.1",
+        "flowbite": "^4.0.2",
+        "flowbite-svelte": "^1.33.1"
       },
       "devDependencies": {
         "@bufbuild/protoc-gen-es": "^2.14.1",
         "@eslint/js": "^10.0.1",
         "@sveltejs/vite-plugin-svelte": "^7.1.2",
+        "@tailwindcss/vite": "^4.3.3",
         "@tsconfig/svelte": "^5.0.8",
         "@types/node": "^24.12.3",
         "eslint": "^10.3.0",
@@ -25,11 +28,24 @@
         "svelte": "^5.55.5",
         "svelte-check": "^4.4.8",
         "svelte-eslint-parser": "^1.6.1",
+        "tailwindcss": "^4.3.3",
         "typescript": "~6.0.2",
         "typescript-eslint": "^8.59.3",
         "vite": "^8.0.12"
       }
     },
+    "node_modules/@alloc/quick-lru": {
+      "version": "5.3.0",
+      "resolved": "https://registry.npmjs.org/@alloc/quick-lru/-/quick-lru-5.3.0.tgz",
+      "integrity": "sha512-U4+70Pc5ZS9osnCBCE5Jha/ciHM+Yp+CNMNC/7HvYbNRk1Ldd+f7qO65W5qfhu/TCv+/ozljlXXe9Nj8419DMA==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=10"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/sindresorhus"
+      }
+    },
     "node_modules/@bufbuild/protobuf": {
       "version": "2.15.0",
       "resolved": "https://registry.npmjs.org/@bufbuild/protobuf/-/protobuf-2.15.0.tgz",
@@ -91,7 +107,6 @@
       "version": "1.10.0",
       "resolved": "https://registry.npmjs.org/@emnapi/core/-/core-1.10.0.tgz",
       "integrity": "sha512-yq6OkJ4p82CAfPl0u9mQebQHKPJkY7WrIuk205cTYnYe+k2Z8YBh11FrbRG/H6ihirqcacOgl2BIO8oyMQLeXw==",
-      "dev": true,
       "license": "MIT",
       "optional": true,
       "dependencies": {
@@ -103,7 +118,6 @@
       "version": "1.10.0",
       "resolved": "https://registry.npmjs.org/@emnapi/runtime/-/runtime-1.10.0.tgz",
       "integrity": "sha512-ewvYlk86xUoGI0zQRNq/mC+16R1QeDlKQy21Ki3oSYXNgLb45GV1P6A0M+/s6nyCuNDqe5VpaY84BzXGwVbwFA==",
-      "dev": true,
       "license": "MIT",
       "optional": true,
       "dependencies": {
@@ -114,7 +128,6 @@
       "version": "1.2.1",
       "resolved": "https://registry.npmjs.org/@emnapi/wasi-threads/-/wasi-threads-1.2.1.tgz",
       "integrity": "sha512-uTII7OYF+/Mes/MrcIOYp5yOtSMLBWSIoLPpcgwipoiKbli6k322tcoFsxoIIxPDqW01SQGAgko4EzZi2BNv2w==",
-      "dev": true,
       "license": "MIT",
       "optional": true,
       "dependencies": {
@@ -249,6 +262,31 @@
         "node": "^20.19.0 || ^22.13.0 || >=24"
       }
     },
+    "node_modules/@floating-ui/core": {
+      "version": "1.8.0",
+      "resolved": "https://registry.npmjs.org/@floating-ui/core/-/core-1.8.0.tgz",
+      "integrity": "sha512-0CIZ5itps/8x7BG8dEIhs53BvCUH2PCoogtakwRTut+Arm58sJooJ0AuZhLw2HJYIR5cMLNPBSS728sPho2khQ==",
+      "license": "MIT",
+      "dependencies": {
+        "@floating-ui/utils": "^0.2.12"
+      }
+    },
+    "node_modules/@floating-ui/dom": {
+      "version": "1.8.0",
+      "resolved": "https://registry.npmjs.org/@floating-ui/dom/-/dom-1.8.0.tgz",
+      "integrity": "sha512-yXSrzeHZBTZadLOlfyhCkJHNeLJnHRnRInwdZ40L7ZiaAtrBwoYlsDrX3v5zB1Utk7CLfzcOVnVVWoXEky7Ceg==",
+      "license": "MIT",
+      "dependencies": {
+        "@floating-ui/core": "^1.8.0",
+        "@floating-ui/utils": "^0.2.12"
+      }
+    },
+    "node_modules/@floating-ui/utils": {
+      "version": "0.2.12",
+      "resolved": "https://registry.npmjs.org/@floating-ui/utils/-/utils-0.2.12.tgz",
+      "integrity": "sha512-HpCo8tmWzLVad5s2d19EhAz5zqrrQ6s69qd6moPMQvkOuSwDT1YgRfWSVuc4ennqrgv3OHppiOGMQ7oC13yIww==",
+      "license": "MIT"
+    },
     "node_modules/@humanfs/core": {
       "version": "0.19.2",
       "resolved": "https://registry.npmjs.org/@humanfs/core/-/core-0.19.2.tgz",
@@ -319,7 +357,6 @@
       "version": "0.3.13",
       "resolved": "https://registry.npmjs.org/@jridgewell/gen-mapping/-/gen-mapping-0.3.13.tgz",
       "integrity": "sha512-2kkt/7niJ6MgEPxF0bYdQ6etZaA+fQvDcLKckhy1yIQOzaoKjBBjSj63/aLVjYE3qhRt5dvM+uUyfCg6UKCBbA==",
-      "dev": true,
       "license": "MIT",
       "dependencies": {
         "@jridgewell/sourcemap-codec": "^1.5.0",
@@ -330,7 +367,6 @@
       "version": "2.3.5",
       "resolved": "https://registry.npmjs.org/@jridgewell/remapping/-/remapping-2.3.5.tgz",
       "integrity": "sha512-LI9u/+laYG4Ds1TDKSJW2YPrIlcVYOwi2fUC6xB43lueCjgxV4lffOCZCtYFiH6TNOX+tQKXx97T4IKHbhyHEQ==",
-      "dev": true,
       "license": "MIT",
       "dependencies": {
         "@jridgewell/gen-mapping": "^0.3.5",
@@ -341,7 +377,6 @@
       "version": "3.1.2",
       "resolved": "https://registry.npmjs.org/@jridgewell/resolve-uri/-/resolve-uri-3.1.2.tgz",
       "integrity": "sha512-bRISgCIjP20/tbWSPWMEi54QVPRZExkuD9lJL+UIxUKtwVJA8wW1Trb1jMs1RFXo1CBTNZ/5hpC9QvmKWdopKw==",
-      "dev": true,
       "license": "MIT",
       "engines": {
         "node": ">=6.0.0"
@@ -351,14 +386,12 @@
       "version": "1.5.5",
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       },
@@ -2334,6 +2860,27 @@
         "url": "https://paulmillr.com/funding/"
       }
     },
+    "node_modules/resolve": {
+      "version": "1.22.12",
+      "resolved": "https://registry.npmjs.org/resolve/-/resolve-1.22.12.tgz",
+      "integrity": "sha512-TyeJ1zif53BPfHootBGwPRYT1RUt6oGWsaQr8UyZW/eAm9bKoijtvruSDEmZHm92CwS9nj7/fWttqPCgzep8CA==",
+      "license": "MIT",
+      "dependencies": {
+        "es-errors": "^1.3.0",
+        "is-core-module": "^2.16.1",
+        "path-parse": "^1.0.7",
+        "supports-preserve-symlinks-flag": "^1.0.0"
+      },
+      "bin": {
+        "resolve": "bin/resolve"
+      },
+      "engines": {
+        "node": ">= 0.4"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
     "node_modules/rolldown": {
       "version": "1.0.0",
       "resolved": "https://registry.npmjs.org/rolldown/-/rolldown-1.0.0.tgz",
@@ -2421,17 +2968,27 @@
       "version": "1.2.1",
       "resolved": "https://registry.npmjs.org/source-map-js/-/source-map-js-1.2.1.tgz",
       "integrity": "sha512-UXWMKhLOwVKb728IUtQPXxfYU+usdybtUrK/8uGE8CQMvrhOpwvzDBwj0QhSL7MQc7vIsISBG8VQ8+IDQxpfQA==",
-      "dev": true,
       "license": "BSD-3-Clause",
       "engines": {
         "node": ">=0.10.0"
       }
     },
+    "node_modules/supports-preserve-symlinks-flag": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/supports-preserve-symlinks-flag/-/supports-preserve-symlinks-flag-1.0.0.tgz",
+      "integrity": "sha512-ot0WnXS9fgdkgIcePe6RHNk1WA8+muPa6cSjeR3V8K27q9BB1rTE3R1p7Hv0z1ZyAc8s6Vvv8DIyWf681MAt0w==",
+      "license": "MIT",
+      "engines": {
+        "node": ">= 0.4"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
     "node_modules/svelte": {
       "version": "5.55.5",
       "resolved": "https://registry.npmjs.org/svelte/-/svelte-5.55.5.tgz",
       "integrity": "sha512-2uCs/LZ9us+AktdzYJM8OcxQ8qnPS1kpaO7syGT/MgO+6Qr1Ybl+TqPq+97u7PHqmmMlye5ZkoyXONy5mjjAbw==",
-      "dev": true,
       "license": "MIT",
       "dependencies": {
         "@jridgewell/remapping": "^2.3.4",
@@ -2558,6 +3115,57 @@
         "url": "https://opencollective.com/eslint"
       }
     },
+    "node_modules/tailwind-merge": {
+      "version": "3.7.0",
+      "resolved": "https://registry.npmjs.org/tailwind-merge/-/tailwind-merge-3.7.0.tgz",
+      "integrity": "sha512-XPPUyAc+cvspz3lHTcR/QgPfW2A0lv/xQNIjX3HGhLR+Nq2lHaLq5MtTesHn8GUr3W3DguT2KT5x3NVgRtYwmA==",
+      "license": "MIT",
+      "funding": {
+        "type": "github",
+        "url": "https://github.com/sponsors/dcastil"
+      }
+    },
+    "node_modules/tailwind-variants": {
+      "version": "3.3.1",
+      "resolved": "https://registry.npmjs.org/tailwind-variants/-/tailwind-variants-3.3.1.tgz",
+      "integrity": "sha512-4pAvwUtM4HKBiRZftncAbpn6V9Hhwoa5Fl7O2u5zbp7Z5Cvu+/o/6+176WY3WCEES209543quG8zFIcXCsc5Jw==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=16.9.x",
+        "pnpm": ">=7.x"
+      },
+      "peerDependencies": {
+        "tailwind-merge": ">=3.0.0",
+        "tailwindcss": "*"
+      },
+      "peerDependenciesMeta": {
+        "tailwind-merge": {
+          "optional": true
+        },
+        "tailwindcss": {
+          "optional": true
+        }
+      }
+    },
+    "node_modules/tailwindcss": {
+      "version": "4.3.3",
+      "resolved": "https://registry.npmjs.org/tailwindcss/-/tailwindcss-4.3.3.tgz",
+      "integrity": "sha512-gOhV3P7ufE62QDGg1zVaTgCR+EtPv92k2nIhVcVKcLmxT1sUBsQGhnZj175j+MqRt4zLF7ic+sCYjfhxMxj7YQ==",
+      "license": "MIT"
+    },
+    "node_modules/tapable": {
+      "version": "2.3.3",
+      "resolved": "https://registry.npmjs.org/tapable/-/tapable-2.3.3.tgz",
+      "integrity": "sha512-uxc/zpqFg6x7C8vOE7lh6Lbda8eEL9zmVm/PLeTPBRhh1xCgdWaQ+J1CUieGpIfm2HdtsUpRv+HshiasBMcc6A==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=6"
+      },
+      "funding": {
+        "type": "opencollective",
+        "url": "https://opencollective.com/webpack"
+      }
+    },
     "node_modules/tinyglobby": {
       "version": "0.2.16",
       "resolved": "https://registry.npmjs.org/tinyglobby/-/tinyglobby-0.2.16.tgz",
@@ -2592,7 +3200,6 @@
       "version": "2.8.1",
       "resolved": "https://registry.npmjs.org/tslib/-/tslib-2.8.1.tgz",
       "integrity": "sha512-oJFu94HQb+KVduSUQL7wnpmqnfmLsOA/nAh6b6EH0wCEoK0/mPeXU6c3wKDV83MkOuHPRHtSXKKU99IBazS/2w==",
-      "dev": true,
       "license": "0BSD",
       "optional": true
     },
@@ -2830,7 +3437,6 @@
       "version": "1.1.4",
       "resolved": "https://registry.npmjs.org/zimmerframe/-/zimmerframe-1.1.4.tgz",
       "integrity": "sha512-B58NGBEoc8Y9MWWCQGl/gq9xBCe4IiKM0a2x7GZdQKOW5Exr8S1W24J6OgM1njK8xCRGvAJIL/MxXHf6SkmQKQ==",
-      "dev": true,
       "license": "MIT"
     }
   }
diff --git a/gui/frontend/package.json b/gui/frontend/package.json
index 59a8072..6b82939 100644
--- a/gui/frontend/package.json
+++ b/gui/frontend/package.json
@@ -16,6 +16,7 @@
     "@bufbuild/protoc-gen-es": "^2.14.1",
     "@eslint/js": "^10.0.1",
     "@sveltejs/vite-plugin-svelte": "^7.1.2",
+    "@tailwindcss/vite": "^4.3.3",
     "@tsconfig/svelte": "^5.0.8",
     "@types/node": "^24.12.3",
     "eslint": "^10.3.0",
@@ -27,11 +28,14 @@
     "svelte": "^5.55.5",
     "svelte-check": "^4.4.8",
     "svelte-eslint-parser": "^1.6.1",
+    "tailwindcss": "^4.3.3",
     "typescript": "~6.0.2",
     "typescript-eslint": "^8.59.3",
     "vite": "^8.0.12"
   },
   "dependencies": {
-    "@bufbuild/protobuf": "^2.14.1"
+    "@bufbuild/protobuf": "^2.14.1",
+    "flowbite": "^4.0.2",
+    "flowbite-svelte": "^1.33.1"
   }
 }
diff --git a/gui/frontend/src/App.svelte b/gui/frontend/src/App.svelte
index 7ec0626..bfb5dce 100644
--- a/gui/frontend/src/App.svelte
+++ b/gui/frontend/src/App.svelte
@@ -4,6 +4,7 @@
   import Shell from "./lib/layout/Shell.svelte";
   import { nav, selectedCategory } from "./lib/layout/nav.svelte";
   import { requestJSON } from "./lib/api";
+  import SetupWizard from "./lib/wizard/SetupWizard.svelte";
 
   let subscribed = $state(false);
   let wrapperPacket = $state<Record<string, unknown> | null>(null);
@@ -130,6 +131,8 @@
   {/snippet}
 </Shell>
 
+<SetupWizard />
+
 <style>
   .below-hint {
     color: #a15c00;
diff --git a/gui/frontend/src/app.css b/gui/frontend/src/app.css
new file mode 100644
index 0000000..81b9634
--- /dev/null
+++ b/gui/frontend/src/app.css
@@ -0,0 +1,54 @@
+@import "tailwindcss";
+
+/*
+Required for flowbite-svelte, confirmed against the library's own app.css
+(github.com/themesberg/flowbite-svelte/blob/main/src/app.css):
+
+- @plugin/@custom-variant register the plugin and dark-mode variant its
+  components' classes assume.
+- @source is the one that actually mattered for the reported symptoms
+  (unrounded corners, unpadded buttons, a Stepper that never visibly
+  updated): Tailwind v4 only scans this project's own source by default, not
+  node_modules, so classes referenced only inside flowbite-svelte's compiled
+  .svelte templates (rounded-lg, px-5 py-2.5, the Stepper's active/complete
+  styling, ...) never had CSS generated for them at all.
+*/
+@plugin "flowbite/plugin";
+@custom-variant dark (&:where(.dark, .dark *));
+
+/*
+Also required, confirmed against flowbite-svelte's own "Colors" doc page
+(flowbite-svelte.com/docs/pages/colors): a default-colored Button (no `color`
+prop, e.g. the wizard's Next/Save buttons) renders `bg-primary-700` etc. with
+no fallback. Without these tokens defined, `--color-primary-700` is an
+undefined custom property, so the background resolves to fully transparent --
+a real, invisible button, confirmed live (white text on a transparent
+background, sitting on the modal's own white body). These are their
+documented default values, not a deliberate brand choice on this project's
+part.
+*/
+@theme {
+  --color-primary-50: #fff5f2;
+  --color-primary-100: #fff1ee;
+  --color-primary-200: #ffe4de;
+  --color-primary-300: #ffd5cc;
+  --color-primary-400: #ffbcad;
+  --color-primary-500: #fe795d;
+  --color-primary-600: #ef562f;
+  --color-primary-700: #eb4f27;
+  --color-primary-800: #cc4522;
+  --color-primary-900: #a5371b;
+
+  --color-secondary-50: #f0f9ff;
+  --color-secondary-100: #e0f2fe;
+  --color-secondary-200: #bae6fd;
+  --color-secondary-300: #7dd3fc;
+  --color-secondary-400: #38bdf8;
+  --color-secondary-500: #0ea5e9;
+  --color-secondary-600: #0284c7;
+  --color-secondary-700: #0369a1;
+  --color-secondary-800: #075985;
+  --color-secondary-900: #0c4a6e;
+}
+
+@source "../node_modules/flowbite-svelte/dist";
diff --git a/gui/frontend/src/lib/FieldEditor.svelte b/gui/frontend/src/lib/FieldEditor.svelte
index e743fd1..a0a1eae 100644
--- a/gui/frontend/src/lib/FieldEditor.svelte
+++ b/gui/frontend/src/lib/FieldEditor.svelte
@@ -10,7 +10,9 @@
   } from "./geometry.svelte";
   import FieldSketch from "./FieldSketch.svelte";
   import { scalePreset } from "./fieldPresets";
-  import { computeFieldSlice } from "./fieldSplit";
+  import { computeFieldSlice, CAMERA_COUNT_OPTIONS } from "./fieldSplit";
+  import { DIMENSION_FIELDS, OPTIONAL_LINE_FIELDS } from "./fieldConfigFields";
+  import { openWizard } from "./wizard/wizard.svelte";
 
   // "Half field" is a data-entry convenience, not a wire concept: the backend
   // (SSL_GeometryFieldSize.field_length) only ever means the FULL field.
@@ -24,10 +26,6 @@
   // camAmount here is informational only -- it belongs in each vision
   // processor's own config.yml (SSL_VPConfigGeometry.camera_amount), which
   // this host does not yet read, write, or push to any instance.
-  const CAMERA_COUNT_OPTIONS: Record<"full" | "half", number[]> = {
-    full: [1, 2, 4],
-    half: [1, 2],
-  };
   let cameraCount = $state(1);
   let cameraId = $state(0);
 
@@ -80,6 +78,7 @@
     // Ball/robot size are real hardware, not scaled with a shrunk field --
     // scalePreset always leaves them at the preset's own value.
     virtualField.field = scalePreset(preset, scalePercent);
+    virtualField.optionalFieldLines = { ...preset.optionalFieldLines };
     markDirty();
   }
 
@@ -97,38 +96,6 @@
     void loadVirtualFieldFrom(loadPath);
   }
 
-  // Dimension fields, paired with their FieldConfig key and a label. Order
-  // matches how someone would actually measure a field: outer boundary first,
-  // then the goal, then the penalty area, then the smaller markings.
-  // fieldLength is handled separately above (half/full aware).
-  const dimensionFields: {
-    key: keyof typeof virtualField.field;
-    label: string;
-  }[] = [
-    { key: "fieldWidth", label: "Field width" },
-    { key: "boundaryWidth", label: "Boundary width" },
-    { key: "boundaryWidthGoalLine", label: "Boundary width (goal line)" },
-    { key: "goalWidth", label: "Goal width" },
-    { key: "goalDepth", label: "Goal depth" },
-    { key: "goalHeight", label: "Goal height" },
-    { key: "penaltyAreaDepth", label: "Penalty area depth" },
-    { key: "penaltyAreaWidth", label: "Penalty area width" },
-    { key: "centerCircleRadius", label: "Center circle radius" },
-    { key: "lineThickness", label: "Line thickness" },
-    { key: "ballRadius", label: "Ball radius" },
-    { key: "maxRobotRadius", label: "Max robot radius" },
-  ];
-
-  const optionalLineFields: {
-    key: keyof typeof virtualField.optionalFieldLines;
-    label: string;
-  }[] = [
-    { key: "halfway", label: "Halfway line" },
-    { key: "goal2Goal", label: "Center line (goal-to-goal)" },
-    { key: "centerCircle", label: "Center circle" },
-    { key: "penalty", label: "Penalty area" },
-  ];
-
   // virtualField is a module-level singleton, not component-local state --
   // switching tabs away and back destroys and recreates this component
   // (MainContent's {#if}/{:else if}), re-running onMount, but virtualField
@@ -156,6 +123,9 @@
   <div class="title-row">
     <h2>Virtual field</h2>
     <span class="path">{virtualField.path || "(unsaved)"}</span>
+    <button type="button" class="wizard-button" onclick={openWizard}>
+      Run setup wizard
+    </button>
   </div>
 
   {#if virtualField.error}
@@ -301,7 +271,7 @@
 
       <fieldset disabled={virtualField.loading}>
         <legend>Dimensions</legend>
-        {#each dimensionFields as { key, label } (key)}
+        {#each DIMENSION_FIELDS as { key, label } (key)}
           <label>
             {label}
             <input
@@ -315,7 +285,7 @@
 
       <fieldset disabled={virtualField.loading}>
         <legend>Markings present on this field</legend>
-        {#each optionalLineFields as { key, label } (key)}
+        {#each OPTIONAL_LINE_FIELDS as { key, label } (key)}
           <label class="checkbox">
             <input
               type="checkbox"
@@ -352,6 +322,21 @@
     margin-bottom: 0.5rem;
   }
 
+  .wizard-button {
+    margin-left: auto;
+    padding: 0.3rem 0.7rem;
+    border: 1px solid #1a56db;
+    border-radius: 4px;
+    background: none;
+    color: #1a56db;
+    font-size: 0.8rem;
+    cursor: pointer;
+  }
+
+  .wizard-button:hover {
+    background: #eff6ff;
+  }
+
   .title-row h2 {
     margin: 0;
   }
diff --git a/gui/frontend/src/lib/fieldConfigFields.ts b/gui/frontend/src/lib/fieldConfigFields.ts
new file mode 100644
index 0000000..f0d8305
--- /dev/null
+++ b/gui/frontend/src/lib/fieldConfigFields.ts
@@ -0,0 +1,51 @@
+// Shared display metadata for FieldConfig/OptionalFieldLines, so the field
+// list and optional-line list aren't duplicated between FieldEditor.svelte
+// and the setup wizard's equivalent steps.
+import type { FieldConfig, OptionalFieldLines } from "./geometry.svelte";
+
+export interface FieldConfigField {
+  key: keyof FieldConfig;
+  label: string;
+  // Which optional line this dimension only makes sense with, if any (e.g. no
+  // penalty area means no penalty area depth/width to enter). Used by the
+  // wizard's Dimensions step, which asks about markings first specifically so
+  // it can skip fields that don't apply; FieldEditor.svelte ignores this and
+  // always shows every field, since a direct-edit form has no such ordering.
+  gatedBy?: keyof OptionalFieldLines;
+}
+
+// Order matches how someone would actually measure a field: outer boundary
+// first, then the goal, then the penalty area, then the smaller markings.
+// fieldLength is deliberately excluded -- FieldEditor.svelte handles it
+// separately (its half/full toggle); a caller that doesn't do that (the
+// wizard) prepends its own { key: "fieldLength", ... } entry.
+export const DIMENSION_FIELDS: FieldConfigField[] = [
+  { key: "fieldWidth", label: "Field width" },
+  { key: "boundaryWidth", label: "Boundary width" },
+  { key: "boundaryWidthGoalLine", label: "Boundary width (goal line)" },
+  { key: "goalWidth", label: "Goal width" },
+  { key: "goalDepth", label: "Goal depth" },
+  { key: "goalHeight", label: "Goal height" },
+  { key: "penaltyAreaDepth", label: "Penalty area depth", gatedBy: "penalty" },
+  { key: "penaltyAreaWidth", label: "Penalty area width", gatedBy: "penalty" },
+  {
+    key: "centerCircleRadius",
+    label: "Center circle radius",
+    gatedBy: "centerCircle",
+  },
+  { key: "lineThickness", label: "Line thickness" },
+  { key: "ballRadius", label: "Ball radius" },
+  { key: "maxRobotRadius", label: "Max robot radius" },
+];
+
+export interface OptionalLineField {
+  key: keyof OptionalFieldLines;
+  label: string;
+}
+
+export const OPTIONAL_LINE_FIELDS: OptionalLineField[] = [
+  { key: "halfway", label: "Halfway line" },
+  { key: "goal2Goal", label: "Center line (goal-to-goal)" },
+  { key: "centerCircle", label: "Center circle" },
+  { key: "penalty", label: "Penalty area" },
+];
diff --git a/gui/frontend/src/lib/fieldSplit.ts b/gui/frontend/src/lib/fieldSplit.ts
index 61b0f12..f64f829 100644
--- a/gui/frontend/src/lib/fieldSplit.ts
+++ b/gui/frontend/src/lib/fieldSplit.ts
@@ -4,6 +4,14 @@
 // responsible for. Reimplemented here rather than fetched from the Go host
 // because it's pure geometry with no state, and the UI needs it live as the
 // user changes camera count/id, not round-tripped through an API call.
+// Which camera counts are valid for each field layout: a full field supports
+// 1/2/4 cameras, a half field only 1/2. Shared between FieldEditor's layout
+// section and the setup wizard's equivalent step.
+export const CAMERA_COUNT_OPTIONS: Record<"full" | "half", number[]> = {
+  full: [1, 2, 4],
+  half: [1, 2],
+};
+
 export interface FieldSlice {
   minX: number;
   minY: number;
diff --git a/gui/frontend/src/lib/wizard/SetupWizard.svelte b/gui/frontend/src/lib/wizard/SetupWizard.svelte
new file mode 100644
index 0000000..9a06aea
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/SetupWizard.svelte
@@ -0,0 +1,84 @@
+<script lang="ts">
+  import { Modal, Stepper, Button } from "flowbite-svelte";
+  import {
+    wizard,
+    finishWizard,
+    nextStep,
+    previousStep,
+    WIZARD_STEPS,
+    type WizardStep,
+  } from "./wizard.svelte";
+  import WizardStart from "./steps/WizardStart.svelte";
+  import WizardLayout from "./steps/WizardLayout.svelte";
+  import WizardOptionalLines from "./steps/WizardOptionalLines.svelte";
+  import WizardDimensions from "./steps/WizardDimensions.svelte";
+  import WizardFinish from "./steps/WizardFinish.svelte";
+
+  const STEP_LABELS: Record<WizardStep, string> = {
+    start: "Start",
+    layout: "Layout",
+    dimensions: "Dimensions",
+    optionalLines: "Markings",
+    finish: "Finish",
+  };
+
+  let steps = WIZARD_STEPS.map((id) => ({ label: STEP_LABELS[id] }));
+  let current = $derived(WIZARD_STEPS.indexOf(wizard.step) + 1);
+
+  // Start drives its own navigation (a division choice jumps straight to
+  // Finish), so the generic Back/Next footer only applies to the steps after
+  // it.
+  let showFooterNav = $derived(wizard.step !== "start");
+  let isLastStep = $derived(
+    wizard.step === WIZARD_STEPS[WIZARD_STEPS.length - 1],
+  );
+</script>
+
+<!--
+  flowbite-svelte's shipped dialog theme (node_modules/flowbite-svelte/dist/dialog/theme.js)
+  has its `position: fixed` variant commented out, so nothing in the library
+  actually positions/centers the <dialog> -- it silently relies on the native
+  <dialog>:modal UA stylesheet alone. Pinning position/inset/margin here
+  explicitly so centering doesn't depend on that.
+
+  No wrapping div here: Modal's own body slot already spaces its direct
+  children (space-y-4) and scrolls if needed (overflow-y-auto).
+
+  title, not a manual header div: Dialog (which Modal wraps) already renders
+  its own dismiss button whenever `dismissable` is true (the default), so a
+  second hand-added CloseButton here was a real, if harmless, duplicate --
+  confirmed live, two overlapping close buttons in the rendered DOM. `title`
+  is the one Modal prop that gives both a header and that single button
+  together.
+-->
+<Modal
+  bind:open={wizard.open}
+  title="Virtual field setup"
+  size="lg"
+  class="fixed inset-0 m-auto"
+>
+  <Stepper {steps} {current} clickable={false} />
+
+  {#if wizard.step === "start"}
+    <WizardStart />
+  {:else if wizard.step === "layout"}
+    <WizardLayout />
+  {:else if wizard.step === "optionalLines"}
+    <WizardOptionalLines />
+  {:else if wizard.step === "dimensions"}
+    <WizardDimensions />
+  {:else if wizard.step === "finish"}
+    <WizardFinish />
+  {/if}
+
+  {#if showFooterNav}
+    <div class="flex justify-between border-t border-gray-200 pt-4">
+      <Button color="alternative" onclick={previousStep}>Back</Button>
+      {#if isLastStep}
+        <Button onclick={finishWizard}>Apply</Button>
+      {:else}
+        <Button onclick={nextStep}>Next</Button>
+      {/if}
+    </div>
+  {/if}
+</Modal>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardDimensionLine.svelte b/gui/frontend/src/lib/wizard/steps/WizardDimensionLine.svelte
new file mode 100644
index 0000000..15b6c17
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/steps/WizardDimensionLine.svelte
@@ -0,0 +1,198 @@
+<script lang="ts">
+  // A mechanical-drawing style dimension: extension lines running out from the
+  // measured feature to a dimension line with inward-pointing arrowheads. The
+  // dimension line itself stays close to the feature it measures (clearest
+  // about exactly what's being measured, especially for something like the
+  // penalty box that sits well inside the field). Its label doesn't have to
+  // stay that close, though -- text left sitting over the field competes with
+  // the markings drawn on it, so when `labelLine` differs from `line`, a
+  // further plain leader carries the label out to wherever is legible (in
+  // practice, always outside the field boundary).
+  interface Props {
+    orientation: "horizontal" | "vertical";
+    // The measured span, along the measurement axis (x for horizontal, y for
+    // vertical).
+    from: number;
+    to: number;
+    // Where the dimension line itself sits, on the perpendicular axis --
+    // close to the feature.
+    line: number;
+    // Where the real feature edge is, on the perpendicular axis, if it
+    // differs from `line` -- draws extension lines out to the dimension line.
+    // Omit when the dimension line sits right on the feature already (e.g.
+    // goal width marked directly on the goal line).
+    featureLine?: number;
+    // Where the label sits, on the perpendicular axis, if it needs to be
+    // further out than `line` itself (e.g. clear of the field entirely). A
+    // plain leader (no arrowheads) connects the two. Omit to put the label
+    // right on the dimension line, same as `line`.
+    labelLine?: number;
+    // Overrides where the label sits entirely, as a real [x, y] point, for
+    // when the label needs to leave via the *other* axis than `labelLine`
+    // can reach (e.g. a vertical dimension -- one whose own `line`/`labelLine`
+    // only ever move in x -- whose label still needs to exit through the top
+    // or bottom). Takes priority over `labelLine` when both are given.
+    labelAt?: [number, number];
+    // A "\n" in here starts a new line below the first, e.g. a full-length
+    // reading with a half-length reading underneath it in parentheses.
+    text: string;
+    // The base unit everything else here (arrows, line weight, font size) is
+    // a multiple of. Fixed mm constants looked right at the small scale
+    // they were tuned against, then rendered as unreadable specks once
+    // tested against a real Division B field -- the viewBox grows with the
+    // field, so what's drawn on it has to scale with it too, not stay a
+    // fixed absolute size. The caller derives this from its own viewBox size.
+    scale: number;
+    // Shifts the label (and, if present, its leader) along the dimension
+    // line, away from the midpoint between `from` and `to`. Lets two
+    // dimensions whose lines and arrows don't collide still avoid a
+    // label-to-label collision, without either one having to move.
+    labelOffset?: number;
+    // How the label sits relative to its own anchor point: "center" straddles
+    // it evenly (the default, right for a label with room on both sides),
+    // "left"/"right" grow only rightward/leftward from that point -- useful
+    // for packing a label against a boundary it can't cross, or two labels
+    // past each other.
+    labelAnchor?: "left" | "center" | "right";
+  }
+
+  const TEXT_ANCHOR: Record<
+    NonNullable<Props["labelAnchor"]>,
+    "start" | "middle" | "end"
+  > = {
+    left: "start",
+    center: "middle",
+    right: "end",
+  };
+
+  let {
+    orientation,
+    from,
+    to,
+    line,
+    featureLine,
+    labelLine,
+    labelAt,
+    text,
+    scale,
+    labelOffset = 0,
+    labelAnchor = "center",
+  }: Props = $props();
+
+  let lines = $derived(text.split("\n"));
+
+  let arrowLength = $derived(scale * 0.65);
+  let arrowWidth = $derived(scale * 0.45);
+  let overshoot = $derived(scale * 0.55); // how far extension lines run past the dimension line
+  let strokeWidth = $derived(scale * 0.08);
+  let fontSize = $derived(scale * 1.5);
+
+  // Maps (position along the measurement axis, position on the perpendicular
+  // axis) to real (x, y), so the rest of this component can be written once
+  // instead of twice.
+  function point(along: number, across: number): [number, number] {
+    return orientation === "horizontal" ? [along, across] : [across, along];
+  }
+
+  function fmt(p: [number, number]): string {
+    return `${String(p[0])},${String(p[1])}`;
+  }
+
+  let dir = $derived(Math.sign(to - from) || 1);
+
+  function arrowPoints(at: number, inward: number): string {
+    const base = at + inward * arrowLength;
+    return [
+      point(at, line),
+      point(base, line - arrowWidth / 2),
+      point(base, line + arrowWidth / 2),
+    ]
+      .map(fmt)
+      .join(" ");
+  }
+
+  let extensionSign = $derived(
+    featureLine === undefined ? 0 : Math.sign(line - featureLine) || 1,
+  );
+
+  let along = $derived((from + to) / 2 + labelOffset);
+  let effectiveLabelLine = $derived(labelLine ?? line);
+  let labelPoint = $derived(labelAt ?? point(along, effectiveLabelLine));
+  let hasLeader = $derived(
+    labelAt !== undefined || (labelLine !== undefined && labelLine !== line),
+  );
+</script>
+
+{#if featureLine !== undefined && extensionSign !== 0}
+  <line
+    x1={point(from, featureLine)[0]}
+    y1={point(from, featureLine)[1]}
+    x2={point(from, line + extensionSign * overshoot)[0]}
+    y2={point(from, line + extensionSign * overshoot)[1]}
+    class="extension"
+    style:stroke-width={strokeWidth}
+  />
+  <line
+    x1={point(to, featureLine)[0]}
+    y1={point(to, featureLine)[1]}
+    x2={point(to, line + extensionSign * overshoot)[0]}
+    y2={point(to, line + extensionSign * overshoot)[1]}
+    class="extension"
+    style:stroke-width={strokeWidth}
+  />
+{/if}
+
+<line
+  x1={point(from, line)[0]}
+  y1={point(from, line)[1]}
+  x2={point(to, line)[0]}
+  y2={point(to, line)[1]}
+  class="dim-line"
+  style:stroke-width={strokeWidth}
+/>
+<polygon points={arrowPoints(from, dir)} class="arrow" />
+<polygon points={arrowPoints(to, -dir)} class="arrow" />
+
+{#if hasLeader}
+  <line
+    x1={point(along, line)[0]}
+    y1={point(along, line)[1]}
+    x2={labelPoint[0]}
+    y2={labelPoint[1]}
+    class="extension"
+    style:stroke-width={strokeWidth}
+  />
+{/if}
+
+<g
+  transform={`translate(${String(labelPoint[0])} ${String(labelPoint[1])}) scale(1,-1)`}
+>
+  <text
+    text-anchor={TEXT_ANCHOR[labelAnchor]}
+    class="dim-text"
+    style:font-size={`${String(fontSize)}px`}
+    style:stroke-width={`${String(scale * 0.3)}px`}
+  >
+    {#each lines as line_, i (i)}
+      <tspan x="0" dy={i === 0 ? 0 : fontSize * 1.15}>{line_}</tspan>
+    {/each}
+  </text>
+</g>
+
+<style>
+  .extension,
+  .dim-line {
+    stroke: #111;
+  }
+
+  .arrow {
+    fill: #111;
+  }
+
+  .dim-text {
+    fill: #111;
+    paint-order: stroke;
+    stroke: white;
+    stroke-linejoin: round;
+  }
+</style>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte b/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
new file mode 100644
index 0000000..b398bd3
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
@@ -0,0 +1,86 @@
+<script lang="ts">
+  import {
+    DIMENSION_FIELDS,
+    type FieldConfigField,
+  } from "../../fieldConfigFields";
+  import { wizard } from "../wizard.svelte";
+  import WizardDimensionsPreview from "./WizardDimensionsPreview.svelte";
+
+  // A short, curated list, not FieldEditor's full one: goal depth/height, line
+  // thickness, ball radius, and max robot radius are close enough to standard
+  // for most setups to skip asking here. They're still editable in the main
+  // Virtual Field window for anyone who needs to adjust them.
+  const WIZARD_DIMENSION_KEYS: FieldConfigField["key"][] = [
+    "fieldWidth",
+    "penaltyAreaDepth",
+    "penaltyAreaWidth",
+    "goalWidth",
+    "centerCircleRadius",
+  ];
+
+  const otherFields = WIZARD_DIMENSION_KEYS.map((key) =>
+    DIMENSION_FIELDS.find((f) => f.key === key),
+  ).filter((f): f is FieldConfigField => f !== undefined);
+
+  // optionalLines runs before this step specifically so a field with no
+  // penalty area, say, never gets asked for a penalty area depth/width --
+  // gatedBy-less fields (fieldWidth, goalWidth) always show.
+  let fields = $derived(
+    otherFields.filter(
+      (f) => !f.gatedBy || wizard.draft.optionalFieldLines[f.gatedBy],
+    ),
+  );
+
+  // People measure a half field with a tape measure, not a full one -- there
+  // is no full-field number to enter directly, so ask for the half and double
+  // it, the same way FieldEditor's half/full toggle does.
+  let halfLength = $derived(
+    Math.round((wizard.draft.field.fieldLength ?? 0) / 2),
+  );
+
+  function setHalfLength(value: number): void {
+    wizard.draft.field.fieldLength = value * 2;
+  }
+</script>
+
+<div class="flex flex-col gap-2">
+  <p class="text-sm text-gray-600">All dimensions are in millimeters.</p>
+
+  {#if wizard.fieldLayout === "half"}
+    <label class="flex items-center justify-between gap-2 text-sm">
+      Half length (full: {wizard.draft.field.fieldLength ?? 0}mm)
+      <input
+        type="number"
+        class="w-28 rounded border border-gray-300 p-1.5"
+        value={halfLength}
+        oninput={(e) => {
+          setHalfLength(e.currentTarget.valueAsNumber);
+        }}
+      />
+    </label>
+  {:else}
+    <label class="flex items-center justify-between gap-2 text-sm">
+      Field length
+      <input
+        type="number"
+        class="w-28 rounded border border-gray-300 p-1.5"
+        bind:value={wizard.draft.field.fieldLength}
+      />
+    </label>
+  {/if}
+
+  {#each fields as { key, label } (key)}
+    <label class="flex items-center justify-between gap-2 text-sm">
+      {label}
+      <input
+        type="number"
+        class="w-28 rounded border border-gray-300 p-1.5"
+        bind:value={wizard.draft.field[key]}
+      />
+    </label>
+  {/each}
+
+  <div class="mt-2 px-2">
+    <WizardDimensionsPreview />
+  </div>
+</div>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardDimensionsPreview.svelte b/gui/frontend/src/lib/wizard/steps/WizardDimensionsPreview.svelte
new file mode 100644
index 0000000..b0797f6
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/steps/WizardDimensionsPreview.svelte
@@ -0,0 +1,235 @@
+<script lang="ts">
+  // Same schematic approach as WizardFieldPreview (see its comment), but here
+  // the numbers themselves are the point: every dimension this step's inputs
+  // edit gets a label that updates live as the box changes, so it's obvious
+  // which line on a real field each input actually measures. Markings are
+  // already decided by this step (it runs after WizardOptionalLines), so
+  // they're drawn plain -- no ghosting here.
+  import { wizard } from "../wizard.svelte";
+  import WizardDimensionLine from "./WizardDimensionLine.svelte";
+  import WizardRadiusDimension from "./WizardRadiusDimension.svelte";
+
+  const DEFAULT_LENGTH = 9000;
+  const DEFAULT_WIDTH = 6000;
+  const DEFAULT_GOAL_WIDTH = 1000;
+  const DEFAULT_PENALTY_DEPTH = 1200;
+  const DEFAULT_PENALTY_WIDTH = 2400;
+  const DEFAULT_CENTER_CIRCLE_RADIUS = 500;
+
+  // Not `??`: 0 is as meaningless a dimension as undefined for this
+  // schematic, and should fall back to the default too.
+  function orDefault(value: number | undefined, fallback: number): number {
+    // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing -- see above
+    return value ? value : fallback;
+  }
+
+  let length = $derived(
+    orDefault(wizard.draft.field.fieldLength, DEFAULT_LENGTH),
+  );
+  let width = $derived(orDefault(wizard.draft.field.fieldWidth, DEFAULT_WIDTH));
+  let goalWidth = $derived(
+    orDefault(wizard.draft.field.goalWidth, DEFAULT_GOAL_WIDTH),
+  );
+  let penaltyDepth = $derived(
+    orDefault(wizard.draft.field.penaltyAreaDepth, DEFAULT_PENALTY_DEPTH),
+  );
+  let penaltyWidth = $derived(
+    orDefault(wizard.draft.field.penaltyAreaWidth, DEFAULT_PENALTY_WIDTH),
+  );
+  let centerCircleRadius = $derived(
+    orDefault(
+      wizard.draft.field.centerCircleRadius,
+      DEFAULT_CENTER_CIRCLE_RADIUS,
+    ),
+  );
+
+  // The dimension lines' base unit (arrows, weight, font size): proportional
+  // to the field itself, not a fixed mm constant -- a fixed size looked right
+  // against this test preset's small field and rendered as unreadable specks
+  // against a real Division B field. Based on (length + width) directly
+  // (not on the viewBox, which includes margin) so margin below can safely be
+  // sized as a multiple of this without the two being circular.
+  let dimScale = $derived((length + width) * 0.0199);
+
+  // Separate horizontal/vertical margins, not one shared value: the
+  // horizontal one has to fit the longest label ("pen. width: 2400mm") even
+  // left/right anchored (its *full* width extending from the anchor point,
+  // not just half of it, unlike a centered label), which needs real
+  // headroom -- but sizing the vertical margin to match made the whole
+  // diagram far taller than it needs to be, since the labels stacked above
+  // and below the field (length's two lines, the penalty/circle tiers) only
+  // ever need a few line-heights of clearance, not a label's full width.
+  let marginX = $derived(dimScale * 20);
+  let marginY = $derived(dimScale * 7.5);
+  let halfLength = $derived(length / 2 + marginX);
+  let halfWidth = $derived(width / 2 + marginY);
+  let viewBox = $derived(
+    `${String(-halfLength)} ${String(-halfWidth)} ${String(halfLength * 2)} ${String(halfWidth * 2)}`,
+  );
+
+  // Where penalty depth's and the center circle's labels land, once their
+  // leaders carry them out past the top boundary. Penalty width shares the
+  // same escape direction (straight up, from its own x) but needs a further
+  // tier so its label doesn't collide with depth's.
+  let nearTierY = $derived(width / 2 + dimScale * 1.6);
+  let farTierY = $derived(width / 2 + dimScale * 4.2);
+
+  // The circle's leader direction: mostly up, tilted left so it clears the
+  // halfway line (which runs straight up through x=0) and lands well clear
+  // of the penalty labels over on the right.
+  const CIRCLE_LEADER_ANGLE_DEG = 110;
+  let circleLeaderRad = $derived((CIRCLE_LEADER_ANGLE_DEG * Math.PI) / 180);
+  let circleLabelDistance = $derived(nearTierY / Math.sin(circleLeaderRad));
+
+  function round(value: number): string {
+    return `${String(Math.round(value))}mm`;
+  }
+</script>
+
+<svg
+  {viewBox}
+  transform="scale(1,-1)"
+  role="img"
+  aria-label="Field dimensions preview"
+>
+  <rect
+    x={-length / 2}
+    y={-width / 2}
+    width={length}
+    height={width}
+    class="boundary"
+  />
+
+  {#if wizard.draft.optionalFieldLines.goal2Goal}
+    <line x1={-length / 2} y1="0" x2={length / 2} y2="0" class="marking" />
+  {/if}
+  {#if wizard.draft.optionalFieldLines.halfway}
+    <line x1="0" y1={-width / 2} x2="0" y2={width / 2} class="marking" />
+  {/if}
+  {#if wizard.draft.optionalFieldLines.centerCircle}
+    <circle cx="0" cy="0" r={centerCircleRadius} fill="none" class="marking" />
+  {/if}
+  {#if wizard.draft.optionalFieldLines.penalty}
+    {#each [-1, 1] as side (side)}
+      <rect
+        x={side > 0 ? length / 2 - penaltyDepth : -length / 2}
+        y={-penaltyWidth / 2}
+        width={penaltyDepth}
+        height={penaltyWidth}
+        fill="none"
+        class="marking"
+      />
+    {/each}
+  {/if}
+
+  <!-- field length, measured close off the bottom boundary edge. Always
+       spans (and is labeled as) the full field, even in half-field layout --
+       dimensioning only the half while measuring the full span read as
+       inconsistent, so the half reading is a second line instead of a
+       replacement. labelLine nudges the text a touch further out so it
+       doesn't sit right on top of the dimension line itself. -->
+  <WizardDimensionLine
+    orientation="horizontal"
+    from={-length / 2}
+    to={length / 2}
+    line={-width / 2 - dimScale * 1.4}
+    labelLine={-width / 2 - dimScale * 2.2}
+    featureLine={-width / 2}
+    text={`length: ${round(length)}\n(half: ${round(length / 2)})`}
+    scale={dimScale}
+  />
+
+  <!-- field width, measured close off the left boundary edge -->
+  <WizardDimensionLine
+    orientation="vertical"
+    from={-width / 2}
+    to={width / 2}
+    line={-length / 2 - dimScale * 1.4}
+    featureLine={-length / 2}
+    text={`width: ${round(width)}`}
+    labelAnchor="right"
+    scale={dimScale}
+  />
+
+  <!-- goal width, measured right off the goal line itself: already outside
+       the boundary the moment it clears the goal line, so it needs no
+       further leader out. -->
+  <WizardDimensionLine
+    orientation="vertical"
+    from={-goalWidth / 2}
+    to={goalWidth / 2}
+    line={length / 2 + dimScale * 1.4}
+    labelLine={length / 2 + dimScale * 2.2}
+    featureLine={length / 2}
+    text={`goal: ${round(goalWidth)}`}
+    labelAnchor="left"
+    scale={dimScale}
+  />
+
+  {#if wizard.draft.optionalFieldLines.penalty}
+    <!-- Both the box's own dimension lines sit close to the box itself,
+         inside the field, same as every other dimension here -- only their
+         labels leader out further, clear of the markings drawn on the field.
+         Both exit straight up past the top boundary; width uses labelAt
+         (not labelLine) to do that, since labelLine only ever moves along
+         *its own* dimension's perpendicular axis (x, for a vertical
+         dimension), which can't reach a point above the field -- width's
+         far tier keeps it clear of depth's label, which sits at a different
+         x but the same near tier. -->
+    <WizardDimensionLine
+      orientation="horizontal"
+      from={length / 2 - penaltyDepth}
+      to={length / 2}
+      line={penaltyWidth / 2 + dimScale * 1.4}
+      featureLine={penaltyWidth / 2}
+      labelLine={nearTierY}
+      text={`pen. depth: ${round(penaltyDepth)}`}
+      labelAnchor="left"
+      scale={dimScale}
+    />
+    <WizardDimensionLine
+      orientation="vertical"
+      from={-penaltyWidth / 2}
+      to={penaltyWidth / 2}
+      line={length / 2 - penaltyDepth - dimScale * 1.4}
+      featureLine={length / 2 - penaltyDepth}
+      labelAt={[length / 2 - penaltyDepth - dimScale * 1.4, farTierY]}
+      text={`pen. width: ${round(penaltyWidth)}`}
+      labelAnchor="left"
+      scale={dimScale}
+    />
+  {/if}
+
+  {#if wizard.draft.optionalFieldLines.centerCircle}
+    <WizardRadiusDimension
+      cx={0}
+      cy={0}
+      radius={centerCircleRadius}
+      angleDeg={CIRCLE_LEADER_ANGLE_DEG}
+      labelDistance={circleLabelDistance}
+      text={`radius: ${round(centerCircleRadius)}`}
+      scale={dimScale}
+    />
+  {/if}
+</svg>
+
+<style>
+  svg {
+    width: 100%;
+    height: auto;
+    background: #0a5c2e;
+    border-radius: 4px;
+  }
+
+  .boundary {
+    fill: none;
+    stroke: white;
+    stroke-width: 20;
+  }
+
+  .marking {
+    fill: none;
+    stroke: white;
+    stroke-width: 15;
+  }
+</style>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardFieldPreview.svelte b/gui/frontend/src/lib/wizard/steps/WizardFieldPreview.svelte
new file mode 100644
index 0000000..9080f2c
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/steps/WizardFieldPreview.svelte
@@ -0,0 +1,137 @@
+<script lang="ts">
+  // A schematic, not the real computed geometry: the real fieldLines/fieldArcs
+  // only exist server-side once a field is saved (see geometry.svelte.ts's
+  // refreshFieldMarkings), but the wizard's draft never touches the server
+  // until Finish. Dimensions haven't even been asked yet at this step (Markings
+  // runs before Dimensions, see wizard.svelte.ts), so this uses placeholder
+  // proportions when the draft has none yet -- it's here to show what each
+  // marking *is*, not to preview exact sizing.
+  import { wizard } from "../wizard.svelte";
+
+  const DEFAULT_LENGTH = 9000;
+  const DEFAULT_WIDTH = 6000;
+  const DEFAULT_PENALTY_DEPTH = 1200;
+  const DEFAULT_PENALTY_WIDTH = 2400;
+  const DEFAULT_CENTER_CIRCLE_RADIUS = 500;
+
+  // Not `??`: 0 is as meaningless a dimension as undefined for this
+  // schematic, and should fall back to the default too.
+  function orDefault(value: number | undefined, fallback: number): number {
+    // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing -- see above
+    return value ? value : fallback;
+  }
+
+  let length = $derived(
+    orDefault(wizard.draft.field.fieldLength, DEFAULT_LENGTH),
+  );
+  let width = $derived(orDefault(wizard.draft.field.fieldWidth, DEFAULT_WIDTH));
+  let penaltyDepth = $derived(
+    orDefault(wizard.draft.field.penaltyAreaDepth, DEFAULT_PENALTY_DEPTH),
+  );
+  let penaltyWidth = $derived(
+    orDefault(wizard.draft.field.penaltyAreaWidth, DEFAULT_PENALTY_WIDTH),
+  );
+  let centerCircleRadius = $derived(
+    orDefault(
+      wizard.draft.field.centerCircleRadius,
+      DEFAULT_CENTER_CIRCLE_RADIUS,
+    ),
+  );
+
+  const margin = 400; // mm, so the boundary itself isn't clipped
+  let halfLength = $derived(length / 2 + margin);
+  let halfWidth = $derived(width / 2 + margin);
+  let viewBox = $derived(
+    `${String(-halfLength)} ${String(-halfWidth)} ${String(halfLength * 2)} ${String(halfWidth * 2)}`,
+  );
+
+  function opacity(shown: boolean): number {
+    return shown ? 1 : 0.15;
+  }
+</script>
+
+<svg {viewBox} transform="scale(1,-1)" role="img" aria-label="Field preview">
+  <rect
+    x={-length / 2}
+    y={-width / 2}
+    width={length}
+    height={width}
+    class="boundary"
+  />
+
+  <line
+    x1={-length / 2}
+    y1="0"
+    x2={length / 2}
+    y2="0"
+    class="marking"
+    opacity={opacity(wizard.draft.optionalFieldLines.goal2Goal)}
+  />
+
+  <line
+    x1="0"
+    y1={-width / 2}
+    x2="0"
+    y2={width / 2}
+    class="marking"
+    opacity={opacity(wizard.draft.optionalFieldLines.halfway)}
+  />
+
+  <circle
+    cx="0"
+    cy="0"
+    r={centerCircleRadius}
+    fill="none"
+    class="marking"
+    opacity={opacity(wizard.draft.optionalFieldLines.centerCircle)}
+  />
+
+  {#each [-1, 1] as side (side)}
+    <rect
+      x={side > 0 ? length / 2 - penaltyDepth : -length / 2}
+      y={-penaltyWidth / 2}
+      width={penaltyDepth}
+      height={penaltyWidth}
+      fill="none"
+      class="marking"
+      opacity={opacity(wizard.draft.optionalFieldLines.penalty)}
+    />
+  {/each}
+
+  {#if wizard.fieldLayout === "half"}
+    <rect
+      x="0"
+      y={-width / 2}
+      width={length / 2}
+      height={width}
+      class="half-field-mask"
+    />
+  {/if}
+</svg>
+
+<style>
+  svg {
+    width: 100%;
+    max-width: 20rem;
+    height: auto;
+    aspect-ratio: 1;
+    background: #0a5c2e;
+    border-radius: 4px;
+  }
+
+  .boundary {
+    fill: none;
+    stroke: white;
+    stroke-width: 20;
+  }
+
+  .marking {
+    stroke: white;
+    stroke-width: 15;
+    transition: opacity 0.15s;
+  }
+
+  .half-field-mask {
+    fill: rgba(0, 0, 0, 0.6);
+  }
+</style>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
new file mode 100644
index 0000000..38dfba1
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
@@ -0,0 +1,33 @@
+<script lang="ts">
+  import { virtualField } from "../../geometry.svelte";
+  import { wizard } from "../wizard.svelte";
+  import { OPTIONAL_LINE_FIELDS } from "../../fieldConfigFields";
+
+  let markings = $derived(
+    OPTIONAL_LINE_FIELDS.filter((f) => wizard.draft.optionalFieldLines[f.key]),
+  );
+</script>
+
+<div class="flex flex-col gap-3">
+  <p class="text-sm text-gray-700">
+    Review, then apply to load these values into the editor.
+  </p>
+
+  <ul class="flex flex-col gap-1 text-sm text-gray-700">
+    <li>
+      Field: {wizard.draft.field.fieldLength ?? 0}mm x {wizard.draft.field
+        .fieldWidth ?? 0}mm
+    </li>
+    <li>
+      Markings:
+      {markings.length > 0 ? markings.map((f) => f.label).join(", ") : "none"}
+    </li>
+  </ul>
+
+  <p class="text-sm text-gray-600">
+    Applying loads these values into the Virtual Field editor but doesn't save
+    them -- use its own Save button to write <code
+      >{virtualField.path || "geometry.yml"}</code
+    >, then calibrate each camera on its own Geometry tab.
+  </p>
+</div>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte b/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
new file mode 100644
index 0000000..4bfc917
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
@@ -0,0 +1,61 @@
+<script lang="ts">
+  import { CAMERA_COUNT_OPTIONS } from "../../fieldSplit";
+  import { wizard } from "../wizard.svelte";
+
+  function setFieldLayout(layout: "full" | "half"): void {
+    wizard.fieldLayout = layout;
+
+    const options = CAMERA_COUNT_OPTIONS[layout];
+    if (!options.includes(wizard.cameraCount)) {
+      wizard.cameraCount = options[0] ?? 1;
+    }
+  }
+</script>
+
+<div class="flex flex-col gap-4">
+  <fieldset class="flex flex-col gap-2">
+    <legend class="mb-1 text-sm font-medium">Field layout</legend>
+    <label class="flex items-center gap-2 text-sm">
+      <input
+        type="radio"
+        name="wizard-layout"
+        checked={wizard.fieldLayout === "full"}
+        onchange={() => {
+          setFieldLayout("full");
+        }}
+      />
+      Full field
+    </label>
+    <label class="flex items-center gap-2 text-sm">
+      <input
+        type="radio"
+        name="wizard-layout"
+        checked={wizard.fieldLayout === "half"}
+        onchange={() => {
+          setFieldLayout("half");
+        }}
+      />
+      Half field
+    </label>
+  </fieldset>
+
+  <label class="flex flex-col gap-1 text-sm">
+    Cameras
+    <select
+      class="w-32 rounded border border-gray-300 p-1.5"
+      value={wizard.cameraCount}
+      onchange={(e) => {
+        wizard.cameraCount = Number(e.currentTarget.value);
+      }}
+    >
+      {#each CAMERA_COUNT_OPTIONS[wizard.fieldLayout] as count (count)}
+        <option value={count}>{count}</option>
+      {/each}
+    </select>
+  </label>
+
+  <p class="text-sm text-gray-500">
+    This isn't written anywhere yet: set <code>camera_amount</code> to
+    {wizard.cameraCount} in each camera's own config.yml by hand.
+  </p>
+</div>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte b/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
new file mode 100644
index 0000000..0ec5651
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
@@ -0,0 +1,25 @@
+<script lang="ts">
+  import { wizard } from "../wizard.svelte";
+  import { OPTIONAL_LINE_FIELDS } from "../../fieldConfigFields";
+  import WizardFieldPreview from "./WizardFieldPreview.svelte";
+</script>
+
+<div class="flex flex-col gap-4 sm:flex-row">
+  <div class="flex flex-1 flex-col gap-2">
+    <p class="text-sm text-gray-600">Which markings does this field have?</p>
+
+    {#each OPTIONAL_LINE_FIELDS as { key, label } (key)}
+      <label class="flex items-center gap-2 text-sm">
+        <input
+          type="checkbox"
+          bind:checked={wizard.draft.optionalFieldLines[key]}
+        />
+        {label}
+      </label>
+    {/each}
+  </div>
+
+  <div class="flex flex-1 items-start justify-center">
+    <WizardFieldPreview />
+  </div>
+</div>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardRadiusDimension.svelte b/gui/frontend/src/lib/wizard/steps/WizardRadiusDimension.svelte
new file mode 100644
index 0000000..4bcd498
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/steps/WizardRadiusDimension.svelte
@@ -0,0 +1,139 @@
+<script lang="ts">
+  // A radius leader, mechanical-drawing style: a line from a point on the
+  // circle's edge (arrow touching the circumference, pointing back at the
+  // center) continuing straight out to wherever the label can sit clearly --
+  // in practice, past the field boundary, same as WizardDimensionLine's
+  // labelLine. A circle has no natural "close to the boundary" edge the way a
+  // rectangle's sides do, so this is always a single diagonal leader rather
+  // than an axis-aligned dimension line plus a separate leader.
+  interface Props {
+    cx: number;
+    cy: number;
+    radius: number;
+    // Direction the leader points, in degrees, standard math convention
+    // (0 = +x, 90 = +y).
+    angleDeg: number;
+    // Distance from center, along that same direction, where the label sits.
+    labelDistance: number;
+    text: string;
+    scale: number;
+    // Overrides the automatic left/center/right pick below, for a leader
+    // whose default reads oddly for some other reason (crowding a
+    // neighboring label, say).
+    labelAnchor?: "left" | "center" | "right";
+  }
+
+  const TEXT_ANCHOR: Record<
+    NonNullable<Props["labelAnchor"]>,
+    "start" | "middle" | "end"
+  > = {
+    left: "start",
+    center: "middle",
+    right: "end",
+  };
+
+  let {
+    cx,
+    cy,
+    radius,
+    angleDeg,
+    labelDistance,
+    text,
+    scale,
+    labelAnchor,
+  }: Props = $props();
+
+  let arrowLength = $derived(scale * 0.65);
+  let arrowWidth = $derived(scale * 0.45);
+  let strokeWidth = $derived(scale * 0.08);
+  let fontSize = $derived(scale * 1.5);
+
+  let rad = $derived((angleDeg * Math.PI) / 180);
+  let dirX = $derived(Math.cos(rad));
+  let dirY = $derived(Math.sin(rad));
+
+  let edgePoint = $derived<[number, number]>([
+    cx + dirX * radius,
+    cy + dirY * radius,
+  ]);
+  let labelPoint = $derived<[number, number]>([
+    cx + dirX * labelDistance,
+    cy + dirY * labelDistance,
+  ]);
+
+  // The arrow tip sits on the circle, pointing back in toward the center.
+  let arrowBase = $derived<[number, number]>([
+    cx + dirX * (radius + arrowLength),
+    cy + dirY * (radius + arrowLength),
+  ]);
+  // Perpendicular to the leader's own direction, for the arrow's two base
+  // corners.
+  let perpX = $derived(-dirY);
+  let perpY = $derived(dirX);
+  let arrowPoints = $derived(
+    [
+      edgePoint,
+      [
+        arrowBase[0] + perpX * (arrowWidth / 2),
+        arrowBase[1] + perpY * (arrowWidth / 2),
+      ] as [number, number],
+      [
+        arrowBase[0] - perpX * (arrowWidth / 2),
+        arrowBase[1] - perpY * (arrowWidth / 2),
+      ] as [number, number],
+    ]
+      .map((p) => `${String(p[0])},${String(p[1])}`)
+      .join(" "),
+  );
+
+  // A label whose leader points leftward reads better growing further left
+  // (ending at the point, not straddling it); one pointing rightward reads
+  // better growing rightward. Only matters near the horizontal extremes --
+  // dirX close to 0 (a mostly-vertical leader) keeps the default centering.
+  // `labelAnchor` above overrides this entirely when given.
+  let effectiveAnchor = $derived(
+    TEXT_ANCHOR[
+      labelAnchor ?? (dirX > 0.3 ? "left" : dirX < -0.3 ? "right" : "center")
+    ],
+  );
+</script>
+
+<line
+  x1={edgePoint[0]}
+  y1={edgePoint[1]}
+  x2={labelPoint[0]}
+  y2={labelPoint[1]}
+  class="leader"
+  style:stroke-width={strokeWidth}
+/>
+<polygon points={arrowPoints} class="arrow" />
+
+<g
+  transform={`translate(${String(labelPoint[0])} ${String(labelPoint[1])}) scale(1,-1)`}
+>
+  <text
+    text-anchor={effectiveAnchor}
+    class="dim-text"
+    style:font-size={`${String(fontSize)}px`}
+    style:stroke-width={`${String(scale * 0.3)}px`}
+  >
+    {text}
+  </text>
+</g>
+
+<style>
+  .leader {
+    stroke: #111;
+  }
+
+  .arrow {
+    fill: #111;
+  }
+
+  .dim-text {
+    fill: #111;
+    paint-order: stroke;
+    stroke: white;
+    stroke-linejoin: round;
+  }
+</style>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardStart.svelte b/gui/frontend/src/lib/wizard/steps/WizardStart.svelte
new file mode 100644
index 0000000..8d39e03
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/steps/WizardStart.svelte
@@ -0,0 +1,46 @@
+<script lang="ts">
+  import { onMount } from "svelte";
+  import { Button, Spinner } from "flowbite-svelte";
+  import { virtualField, loadFieldPresets } from "../../geometry.svelte";
+  import { skipToFinish, nextStep, applyPresetToDraft } from "../wizard.svelte";
+
+  onMount(() => {
+    if (virtualField.presets.length === 0) void loadFieldPresets();
+  });
+
+  function chooseDivision(name: string): void {
+    const preset = virtualField.presets.find((p) => p.name === name);
+    if (!preset) return;
+
+    applyPresetToDraft(preset);
+    skipToFinish();
+  }
+</script>
+
+<div class="flex flex-col gap-4">
+  <p class="text-sm text-gray-600">
+    Start from a regulation field, or configure a custom one.
+  </p>
+
+  {#if virtualField.presets.length === 0}
+    <div class="flex items-center gap-2 text-sm text-gray-500">
+      <Spinner size="4" /> Loading presets...
+    </div>
+  {:else}
+    {#each virtualField.presets as preset (preset.name)}
+      <Button
+        color="alternative"
+        class="justify-start"
+        onclick={() => {
+          chooseDivision(preset.name);
+        }}
+      >
+        Regulation {preset.name}
+      </Button>
+    {/each}
+  {/if}
+
+  <Button color="alternative" class="justify-start" onclick={nextStep}>
+    Custom field
+  </Button>
+</div>
diff --git a/gui/frontend/src/lib/wizard/wizard.svelte.ts b/gui/frontend/src/lib/wizard/wizard.svelte.ts
new file mode 100644
index 0000000..965f3b7
--- /dev/null
+++ b/gui/frontend/src/lib/wizard/wizard.svelte.ts
@@ -0,0 +1,111 @@
+// Shared state for the setup wizard drawer. A module-level $state object,
+// per the project convention (see geometry.svelte.ts, nav.svelte.ts).
+// optionalLines comes before dimensions: which markings exist decides which
+// dimension fields are even worth asking about (a field with no penalty box
+// has no penalty box depth/width to enter). See WizardDimensions.svelte.
+// There's no dedicated save step: finish is a summary/confirm gate, and
+// confirming there is what copies `draft` into the live virtualField state
+// (see finishWizard below) -- persisting that to disk stays the normal
+// Save/Save As action in the main Virtual Field panel.
+import {
+  virtualField,
+  type FieldConfig,
+  type OptionalFieldLines,
+  type FieldPreset,
+} from "../geometry.svelte";
+
+export const WIZARD_STEPS = [
+  "start",
+  "layout",
+  "optionalLines",
+  "dimensions",
+  "finish",
+] as const;
+
+export type WizardStep = (typeof WIZARD_STEPS)[number];
+
+export const wizard = $state<{
+  open: boolean;
+  step: WizardStep;
+  // Advisory only, for the Layout step and Finish's summary -- camera_amount
+  // isn't wired to any instance's config.yml yet (see gui/CLAUDE.md's "Not
+  // yet built"), so this never gets written anywhere, just relayed back to
+  // the operator as a reminder of what to set by hand.
+  fieldLayout: "full" | "half";
+  cameraCount: number;
+  // A working copy the wizard's own steps read and write, kept separate from
+  // virtualField so an abandoned wizard (closed without reaching Finish)
+  // never leaves a half-entered field applied to the live editor/webpage.
+  // Only finishWizard() below copies this into virtualField.
+  draft: { field: FieldConfig; optionalFieldLines: OptionalFieldLines };
+}>({
+  open: false,
+  step: "start",
+  fieldLayout: "full",
+  cameraCount: 1,
+  draft: {
+    field: {},
+    optionalFieldLines: {
+      goal2Goal: false,
+      halfway: false,
+      centerCircle: false,
+      penalty: false,
+    },
+  },
+});
+
+export function openWizard(): void {
+  wizard.step = "start";
+  wizard.fieldLayout = "full";
+  wizard.cameraCount = 1;
+  // Seed from the current live field, not blank -- reopening the wizard to
+  // adjust an already-configured field should start from what's there.
+  // $state.snapshot, not structuredClone: virtualField.field is itself a
+  // $state proxy, and structuredClone throws ("Proxy object could not be
+  // cloned") on one directly -- snapshot first to get a plain object.
+  wizard.draft.field = $state.snapshot(virtualField.field);
+  wizard.draft.optionalFieldLines = $state.snapshot(
+    virtualField.optionalFieldLines,
+  );
+  wizard.open = true;
+}
+
+export function goToStep(step: WizardStep): void {
+  wizard.step = step;
+}
+
+// The Division A/B short-circuit: loads the preset into the draft (not
+// virtualField directly) and skips straight past layout/optional lines/
+// dimensions, since a preset already supplies all three.
+export function applyPresetToDraft(preset: FieldPreset): void {
+  wizard.draft.field = $state.snapshot(preset.field);
+  wizard.draft.optionalFieldLines = $state.snapshot(preset.optionalFieldLines);
+}
+
+export function skipToFinish(): void {
+  wizard.step = "finish";
+}
+
+// Only place the draft ever reaches virtualField: called from Finish's
+// confirm action. Marks dirty so the main panel's own Save/Save As (unchanged)
+// is what actually persists it.
+export function finishWizard(): void {
+  virtualField.field = $state.snapshot(wizard.draft.field);
+  virtualField.optionalFieldLines = $state.snapshot(
+    wizard.draft.optionalFieldLines,
+  );
+  virtualField.dirty = true;
+  wizard.open = false;
+}
+
+export function nextStep(): void {
+  const index = WIZARD_STEPS.indexOf(wizard.step);
+  const next = WIZARD_STEPS[index + 1];
+  if (next) wizard.step = next;
+}
+
+export function previousStep(): void {
+  const index = WIZARD_STEPS.indexOf(wizard.step);
+  const prev = WIZARD_STEPS[index - 1];
+  if (prev) wizard.step = prev;
+}
diff --git a/gui/frontend/src/main.ts b/gui/frontend/src/main.ts
index cfd630e..bafc656 100644
--- a/gui/frontend/src/main.ts
+++ b/gui/frontend/src/main.ts
@@ -1,3 +1,4 @@
+import "./app.css";
 import { mount } from "svelte";
 import App from "./App.svelte";
 
diff --git a/gui/frontend/vite.config.ts b/gui/frontend/vite.config.ts
index a8c1525..25d2a2f 100644
--- a/gui/frontend/vite.config.ts
+++ b/gui/frontend/vite.config.ts
@@ -1,9 +1,12 @@
 import { defineConfig } from "vite";
 import { svelte } from "@sveltejs/vite-plugin-svelte";
+import tailwindcss from "@tailwindcss/vite";
 
 // https://vite.dev/config/
 export default defineConfig({
-  plugins: [svelte()],
+  // tailwindcss() must come before svelte() so Tailwind's own PostCSS-less
+  // Vite transform sees .svelte files before vite-plugin-svelte compiles them.
+  plugins: [tailwindcss(), svelte()],
   server: {
     // The Go host serves /api and /ws on :8085; everything else (this dev
     // server) is same-origin so no CORS handling is needed on either side.

From 6d9df0649d4dadb589749d21bcbc80d073ab40b3 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Fri, 25 Sep 2026 21:59:11 -0400
Subject: [PATCH 13/23] clean default pane

---
 gui/frontend/src/app.css                | 42 ++++++++++++++++++++++
 gui/frontend/src/lib/FieldEditor.svelte | 45 ------------------------
 gui/frontend/src/lib/fieldPresets.ts    | 46 -------------------------
 gui/frontend/src/lib/geometry.svelte.ts |  3 +-
 4 files changed, 44 insertions(+), 92 deletions(-)
 delete mode 100644 gui/frontend/src/lib/fieldPresets.ts

diff --git a/gui/frontend/src/app.css b/gui/frontend/src/app.css
index 81b9634..dc52a50 100644
--- a/gui/frontend/src/app.css
+++ b/gui/frontend/src/app.css
@@ -52,3 +52,45 @@ part.
 }
 
 @source "../node_modules/flowbite-svelte/dist";
+
+/*
+Tailwind's preflight (pulled in by @import "tailwindcss" above) zeroes every
+element's margin/padding/border and strips native button/select chrome
+(background, border) globally -- normal for a project that styles everything
+with utility classes, but this one predates Tailwind: FieldEditor.svelte and
+friends are still plain hand-written <style> blocks that assumed the browser's
+own defaults (a fieldset's padding, a <button>'s background/border) were still
+there. Confirmed live: a plain <button> like FieldEditor's Save/Save As/Load
+rendered with padding:0, border:0, and a transparent background -- effectively
+invisible, not just unstyled.
+
+@layer base, not a bare rule: keeps these behind Tailwind's own utility layer
+in the cascade, so any flowbite-svelte or utility-class-based button/fieldset
+(the wizard's, mainly) still wins regardless of selector specificity.
+*/
+@layer base {
+  button {
+    padding: 0.3rem 0.7rem;
+    border: 1px solid #ccc;
+    border-radius: 4px;
+    background: #f3f4f6;
+    cursor: pointer;
+  }
+
+  button:hover:not(:disabled) {
+    background: #e5e7eb;
+  }
+
+  button:disabled {
+    cursor: not-allowed;
+    opacity: 0.6;
+  }
+
+  fieldset {
+    padding: 0.75rem 1rem;
+  }
+
+  legend {
+    padding: 0 0.4rem;
+  }
+}
diff --git a/gui/frontend/src/lib/FieldEditor.svelte b/gui/frontend/src/lib/FieldEditor.svelte
index a0a1eae..b1b5c31 100644
--- a/gui/frontend/src/lib/FieldEditor.svelte
+++ b/gui/frontend/src/lib/FieldEditor.svelte
@@ -3,13 +3,11 @@
   import {
     virtualField,
     loadVirtualField,
-    loadFieldPresets,
     saveVirtualField,
     saveVirtualFieldAs,
     loadVirtualFieldFrom,
   } from "./geometry.svelte";
   import FieldSketch from "./FieldSketch.svelte";
-  import { scalePreset } from "./fieldPresets";
   import { computeFieldSlice, CAMERA_COUNT_OPTIONS } from "./fieldSplit";
   import { DIMENSION_FIELDS, OPTIONAL_LINE_FIELDS } from "./fieldConfigFields";
   import { openWizard } from "./wizard/wizard.svelte";
@@ -66,22 +64,6 @@
     }
   }
 
-  let selectedPresetName = $state("Division B");
-  let scalePercent = $state(100);
-
-  function applyPreset(): void {
-    const preset = virtualField.presets.find(
-      (p) => p.name === selectedPresetName,
-    );
-    if (!preset) return;
-
-    // Ball/robot size are real hardware, not scaled with a shrunk field --
-    // scalePreset always leaves them at the preset's own value.
-    virtualField.field = scalePreset(preset, scalePercent);
-    virtualField.optionalFieldLines = { ...preset.optionalFieldLines };
-    markDirty();
-  }
-
   let saveAsPath = $state("");
   let loadPath = $state("");
 
@@ -106,8 +88,6 @@
     if (!virtualField.dirty || confirm("Discard unsaved changes?")) {
       void loadVirtualField();
     }
-
-    void loadFieldPresets();
   });
 
   function markDirty(): void {
@@ -244,31 +224,6 @@
         </label>
       </fieldset>
 
-      <fieldset disabled={virtualField.loading}>
-        <legend>Start from a rulebook preset</legend>
-        {#if virtualField.presets.length === 0}
-          <p class="hint">No presets available.</p>
-        {/if}
-        <label>
-          Division
-          <select bind:value={selectedPresetName}>
-            {#each virtualField.presets as preset (preset.name)}
-              <option value={preset.name}>{preset.name}</option>
-            {/each}
-          </select>
-        </label>
-        <label>
-          Scale to
-          <span>
-            <input type="number" bind:value={scalePercent} min="1" max="200" />
-            %
-          </span>
-        </label>
-        <button type="button" onclick={applyPreset}>
-          Fill in dimensions from this preset
-        </button>
-      </fieldset>
-
       <fieldset disabled={virtualField.loading}>
         <legend>Dimensions</legend>
         {#each DIMENSION_FIELDS as { key, label } (key)}
diff --git a/gui/frontend/src/lib/fieldPresets.ts b/gui/frontend/src/lib/fieldPresets.ts
deleted file mode 100644
index 57721fd..0000000
--- a/gui/frontend/src/lib/fieldPresets.ts
+++ /dev/null
@@ -1,46 +0,0 @@
-// Rulebook preset math: scaling a preset by a percentage. The presets
-// themselves are read live from /api/geometry/presets (see
-// loadFieldPresets in geometry.svelte.ts) -- straight from the same
-// geometry-divA.yml/geometry-divB.yml a human would open, rather than a copy
-// kept here that could drift from them.
-import type { FieldConfig, FieldPreset } from "./geometry.svelte";
-
-export type { FieldPreset };
-
-// Fields it makes sense to shrink along with the field itself. ballRadius and
-// maxRobotRadius are deliberately excluded by default -- they describe real
-// hardware, which is usually not scaled down just because the field is.
-export const SCALABLE_KEYS: (keyof FieldConfig)[] = [
-  "fieldLength",
-  "fieldWidth",
-  "goalWidth",
-  "goalDepth",
-  "goalHeight",
-  "penaltyAreaDepth",
-  "penaltyAreaWidth",
-  "goalCenterToPenaltyMark",
-  "boundaryWidth",
-  "boundaryWidthGoalLine",
-  "centerCircleRadius",
-  "lineThickness",
-];
-
-// Applies a preset at the given percentage scale (100 = actual rule-book
-// size) to a FieldConfig, returning a new object. ballRadius/maxRobotRadius
-// are real hardware and always left at the preset's value.
-export function scalePreset(
-  preset: FieldPreset,
-  scalePercent: number,
-): FieldConfig {
-  const factor = scalePercent / 100;
-  const result: FieldConfig = { ...preset.field };
-
-  for (const key of SCALABLE_KEYS) {
-    const value = preset.field[key];
-    if (typeof value === "number") {
-      result[key] = Math.round(value * factor);
-    }
-  }
-
-  return result;
-}
diff --git a/gui/frontend/src/lib/geometry.svelte.ts b/gui/frontend/src/lib/geometry.svelte.ts
index 6392b50..c7ad585 100644
--- a/gui/frontend/src/lib/geometry.svelte.ts
+++ b/gui/frontend/src/lib/geometry.svelte.ts
@@ -29,7 +29,8 @@ interface FieldConfigResponse {
 
 // A rulebook preset, as served by GET /api/geometry/presets -- read live
 // from geometry-divA.yml/geometry-divB.yml on the Go host, not duplicated
-// here. See fieldPresets.ts for what's done with one once loaded.
+// here. See the setup wizard's WizardStart.svelte for what's done with one
+// once loaded.
 export interface FieldPreset extends FieldConfigResponse {
   name: string;
 }

From eab814594f64dd472274b6e192f6476f41b8ead8 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Mon, 28 Sep 2026 22:12:35 -0400
Subject: [PATCH 14/23] color picker prototype

---
 .gitignore                                    |   3 +
 gui/cmd/ssl-vision-processor-gui/routes.go    |   2 +
 gui/cmd/ssl-vision-processor-gui/server.go    |  45 ++
 gui/frontend/src/lib/color.svelte.ts          | 197 ++++++
 gui/frontend/src/lib/config/ColorPanel.svelte | 300 +++++++++
 .../src/lib/config/ColorUpdateEquation.svelte |  97 +++
 .../src/lib/config/WeightTriangle.svelte      | 602 ++++++++++++++++++
 .../src/lib/config/YuvPositionPane.svelte     | 552 ++++++++++++++++
 .../src/lib/layout/MainContent.svelte         |   3 +
 gui/frontend/src/lib/layout/Shell.svelte      |  94 +++
 gui/frontend/src/lib/preferences.svelte.ts    |  55 ++
 gui/internal/geometry/colorconfig.go          | 272 ++++++++
 gui/internal/geometry/colorconfig_test.go     | 248 ++++++++
 gui/internal/geometry/instance_config.go      |  21 +-
 14 files changed, 2485 insertions(+), 6 deletions(-)
 create mode 100644 gui/frontend/src/lib/color.svelte.ts
 create mode 100644 gui/frontend/src/lib/config/ColorPanel.svelte
 create mode 100644 gui/frontend/src/lib/config/ColorUpdateEquation.svelte
 create mode 100644 gui/frontend/src/lib/config/WeightTriangle.svelte
 create mode 100644 gui/frontend/src/lib/config/YuvPositionPane.svelte
 create mode 100644 gui/frontend/src/lib/preferences.svelte.ts
 create mode 100644 gui/internal/geometry/colorconfig.go
 create mode 100644 gui/internal/geometry/colorconfig_test.go

diff --git a/.gitignore b/.gitignore
index 28f9a35..9dc4a5a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -59,3 +59,6 @@ CMakeCache.txt
 /.cache
 /build*
 /.zed
+
+# AI Files
+.mcp.json
diff --git a/gui/cmd/ssl-vision-processor-gui/routes.go b/gui/cmd/ssl-vision-processor-gui/routes.go
index 3cdd5b4..aba3fb3 100644
--- a/gui/cmd/ssl-vision-processor-gui/routes.go
+++ b/gui/cmd/ssl-vision-processor-gui/routes.go
@@ -18,6 +18,8 @@ func (s *VisionServer) addRoutes(mux *http.ServeMux) {
 	mux.Handle("GET /api/geometry/presets", s.handleGetFieldPresets())
 	mux.Handle("GET /api/config/line-corners", s.handleGetLineCorners())
 	mux.Handle("PUT /api/config/line-corners", s.handlePutLineCorners())
+	mux.Handle("GET /api/config/color", s.handleGetColor())
+	mux.Handle("PUT /api/config/color", s.handlePutColor())
 	mux.Handle("GET /api/snapshots", snapshot.HandleList(s.imgDir))
 	mux.Handle("GET /api/snapshot/{camID}/{view}", snapshot.HandleGet(s.imgDir))
 	mux.Handle("/api/", http.NotFoundHandler())
diff --git a/gui/cmd/ssl-vision-processor-gui/server.go b/gui/cmd/ssl-vision-processor-gui/server.go
index f0bc2bf..08fbe9a 100644
--- a/gui/cmd/ssl-vision-processor-gui/server.go
+++ b/gui/cmd/ssl-vision-processor-gui/server.go
@@ -263,6 +263,51 @@ func (s *VisionServer) handlePutLineCorners() http.HandlerFunc {
 	}
 }
 
+// handleGetColor reads back the instance's config.yml color: block (see
+// geometry.ReadColorConfig), including vision_processor's own hardcoded
+// fallback for any color left commented out -- there's no "unset" state to
+// degrade to here, unlike line corners, since every color always resolves to
+// something the instance is actually running.
+func (s *VisionServer) handleGetColor() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		cfg, err := geometry.ReadColorConfig(s.configFile)
+		if err != nil {
+			slog.Error("reading color config", "path", s.configFile, "err", err)
+			http.Error(w, "internal error", http.StatusInternalServerError)
+
+			return
+		}
+
+		w.Header().Set("Content-Type", "application/json")
+
+		if err := json.NewEncoder(w).Encode(cfg); err != nil {
+			slog.Error("writing color config response", "err", err)
+		}
+	}
+}
+
+// handlePutColor writes the color panel's reference colors and update
+// weights into the instance's own config.yml -- see geometry.WriteColorConfig.
+// Same not-yet-built-internal/config stand-in as handlePutLineCorners.
+func (s *VisionServer) handlePutColor() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		var req geometry.ColorConfig
+		if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
+			http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
+
+			return
+		}
+
+		if err := geometry.WriteColorConfig(s.configFile, req); err != nil {
+			respondGeometryErr(w, err, "writing color config", "path", s.configFile)
+
+			return
+		}
+
+		w.WriteHeader(http.StatusNoContent)
+	}
+}
+
 // fieldPresets are the rulebook defaults, read live from the same files a
 // human would open (geometry-divA.yml, geometry-divB.yml at the repo root) --
 // not a copy that could drift from them. See geometry.ReadOnlyFiles: saves
diff --git a/gui/frontend/src/lib/color.svelte.ts b/gui/frontend/src/lib/color.svelte.ts
new file mode 100644
index 0000000..151b4a1
--- /dev/null
+++ b/gui/frontend/src/lib/color.svelte.ts
@@ -0,0 +1,197 @@
+// Shared state for the Color config tab, same pattern as lineCorners.svelte.ts:
+// a module-level $state object plus load/save built on api.ts's shared
+// request/loading-state helpers. Mirrors gui's ColorConfig (see
+// internal/geometry/colorconfig.go) field-for-field -- this is the JSON
+// shape /api/config/color actually sends and accepts.
+import { requestJSON, withLoadingState } from "./api";
+
+export interface RGB {
+  r: number;
+  g: number;
+  b: number;
+}
+
+export interface YUV {
+  y: number;
+  u: number;
+  v: number;
+}
+
+function clamp255(v: number): number {
+  return Math.round(Math.min(255, Math.max(0, v)));
+}
+
+// Same BT.601 studio-swing coefficients as kernel/rgba2nv12.cl's rgb2nv12
+// kernel -- this codebase's own existing RGB->YUV conversion (used to
+// encode the RTP H.264 stream), reused here so "YUV" means the same thing
+// in the color picker as it already does everywhere else in this repo,
+// rather than picking a different, arbitrary YUV variant just for display.
+export function rgbToYuv(c: RGB): YUV {
+  const { r, g, b } = c;
+
+  return {
+    y: clamp255((66 * r + 129 * g + 25 * b) / 256 + 16),
+    u: clamp255((-38 * r - 74 * g + 112 * b) / 256 + 128),
+    v: clamp255((112 * r - 94 * g - 18 * b) / 256 + 128),
+  };
+}
+
+// The standard BT.601 studio-swing decode -- the inverse of rgbToYuv above.
+export function yuvToRgb(c: YUV): RGB {
+  const y = c.y - 16;
+  const u = c.u - 128;
+  const v = c.v - 128;
+
+  return {
+    r: clamp255((298 * y + 409 * v + 128) / 256),
+    g: clamp255((298 * y - 100 * u - 208 * v + 128) / 256),
+    b: clamp255((298 * y + 516 * u + 128) / 256),
+  };
+}
+
+// Most (Y,U,V) points don't correspond to any real RGB color -- at a given Y,
+// only a hexagon-ish region of the U/V square is reachable, the rest requires
+// clipping. yuvToRgb hides that by clamping; this checks the *unclamped*
+// decode against [0,255] so a caller can tell reachable points from clipped
+// ones (YuvPositionPane.svelte shades the unreachable ones on its canvas,
+// same convention as a CIE chromaticity diagram graying out everything
+// outside the sRGB triangle).
+export function yuvInGamut(c: YUV): boolean {
+  const y = c.y - 16;
+  const u = c.u - 128;
+  const v = c.v - 128;
+
+  const r = (298 * y + 409 * v + 128) / 256;
+  const g = (298 * y - 100 * u - 208 * v + 128) / 256;
+  const b = (298 * y + 516 * u + 128) / 256;
+
+  return r >= 0 && r <= 255 && g >= 0 && g <= 255 && b >= 0 && b <= 255;
+}
+
+// The only Y values any real RGB (0-255 each) can ever produce -- see
+// rgbToYuv: Y = (66R+129G+25B)/256+16 hits its extremes at black (16) and
+// white (~235). Values outside this are the "superblack"/"superwhite" range
+// broadcast video reserves for sync signals, not a reachable camera color, so
+// a Y control has nothing valid to show past these bounds.
+export const MIN_REACHABLE_Y = 16;
+export const MAX_REACHABLE_Y = 235;
+
+export const COLOR_CLASSES = [
+  "yellow",
+  "blue",
+  "green",
+  "pink",
+  "orange",
+  "field",
+] as const;
+
+export type ColorClass = (typeof COLOR_CLASSES)[number];
+
+// "Shell" is the colored marker disc on top of a robot -- yellow/blue mark
+// which shell is which team (both centered), green/pink mark orientation
+// (both to the side of center). Shared between ColorPanel and
+// YuvPositionPane, which both render a class selector.
+export const CLASS_LABELS: Record<ColorClass, string> = {
+  yellow: "Yellow (shell, center)",
+  blue: "Blue (shell, center)",
+  green: "Green (shell, side)",
+  pink: "Pink (shell, side)",
+  orange: "Orange (ball)",
+  field: "Field (carpet)",
+};
+
+export function rgbToCss(c: RGB): string {
+  return `rgb(${String(c.r)}, ${String(c.g)}, ${String(c.b)})`;
+}
+
+export interface ColorConfigData {
+  referenceForce: number;
+  historyForce: number;
+  minReferenceForce: number;
+  orange: RGB;
+  field: RGB;
+  yellow: RGB;
+  blue: RGB;
+  green: RGB;
+  pink: RGB;
+}
+
+// Matches vision_processor's own Resources.cpp fallbacks (see
+// colorReferenceDefaults in colorconfig.go) so the panel shows something
+// sane for the instant before the first load response arrives, rather than
+// black/zeroed swatches.
+function defaultColorConfig(): ColorConfigData {
+  return {
+    referenceForce: 0.1,
+    historyForce: 0.7,
+    minReferenceForce: 0.05,
+    orange: { r: 192, g: 128, b: 64 },
+    field: { r: 128, g: 128, b: 128 },
+    yellow: { r: 255, g: 128, b: 0 },
+    blue: { r: 0, g: 128, b: 255 },
+    green: { r: 0, g: 255, b: 128 },
+    pink: { r: 255, g: 0, b: 128 },
+  };
+}
+
+export const colorConfig = $state<{
+  config: ColorConfigData;
+  loading: boolean;
+  saving: boolean;
+  error: string | null;
+  savedAt: number | null;
+}>({
+  config: defaultColorConfig(),
+  loading: false,
+  saving: false,
+  error: null,
+  savedAt: null,
+});
+
+// Whether the minimum-reference-weight floor has been unlocked for editing
+// this session (see WeightTriangle.svelte's unlock-confirmation popup).
+// Module-level, not component-local state: MainContent.svelte destroys and
+// recreates ColorPanel/WeightTriangle every time the user switches config
+// tabs away and back ({#if}/{:else if} on nav.selectedCategoryId), so a
+// component-local flag would silently re-lock on every tab switch --
+// defeating "stays unlocked for the remainder of the session." Resets only
+// on a full page reload, since it's never persisted anywhere.
+export const minReferenceForceUnlock = $state({ unlocked: false });
+
+// Loads the instance's config.yml color: block (see
+// geometry.ReadColorConfig) -- always a complete, concrete config, since
+// every color/force resolves to either what's set or vision_processor's own
+// default, never "unset."
+export async function loadColorConfig(): Promise<void> {
+  await withLoadingState(
+    (v) => (colorConfig.loading = v),
+    (v) => (colorConfig.error = v),
+    async () => {
+      const response = await requestJSON("/api/config/color");
+      colorConfig.config = (await response.json()) as ColorConfigData;
+    },
+  );
+}
+
+// Saves the given config to the instance's config.yml (see
+// geometry.WriteColorConfig). Server-side validation (force ranges, the
+// minReferenceForce floor, 0-255 channels) can reject this -- the error
+// message from requestJSON is the backend's own, surfaced as-is.
+export async function saveColorConfig(cfg: ColorConfigData): Promise<void> {
+  colorConfig.savedAt = null;
+
+  await withLoadingState(
+    (v) => (colorConfig.saving = v),
+    (v) => (colorConfig.error = v),
+    async () => {
+      await requestJSON("/api/config/color", {
+        method: "PUT",
+        headers: { "Content-Type": "application/json" },
+        body: JSON.stringify(cfg),
+      });
+
+      colorConfig.config = cfg;
+      colorConfig.savedAt = Date.now();
+    },
+  );
+}
diff --git a/gui/frontend/src/lib/config/ColorPanel.svelte b/gui/frontend/src/lib/config/ColorPanel.svelte
new file mode 100644
index 0000000..2ddefac
--- /dev/null
+++ b/gui/frontend/src/lib/config/ColorPanel.svelte
@@ -0,0 +1,300 @@
+<script lang="ts">
+  import { onMount } from "svelte";
+  import type { VisionInstance } from "../layout/nav.svelte";
+  import {
+    colorConfig,
+    loadColorConfig,
+    saveColorConfig,
+    rgbToCss,
+    rgbToYuv,
+    COLOR_CLASSES,
+    CLASS_LABELS,
+    type ColorClass,
+  } from "../color.svelte";
+  import WeightTriangle from "./WeightTriangle.svelte";
+  import ColorUpdateEquation from "./ColorUpdateEquation.svelte";
+  import YuvPositionPane from "./YuvPositionPane.svelte";
+  import {
+    Table,
+    TableHead,
+    TableHeadCell,
+    TableBody,
+    TableBodyRow,
+    TableBodyCell,
+  } from "flowbite-svelte";
+
+  // No `category` prop, unlike GeometryPanel/ConfigCategoryPlaceholder:
+  // those still show category.fields via the doc-only ConfigFieldList
+  // because they have numeric placeholders alongside a partial real editor.
+  // Every field this category lists is already a live editor below, so
+  // there's nothing left for that list to document.
+  interface Props {
+    instance: VisionInstance | undefined;
+  }
+
+  let { instance }: Props = $props();
+
+  // Which single reference color is shown/edited right now -- deliberately
+  // one at a time with a selector, not six editors at once (see the plan this
+  // was scoped from: a v1 for the reference-color side of issue 18, ahead of
+  // the live/autoadapted display and blob-sample debug data the other
+  // contributor's protobuf work will eventually add).
+  let selectedClass = $state<ColorClass>("orange");
+
+  onMount(() => {
+    void loadColorConfig();
+  });
+
+  let updateForce = $derived(
+    1 - colorConfig.config.referenceForce - colorConfig.config.historyForce,
+  );
+
+  function handleSave(): void {
+    void saveColorConfig(colorConfig.config);
+  }
+</script>
+
+<section class="color-panel">
+  <h2>Color</h2>
+
+  {#if instance}
+    <p class="hint">
+      Editing {instance.host} / cam {instance.cameraId}'s
+      <code>color:</code> block.
+    </p>
+  {:else}
+    <p class="hint">Select a vision processor on the left first.</p>
+  {/if}
+
+  {#if colorConfig.loading}
+    <p class="hint">Loading...</p>
+  {/if}
+
+  <h3>Reference colors</h3>
+  <YuvPositionPane
+    bind:color={colorConfig.config[selectedClass]}
+    colors={colorConfig.config}
+    bind:selectedClass
+  />
+
+  <div class="rgb-editor">
+    <label>
+      R
+      <input
+        type="number"
+        min="0"
+        max="255"
+        bind:value={colorConfig.config[selectedClass].r}
+      />
+    </label>
+    <label>
+      G
+      <input
+        type="number"
+        min="0"
+        max="255"
+        bind:value={colorConfig.config[selectedClass].g}
+      />
+    </label>
+    <label>
+      B
+      <input
+        type="number"
+        min="0"
+        max="255"
+        bind:value={colorConfig.config[selectedClass].b}
+      />
+    </label>
+    <span
+      class="swatch large"
+      style:background={rgbToCss(colorConfig.config[selectedClass])}
+    ></span>
+  </div>
+
+  <Table striped>
+    <TableHead>
+      <TableHeadCell>Color</TableHeadCell>
+      <TableHeadCell class="px-1.5 py-1">R</TableHeadCell>
+      <TableHeadCell class="px-1.5 py-1">G</TableHeadCell>
+      <TableHeadCell class="px-1.5 py-1">B</TableHeadCell>
+      <TableHeadCell class="w-10 p-0"></TableHeadCell>
+      <TableHeadCell class="px-1.5 py-1">Y</TableHeadCell>
+      <TableHeadCell class="px-1.5 py-1">U</TableHeadCell>
+      <TableHeadCell class="px-1.5 py-1">V</TableHeadCell>
+    </TableHead>
+    <TableBody>
+      {#each COLOR_CLASSES as cls (cls)}
+        {@const rgb = colorConfig.config[cls]}
+        {@const yuv = rgbToYuv(rgb)}
+        <TableBodyRow>
+          <TableBodyCell>
+            <span class="cell-color">
+              <span class="swatch" style:background={rgbToCss(rgb)}></span>
+              {CLASS_LABELS[cls]}
+            </span>
+          </TableBodyCell>
+          <TableBodyCell class="px-1.5 py-1">{rgb.r}</TableBodyCell>
+          <TableBodyCell class="px-1.5 py-1">{rgb.g}</TableBodyCell>
+          <TableBodyCell class="px-1.5 py-1">{rgb.b}</TableBodyCell>
+          <TableBodyCell class="w-10 p-0"></TableBodyCell>
+          <TableBodyCell class="px-1.5 py-1">{yuv.y}</TableBodyCell>
+          <TableBodyCell class="px-1.5 py-1">{yuv.u}</TableBodyCell>
+          <TableBodyCell class="px-1.5 py-1">{yuv.v}</TableBodyCell>
+        </TableBodyRow>
+      {/each}
+    </TableBody>
+  </Table>
+
+  <h3>Update weights</h3>
+  <p class="hint">
+    How much each new color leans on its configured reference vs. last frame's
+    color vs. what was actually sampled this frame. Drag the marker, or edit the
+    minimum reference weight directly -- see src/blobs/colorupdate.cpp's
+    updateColor for the exact blend this mirrors.
+  </p>
+  <WeightTriangle
+    bind:referenceForce={colorConfig.config.referenceForce}
+    bind:historyForce={colorConfig.config.historyForce}
+    bind:minReferenceForce={colorConfig.config.minReferenceForce}
+  />
+
+  <ColorUpdateEquation
+    referenceForce={colorConfig.config.referenceForce}
+    historyForce={colorConfig.config.historyForce}
+    {updateForce}
+    referenceLabel={selectedClass}
+    referenceColor={colorConfig.config[selectedClass]}
+  />
+
+  <Table striped>
+    <TableHead>
+      <TableHeadCell>Component</TableHeadCell>
+      <TableHeadCell class="px-1.5 py-1">Weight</TableHeadCell>
+    </TableHead>
+    <TableBody>
+      <TableBodyRow>
+        <TableBodyCell>Reference</TableBodyCell>
+        <TableBodyCell class="px-1.5 py-1"
+          >{(colorConfig.config.referenceForce * 100).toFixed(
+            1,
+          )}%</TableBodyCell
+        >
+      </TableBodyRow>
+      <TableBodyRow>
+        <TableBodyCell>History</TableBodyCell>
+        <TableBodyCell class="px-1.5 py-1"
+          >{(colorConfig.config.historyForce * 100).toFixed(1)}%</TableBodyCell
+        >
+      </TableBodyRow>
+      <TableBodyRow>
+        <TableBodyCell>Current frame</TableBodyCell>
+        <TableBodyCell class="px-1.5 py-1"
+          >{(updateForce * 100).toFixed(1)}%</TableBodyCell
+        >
+      </TableBodyRow>
+      <TableBodyRow>
+        <TableBodyCell>Minimum reference floor</TableBodyCell>
+        <TableBodyCell class="px-1.5 py-1"
+          >{(colorConfig.config.minReferenceForce * 100).toFixed(
+            1,
+          )}%</TableBodyCell
+        >
+      </TableBodyRow>
+    </TableBody>
+  </Table>
+
+  <div class="save-row">
+    <button type="button" onclick={handleSave} disabled={colorConfig.saving}>
+      {colorConfig.saving ? "Saving..." : "Save to config.yml"}
+    </button>
+    {#if colorConfig.savedAt}
+      <span class="saved">Saved.</span>
+    {/if}
+    {#if colorConfig.error}
+      <span class="error">Error: {colorConfig.error}</span>
+    {/if}
+  </div>
+</section>
+
+<style>
+  .color-panel {
+    /* Wide enough for YuvPositionPane's plane+slider+readout row (1100px
+       max-width there); everything else in this panel is narrower anyway. */
+    max-width: 1100px;
+  }
+
+  h2 {
+    margin: 0 0 0.5rem;
+  }
+
+  h3 {
+    margin: 1.5rem 0 0.25rem;
+  }
+
+  .hint {
+    color: #666;
+    font-size: 0.85rem;
+  }
+
+  code {
+    background: #eee;
+    padding: 0.1rem 0.3rem;
+    border-radius: 3px;
+  }
+
+  .swatch {
+    display: inline-block;
+    width: 0.9rem;
+    height: 0.9rem;
+    border-radius: 2px;
+    border: 1px solid rgba(0, 0, 0, 0.2);
+  }
+
+  .swatch.large {
+    width: 2rem;
+    height: 2rem;
+    border-radius: 4px;
+  }
+
+  .cell-color {
+    display: inline-flex;
+    align-items: center;
+    gap: 0.5rem;
+  }
+
+  .rgb-editor {
+    display: flex;
+    align-items: center;
+    gap: 0.75rem;
+    margin-top: 0.5rem;
+  }
+
+  .rgb-editor label {
+    display: flex;
+    flex-direction: column;
+    gap: 0.2rem;
+    font-size: 0.8rem;
+    color: #444;
+  }
+
+  .rgb-editor input {
+    width: 4.5rem;
+  }
+
+  .save-row {
+    display: flex;
+    align-items: center;
+    gap: 0.5rem;
+    margin-top: 1.5rem;
+  }
+
+  .saved {
+    color: #1b5e20;
+    font-size: 0.85rem;
+  }
+
+  .error {
+    color: #b00020;
+    font-size: 0.85rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/ColorUpdateEquation.svelte b/gui/frontend/src/lib/config/ColorUpdateEquation.svelte
new file mode 100644
index 0000000..80c7eaf
--- /dev/null
+++ b/gui/frontend/src/lib/config/ColorUpdateEquation.svelte
@@ -0,0 +1,97 @@
+<script lang="ts">
+  // Live view of src/blobs/colorupdate.cpp:58-61's updateColor blend for
+  // whichever class is currently selected:
+  //   new = referenceForce * reference + historyForce * history + updateForce * current
+  // referenceColor is real (it's what's being edited on this panel). history/
+  // current are symbolic for now -- the live/autoadapted color and this-frame
+  // blob samples both come from the other contributor's protobuf work
+  // (VPColor.live, not yet wired to this host), not from config.yml. Swap
+  // those two swatches for real ones once that lands; the weight numbers here
+  // are already live off the same state the triangle drags.
+  import type { RGB } from "../color.svelte";
+
+  interface Props {
+    referenceForce: number;
+    historyForce: number;
+    updateForce: number;
+    referenceLabel: string;
+    referenceColor: RGB;
+  }
+
+  let {
+    referenceForce,
+    historyForce,
+    updateForce,
+    referenceLabel,
+    referenceColor,
+  }: Props = $props();
+
+  function pct(v: number): string {
+    return `${(v * 100).toFixed(1)}%`;
+  }
+
+  function css(c: RGB): string {
+    return `rgb(${String(c.r)}, ${String(c.g)}, ${String(c.b)})`;
+  }
+</script>
+
+<p class="equation">
+  <span class="hint">new {referenceLabel} =</span>
+  <span class="term">
+    <span class="swatch" style:background={css(referenceColor)}></span>
+    {pct(referenceForce)} · reference
+  </span>
+  <span class="op">+</span>
+  <span class="term">
+    <span class="swatch placeholder"></span>
+    {pct(historyForce)} · history
+  </span>
+  <span class="op">+</span>
+  <span class="term">
+    <span class="swatch placeholder"></span>
+    {pct(updateForce)} · current frame
+  </span>
+</p>
+
+<style>
+  .equation {
+    display: flex;
+    flex-wrap: wrap;
+    align-items: center;
+    gap: 0.4rem;
+    font-size: 0.85rem;
+    font-variant-numeric: tabular-nums;
+  }
+
+  .hint {
+    color: #666;
+  }
+
+  .term {
+    display: inline-flex;
+    align-items: center;
+    gap: 0.3rem;
+  }
+
+  .op {
+    color: #888;
+  }
+
+  .swatch {
+    display: inline-block;
+    width: 0.9rem;
+    height: 0.9rem;
+    border-radius: 2px;
+    border: 1px solid rgba(0, 0, 0, 0.2);
+  }
+
+  .swatch.placeholder {
+    background: repeating-linear-gradient(
+      45deg,
+      #ddd,
+      #ddd 3px,
+      #eee 3px,
+      #eee 6px
+    );
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/WeightTriangle.svelte b/gui/frontend/src/lib/config/WeightTriangle.svelte
new file mode 100644
index 0000000..3a861a4
--- /dev/null
+++ b/gui/frontend/src/lib/config/WeightTriangle.svelte
@@ -0,0 +1,602 @@
+<script lang="ts">
+  // Drag-to-set control for the three color-update weights (see
+  // src/blobs/colorupdate.cpp:58-61's updateColor -- this triangle IS that
+  // blend, visualized): reference_force, history_force, and the implied
+  // "current frame" weight (1 - both). The three always sum to 1, so a point
+  // inside an equilateral triangle -- its barycentric coordinates against the
+  // three vertices -- is exactly the right representation: every point is a
+  // valid weighting, every valid weighting is some point.
+  //
+  // minReferenceForce carves out a strip near the History-Update edge (where
+  // referenceForce would be < the floor) as an excluded, shaded region -- see
+  // colorconfig.go's ColorConfig.MinReferenceForce for why that floor exists
+  // (reference is the only term never gated on having samples this frame; if
+  // it can go to ~0, a sample-starved class can drift with nothing pulling it
+  // back).
+
+  import { minReferenceForceUnlock } from "../color.svelte";
+  import { preferences } from "../preferences.svelte";
+
+  interface Props {
+    referenceForce?: number;
+    historyForce?: number;
+    minReferenceForce?: number;
+  }
+
+  let {
+    referenceForce = $bindable(0.1),
+    historyForce = $bindable(0.7),
+    minReferenceForce = $bindable(0.05),
+  }: Props = $props();
+
+  let updateForce = $derived(1 - referenceForce - historyForce);
+
+  // vision_processor's own fallback (Resources.cpp:202-203, colorconfig.go's
+  // ReadColorConfig) -- what a color update uses when config.yml has neither
+  // force set at all. "Restore defaults" puts the marker back here, not at
+  // some arbitrary triangle centroid.
+  const DEFAULT_REFERENCE_FORCE = 0.1;
+  const DEFAULT_HISTORY_FORCE = 0.7;
+
+  // colorconfig.go's defaultMinReferenceForce -- this one's a Go-host-only
+  // safety rail, not a C++ fallback, but "restore defaults" should still put
+  // it back rather than leaving behind whatever floor was last typed in.
+  const DEFAULT_MIN_REFERENCE_FORCE = 0.05;
+
+  // Triangle vertices in a 0-100 viewBox. Order matters: it fixes which
+  // barycentric weight is which force everywhere below.
+  const V_REF = { x: 50, y: 6 };
+  const V_HIST = { x: 6, y: 94 };
+  const V_UPDATE = { x: 94, y: 94 };
+
+  function barycentricToPoint(r: number, h: number, u: number) {
+    return {
+      x: r * V_REF.x + h * V_HIST.x + u * V_UPDATE.x,
+      y: r * V_REF.y + h * V_HIST.y + u * V_UPDATE.y,
+    };
+  }
+
+  // Standard point-in-triangle barycentric inversion (A=V_REF, B=V_HIST,
+  // C=V_UPDATE). Returns unclamped weights -- the caller is responsible for
+  // pulling a point dragged outside the triangle back to something valid.
+  function pointToBarycentric(p: { x: number; y: number }) {
+    const v0 = { x: V_HIST.x - V_REF.x, y: V_HIST.y - V_REF.y };
+    const v1 = { x: V_UPDATE.x - V_REF.x, y: V_UPDATE.y - V_REF.y };
+    const v2 = { x: p.x - V_REF.x, y: p.y - V_REF.y };
+
+    const d00 = v0.x * v0.x + v0.y * v0.y;
+    const d01 = v0.x * v1.x + v0.y * v1.y;
+    const d11 = v1.x * v1.x + v1.y * v1.y;
+    const d20 = v2.x * v0.x + v2.y * v0.y;
+    const d21 = v2.x * v1.x + v2.y * v1.y;
+
+    const denom = d00 * d11 - d01 * d01;
+    const h = (d11 * d20 - d01 * d21) / denom;
+    const u = (d00 * d21 - d01 * d20) / denom;
+
+    return { r: 1 - h - u, h, u };
+  }
+
+  // Rounds to keep the saved/displayed values from carrying float noise
+  // picked up by the drag math (e.g. 0.30000000000000004) -- config.yml's own
+  // rounding (colorconfig.go's formatForce) is coarser and independent of
+  // this; this is purely for a clean live readout while dragging.
+  function round(v: number): number {
+    return Math.round(v * 1000) / 1000;
+  }
+
+  // Clamps a raw drag point to a valid, in-triangle, floor-respecting
+  // weighting: negative-component clip + renormalize handles the point
+  // having been dragged outside the triangle at all; the floor step then
+  // pushes referenceForce up to the minimum while preserving the
+  // history:update *ratio* the drag direction implied, rather than just
+  // clamping referenceForce and letting the sum drift off 1.
+  function clampToValidWeights(raw: { r: number; h: number; u: number }) {
+    let r = Math.max(0, raw.r);
+    let h = Math.max(0, raw.h);
+    let u = Math.max(0, raw.u);
+
+    const sum = r + h + u;
+    if (sum <= 0) {
+      r = 1;
+      h = 0;
+      u = 0;
+    } else {
+      r /= sum;
+      h /= sum;
+      u /= sum;
+    }
+
+    if (r < minReferenceForce) {
+      r = minReferenceForce;
+      const remaining = 1 - r;
+      const hu = h + u;
+
+      if (hu <= 0) {
+        h = remaining / 2;
+        u = remaining / 2;
+      } else {
+        h = (h / hu) * remaining;
+        u = (u / hu) * remaining;
+      }
+    }
+
+    return { r: round(r), h: round(h), u: round(u) };
+  }
+
+  let svgEl: SVGSVGElement | undefined = $state();
+  let dragging = $state(false);
+
+  function toSvgPoint(clientX: number, clientY: number) {
+    if (!svgEl) return { x: 0, y: 0 };
+
+    const pt = svgEl.createSVGPoint();
+    pt.x = clientX;
+    pt.y = clientY;
+
+    const ctm = svgEl.getScreenCTM();
+    if (!ctm) return { x: 0, y: 0 };
+
+    const p = pt.matrixTransform(ctm.inverse());
+    return { x: p.x, y: p.y };
+  }
+
+  function applyDrag(event: PointerEvent): void {
+    const svgPoint = toSvgPoint(event.clientX, event.clientY);
+    const weights = clampToValidWeights(pointToBarycentric(svgPoint));
+
+    referenceForce = weights.r;
+    historyForce = weights.h;
+  }
+
+  function startDrag(event: PointerEvent): void {
+    dragging = true;
+    (event.target as Element).setPointerCapture(event.pointerId);
+    applyDrag(event);
+  }
+
+  function onDrag(event: PointerEvent): void {
+    if (!dragging) return;
+    applyDrag(event);
+  }
+
+  function endDrag(): void {
+    dragging = false;
+  }
+
+  // Resets the floor first, then clamps reference/history against *that* --
+  // not the old floor -- so this always lands exactly on
+  // (0.1, 0.7, 0.2) rather than whatever the previous, possibly-raised floor
+  // would have allowed.
+  function resetToDefaults(): void {
+    minReferenceForce = DEFAULT_MIN_REFERENCE_FORCE;
+
+    const weights = clampToValidWeights({
+      r: DEFAULT_REFERENCE_FORCE,
+      h: DEFAULT_HISTORY_FORCE,
+      u: 1 - DEFAULT_REFERENCE_FORCE - DEFAULT_HISTORY_FORCE,
+    });
+
+    referenceForce = weights.r;
+    historyForce = weights.h;
+  }
+
+  // Raising the floor above the marker's current referenceForce (typed
+  // directly into the min-force box, not dragged) previously left the marker
+  // sitting inside the now-excluded zone -- the floor line/shading moved
+  // (both are $derived off minReferenceForce) but nothing pulled the marker
+  // itself back out. This re-clamps whenever the floor moves past wherever
+  // the marker already is, same clampToValidWeights a drag or "restore
+  // defaults" goes through, so the marker always stays inside the valid
+  // region.
+  $effect(() => {
+    if (referenceForce < minReferenceForce) {
+      const weights = clampToValidWeights({
+        r: referenceForce,
+        h: historyForce,
+        u: updateForce,
+      });
+
+      referenceForce = weights.r;
+      historyForce = weights.h;
+    }
+  });
+
+  let marker = $derived(
+    barycentricToPoint(referenceForce, historyForce, updateForce),
+  );
+
+  // The r = minReferenceForce line, parallel to the History-Update edge (that
+  // edge is exactly r=0, since neither of its endpoint vertices carries any
+  // reference weight). floorA sits on edge Ref-Hist (u=0), floorB on edge
+  // Ref-Update (h=0) -- together with V_HIST/V_UPDATE they bound the excluded
+  // trapezoid drawn below.
+  let floorA = $derived(
+    barycentricToPoint(minReferenceForce, 1 - minReferenceForce, 0),
+  );
+  let floorB = $derived(
+    barycentricToPoint(minReferenceForce, 0, 1 - minReferenceForce),
+  );
+  let excludedZone = $derived(
+    [V_HIST, floorA, floorB, V_UPDATE]
+      .map((p) => `${String(p.x)},${String(p.y)}`)
+      .join(" "),
+  );
+
+  function pct(v: number): string {
+    return `${(v * 100).toFixed(1)}%`;
+  }
+
+  // The minimum-reference-weight box: locked by default (see
+  // minReferenceForceUnlock's own doc comment for why this is module-level
+  // rather than local state), plus a typing convenience -- entering anything
+  // from 1-100 is read as a percentage, not a fraction, since that's the more
+  // natural way to think of a weight and 0-1 fractions invite an off-by-100
+  // mistake typed straight into config.yml's own units.
+  let minForceText = $state(String(minReferenceForce));
+  let minForceFocused = $state(false);
+  let showUnlockConfirm = $state(false);
+
+  // Expert users skip the unlock ceremony entirely -- the box just starts
+  // enabled, no click/popup/acknowledgment needed. This is independent of
+  // minReferenceForceUnlock.unlocked (never sets it), so toggling expert
+  // mode off mid-session correctly re-locks the box rather than leaving it
+  // permanently unlocked from having been "true" once.
+  let minForceUnlocked = $derived(
+    minReferenceForceUnlock.unlocked || preferences.expertUser,
+  );
+
+  // Keeps the text box showing minReferenceForce when it changes from
+  // outside this input (e.g. a fresh /api/config/color load resolving) --
+  // but only while the user isn't actively editing it, or a load landing
+  // mid-keystroke would stomp whatever they were typing.
+  $effect(() => {
+    if (!minForceFocused) minForceText = String(minReferenceForce);
+  });
+
+  function normalizeForceInput(raw: number): number {
+    const asFraction = raw >= 1 && raw <= 100 ? raw / 100 : raw;
+
+    return round(Math.min(1, Math.max(0, asFraction)));
+  }
+
+  function commitMinForce(): void {
+    const parsed = Number(minForceText);
+
+    if (Number.isNaN(parsed)) {
+      minForceText = String(minReferenceForce);
+
+      return;
+    }
+
+    minReferenceForce = normalizeForceInput(parsed);
+    minForceText = String(minReferenceForce);
+  }
+
+  function handleMinForceInput(event: Event): void {
+    minForceText = (event.currentTarget as HTMLInputElement).value;
+  }
+
+  function handleMinForceKeydown(event: KeyboardEvent): void {
+    if (event.key !== "Enter") return;
+
+    event.preventDefault();
+    commitMinForce();
+    (event.currentTarget as HTMLInputElement).blur();
+  }
+
+  function handleMinForceFocus(): void {
+    minForceFocused = true;
+  }
+
+  function handleMinForceBlur(): void {
+    minForceFocused = false;
+    commitMinForce();
+  }
+
+  function requestUnlock(): void {
+    showUnlockConfirm = true;
+  }
+
+  function cancelUnlock(): void {
+    showUnlockConfirm = false;
+  }
+
+  function confirmUnlock(): void {
+    minReferenceForceUnlock.unlocked = true;
+    showUnlockConfirm = false;
+  }
+</script>
+
+<div class="weight-triangle">
+  <div class="triangle-row">
+    <svg
+      bind:this={svgEl}
+      viewBox="0 0 100 110"
+      onpointerdown={startDrag}
+      onpointermove={onDrag}
+      onpointerup={endDrag}
+      onpointercancel={endDrag}
+    >
+      <polygon
+        class="triangle"
+        points={`${String(V_REF.x)},${String(V_REF.y)} ${String(V_HIST.x)},${String(V_HIST.y)} ${String(V_UPDATE.x)},${String(V_UPDATE.y)}`}
+      />
+      <polygon class="excluded" points={excludedZone} />
+      <line
+        class="floor-line"
+        x1={floorA.x}
+        y1={floorA.y}
+        x2={floorB.x}
+        y2={floorB.y}
+      />
+
+      <text class="vertex-label" x={V_REF.x} y={V_REF.y - 2}>Reference</text>
+      <text
+        class="vertex-label"
+        x={V_HIST.x}
+        y={V_HIST.y + 6}
+        text-anchor="start">History</text
+      >
+      <text
+        class="vertex-label"
+        x={V_UPDATE.x}
+        y={V_UPDATE.y + 6}
+        text-anchor="end">Current frame</text
+      >
+      <text
+        class="floor-label"
+        x={(floorA.x + floorB.x) / 2}
+        y={(floorA.y + floorB.y) / 2 + 4}
+      >
+        min {pct(minReferenceForce)}
+      </text>
+
+      <circle class="marker" cx={marker.x} cy={marker.y} r="2.2" />
+    </svg>
+
+    <div class="side-column">
+      <dl class="readout">
+        <dt>Reference</dt>
+        <dd>{pct(referenceForce)}</dd>
+        <dt>History</dt>
+        <dd>{pct(historyForce)}</dd>
+        <dt>Current frame</dt>
+        <dd>{pct(updateForce)}</dd>
+      </dl>
+
+      <button type="button" class="reset" onclick={resetToDefaults}>
+        Restore default weights
+      </button>
+
+      <div class="min-force-block">
+        <label class="min-force">
+          Minimum reference weight
+          <input
+            type="number"
+            step="0.01"
+            value={minForceText}
+            disabled={!minForceUnlocked}
+            oninput={handleMinForceInput}
+            onkeydown={handleMinForceKeydown}
+            onfocus={handleMinForceFocus}
+            onblur={handleMinForceBlur}
+          />
+        </label>
+
+        {#if !minForceUnlocked}
+          <div class="unlock">
+            <button type="button" class="unlock-button" onclick={requestUnlock}>
+              Unlock
+            </button>
+            {#if showUnlockConfirm}
+              <div
+                class="unlock-popup"
+                role="dialog"
+                aria-label="Confirm unlocking the reference weight floor"
+              >
+                <p>
+                  This floor keeps the reference color from being tuned toward
+                  0. Reference is the only weight never gated on having samples
+                  this frame -- without a floor, a color that goes
+                  sample-starved for a while has nothing left pulling it back
+                  toward its configured value.
+                </p>
+                <div class="unlock-popup-actions">
+                  <button type="button" onclick={cancelUnlock}>Cancel</button>
+                  <button type="button" class="confirm" onclick={confirmUnlock}>
+                    I understand, unlock
+                  </button>
+                </div>
+              </div>
+            {/if}
+          </div>
+        {/if}
+      </div>
+    </div>
+  </div>
+</div>
+
+<style>
+  .weight-triangle {
+    /* Matches YuvPositionPane/.color-panel's cap (1100px) so this section
+       spans the same width as the color picker above it, for a lined-up
+       right edge -- not because the triangle itself needs to be that wide. */
+    width: 100%;
+    max-width: 1100px;
+  }
+
+  /* Same shape as YuvPositionPane's .plane-row: the main visual on the left,
+     a vertical stack of controls/readout to its right. */
+  .triangle-row {
+    display: flex;
+    align-items: flex-start;
+    gap: 1.5rem;
+  }
+
+  svg {
+    width: 560px;
+    /* viewBox is 100x110, not 100x100 -- the History/Current frame vertex
+       labels sit a few units below the triangle's own bottom edge (y=94+6),
+       which the original 260px render made negligible but is a real visible
+       overlap with whatever follows this component once the triangle is
+       this much bigger. Height follows the viewBox's aspect ratio so the
+       triangle itself still renders at the full 560px width. */
+    height: 616px;
+    touch-action: none;
+    flex-shrink: 0;
+  }
+
+  .triangle {
+    fill: #f5f5f5;
+    stroke: #999;
+    stroke-width: 0.5;
+  }
+
+  .excluded {
+    fill: rgba(176, 0, 32, 0.08);
+    pointer-events: none;
+  }
+
+  .floor-line {
+    stroke: #b00020;
+    stroke-width: 0.4;
+    stroke-dasharray: 2 1.5;
+    pointer-events: none;
+  }
+
+  .floor-label {
+    fill: #b00020;
+    font-size: 3.2px;
+    text-anchor: middle;
+    pointer-events: none;
+  }
+
+  .vertex-label {
+    fill: #444;
+    font-size: 4px;
+    text-anchor: middle;
+    pointer-events: none;
+  }
+
+  .marker {
+    fill: #1565c0;
+    stroke: white;
+    stroke-width: 0.6;
+    cursor: grab;
+  }
+
+  .side-column {
+    display: flex;
+    flex-direction: column;
+    align-items: flex-start;
+    gap: 1rem;
+  }
+
+  .readout {
+    display: grid;
+    grid-template-columns: auto auto;
+    gap: 0.15rem 0.6rem;
+    margin: 0;
+    font-size: 0.85rem;
+  }
+
+  .readout dt {
+    color: #666;
+  }
+
+  .readout dd {
+    margin: 0;
+    font-variant-numeric: tabular-nums;
+  }
+
+  .reset {
+    align-self: start;
+    padding: 0.3rem 0.6rem;
+    border: 1px solid #ccc;
+    border-radius: 4px;
+    background: white;
+    font-size: 0.8rem;
+    cursor: pointer;
+  }
+
+  .min-force-block {
+    display: flex;
+    flex-direction: column;
+    align-items: flex-start;
+    gap: 0.5rem;
+  }
+
+  .min-force {
+    display: flex;
+    flex-direction: column;
+    gap: 0.25rem;
+    font-size: 0.85rem;
+    color: #444;
+  }
+
+  .min-force input {
+    width: 5rem;
+  }
+
+  .min-force input:disabled {
+    background: #eee;
+    color: #888;
+    cursor: not-allowed;
+  }
+
+  .unlock {
+    position: relative;
+  }
+
+  .unlock-button {
+    padding: 0.3rem 0.6rem;
+    border: 1px solid #ccc;
+    border-radius: 4px;
+    background: white;
+    font-size: 0.8rem;
+    cursor: pointer;
+  }
+
+  .unlock-popup {
+    position: absolute;
+    bottom: 100%;
+    left: 0;
+    z-index: 10;
+    width: 220px;
+    margin-bottom: 0.5rem;
+    padding: 0.6rem;
+    background: white;
+    border: 1px solid #ccc;
+    border-radius: 6px;
+    box-shadow: 0 2px 8px rgba(0, 0, 0, 0.15);
+    font-size: 0.78rem;
+    color: #444;
+  }
+
+  .unlock-popup p {
+    margin: 0;
+  }
+
+  .unlock-popup-actions {
+    display: flex;
+    justify-content: flex-end;
+    gap: 0.4rem;
+    margin-top: 0.5rem;
+  }
+
+  .unlock-popup-actions button {
+    padding: 0.25rem 0.5rem;
+    border: 1px solid #ccc;
+    border-radius: 4px;
+    background: #f5f5f5;
+    font-size: 0.75rem;
+    cursor: pointer;
+  }
+
+  .unlock-popup-actions .confirm {
+    background: #b00020;
+    border-color: #b00020;
+    color: white;
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/YuvPositionPane.svelte b/gui/frontend/src/lib/config/YuvPositionPane.svelte
new file mode 100644
index 0000000..78d0a81
--- /dev/null
+++ b/gui/frontend/src/lib/config/YuvPositionPane.svelte
@@ -0,0 +1,552 @@
+<script lang="ts">
+  // Issue 18's proposed YUV pane: "reference color positions (editable),
+  // currently-autoadapted color positions (display), current color blob
+  // sample positions (debug, not yet in the protocol)." This is the first
+  // slice -- the editable reference position. Live/autoadapted position and
+  // blob samples both wait on the other contributor's protobuf work
+  // (VPColor.live isn't reachable from this host yet).
+  //
+  // U/V (hue+saturation-ish) come from dragging the plane; Y (brightness)
+  // comes from the slider beside it -- a 2D slice + 1D slider, the same
+  // decomposition every general-purpose color picker uses (HSV square + a
+  // separate value bar), rather than one flat control trying to carry all
+  // three axes at once.
+  import {
+    rgbToYuv,
+    yuvToRgb,
+    yuvInGamut,
+    rgbToCss,
+    MIN_REACHABLE_Y,
+    MAX_REACHABLE_Y,
+    COLOR_CLASSES,
+    CLASS_LABELS,
+    type ColorClass,
+    type RGB,
+  } from "../color.svelte";
+  import { preferences } from "../preferences.svelte";
+
+  interface Props {
+    color?: RGB;
+    colors: Record<ColorClass, RGB>;
+    selectedClass?: ColorClass;
+  }
+
+  let {
+    color = $bindable({ r: 128, g: 128, b: 128 }),
+    colors,
+    selectedClass = $bindable("orange"),
+  }: Props = $props();
+
+  let label = $derived(CLASS_LABELS[selectedClass]);
+
+  // U and V both range 0-255 in this codebase's own YUV (see
+  // color.svelte.ts's rgbToYuv) -- the field is drawn one canvas pixel per
+  // U/V value, so PLANE_SIZE doubles as both the value range and the
+  // canvas's pixel dimensions.
+  const PLANE_SIZE = 255;
+
+  let canvasEl: HTMLCanvasElement | undefined = $state();
+  let containerEl: HTMLDivElement | undefined = $state();
+  let dragging = $state(false);
+
+  // sliceY is which Y the plane/slider currently show -- distinct from
+  // rgbToYuv(color).y (see actualYuv below). It's local, pinned state rather
+  // than derived from color every render, specifically to fix a real bug: a
+  // pure U/V drag can land on an out-of-gamut point, whose *clamped* RGB
+  // implies a slightly different Y than intended. If the redraw were keyed
+  // off that re-derived Y, every drag step near the gamut edge would
+  // re-trigger a full-canvas repaint -- what looked like "the frame changes
+  // while I drag." Pinning sliceY for the duration of interaction (see the
+  // sync effect below, gated on !dragging) removes that feedback loop.
+  let sliceY = $state(rgbToYuv(color).y);
+
+  // The color actually stored right now, exactly as-is (post-clamp) -- used
+  // for the marker position and the U/V readout, so both stay accurate to
+  // what's really saved even in the rare case a drag landed out of gamut.
+  let actualYuv = $derived(rgbToYuv(color));
+
+  // True whenever the slider/wheel have moved the viewed slice away from the
+  // saved color's own brightness -- see onYInput/onWheel below, neither of
+  // which touch color. Surfaced in the Y readout so it's visible that
+  // nothing has been committed yet.
+  let previewing = $derived(sliceY !== actualYuv.y);
+
+  // What color this pane itself last wrote, alongside sliceY -- lets the
+  // sync effect below tell "color changed because something outside this
+  // pane changed it" apart from "color changed because a plane drag just
+  // committed it" (applyPlaneDrag is the only internal writer of color now
+  // that the slider/wheel are preview-only). Needed because yuvToRgb ->
+  // rgbToYuv isn't perfectly lossless (independent rounding on each side of
+  // the round trip can shift Y by 1); without this, a drag commit's own
+  // write would immediately get partly undone and re-derived by the sync
+  // effect, drifting by a fluctuating +-1 instead of landing exactly on the
+  // requested step.
+  let lastAppliedColor = color;
+
+  function setSlice(y: number, u: number, v: number): void {
+    color = yuvToRgb({ y, u, v });
+    // sliceY is set from the *actual* committed color's Y, not the requested
+    // y -- yuvToRgb -> rgbToYuv can shift Y by 1 (independent integer
+    // rounding on each side), so re-deriving it here is what makes
+    // `previewing` correctly read false immediately after a commit, instead
+    // of staying stuck on for the rest of the session over 1 unit of
+    // rounding noise the user never asked about.
+    sliceY = rgbToYuv(color).y;
+    lastAppliedColor = color;
+  }
+
+  // Keeps sliceY following color when it changes from outside this pane
+  // (the R/G/B fields, switching selected class, a fresh /api/config/color
+  // load) -- but not while the user is actively dragging the plane or the Y
+  // slider (would fight the pinning above), and not for a change this pane
+  // just made itself (would reintroduce the rounding-drift this is here to
+  // prevent).
+  $effect(() => {
+    if (dragging) return;
+    if (
+      color.r === lastAppliedColor.r &&
+      color.g === lastAppliedColor.g &&
+      color.b === lastAppliedColor.b
+    )
+      return;
+
+    sliceY = rgbToYuv(color).y;
+    lastAppliedColor = color;
+  });
+
+  // Redraws only when sliceY changes (a slider drag, or the sync above) --
+  // never on a plane-only U/V drag, which is the whole point of pinning Y.
+  $effect(() => {
+    drawField(sliceY);
+  });
+
+  // How much of the square is a real color at the currently-viewed
+  // brightness -- shrinks toward the extremes (near black or near white,
+  // almost nothing is reachable). Surfaced in the UI specifically so a
+  // near-empty square near those extremes reads as "this brightness barely
+  // has any real colors," not "the canvas failed to render."
+  let gamutFraction = $state(1);
+
+  // Out-of-gamut pixels are shaded as a muted checkerboard rather than drawn
+  // with their (clamped, misleading) color -- same convention as a
+  // transparency checker, and the same idea as a CIE chromaticity diagram
+  // graying out everything outside the reachable triangle. The boundary
+  // between the two is additionally outlined in a solid color (see the
+  // second pass below): near the brightness extremes the reachable area
+  // shrinks to a small, sharply-angled shape rather than a square, and
+  // without a deliberate-looking edge that reads as a rendering bug, not "a
+  // real, if unfamiliar, region of a color space."
+  function drawField(y: number): void {
+    if (!canvasEl) return;
+
+    const ctx = canvasEl.getContext("2d");
+    if (!ctx) return;
+
+    const size = PLANE_SIZE + 1;
+    const inGamut = new Uint8Array(size * size);
+    let inGamutCount = 0;
+
+    for (let v = 0; v < size; v++) {
+      for (let u = 0; u < size; u++) {
+        if (yuvInGamut({ y, u, v })) {
+          inGamut[v * size + u] = 1;
+          inGamutCount++;
+        }
+      }
+    }
+
+    gamutFraction = inGamutCount / (size * size);
+
+    const image = ctx.createImageData(size, size);
+    const isInGamut = (u: number, v: number): boolean =>
+      u >= 0 && u < size && v >= 0 && v < size && inGamut[v * size + u] === 1;
+
+    for (let v = 0; v < size; v++) {
+      for (let u = 0; u < size; u++) {
+        const i = (v * size + u) * 4;
+
+        if (isInGamut(u, v)) {
+          // An edge pixel -- in gamut, but with an out-of-gamut neighbor --
+          // is drawn as a solid outline instead of its real color, tracing
+          // the boundary so it reads as a deliberate shape.
+          const isEdge =
+            !isInGamut(u - 1, v) ||
+            !isInGamut(u + 1, v) ||
+            !isInGamut(u, v - 1) ||
+            !isInGamut(u, v + 1);
+
+          if (isEdge) {
+            image.data[i] = 34;
+            image.data[i + 1] = 34;
+            image.data[i + 2] = 34;
+          } else {
+            const rgb = yuvToRgb({ y, u, v });
+            image.data[i] = rgb.r;
+            image.data[i + 1] = rgb.g;
+            image.data[i + 2] = rgb.b;
+          }
+        } else {
+          const shade = (u + v) % 16 < 8 ? 212 : 226;
+          image.data[i] = shade;
+          image.data[i + 1] = shade;
+          image.data[i + 2] = shade;
+        }
+
+        image.data[i + 3] = 255;
+      }
+    }
+
+    ctx.putImageData(image, 0, 0);
+  }
+
+  // Uses the container's rendered (CSS) box, not the canvas's own pixel
+  // buffer -- the canvas is drawn at PLANE_SIZE+1 px internally but may be
+  // displayed at any CSS size, and this keeps drag math correct regardless
+  // of that scale.
+  function uvFromEvent(event: PointerEvent): { u: number; v: number } {
+    if (!containerEl) return { u: actualYuv.u, v: actualYuv.v };
+
+    const rect = containerEl.getBoundingClientRect();
+    const u = ((event.clientX - rect.left) / rect.width) * PLANE_SIZE;
+    const v = ((event.clientY - rect.top) / rect.height) * PLANE_SIZE;
+
+    return {
+      u: Math.round(Math.min(PLANE_SIZE, Math.max(0, u))),
+      v: Math.round(Math.min(PLANE_SIZE, Math.max(0, v))),
+    };
+  }
+
+  function applyPlaneDrag(event: PointerEvent): void {
+    const { u, v } = uvFromEvent(event);
+    setSlice(sliceY, u, v);
+  }
+
+  function startPlaneDrag(event: PointerEvent): void {
+    dragging = true;
+    (event.target as Element).setPointerCapture(event.pointerId);
+    applyPlaneDrag(event);
+  }
+
+  function onPlaneDrag(event: PointerEvent): void {
+    if (!dragging) return;
+    applyPlaneDrag(event);
+  }
+
+  function endDrag(): void {
+    dragging = false;
+  }
+
+  function startYDrag(): void {
+    dragging = true;
+  }
+
+  // Moving the Y slider only previews a different brightness slice -- it
+  // does NOT touch the saved color. A user scrubbing brightness has no way
+  // to know whether their current U/V sits in-gamut at wherever they land,
+  // so committing a color here would either silently change hue/saturation
+  // (gamut clamping distorts more than just brightness) or, worse, do it
+  // invisibly while they're "just looking." The marker keeps showing the
+  // real saved U/V throughout -- including inside the shaded, unreachable
+  // region if this slice can't represent it -- and only a click/drag inside
+  // the square itself (applyPlaneDrag) commits a new color.
+  function onYInput(event: Event): void {
+    sliceY = Number((event.currentTarget as HTMLInputElement).value);
+  }
+
+  // Scroll to preview a different brightness slice while hovering either the
+  // plane or the slider -- one notch per wheel tick regardless of deltaY's
+  // magnitude (trackpads and mice report wildly different deltaY scales, so
+  // using the raw value would feel inconsistent across devices).
+  // preventDefault stops the page itself from scrolling. Same non-committing
+  // behavior as onYInput above -- see its comment.
+  function onWheel(event: WheelEvent): void {
+    event.preventDefault();
+
+    const step = event.deltaY > 0 ? -1 : 1;
+    sliceY = Math.min(
+      MAX_REACHABLE_Y,
+      Math.max(MIN_REACHABLE_Y, sliceY + step),
+    );
+  }
+</script>
+
+<div class="yuv-pane">
+  <div class="plane-row">
+    <div
+      class="plane"
+      bind:this={containerEl}
+      onpointerdown={startPlaneDrag}
+      onpointermove={onPlaneDrag}
+      onpointerup={endDrag}
+      onpointercancel={endDrag}
+      onwheel={onWheel}
+    >
+      <canvas
+        bind:this={canvasEl}
+        width={PLANE_SIZE + 1}
+        height={PLANE_SIZE + 1}
+      ></canvas>
+      <div
+        class="marker"
+        style:left={`${String((actualYuv.u / PLANE_SIZE) * 100)}%`}
+        style:top={`${String((actualYuv.v / PLANE_SIZE) * 100)}%`}
+        title={label ? `${label} reference` : "reference"}
+      ></div>
+    </div>
+
+    <div class="y-slider-wrap" onwheel={onWheel}>
+      <input
+        type="range"
+        class="y-slider"
+        min={MIN_REACHABLE_Y}
+        max={MAX_REACHABLE_Y}
+        value={sliceY}
+        onpointerdown={startYDrag}
+        onpointerup={endDrag}
+        oninput={onYInput}
+      />
+    </div>
+
+    <div class="side-column">
+      <div class="class-list">
+        {#each COLOR_CLASSES as cls (cls)}
+          <button
+            type="button"
+            class="class-button"
+            class:selected={selectedClass === cls}
+            onclick={() => (selectedClass = cls)}
+          >
+            <span class="swatch" style:background={rgbToCss(colors[cls])}
+            ></span>
+            {CLASS_LABELS[cls]}
+          </button>
+        {/each}
+      </div>
+
+      <dl class="readout">
+        <dt>Y (brightness)</dt>
+        <dd>{sliceY}{previewing ? " (previewing)" : ""}</dd>
+        <dt>U</dt>
+        <dd>{actualYuv.u}</dd>
+        <dt>V</dt>
+        <dd>{actualYuv.v}</dd>
+        <dt>Reachable</dt>
+        <dd>{Math.round(gamutFraction * 100)}%</dd>
+      </dl>
+    </div>
+  </div>
+
+  {#if preferences.tooltipsEnabled && gamutFraction < 0.3}
+    <p class="gamut-note">
+      Only {Math.round(gamutFraction * 100)}% of the square is a real color at
+      this brightness -- the outlined shape, not a full square, is expected
+      here: brightness this close to {sliceY < 128 ? "black" : "white"} genuinely
+      has few reachable colors. Not a rendering glitch.
+    </p>
+  {/if}
+
+  <p class="hint">
+    Drag or click inside the square to set {label || "the reference color"}'s
+    color at the brightness shown. Dragging the slider (or scrolling over either
+    control) only previews a different brightness -- the marker stays exactly
+    where the saved color actually is, even inside the shaded region if that
+    color isn't reachable at the previewed brightness; nothing is saved until
+    you click or drag inside the square again. The currently-autoadapted
+    position and per-frame blob samples aren't shown yet: both need the other
+    contributor's protobuf work to reach this host.
+  </p>
+</div>
+
+<style>
+  /* Plane/slider footprint: 220px original -> 440px (2x) -> 660px (another
+     1.5x). PLANE_SIZE (the U/V value range, in the script above) is
+     unrelated and unchanged; uvFromEvent already reads the container's live
+     rendered box via getBoundingClientRect rather than a hardcoded pixel
+     size, so resizing here needs no script changes. */
+  .yuv-pane {
+    max-width: 1100px;
+  }
+
+  .plane-row {
+    display: flex;
+    align-items: flex-start;
+    gap: 1rem;
+  }
+
+  .plane {
+    position: relative;
+    width: 660px;
+    height: 660px;
+    flex-shrink: 0;
+    touch-action: none;
+    border: 1px solid #ccc;
+    border-radius: 4px;
+    overflow: hidden;
+    cursor: crosshair;
+  }
+
+  canvas {
+    display: block;
+    width: 100%;
+    height: 100%;
+  }
+
+  .marker {
+    position: absolute;
+    width: 1.65rem;
+    height: 1.65rem;
+    margin: -0.825rem 0 0 -0.825rem;
+    border-radius: 50%;
+    background: white;
+    border: 2px solid #222;
+    box-shadow: 0 0 0 1px rgba(255, 255, 255, 0.8);
+    pointer-events: none;
+  }
+
+  /* A rotated horizontal range input, not a "real" vertical one --
+     writing-mode/orient-based vertical sliders are unreliable across
+     browsers (can end up with no visible track/thumb at all). The wrapper
+     is sized to the rotated slider's visual footprint (thin, tall); the
+     input itself stays a normal wide/short slider and is rotated -90deg
+     (max at top, since -90deg turns "right" into "up") around its own
+     center, which native pointer dragging still hit-tests correctly. */
+  .y-slider-wrap {
+    position: relative;
+    width: 2.1rem;
+    height: 660px;
+    flex-shrink: 0;
+  }
+
+  .y-slider {
+    position: absolute;
+    top: 50%;
+    left: 50%;
+    width: 660px;
+    height: 2.1rem;
+    margin: 0;
+    transform: translate(-50%, -50%) rotate(-90deg);
+    /* appearance: none, not just relying on the native widget -- Firefox's
+       native range rendering (-moz-appearance: slider-horizontal) doesn't
+       reliably paint at all once the element is absolutely positioned and
+       rotated (confirmed: the box takes up its reserved layout space, but
+       renders nothing, in Firefox specifically). Drawing the track/thumb
+       ourselves below removes the dependence on either engine's native
+       paint path under a transform. */
+    appearance: none;
+    -webkit-appearance: none;
+    -moz-appearance: none;
+    background: transparent;
+    cursor: pointer;
+  }
+
+  .y-slider::-webkit-slider-runnable-track {
+    width: 100%;
+    height: 9px;
+    border-radius: 4.5px;
+    background: #ccc;
+  }
+
+  .y-slider::-moz-range-track {
+    width: 100%;
+    height: 9px;
+    border-radius: 4.5px;
+    background: #ccc;
+  }
+
+  .y-slider::-webkit-slider-thumb {
+    -webkit-appearance: none;
+    appearance: none;
+    width: 36px;
+    height: 36px;
+    margin-top: -13.5px; /* centers a 36px thumb on the 9px track above */
+    border-radius: 50%;
+    background: #1565c0;
+    border: 2px solid white;
+    box-shadow: 0 0 0 1px rgba(0, 0, 0, 0.2);
+  }
+
+  .y-slider::-moz-range-thumb {
+    width: 36px;
+    height: 36px;
+    border-radius: 50%;
+    background: #1565c0;
+    border: 2px solid white;
+    box-shadow: 0 0 0 1px rgba(0, 0, 0, 0.2);
+  }
+
+  /* Firefox's default focus ring on a range input is drawn on this
+     pseudo-element, outside the thumb -- looks wrong rotated. */
+  .y-slider::-moz-focus-outer {
+    border: 0;
+  }
+
+  .side-column {
+    display: flex;
+    flex-direction: column;
+    gap: 1rem;
+  }
+
+  .class-list {
+    display: flex;
+    flex-direction: column;
+    gap: 0.4rem;
+  }
+
+  .class-button {
+    display: inline-flex;
+    align-items: center;
+    gap: 0.4rem;
+    padding: 0.3rem 0.6rem;
+    border: 1px solid #ccc;
+    border-radius: 999px;
+    background: white;
+    font-size: 0.85rem;
+    cursor: pointer;
+  }
+
+  .class-button.selected {
+    border-color: #1565c0;
+    background: #e8f0fe;
+  }
+
+  .swatch {
+    display: inline-block;
+    width: 0.9rem;
+    height: 0.9rem;
+    flex-shrink: 0;
+    border-radius: 2px;
+    border: 1px solid rgba(0, 0, 0, 0.2);
+  }
+
+  .readout {
+    display: grid;
+    grid-template-columns: auto auto;
+    gap: 0.15rem 0.6rem;
+    font-size: 0.85rem;
+  }
+
+  .readout dt {
+    color: #666;
+  }
+
+  .readout dd {
+    margin: 0;
+    font-variant-numeric: tabular-nums;
+  }
+
+  .gamut-note {
+    color: #7a5c00;
+    background: #fff8e1;
+    border: 1px solid #ffe1a8;
+    border-radius: 4px;
+    padding: 0.4rem 0.6rem;
+    margin-top: 0.5rem;
+    font-size: 0.8rem;
+  }
+
+  .hint {
+    color: #666;
+    font-size: 0.8rem;
+    margin-top: 0.5rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/MainContent.svelte b/gui/frontend/src/lib/layout/MainContent.svelte
index b9f15be..8c5dfdc 100644
--- a/gui/frontend/src/lib/layout/MainContent.svelte
+++ b/gui/frontend/src/lib/layout/MainContent.svelte
@@ -3,6 +3,7 @@
   import TabBar from "./TabBar.svelte";
   import FieldEditor from "../FieldEditor.svelte";
   import GeometryPanel from "../config/GeometryPanel.svelte";
+  import ColorPanel from "../config/ColorPanel.svelte";
   import ConfigCategoryPlaceholder from "../config/ConfigCategoryPlaceholder.svelte";
 
   let category = $derived(selectedCategory());
@@ -16,6 +17,8 @@
     <FieldEditor />
   {:else if nav.selectedCategoryId === "geometry"}
     <GeometryPanel {category} {instance} />
+  {:else if nav.selectedCategoryId === "color"}
+    <ColorPanel {instance} />
   {:else}
     <ConfigCategoryPlaceholder {category} {instance} />
   {/if}
diff --git a/gui/frontend/src/lib/layout/Shell.svelte b/gui/frontend/src/lib/layout/Shell.svelte
index e63c2c4..f38eb6f 100644
--- a/gui/frontend/src/lib/layout/Shell.svelte
+++ b/gui/frontend/src/lib/layout/Shell.svelte
@@ -1,5 +1,6 @@
 <script lang="ts">
   import { connectionState } from "../wrapper-bus";
+  import { preferences } from "../preferences.svelte";
   import InstanceList from "./InstanceList.svelte";
   import ConfigNav from "./ConfigNav.svelte";
   import MainContent from "./MainContent.svelte";
@@ -15,14 +16,59 @@
   }
 
   let { below }: Props = $props();
+
+  // Global settings menu (gear, top-right) -- preferences (../preferences.svelte)
+  // is app-wide state, not scoped to any one tab, so it belongs in the shell
+  // rather than wherever happened to need it first.
+  let settingsOpen = $state(false);
+  let settingsEl: HTMLDivElement | undefined = $state();
+
+  function toggleSettings(): void {
+    settingsOpen = !settingsOpen;
+  }
+
+  // Closes on any click outside the button+menu -- a click on the gear
+  // itself is inside settingsEl too, so this never fights toggleSettings's
+  // own open/close.
+  function handleWindowClick(event: MouseEvent): void {
+    if (settingsOpen && !settingsEl?.contains(event.target as Node)) {
+      settingsOpen = false;
+    }
+  }
 </script>
 
+<svelte:window onclick={handleWindowClick} />
+
 <div class="shell">
   <header>
     <h1>vision-processor</h1>
     <span class="badge" data-state={$connectionState}>
       {$connectionState.toUpperCase()} ({location.host})
     </span>
+
+    <div class="settings" bind:this={settingsEl}>
+      <button
+        type="button"
+        class="settings-button"
+        aria-label="Settings"
+        onclick={toggleSettings}
+      >
+        ⚙
+      </button>
+
+      {#if settingsOpen}
+        <div class="settings-menu">
+          <label>
+            <input type="checkbox" bind:checked={preferences.tooltipsEnabled} />
+            Show extra tooltips
+          </label>
+          <label>
+            <input type="checkbox" bind:checked={preferences.expertUser} />
+            Expert mode
+          </label>
+        </div>
+      {/if}
+    </div>
   </header>
 
   <aside class="sidebar">
@@ -88,6 +134,54 @@
     color: #721c24;
   }
 
+  .settings {
+    position: relative;
+    margin-left: auto;
+  }
+
+  .settings-button {
+    width: 2rem;
+    height: 2rem;
+    display: inline-flex;
+    align-items: center;
+    justify-content: center;
+    border: 1px solid #ccc;
+    border-radius: 50%;
+    background: white;
+    font-size: 1.1rem;
+    line-height: 1;
+    cursor: pointer;
+  }
+
+  .settings-button:hover {
+    background: #f5f5f5;
+  }
+
+  .settings-menu {
+    position: absolute;
+    top: calc(100% + 0.5rem);
+    right: 0;
+    z-index: 20;
+    min-width: 180px;
+    display: flex;
+    flex-direction: column;
+    gap: 0.5rem;
+    padding: 0.6rem 0.75rem;
+    background: white;
+    border: 1px solid #ccc;
+    border-radius: 6px;
+    box-shadow: 0 2px 8px rgba(0, 0, 0, 0.15);
+    font-size: 0.85rem;
+    color: #333;
+  }
+
+  .settings-menu label {
+    display: flex;
+    align-items: center;
+    gap: 0.4rem;
+    cursor: pointer;
+  }
+
   .sidebar {
     display: flex;
     flex-direction: column;
diff --git a/gui/frontend/src/lib/preferences.svelte.ts b/gui/frontend/src/lib/preferences.svelte.ts
new file mode 100644
index 0000000..cb0f6d4
--- /dev/null
+++ b/gui/frontend/src/lib/preferences.svelte.ts
@@ -0,0 +1,55 @@
+// Global, client-only UI preferences -- these control how this browser's UI
+// behaves, not anything vision_processor or config.yml cares about, so they
+// live in localStorage rather than going through any /api/config endpoint.
+// Same module-level $state pattern as color.svelte.ts's colorConfig; any
+// component can import `preferences` and both read it and bind: to it
+// directly.
+const STORAGE_KEY = "vision-processor-gui:preferences";
+
+interface Preferences {
+  // Shows supplementary explanations for surprising/non-obvious behavior
+  // (e.g. YuvPositionPane's "only X% of colors are reachable here" callout)
+  // -- a returning user likely doesn't need these repeated forever.
+  tooltipsEnabled: boolean;
+  // Skips confirmation ceremonies around settings that are safe for an
+  // experienced operator to change freely -- e.g. the minimum-reference-weight
+  // floor (WeightTriangle.svelte) starts unlocked instead of behind its
+  // warning popup.
+  expertUser: boolean;
+}
+
+function loadPreferences(): Preferences {
+  const defaults: Preferences = { tooltipsEnabled: true, expertUser: false };
+
+  try {
+    const raw = localStorage.getItem(STORAGE_KEY);
+    if (!raw) return defaults;
+
+    const parsed = JSON.parse(raw) as Partial<Preferences>;
+    return {
+      tooltipsEnabled: parsed.tooltipsEnabled ?? defaults.tooltipsEnabled,
+      expertUser: parsed.expertUser ?? defaults.expertUser,
+    };
+  } catch {
+    return defaults;
+  }
+}
+
+export const preferences = $state<Preferences>(loadPreferences());
+
+// Persists on every change. $effect.root is what makes this legal at module
+// scope: a plain $effect() here would throw (effects normally need an
+// enclosing component to own their lifecycle), but a root effect runs
+// immediately and stays alive for the life of the page -- exactly right for
+// a global preference every component just binds to directly, with no
+// dedicated setter functions to remember to call.
+$effect.root(() => {
+  $effect(() => {
+    try {
+      localStorage.setItem(STORAGE_KEY, JSON.stringify(preferences));
+    } catch {
+      // Private browsing / storage disabled -- preference just won't persist
+      // across reloads, not worth surfacing as an error.
+    }
+  });
+});
diff --git a/gui/internal/geometry/colorconfig.go b/gui/internal/geometry/colorconfig.go
new file mode 100644
index 0000000..2985248
--- /dev/null
+++ b/gui/internal/geometry/colorconfig.go
@@ -0,0 +1,272 @@
+package geometry
+
+import (
+	"errors"
+	"fmt"
+	"math"
+	"os"
+	"regexp"
+
+	"gopkg.in/yaml.v3"
+)
+
+// defaultMinReferenceForce is used when config.yml has no min_reference_force
+// yet. It's a Go-host-only safety rail (see ColorConfig doc), not a C++
+// constant to mirror, so the value is a starting-point choice rather than a
+// port of something else -- 5% keeps the reference color from being tuned
+// away entirely without blocking deliberate low settings.
+const defaultMinReferenceForce = 0.05
+
+// colorReferenceDefaults mirrors src/Resources.cpp's applyTunables fallbacks
+// (Resources.cpp:204-209) -- what vision_processor itself uses when a color
+// is left commented out in config.yml, as every color ships by default (see
+// config-camtest.yml's color: block). ReadColorConfig needs the same
+// fallbacks so the panel shows what the instance is actually running, not a
+// zeroed-out {0,0,0}.
+var colorReferenceDefaults = map[string]RGB{
+	"orange": {192, 128, 64},
+	"field":  {128, 128, 128},
+	"yellow": {255, 128, 0},
+	"blue":   {0, 128, 255},
+	"green":  {0, 255, 128},
+	"pink":   {255, 0, 128},
+}
+
+// RGB is one reference color, 0-255 per channel.
+type RGB struct {
+	R int `json:"r" yaml:"r"`
+	G int `json:"g" yaml:"g"`
+	B int `json:"b" yaml:"b"`
+}
+
+// ColorConfig mirrors config.yml's color: block (see
+// proto/proto/vision/ssl_vp_config.proto's SSL_VPConfigColor for the
+// upstream schema this is deliberately kept separate from -- MinReferenceForce
+// has no protocol equivalent, it's a GUI-only floor on ReferenceForce, kept
+// here rather than the protocol so it doesn't need an upstream ssl-protocol-defs
+// change to exist).
+type ColorConfig struct {
+	ReferenceForce    float64 `json:"referenceForce" yaml:"referenceForce"`
+	HistoryForce      float64 `json:"historyForce" yaml:"historyForce"`
+	MinReferenceForce float64 `json:"minReferenceForce" yaml:"minReferenceForce"`
+	Orange            RGB     `json:"orange" yaml:"orange"`
+	Field             RGB     `json:"field" yaml:"field"`
+	Yellow            RGB     `json:"yellow" yaml:"yellow"`
+	Blue              RGB     `json:"blue" yaml:"blue"`
+	Green             RGB     `json:"green" yaml:"green"`
+	Pink              RGB     `json:"pink" yaml:"pink"`
+}
+
+// colorFileConfig is the plain YAML shadow of the color: block. Scalars are
+// pointers so a missing key is distinguishable from an explicit 0 -- ReadColorConfig
+// applies colorReferenceDefaults/defaultMinReferenceForce itself rather than
+// relying on Go zero values, which would silently disagree with what
+// vision_processor actually falls back to.
+type colorFileConfig struct {
+	Color struct {
+		ReferenceForce    *float64 `yaml:"reference_force"`
+		HistoryForce      *float64 `yaml:"history_force"`
+		MinReferenceForce *float64 `yaml:"min_reference_force"`
+		Orange            []int    `yaml:"orange"`
+		Field             []int    `yaml:"field"`
+		Yellow            []int    `yaml:"yellow"`
+		Blue              []int    `yaml:"blue"`
+		Green             []int    `yaml:"green"`
+		Pink              []int    `yaml:"pink"`
+	} `yaml:"color"`
+}
+
+// Validate reports every out-of-range field at once, same convention as
+// FieldConfig.Validate -- a caller using errors.As gets a single
+// *ValidationError back (400), not an internal error.
+func (c ColorConfig) Validate() error {
+	var errs error
+
+	checkForce := func(name string, value float64) {
+		if value < 0 || value > 1 {
+			errs = errors.Join(errs, fmt.Errorf("%s: must be between 0 and 1, got %v", name, value))
+		}
+	}
+
+	checkForce("referenceForce", c.ReferenceForce)
+	checkForce("historyForce", c.HistoryForce)
+	checkForce("minReferenceForce", c.MinReferenceForce)
+
+	if c.ReferenceForce < c.MinReferenceForce {
+		errs = errors.Join(errs, fmt.Errorf("referenceForce: must be at least minReferenceForce (%v), got %v", c.MinReferenceForce, c.ReferenceForce))
+	}
+
+	if c.ReferenceForce+c.HistoryForce > 1 {
+		errs = errors.Join(errs, fmt.Errorf("referenceForce + historyForce: must not exceed 1, got %v", c.ReferenceForce+c.HistoryForce))
+	}
+
+	checkColor := func(name string, c RGB) {
+		for channel, v := range map[string]int{"red": c.R, "green": c.G, "blue": c.B} {
+			if v < 0 || v > 255 {
+				errs = errors.Join(errs, fmt.Errorf("%s.%s: must be between 0 and 255, got %d", name, channel, v))
+			}
+		}
+	}
+
+	checkColor("orange", c.Orange)
+	checkColor("field", c.Field)
+	checkColor("yellow", c.Yellow)
+	checkColor("blue", c.Blue)
+	checkColor("green", c.Green)
+	checkColor("pink", c.Pink)
+
+	if errs != nil {
+		return &ValidationError{errs}
+	}
+
+	return nil
+}
+
+func rgbFromSlice(vals []int, def RGB) RGB {
+	if len(vals) != 3 {
+		return def
+	}
+
+	return RGB{R: vals[0], G: vals[1], B: vals[2]}
+}
+
+// ReadColorConfig reads back config.yml's color: block, filling in whatever
+// vision_processor's own hardcoded defaults are (colorReferenceDefaults,
+// defaultMinReferenceForce) for anything left commented out -- same
+// "missing means the normal fallback, not an error" contract as
+// ReadLineCorners, but here the fallback is a real color rather than empty.
+func ReadColorConfig(path string) (ColorConfig, error) {
+	instanceConfigMu.Lock()
+	defer instanceConfigMu.Unlock()
+
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return ColorConfig{}, fmt.Errorf("read %s: %w", path, err)
+	}
+
+	var cfg colorFileConfig
+	if err := yaml.Unmarshal(data, &cfg); err != nil {
+		return ColorConfig{}, fmt.Errorf("parse %s: %w", path, err)
+	}
+
+	floatOr := func(v *float64, def float64) float64 {
+		if v == nil {
+			return def
+		}
+
+		return *v
+	}
+
+	return ColorConfig{
+		ReferenceForce:    floatOr(cfg.Color.ReferenceForce, 0.1),
+		HistoryForce:      floatOr(cfg.Color.HistoryForce, 0.7),
+		MinReferenceForce: floatOr(cfg.Color.MinReferenceForce, defaultMinReferenceForce),
+		Orange:            rgbFromSlice(cfg.Color.Orange, colorReferenceDefaults["orange"]),
+		Field:             rgbFromSlice(cfg.Color.Field, colorReferenceDefaults["field"]),
+		Yellow:            rgbFromSlice(cfg.Color.Yellow, colorReferenceDefaults["yellow"]),
+		Blue:              rgbFromSlice(cfg.Color.Blue, colorReferenceDefaults["blue"]),
+		Green:             rgbFromSlice(cfg.Color.Green, colorReferenceDefaults["green"]),
+		Pink:              rgbFromSlice(cfg.Color.Pink, colorReferenceDefaults["pink"]),
+	}, nil
+}
+
+// WriteColorConfig writes cfg into config.yml's color: block, in place.
+// Every key in that block ships commented out by default (see
+// config-camtest.yml), so this uncomments a key the first time it's given a
+// value rather than appending a live duplicate under the dead commented
+// line -- see spliceColorKey.
+func WriteColorConfig(path string, cfg ColorConfig) error {
+	if err := cfg.Validate(); err != nil {
+		return err
+	}
+
+	instanceConfigMu.Lock()
+	defer instanceConfigMu.Unlock()
+
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return fmt.Errorf("read %s: %w", path, err)
+	}
+
+	updated, err := spliceColorConfig(string(data), cfg)
+	if err != nil {
+		return fmt.Errorf("%s: %w", path, err)
+	}
+
+	if err := os.WriteFile(path, []byte(updated), 0o644); err != nil {
+		return fmt.Errorf("write %s: %w", path, err)
+	}
+
+	return nil
+}
+
+// spliceColorConfig is the pure text transform behind WriteColorConfig, split
+// out so it's testable without touching disk -- same split as
+// spliceLineCorners/spliceGoalSideMarker.
+func spliceColorConfig(doc string, cfg ColorConfig) (string, error) {
+	lines, trailingNewline := splitDoc(doc)
+
+	start, end, err := sectionBounds(lines, "color")
+	if err != nil {
+		return "", err
+	}
+
+	formatForce := func(v float64) string {
+		// Round to avoid writing float noise (e.g. 0.30000000000000004) picked
+		// up from triangle-drag arithmetic on the frontend.
+		return fmt.Sprintf("%g", math.Round(v*1e6)/1e6)
+	}
+	formatRGB := func(c RGB) string {
+		return fmt.Sprintf("[%d, %d, %d]", c.R, c.G, c.B)
+	}
+
+	keys := []struct {
+		name  string
+		value string
+	}{
+		{"reference_force", formatForce(cfg.ReferenceForce)},
+		{"history_force", formatForce(cfg.HistoryForce)},
+		{"min_reference_force", formatForce(cfg.MinReferenceForce)},
+		{"orange", formatRGB(cfg.Orange)},
+		{"field", formatRGB(cfg.Field)},
+		{"yellow", formatRGB(cfg.Yellow)},
+		{"blue", formatRGB(cfg.Blue)},
+		{"green", formatRGB(cfg.Green)},
+		{"pink", formatRGB(cfg.Pink)},
+	}
+
+	for _, k := range keys {
+		lines, end = spliceColorKey(lines, start, end, k.name, k.value)
+	}
+
+	return joinLines(lines, trailingNewline), nil
+}
+
+// spliceColorKey sets key's value within the color: section (lines[start:end]),
+// uncommenting the line in place if it's currently "#key: ..." (config.yml's
+// shipped, unset state), updating it in place if it's already live, or
+// appending a fresh "key: value" line at the end of the section if the key
+// isn't present at all (e.g. a hand-trimmed config.yml). Returns the
+// (possibly-grown) lines slice and the section's new end index, since
+// appending shifts it for the next key in the same WriteColorConfig call.
+func spliceColorKey(lines []string, start, end int, key, value string) ([]string, int) {
+	pattern := regexp.MustCompile(`^(\s*)#?` + regexp.QuoteMeta(key) + `:.*$`)
+
+	for i := start + 1; i < end; i++ {
+		if m := pattern.FindStringSubmatch(lines[i]); m != nil {
+			lines[i] = fmt.Sprintf("%s%s: %s", m[1], key, value)
+
+			return lines, end
+		}
+	}
+
+	indent := firstChildIndent(lines[start+1 : end])
+	newLine := fmt.Sprintf("%s%s: %s", indent, key, value)
+
+	out := make([]string, 0, len(lines)+1)
+	out = append(out, lines[:end]...)
+	out = append(out, newLine)
+	out = append(out, lines[end:]...)
+
+	return out, end + 1
+}
diff --git a/gui/internal/geometry/colorconfig_test.go b/gui/internal/geometry/colorconfig_test.go
new file mode 100644
index 0000000..72d6f0a
--- /dev/null
+++ b/gui/internal/geometry/colorconfig_test.go
@@ -0,0 +1,248 @@
+package geometry
+
+import (
+	"os"
+	"path/filepath"
+	"strings"
+	"testing"
+)
+
+func testColorConfig() ColorConfig {
+	return ColorConfig{
+		ReferenceForce:    0.2,
+		HistoryForce:      0.5,
+		MinReferenceForce: 0.05,
+		Orange:            RGB{200, 130, 70},
+		Field:             RGB{130, 130, 130},
+		Yellow:            RGB{250, 130, 10},
+		Blue:              RGB{10, 130, 250},
+		Green:             RGB{10, 250, 130},
+		Pink:              RGB{250, 10, 130},
+	}
+}
+
+func TestWriteColorConfigUncommentsAndUpdatesValuesInPlace(t *testing.T) {
+	path := testConfigFile(t)
+
+	if err := WriteColorConfig(path, testColorConfig()); err != nil {
+		t.Fatalf("WriteColorConfig: %v", err)
+	}
+
+	got, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	for _, want := range []string{
+		"reference_force: 0.2",
+		"history_force: 0.5",
+		"min_reference_force: 0.05",
+		"orange: [200, 130, 70]",
+		"field: [130, 130, 130]",
+		"yellow: [250, 130, 10]",
+		"blue: [10, 130, 250]",
+		"green: [10, 250, 130]",
+		"pink: [250, 10, 130]",
+	} {
+		if !strings.Contains(string(got), want) {
+			t.Errorf("output missing %q:\n%s", want, got)
+		}
+	}
+
+	if strings.Contains(string(got), "#orange") || strings.Contains(string(got), "#reference_force") {
+		t.Errorf("commented-out key survived uncommenting:\n%s", got)
+	}
+}
+
+func TestWriteColorConfigPreservesComments(t *testing.T) {
+	path := testConfigFile(t)
+
+	before, err := os.ReadFile("testdata/config.yml")
+	if err != nil {
+		t.Fatalf("ReadFile fixture: %v", err)
+	}
+
+	if err := WriteColorConfig(path, testColorConfig()); err != nil {
+		t.Fatalf("WriteColorConfig: %v", err)
+	}
+
+	after, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	// Every *explanatory* comment survives untouched. The commented-out key
+	// lines themselves (#orange: [...], #reference_force: ...) are expected
+	// to disappear -- that's WriteColorConfig uncommenting them into their
+	// live equivalent, not a lost comment.
+	writtenKeys := []string{"reference_force:", "history_force:", "min_reference_force:", "orange:", "field:", "yellow:", "blue:", "green:", "pink:"}
+
+	for _, line := range strings.Split(string(before), "\n") {
+		trimmed := strings.TrimSpace(line)
+		if trimmed == "" || !strings.HasPrefix(trimmed, "#") {
+			continue
+		}
+
+		isTargetKey := false
+		for _, key := range writtenKeys {
+			if strings.HasPrefix(strings.TrimPrefix(trimmed, "#"), key) {
+				isTargetKey = true
+
+				break
+			}
+		}
+
+		if isTargetKey {
+			continue
+		}
+
+		if !strings.Contains(string(after), line) {
+			t.Errorf("comment line lost: %q", line)
+		}
+	}
+
+	if !strings.Contains(string(after), "camera_amount: 2") {
+		t.Error("unrelated 'geometry' section was disturbed")
+	}
+}
+
+func TestWriteColorConfigUpdatesAnAlreadyLiveKeyInPlace(t *testing.T) {
+	path := testConfigFile(t)
+
+	if err := WriteColorConfig(path, testColorConfig()); err != nil {
+		t.Fatalf("WriteColorConfig (1st): %v", err)
+	}
+
+	second := testColorConfig()
+	second.Orange = RGB{1, 2, 3}
+
+	if err := WriteColorConfig(path, second); err != nil {
+		t.Fatalf("WriteColorConfig (2nd): %v", err)
+	}
+
+	got, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	if strings.Count(string(got), "orange:") != 1 {
+		t.Errorf("expected exactly one 'orange:' key, got:\n%s", got)
+	}
+
+	if !strings.Contains(string(got), "orange: [1, 2, 3]") {
+		t.Errorf("orange was not updated in place:\n%s", got)
+	}
+}
+
+func TestWriteColorConfigAppendsMissingKeys(t *testing.T) {
+	path := filepath.Join(t.TempDir(), "config.yml")
+	data := "color:\n  #reference_force: 0.1\n"
+	if err := os.WriteFile(path, []byte(data), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	if err := WriteColorConfig(path, testColorConfig()); err != nil {
+		t.Fatalf("WriteColorConfig: %v", err)
+	}
+
+	got, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	if !strings.Contains(string(got), "orange: [200, 130, 70]") {
+		t.Errorf("missing 'orange' key was not appended:\n%s", got)
+	}
+}
+
+func TestWriteColorConfigErrorsWithoutAColorSection(t *testing.T) {
+	path := filepath.Join(t.TempDir(), "config.yml")
+	if err := os.WriteFile(path, []byte("camera:\n  driver: OPENCV\n"), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	if err := WriteColorConfig(path, testColorConfig()); err == nil {
+		t.Fatal("expected an error, got nil")
+	}
+}
+
+func TestWriteColorConfigErrorsOnAMissingFile(t *testing.T) {
+	err := WriteColorConfig(filepath.Join(t.TempDir(), "does-not-exist.yml"), testColorConfig())
+	if err == nil {
+		t.Fatal("expected an error, got nil")
+	}
+}
+
+func TestWriteColorConfigRejectsInvalidValues(t *testing.T) {
+	base := testColorConfig()
+
+	cases := map[string]func(c *ColorConfig){
+		"referenceForce out of range": func(c *ColorConfig) { c.ReferenceForce = 1.5 },
+		"forces sum over 1":           func(c *ColorConfig) { c.ReferenceForce, c.HistoryForce = 0.6, 0.6 },
+		"reference below floor":       func(c *ColorConfig) { c.ReferenceForce, c.MinReferenceForce = 0.01, 0.05 },
+		"channel out of range":        func(c *ColorConfig) { c.Orange.R = 300 },
+	}
+
+	for name, mutate := range cases {
+		t.Run(name, func(t *testing.T) {
+			path := testConfigFile(t)
+
+			cfg := base
+			mutate(&cfg)
+
+			if err := WriteColorConfig(path, cfg); err == nil {
+				t.Fatal("expected an error, got nil")
+			}
+		})
+	}
+}
+
+func TestReadColorConfigRoundTripsWhatWriteColorConfigSaved(t *testing.T) {
+	path := testConfigFile(t)
+
+	want := testColorConfig()
+	if err := WriteColorConfig(path, want); err != nil {
+		t.Fatalf("WriteColorConfig: %v", err)
+	}
+
+	got, err := ReadColorConfig(path)
+	if err != nil {
+		t.Fatalf("ReadColorConfig: %v", err)
+	}
+
+	if got != want {
+		t.Errorf("got %+v, want %+v", got, want)
+	}
+}
+
+func TestReadColorConfigReturnsVisionProcessorsDefaultsWhenNothingIsSetYet(t *testing.T) {
+	path := testConfigFile(t)
+
+	got, err := ReadColorConfig(path)
+	if err != nil {
+		t.Fatalf("ReadColorConfig: %v", err)
+	}
+
+	want := ColorConfig{
+		ReferenceForce:    0.1,
+		HistoryForce:      0.7,
+		MinReferenceForce: defaultMinReferenceForce,
+		Orange:            RGB{192, 128, 64},
+		Field:             RGB{128, 128, 128},
+		Yellow:            RGB{255, 128, 0},
+		Blue:              RGB{0, 128, 255},
+		Green:             RGB{0, 255, 128},
+		Pink:              RGB{255, 0, 128},
+	}
+
+	if got != want {
+		t.Errorf("got %+v, want %+v (vision_processor's own Resources.cpp defaults)", got, want)
+	}
+}
+
+func TestReadColorConfigErrorsOnAMissingFile(t *testing.T) {
+	_, err := ReadColorConfig(filepath.Join(t.TempDir(), "does-not-exist.yml"))
+	if err == nil {
+		t.Fatal("expected an error, got nil")
+	}
+}
diff --git a/gui/internal/geometry/instance_config.go b/gui/internal/geometry/instance_config.go
index 52443db..1da8eed 100644
--- a/gui/internal/geometry/instance_config.go
+++ b/gui/internal/geometry/instance_config.go
@@ -32,7 +32,6 @@ type Corner struct {
 }
 
 var (
-	geometryHeader   = regexp.MustCompile(`^geometry:\s*$`)
 	lineCornersKey   = regexp.MustCompile(`^(\s*)line_corners:\s*$`)
 	goalSideMarkerKV = regexp.MustCompile(`^(\s*)goal_side_marker:.*$`)
 )
@@ -133,13 +132,16 @@ func ReadLineCorners(path string) ([]Corner, int, error) {
 	return corners, cfg.Geometry.GoalSideMarker, nil
 }
 
-// geometrySectionBounds finds the 'geometry:' top-level key and the line
-// index where its section ends (the next top-level key, or len(lines)).
-func geometrySectionBounds(lines []string) (start, end int, err error) {
+// sectionBounds finds the given top-level YAML key's line ("geometry:",
+// "color:", ...) and the line index where its section ends (the next
+// top-level key, or len(lines)). Shared by every instance-config writer that
+// splices a single top-level section in place.
+func sectionBounds(lines []string, key string) (start, end int, err error) {
+	header := regexp.MustCompile(`^` + regexp.QuoteMeta(key) + `:\s*$`)
 	start = -1
 
 	for i, line := range lines {
-		if geometryHeader.MatchString(line) {
+		if header.MatchString(line) {
 			start = i
 
 			break
@@ -147,7 +149,7 @@ func geometrySectionBounds(lines []string) (start, end int, err error) {
 	}
 
 	if start == -1 {
-		return 0, 0, fmt.Errorf("missing top-level 'geometry' section")
+		return 0, 0, fmt.Errorf("missing top-level '%s' section", key)
 	}
 
 	end = len(lines)
@@ -163,6 +165,13 @@ func geometrySectionBounds(lines []string) (start, end int, err error) {
 	return start, end, nil
 }
 
+// geometrySectionBounds is sectionBounds pinned to the 'geometry:' section --
+// kept as a named wrapper since every call site below reads more clearly
+// naming the section than repeating the string literal.
+func geometrySectionBounds(lines []string) (start, end int, err error) {
+	return sectionBounds(lines, "geometry")
+}
+
 // spliceLineCorners is the pure text transform behind WriteLineCorners' list
 // value, split out so it's testable without touching disk.
 func spliceLineCorners(doc string, corners []Corner) (string, error) {

From 7674fb45419f8065a2090126f85e58304fc2408a Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Sat, 3 Oct 2026 13:41:24 -0400
Subject: [PATCH 15/23] flowbite component cleanup, layout cleanup

---
 gui/frontend/src/lib/color.svelte.ts          |  42 +-
 gui/frontend/src/lib/config/ColorPanel.svelte |  11 +-
 .../src/lib/config/WeightTriangle.svelte      | 119 +---
 .../src/lib/config/YuvPositionPane.svelte     | 584 ++++++++++++++++--
 gui/frontend/src/lib/layout/Shell.svelte      |  72 +--
 5 files changed, 634 insertions(+), 194 deletions(-)

diff --git a/gui/frontend/src/lib/color.svelte.ts b/gui/frontend/src/lib/color.svelte.ts
index 151b4a1..844ce8e 100644
--- a/gui/frontend/src/lib/color.svelte.ts
+++ b/gui/frontend/src/lib/color.svelte.ts
@@ -57,6 +57,13 @@ export function yuvToRgb(c: YUV): RGB {
 // same convention as a CIE chromaticity diagram graying out everything
 // outside the sRGB triangle).
 export function yuvInGamut(c: YUV): boolean {
+  return yuvGamutOverflow(c) === 0;
+}
+
+// How far the unclamped decode lands outside [0,255], summed over R/G/B --
+// 0 means in gamut. Lets a caller pick the "least unreachable" Y for a U/V
+// that isn't reachable at any brightness, not just test yes/no.
+export function yuvGamutOverflow(c: YUV): number {
   const y = c.y - 16;
   const u = c.u - 128;
   const v = c.v - 128;
@@ -65,7 +72,8 @@ export function yuvInGamut(c: YUV): boolean {
   const g = (298 * y - 100 * u - 208 * v + 128) / 256;
   const b = (298 * y + 516 * u + 128) / 256;
 
-  return r >= 0 && r <= 255 && g >= 0 && g <= 255 && b >= 0 && b <= 255;
+  const over = (ch: number): number => (ch < 0 ? -ch : ch > 255 ? ch - 255 : 0);
+  return over(r) + over(g) + over(b);
 }
 
 // The only Y values any real RGB (0-255 each) can ever produce -- see
@@ -104,6 +112,36 @@ export function rgbToCss(c: RGB): string {
   return `rgb(${String(c.r)}, ${String(c.g)}, ${String(c.b)})`;
 }
 
+// Each class's "identity" color, not its tunable reference value -- used
+// only when showing multiple classes' markers on the same YUV pane at once
+// (YuvPositionPane's "All" view), where six markers all drawn in their own
+// current reference color would frequently collide or be hard to tell apart
+// (two classes can easily sit close together in U/V, and a config gone
+// slightly astray could put one right on top of another). A fixed, primary
+// color per class is stable regardless of what's actually configured, so the
+// legend never changes shape. field is the one non-marker class (carpet, not
+// a robot/ball color) and gets neutral gray rather than a forced primary.
+export const CANONICAL_COLORS: Record<ColorClass, RGB> = {
+  yellow: { r: 255, g: 255, b: 0 },
+  blue: { r: 0, g: 0, b: 255 },
+  green: { r: 0, g: 255, b: 0 },
+  pink: { r: 255, g: 0, b: 255 },
+  orange: { r: 255, g: 165, b: 0 },
+  field: { r: 128, g: 128, b: 128 },
+};
+
+// One-letter marker badges for the "All" view -- a color-independent
+// fallback identifier (colorblindness, or two canonical colors landing close
+// together) alongside the fill color itself.
+export const CLASS_LETTERS: Record<ColorClass, string> = {
+  yellow: "Y",
+  blue: "B",
+  green: "G",
+  pink: "P",
+  orange: "O",
+  field: "F",
+};
+
 export interface ColorConfigData {
   referenceForce: number;
   historyForce: number;
@@ -120,7 +158,7 @@ export interface ColorConfigData {
 // colorReferenceDefaults in colorconfig.go) so the panel shows something
 // sane for the instant before the first load response arrives, rather than
 // black/zeroed swatches.
-function defaultColorConfig(): ColorConfigData {
+export function defaultColorConfig(): ColorConfigData {
   return {
     referenceForce: 0.1,
     historyForce: 0.7,
diff --git a/gui/frontend/src/lib/config/ColorPanel.svelte b/gui/frontend/src/lib/config/ColorPanel.svelte
index 2ddefac..208a2fe 100644
--- a/gui/frontend/src/lib/config/ColorPanel.svelte
+++ b/gui/frontend/src/lib/config/ColorPanel.svelte
@@ -21,6 +21,7 @@
     TableBody,
     TableBodyRow,
     TableBodyCell,
+    Button,
   } from "flowbite-svelte";
 
   // No `category` prop, unlike GeometryPanel/ConfigCategoryPlaceholder:
@@ -70,7 +71,6 @@
     <p class="hint">Loading...</p>
   {/if}
 
-  <h3>Reference colors</h3>
   <YuvPositionPane
     bind:color={colorConfig.config[selectedClass]}
     colors={colorConfig.config}
@@ -204,9 +204,14 @@
   </Table>
 
   <div class="save-row">
-    <button type="button" onclick={handleSave} disabled={colorConfig.saving}>
+    <Button
+      size="sm"
+      color="primary"
+      onclick={handleSave}
+      disabled={colorConfig.saving}
+    >
       {colorConfig.saving ? "Saving..." : "Save to config.yml"}
-    </button>
+    </Button>
     {#if colorConfig.savedAt}
       <span class="saved">Saved.</span>
     {/if}
diff --git a/gui/frontend/src/lib/config/WeightTriangle.svelte b/gui/frontend/src/lib/config/WeightTriangle.svelte
index 3a861a4..7e0ed97 100644
--- a/gui/frontend/src/lib/config/WeightTriangle.svelte
+++ b/gui/frontend/src/lib/config/WeightTriangle.svelte
@@ -16,6 +16,7 @@
 
   import { minReferenceForceUnlock } from "../color.svelte";
   import { preferences } from "../preferences.svelte";
+  import { Button, Modal } from "flowbite-svelte";
 
   interface Props {
     referenceForce?: number;
@@ -365,9 +366,9 @@
         <dd>{pct(updateForce)}</dd>
       </dl>
 
-      <button type="button" class="reset" onclick={resetToDefaults}>
+      <Button size="xs" color="light" outline onclick={resetToDefaults}>
         Restore default weights
-      </button>
+      </Button>
 
       <div class="min-force-block">
         <label class="min-force">
@@ -385,32 +386,29 @@
         </label>
 
         {#if !minForceUnlocked}
-          <div class="unlock">
-            <button type="button" class="unlock-button" onclick={requestUnlock}>
-              Unlock
-            </button>
-            {#if showUnlockConfirm}
-              <div
-                class="unlock-popup"
-                role="dialog"
-                aria-label="Confirm unlocking the reference weight floor"
-              >
-                <p>
-                  This floor keeps the reference color from being tuned toward
-                  0. Reference is the only weight never gated on having samples
-                  this frame -- without a floor, a color that goes
-                  sample-starved for a while has nothing left pulling it back
-                  toward its configured value.
-                </p>
-                <div class="unlock-popup-actions">
-                  <button type="button" onclick={cancelUnlock}>Cancel</button>
-                  <button type="button" class="confirm" onclick={confirmUnlock}>
-                    I understand, unlock
-                  </button>
-                </div>
-              </div>
-            {/if}
-          </div>
+          <Button size="xs" color="light" outline onclick={requestUnlock}>
+            Unlock
+          </Button>
+
+          <Modal
+            title="Unlock the reference weight floor?"
+            bind:open={showUnlockConfirm}
+            size="xs"
+          >
+            <p>
+              This floor keeps the reference color from being tuned toward 0.
+              Reference is the only weight never gated on having samples this
+              frame -- without a floor, a color that goes sample-starved for a
+              while has nothing left pulling it back toward its configured
+              value.
+            </p>
+            {#snippet footer()}
+              <Button color="alternative" onclick={cancelUnlock}>Cancel</Button>
+              <Button color="red" onclick={confirmUnlock}>
+                I understand, unlock
+              </Button>
+            {/snippet}
+          </Modal>
         {/if}
       </div>
     </div>
@@ -510,16 +508,6 @@
     font-variant-numeric: tabular-nums;
   }
 
-  .reset {
-    align-self: start;
-    padding: 0.3rem 0.6rem;
-    border: 1px solid #ccc;
-    border-radius: 4px;
-    background: white;
-    font-size: 0.8rem;
-    cursor: pointer;
-  }
-
   .min-force-block {
     display: flex;
     flex-direction: column;
@@ -544,59 +532,4 @@
     color: #888;
     cursor: not-allowed;
   }
-
-  .unlock {
-    position: relative;
-  }
-
-  .unlock-button {
-    padding: 0.3rem 0.6rem;
-    border: 1px solid #ccc;
-    border-radius: 4px;
-    background: white;
-    font-size: 0.8rem;
-    cursor: pointer;
-  }
-
-  .unlock-popup {
-    position: absolute;
-    bottom: 100%;
-    left: 0;
-    z-index: 10;
-    width: 220px;
-    margin-bottom: 0.5rem;
-    padding: 0.6rem;
-    background: white;
-    border: 1px solid #ccc;
-    border-radius: 6px;
-    box-shadow: 0 2px 8px rgba(0, 0, 0, 0.15);
-    font-size: 0.78rem;
-    color: #444;
-  }
-
-  .unlock-popup p {
-    margin: 0;
-  }
-
-  .unlock-popup-actions {
-    display: flex;
-    justify-content: flex-end;
-    gap: 0.4rem;
-    margin-top: 0.5rem;
-  }
-
-  .unlock-popup-actions button {
-    padding: 0.25rem 0.5rem;
-    border: 1px solid #ccc;
-    border-radius: 4px;
-    background: #f5f5f5;
-    font-size: 0.75rem;
-    cursor: pointer;
-  }
-
-  .unlock-popup-actions .confirm {
-    background: #b00020;
-    border-color: #b00020;
-    color: white;
-  }
 </style>
diff --git a/gui/frontend/src/lib/config/YuvPositionPane.svelte b/gui/frontend/src/lib/config/YuvPositionPane.svelte
index 78d0a81..0ffb021 100644
--- a/gui/frontend/src/lib/config/YuvPositionPane.svelte
+++ b/gui/frontend/src/lib/config/YuvPositionPane.svelte
@@ -15,15 +15,20 @@
     rgbToYuv,
     yuvToRgb,
     yuvInGamut,
+    yuvGamutOverflow,
     rgbToCss,
     MIN_REACHABLE_Y,
     MAX_REACHABLE_Y,
     COLOR_CLASSES,
     CLASS_LABELS,
+    CANONICAL_COLORS,
+    CLASS_LETTERS,
+    defaultColorConfig,
     type ColorClass,
     type RGB,
   } from "../color.svelte";
   import { preferences } from "../preferences.svelte";
+  import { Button, ButtonGroup, Modal } from "flowbite-svelte";
 
   interface Props {
     color?: RGB;
@@ -39,12 +44,39 @@
 
   let label = $derived(CLASS_LABELS[selectedClass]);
 
+  // "All" shows every class's marker at once, each at its own real U/V,
+  // rendered in a fixed identity color (see CANONICAL_COLORS) rather than its
+  // actual configured color -- see the conversation this was scoped from:
+  // deliberately the "honest" representation (the background stays whatever
+  // single Y slice is currently shown, so most of the six will often sit in
+  // the shaded/unreachable region relative to it -- that's real information,
+  // not a rendering bug, same as the single-marker case).
+  let showAll = $state(true);
+
+  let allMarkerPositions = $derived(
+    COLOR_CLASSES.map((cls) => ({ cls, yuv: rgbToYuv(colors[cls]) })),
+  );
+
   // U and V both range 0-255 in this codebase's own YUV (see
   // color.svelte.ts's rgbToYuv) -- the field is drawn one canvas pixel per
   // U/V value, so PLANE_SIZE doubles as both the value range and the
   // canvas's pixel dimensions.
   const PLANE_SIZE = 255;
 
+  // Screen space (CSS "top", canvas rows) increases downward; canonical YUV
+  // diagrams -- Wikipedia's UV plane included -- draw V increasing upward.
+  // Every place that converts between "V, the data value" and "on-screen
+  // vertical position" goes through one of these two, so the flip is applied
+  // exactly once and can't drift out of sync between the canvas draw, the
+  // marker position, and the pointer-drag math.
+  function vToScreenFraction(v: number): number {
+    return 1 - v / PLANE_SIZE;
+  }
+
+  function screenFractionToV(fraction: number): number {
+    return (1 - fraction) * PLANE_SIZE;
+  }
+
   let canvasEl: HTMLCanvasElement | undefined = $state();
   let containerEl: HTMLDivElement | undefined = $state();
   let dragging = $state(false);
@@ -60,17 +92,20 @@
   // sync effect below, gated on !dragging) removes that feedback loop.
   let sliceY = $state(rgbToYuv(color).y);
 
+  // Where sliceY sits along the slider's own min-max range, 0 (min) to 1
+  // (max) -- drives the floating "Y=..." label's position so it tracks the
+  // thumb. Max is at the top of the rendered slider (see .y-slider's own
+  // comment on the -90deg rotation), so the label's CSS `top` uses
+  // 1 - this fraction.
+  let sliderThumbFraction = $derived(
+    (sliceY - MIN_REACHABLE_Y) / (MAX_REACHABLE_Y - MIN_REACHABLE_Y),
+  );
+
   // The color actually stored right now, exactly as-is (post-clamp) -- used
   // for the marker position and the U/V readout, so both stay accurate to
   // what's really saved even in the rare case a drag landed out of gamut.
   let actualYuv = $derived(rgbToYuv(color));
 
-  // True whenever the slider/wheel have moved the viewed slice away from the
-  // saved color's own brightness -- see onYInput/onWheel below, neither of
-  // which touch color. Surfaced in the Y readout so it's visible that
-  // nothing has been committed yet.
-  let previewing = $derived(sliceY !== actualYuv.y);
-
   // What color this pane itself last wrote, alongside sliceY -- lets the
   // sync effect below tell "color changed because something outside this
   // pane changed it" apart from "color changed because a plane drag just
@@ -85,13 +120,16 @@
 
   function setSlice(y: number, u: number, v: number): void {
     color = yuvToRgb({ y, u, v });
-    // sliceY is set from the *actual* committed color's Y, not the requested
-    // y -- yuvToRgb -> rgbToYuv can shift Y by 1 (independent integer
-    // rounding on each side), so re-deriving it here is what makes
-    // `previewing` correctly read false immediately after a commit, instead
-    // of staying stuck on for the rest of the session over 1 unit of
-    // rounding noise the user never asked about.
-    sliceY = rgbToYuv(color).y;
+    // sliceY is deliberately NOT re-derived here on every call -- it used to
+    // be, to keep the Y thumb label/readout agreeing with the actual
+    // committed color's Y (yuvToRgb -> rgbToYuv can shift Y by 1, independent
+    // rounding on each side). But setSlice fires on every pointermove during
+    // a drag, and different U/V positions clamp differently, so re-deriving
+    // sliceY on every move fed a slightly different Y into the canvas redraw
+    // effect below each time -- visible as the gamut boundary (and whichever
+    // corner it passes nearest) vibrating while shaking the marker side to
+    // side. endPlaneDrag below does this same correction exactly once, after
+    // the gesture ends, instead.
     lastAppliedColor = color;
   }
 
@@ -114,10 +152,29 @@
     lastAppliedColor = color;
   });
 
-  // Redraws only when sliceY changes (a slider drag, or the sync above) --
-  // never on a plane-only U/V drag, which is the whole point of pinning Y.
+  // Redraws only when sliceY changes (a slider drag, the sync above, or a
+  // drag into the unreachable region refitting Y) -- never on a U/V drag
+  // that stays reachable, which is the whole point of pinning Y.
+  //
+  // Coalesced to one draw per animation frame: drawField is a full 255x255
+  // scan, and a drag along the gamut edge can change sliceY on nearly every
+  // pointermove, which fire faster than the display refreshes.
+  let pendingSliceY: number | null = null;
+  let redrawScheduled = false;
+
+  function scheduleRedraw(y: number): void {
+    pendingSliceY = y;
+    if (redrawScheduled) return;
+
+    redrawScheduled = true;
+    requestAnimationFrame(() => {
+      redrawScheduled = false;
+      if (pendingSliceY !== null) drawField(pendingSliceY);
+    });
+  }
+
   $effect(() => {
-    drawField(sliceY);
+    scheduleRedraw(sliceY);
   });
 
   // How much of the square is a real color at the currently-viewed
@@ -162,8 +219,13 @@
       u >= 0 && u < size && v >= 0 && v < size && inGamut[v * size + u] === 1;
 
     for (let v = 0; v < size; v++) {
+      // Data stays keyed by v (isInGamut, yuvInGamut, yuvToRgb all reason in
+      // data space); only the pixel this row's data ends up written to is
+      // flipped, via vToScreenFraction, so V increases upward on screen.
+      const row = Math.round(vToScreenFraction(v) * PLANE_SIZE);
+
       for (let u = 0; u < size; u++) {
-        const i = (v * size + u) * 4;
+        const i = (row * size + u) * 4;
 
         if (isInGamut(u, v)) {
           // An edge pixel -- in gamut, but with an out-of-gamut neighbor --
@@ -208,7 +270,7 @@
 
     const rect = containerEl.getBoundingClientRect();
     const u = ((event.clientX - rect.left) / rect.width) * PLANE_SIZE;
-    const v = ((event.clientY - rect.top) / rect.height) * PLANE_SIZE;
+    const v = screenFractionToV((event.clientY - rect.top) / rect.height);
 
     return {
       u: Math.round(Math.min(PLANE_SIZE, Math.max(0, u))),
@@ -216,17 +278,222 @@
     };
   }
 
+  // The Y closest to `anchor` at which (u, v) is a real color. Dragging into
+  // the hatched region at the current slice would otherwise commit a clamped
+  // RGB whose actual U/V differs from the cursor's -- the marker (drawn at
+  // the stored color's real U/V) visibly detaches from the cursor. Moving to
+  // a brightness where the cursor's U/V is reachable keeps them together.
+  // For each channel the reachable Ys form an interval, so the nearest one
+  // is an interval endpoint; a plain scan over the ~220 valid Ys is cheap
+  // and also covers the U/V corners that no Y reaches, where it settles for
+  // the least-clipped Y instead.
+  function fitYToGamut(u: number, v: number, anchor: number): number {
+    let bestY = anchor;
+    let bestErr = yuvGamutOverflow({ y: anchor, u, v });
+    if (bestErr === 0) return anchor;
+
+    for (let y = MIN_REACHABLE_Y; y <= MAX_REACHABLE_Y; y++) {
+      const err = yuvGamutOverflow({ y, u, v });
+      if (
+        err < bestErr ||
+        (err === bestErr && Math.abs(y - anchor) < Math.abs(bestY - anchor))
+      ) {
+        bestErr = err;
+        bestY = y;
+      }
+    }
+
+    return bestY;
+  }
+
   function applyPlaneDrag(event: PointerEvent): void {
     const { u, v } = uvFromEvent(event);
-    setSlice(sliceY, u, v);
+    // Fitted against the live sliceY, so it ratchets: Y only moves when the
+    // cursor leaves the region reachable at the *current* brightness, and
+    // stays put when the cursor backs off into the newly opened space --
+    // letting the user nudge past the edge, then ease back to pick a tone.
+    // No drift from this: fitYToGamut returns sliceY unchanged whenever the
+    // cursor is reachable, and sliceY is only ever set to its exact integer
+    // result, never re-derived from the (rounded/clamped) committed color.
+    const y = fitYToGamut(u, v, sliceY);
+
+    // Set directly rather than re-derived from the committed color (see
+    // setSlice). Same value on every move while inside the rectangle, which
+    // Svelte treats as a no-op -- no redraw; a live redraw only when the
+    // cursor's U/V actually needs a different brightness.
+    sliceY = y;
+    setSlice(y, u, v);
+  }
+
+  // One entry per drag *gesture*, not per pointermove -- applyPlaneDrag (and
+  // so setSlice) fires on every move while dragging, so recording here
+  // (pointerdown, before the drag's first commit) rather than inside
+  // setSlice is what makes one Ctrl+Z undo the whole drag back to wherever
+  // the marker was before it started, instead of stepping back one
+  // sub-pixel move at a time. Keyed by class, since a later drag on a
+  // different class shouldn't be affected by (or clear) this one's entry.
+  //
+  // $state, not a plain array: the Undo/Redo buttons' disabled attribute
+  // reads .length, which needs to be reactive.
+  interface HistoryEntry {
+    cls: ColorClass;
+    previousColor: RGB;
+  }
+
+  let undoStack = $state<HistoryEntry[]>([]);
+  let redoStack = $state<HistoryEntry[]>([]);
+
+  // Undo and redo are the same operation in opposite directions: pop an
+  // entry, stash the class's *current* color onto the other stack (so the
+  // move back can itself be undone/redone), then apply. Reading colors[cls]
+  // rather than the color prop for that stash is what makes this correct
+  // even when entry.cls isn't the currently-selected class.
+  function applyHistoryEntry(
+    sourceStack: HistoryEntry[],
+    targetStack: HistoryEntry[],
+  ): void {
+    const entry = sourceStack.pop();
+    if (!entry) return;
+
+    targetStack.push({
+      cls: entry.cls,
+      previousColor: { ...colors[entry.cls] },
+    });
+
+    // Switching selectedClass first, then writing color, matters: color's
+    // binding resolves against whatever selectedClass is *at the time of
+    // that write* (ColorPanel's bind:color={colorConfig.config[selectedClass]}),
+    // so this correctly lands on entry.cls's slot even if a different class
+    // is currently selected.
+    selectedClass = entry.cls;
+    color = entry.previousColor;
+  }
+
+  function undoLastMove(): void {
+    applyHistoryEntry(undoStack, redoStack);
+  }
+
+  function redoLastMove(): void {
+    applyHistoryEntry(redoStack, undoStack);
+  }
+
+  // Resets to vision_processor's own default reference color
+  // (defaultColorConfig -- same values shown before the first /api/config/color
+  // response arrives), not the "All" view's fixed identity color
+  // (CANONICAL_COLORS is a display-only convenience for telling markers
+  // apart, never a value meant to be written back). Goes through the same
+  // undo stack as a drag, so it's a normal Ctrl+Z step, not a separate reset
+  // path the user has no way to walk back.
+  //
+  // Writes to `color` (not colors[selectedClass] in place) specifically for
+  // the selected class: the dragging-vs-external-change sync effect above
+  // compares color's fields against lastAppliedColor by value, and
+  // color/colors[selectedClass]/lastAppliedColor can already all alias the
+  // same object after a prior drag -- mutating that object's fields in place
+  // would make the comparison trivially "unchanged" (same object, so of
+  // course its fields equal themselves) and silently skip resyncing sliceY.
+  // A fresh object via the spread sidesteps that.
+  function restoreSelectedColor(): void {
+    undoStack.push({ cls: selectedClass, previousColor: { ...color } });
+    redoStack = [];
+    color = { ...defaultColorConfig()[selectedClass] };
+  }
+
+  function restoreAllColors(): void {
+    const defaults = defaultColorConfig();
+    const currentlySelected = selectedClass;
+
+    for (const cls of COLOR_CLASSES) {
+      undoStack.push({ cls, previousColor: { ...colors[cls] } });
+
+      if (cls === currentlySelected) {
+        color = { ...defaults[cls] };
+      } else {
+        Object.assign(colors[cls], defaults[cls]);
+      }
+    }
+
+    redoStack = [];
+  }
+
+  // Expert mode skips the confirmation, same convention as the rest of the
+  // app's guard rails.
+  let showRestoreAllConfirm = $state(false);
+
+  function requestRestoreAllColors(): void {
+    if (preferences.expertUser) {
+      restoreAllColors();
+    } else {
+      showRestoreAllConfirm = true;
+    }
+  }
+
+  function confirmRestoreAllColors(): void {
+    showRestoreAllConfirm = false;
+    restoreAllColors();
+  }
+
+  function handleKeydown(event: KeyboardEvent): void {
+    const key = event.key.toLowerCase();
+    if (key !== "z" && key !== "y") return;
+    if (!(event.ctrlKey || event.metaKey)) return;
+
+    // Don't hijack Ctrl+Z/Y while focus is in a text field (R/G/B inputs,
+    // the minimum-reference-weight box) -- that's the browser's own native
+    // undo-while-typing, unrelated to marker moves.
+    const active = document.activeElement;
+    if (
+      active instanceof HTMLInputElement ||
+      active instanceof HTMLTextAreaElement
+    )
+      return;
+
+    // Ctrl+Z = undo, Ctrl+Shift+Z or Ctrl+Y = redo (covering both common
+    // conventions -- macOS/most apps use Shift+Z, Windows commonly uses Y).
+    event.preventDefault();
+    if (key === "y" || event.shiftKey) {
+      redoLastMove();
+    } else {
+      undoLastMove();
+    }
   }
 
   function startPlaneDrag(event: PointerEvent): void {
+    // Otherwise a real mouse drag that strays past the box also starts a
+    // native text selection over whatever's under the cursor.
+    event.preventDefault();
     dragging = true;
-    (event.target as Element).setPointerCapture(event.pointerId);
+    undoStack.push({ cls: selectedClass, previousColor: { ...color } });
+    // A fresh move invalidates whatever could have been redone -- same
+    // convention as any other undo/redo stack (a text editor, image editor,
+    // ...): redoing back to a state that a new edit has since diverged from
+    // isn't meaningful.
+    redoStack = [];
+    // Captured on the container itself, not event.target -- in "All" mode
+    // event.target can be one of the other classes' marker divs (see
+    // selectMarkerClass below, which lets a drag starting on the *selected*
+    // marker fall through to here), and capture needs to stay anchored to an
+    // element that's still there and still bubbles pointermove up to this
+    // handler for the rest of the gesture.
+    containerEl?.setPointerCapture(event.pointerId);
     applyPlaneDrag(event);
   }
 
+  // In "All" mode, clicking a marker for a class that ISN'T selected means
+  // "select that color," not "move the currently-selected color here" --
+  // the container's own onpointerdown (startPlaneDrag) would otherwise
+  // interpret the click as a plane drag and jump the selected class's color
+  // to wherever the other marker happens to sit. stopPropagation prevents
+  // that. Clicking the already-selected marker is left alone (event bubbles
+  // up to the container normally) so dragging it still works exactly like
+  // dragging anywhere else on the plane, including into another marker's
+  // space.
+  function selectMarkerClass(cls: ColorClass, event: PointerEvent): void {
+    if (cls === selectedClass) return;
+    event.stopPropagation();
+    selectedClass = cls;
+  }
+
   function onPlaneDrag(event: PointerEvent): void {
     if (!dragging) return;
     applyPlaneDrag(event);
@@ -236,6 +503,19 @@
     dragging = false;
   }
 
+  // Plane-drag-specific: on top of ending the drag, this re-syncs sliceY to
+  // the actual committed color's Y exactly once, now that the gesture is
+  // over (see setSlice's comment -- it deliberately stops doing this on
+  // every intermediate move). Must stay separate from endDrag, which the Y
+  // slider's own pointerup also uses: re-deriving sliceY there would snap
+  // the slider back to the stored color's Y, destroying the "preview a
+  // brightness without committing" behavior -- the slider only works
+  // because letting go of it does NOT trigger this re-sync.
+  function endPlaneDrag(): void {
+    dragging = false;
+    sliceY = rgbToYuv(color).y;
+  }
+
   function startYDrag(): void {
     dragging = true;
   }
@@ -270,15 +550,41 @@
   }
 </script>
 
+<svelte:window onkeydown={handleKeydown} />
+
 <div class="yuv-pane">
+  <div class="pane-header">
+    <h3>Reference colors</h3>
+    <div class="history-buttons">
+      <Button
+        size="xs"
+        color="light"
+        outline
+        disabled={undoStack.length === 0}
+        onclick={undoLastMove}
+      >
+        ↶ Undo
+      </Button>
+      <Button
+        size="xs"
+        color="light"
+        outline
+        disabled={redoStack.length === 0}
+        onclick={redoLastMove}
+      >
+        ↷ Redo
+      </Button>
+    </div>
+  </div>
+
   <div class="plane-row">
     <div
       class="plane"
       bind:this={containerEl}
       onpointerdown={startPlaneDrag}
       onpointermove={onPlaneDrag}
-      onpointerup={endDrag}
-      onpointercancel={endDrag}
+      onpointerup={endPlaneDrag}
+      onpointercancel={endPlaneDrag}
       onwheel={onWheel}
     >
       <canvas
@@ -286,12 +592,29 @@
         width={PLANE_SIZE + 1}
         height={PLANE_SIZE + 1}
       ></canvas>
-      <div
-        class="marker"
-        style:left={`${String((actualYuv.u / PLANE_SIZE) * 100)}%`}
-        style:top={`${String((actualYuv.v / PLANE_SIZE) * 100)}%`}
-        title={label ? `${label} reference` : "reference"}
-      ></div>
+
+      {#if showAll}
+        {#each allMarkerPositions as m (m.cls)}
+          <div
+            class="marker marker-all"
+            class:active={m.cls === selectedClass}
+            style:left={`${String((m.yuv.u / PLANE_SIZE) * 100)}%`}
+            style:top={`${String(vToScreenFraction(m.yuv.v) * 100)}%`}
+            style:background={rgbToCss(CANONICAL_COLORS[m.cls])}
+            title={`${CLASS_LABELS[m.cls]} reference`}
+            onpointerdown={(e) => selectMarkerClass(m.cls, e)}
+          >
+            {CLASS_LETTERS[m.cls]}
+          </div>
+        {/each}
+      {:else}
+        <div
+          class="marker"
+          style:left={`${String((actualYuv.u / PLANE_SIZE) * 100)}%`}
+          style:top={`${String(vToScreenFraction(actualYuv.v) * 100)}%`}
+          title={label ? `${label} reference` : "reference"}
+        ></div>
+      {/if}
     </div>
 
     <div class="y-slider-wrap" onwheel={onWheel}>
@@ -305,10 +628,35 @@
         onpointerup={endDrag}
         oninput={onYInput}
       />
+      <div
+        class="y-thumb-label"
+        style:top={`${String((1 - sliderThumbFraction) * 100)}%`}
+      >
+        Y={sliceY}
+      </div>
     </div>
 
     <div class="side-column">
       <div class="class-list">
+        <!-- ButtonGroup + Button rather than ButtonToggleGroup: the toggle
+             group is uncontrolled and deselects on a repeat click, which
+             would leave neither mode lit. Colors derived from showAll keep
+             this always showing exactly one selected. -->
+        <ButtonGroup class="mode-group">
+          <Button
+            color={showAll ? "alternative" : "primary"}
+            onclick={() => (showAll = false)}
+          >
+            Single Color
+          </Button>
+          <Button
+            color={showAll ? "primary" : "alternative"}
+            onclick={() => (showAll = true)}
+          >
+            All Colors
+          </Button>
+        </ButtonGroup>
+
         {#each COLOR_CLASSES as cls (cls)}
           <button
             type="button"
@@ -316,16 +664,43 @@
             class:selected={selectedClass === cls}
             onclick={() => (selectedClass = cls)}
           >
-            <span class="swatch" style:background={rgbToCss(colors[cls])}
+            <span
+              class="swatch"
+              style:background={rgbToCss(
+                showAll ? CANONICAL_COLORS[cls] : colors[cls],
+              )}
             ></span>
             {CLASS_LABELS[cls]}
           </button>
         {/each}
+
+        <div
+          class="current-swatch"
+          style:background={rgbToCss(color)}
+          title={`${label} reference`}
+        ></div>
+
+        <div class="restore-buttons">
+          <Button size="xs" color="light" outline onclick={restoreSelectedColor}>
+            Restore selected color
+          </Button>
+          <Button
+            size="xs"
+            color="light"
+            outline
+            onclick={requestRestoreAllColors}
+          >
+            Restore all colors
+          </Button>
+        </div>
       </div>
 
+      <!-- The current color's own values only -- the live-previewed Y (which
+           can differ while dragging the slider) has its own "Y=..." label
+           floating over the slider instead. -->
       <dl class="readout">
         <dt>Y (brightness)</dt>
-        <dd>{sliceY}{previewing ? " (previewing)" : ""}</dd>
+        <dd>{actualYuv.y}</dd>
         <dt>U</dt>
         <dd>{actualYuv.u}</dd>
         <dt>V</dt>
@@ -336,6 +711,19 @@
     </div>
   </div>
 
+  <Modal title="Restore all colors?" bind:open={showRestoreAllConfirm} size="xs">
+    <p>
+      Resets all six reference colors to their defaults. Undo can step back
+      through them one color at a time.
+    </p>
+    {#snippet footer()}
+      <Button color="alternative" onclick={() => (showRestoreAllConfirm = false)}>
+        Cancel
+      </Button>
+      <Button color="red" onclick={confirmRestoreAllColors}>Restore all</Button>
+    {/snippet}
+  </Modal>
+
   {#if preferences.tooltipsEnabled && gamutFraction < 0.3}
     <p class="gamut-note">
       Only {Math.round(gamutFraction * 100)}% of the square is a real color at
@@ -351,9 +739,10 @@
     control) only previews a different brightness -- the marker stays exactly
     where the saved color actually is, even inside the shaded region if that
     color isn't reachable at the previewed brightness; nothing is saved until
-    you click or drag inside the square again. The currently-autoadapted
-    position and per-frame blob samples aren't shown yet: both need the other
-    contributor's protobuf work to reach this host.
+    you click or drag inside the square again. Ctrl+Z (Cmd+Z on Mac) undoes the
+    last drag, one gesture at a time. The currently-autoadapted position and
+    per-frame blob samples aren't shown yet: both need the other contributor's
+    protobuf work to reach this host.
   </p>
 </div>
 
@@ -367,6 +756,26 @@
     max-width: 1100px;
   }
 
+  /* Same width as .plane, so Undo/Redo's right edge lines up with the color
+     window's rather than the far side of the side column. */
+  .pane-header {
+    width: 660px;
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    gap: 1rem;
+    margin-bottom: 0.5rem;
+  }
+
+  .pane-header h3 {
+    margin: 0;
+  }
+
+  .history-buttons {
+    display: flex;
+    gap: 0.5rem;
+  }
+
   .plane-row {
     display: flex;
     align-items: flex-start;
@@ -383,6 +792,10 @@
     border-radius: 4px;
     overflow: hidden;
     cursor: crosshair;
+    /* Alongside startPlaneDrag's preventDefault(): stops a drag that strays
+       past this box from text-selecting whatever's under the cursor. */
+    user-select: none;
+    -webkit-user-select: none;
   }
 
   canvas {
@@ -403,6 +816,44 @@
     pointer-events: none;
   }
 
+  /* "All" view: one of these per class, filled with its fixed identity
+     color (CANONICAL_COLORS) rather than the single marker's actual
+     configured color -- see showAll's doc comment. Text color is a fixed
+     black-with-white-halo rather than picked per class, since that reads
+     against all six identity colors (and field's gray) without needing
+     per-color contrast logic. */
+  .marker-all {
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    font-size: 0.85rem;
+    font-weight: 700;
+    color: #000;
+    text-shadow:
+      0 0 2px #fff,
+      0 0 2px #fff,
+      0 0 2px #fff;
+    /* Overrides .marker's pointer-events: none -- in "All" mode each marker
+       is a real click target (see selectMarkerClass), not just a display
+       overlay. */
+    pointer-events: auto;
+    cursor: pointer;
+  }
+
+  /* The class currently selected for editing stands out among the other
+     five -- bigger, thicker ring, a visible halo -- so "All" still reads as
+     "here's context, and here's what you're editing," not six equal dots. */
+  .marker-all.active {
+    z-index: 1;
+    width: 2.1rem;
+    height: 2.1rem;
+    margin: -1.05rem 0 0 -1.05rem;
+    border-width: 3px;
+    box-shadow:
+      0 0 0 1px rgba(255, 255, 255, 0.9),
+      0 0 6px 2px rgba(21, 101, 192, 0.6);
+  }
+
   /* A rotated horizontal range input, not a "real" vertical one --
      writing-mode/orient-based vertical sliders are unreliable across
      browsers (can end up with no visible track/thumb at all). The wrapper
@@ -417,6 +868,26 @@
     flex-shrink: 0;
   }
 
+  /* Tracks the thumb (see sliderThumbFraction) rather than sitting fixed --
+     a live "Y=..." readout right where the eye already is while dragging,
+     instead of over in the side-column readout. Wider than the slider
+     itself (2.1rem) is fine: nothing here clips it, and the gap on either
+     side of the slider gives it room. */
+  .y-thumb-label {
+    position: absolute;
+    left: 50%;
+    transform: translate(-50%, -50%);
+    z-index: 2;
+    padding: 0.15rem 0.45rem;
+    border-radius: 999px;
+    background: #1565c0;
+    color: white;
+    font-size: 0.8rem;
+    font-variant-numeric: tabular-nums;
+    white-space: nowrap;
+    pointer-events: none;
+  }
+
   .y-slider {
     position: absolute;
     top: 50%;
@@ -453,25 +924,27 @@
     background: #ccc;
   }
 
+  /* Invisible, not gone -- the Y=... label (.y-thumb-label) already marks
+     the position and value, so a second, visually-competing circle right
+     under it is redundant. Size is kept (not 0) so the drag hit target
+     stays the same as before; only the paint is removed. */
   .y-slider::-webkit-slider-thumb {
     -webkit-appearance: none;
     appearance: none;
     width: 36px;
     height: 36px;
     margin-top: -13.5px; /* centers a 36px thumb on the 9px track above */
-    border-radius: 50%;
-    background: #1565c0;
-    border: 2px solid white;
-    box-shadow: 0 0 0 1px rgba(0, 0, 0, 0.2);
+    background: transparent;
+    border: none;
+    box-shadow: none;
   }
 
   .y-slider::-moz-range-thumb {
     width: 36px;
     height: 36px;
-    border-radius: 50%;
-    background: #1565c0;
-    border: 2px solid white;
-    box-shadow: 0 0 0 1px rgba(0, 0, 0, 0.2);
+    background: transparent;
+    border: none;
+    box-shadow: none;
   }
 
   /* Firefox's default focus ring on a range input is drawn on this
@@ -492,6 +965,23 @@
     gap: 0.4rem;
   }
 
+  .current-swatch {
+    width: 100%;
+    aspect-ratio: 1;
+    margin-top: 0.4rem;
+    border: 1px solid rgba(0, 0, 0, 0.2);
+    border-radius: 0.5rem;
+  }
+
+  .restore-buttons {
+    display: flex;
+    flex-direction: column;
+    gap: 0.4rem;
+    margin-top: 0.4rem;
+    padding-top: 0.4rem;
+    border-top: 1px solid #ddd;
+  }
+
   .class-button {
     display: inline-flex;
     align-items: center;
@@ -509,6 +999,18 @@
     background: #e8f0fe;
   }
 
+  /* Full column width, split evenly, matching the class buttons below. */
+  :global(.mode-group) {
+    display: flex;
+    width: 100%;
+    margin-bottom: 0.4rem;
+  }
+
+  :global(.mode-group button) {
+    flex: 1;
+    white-space: nowrap;
+  }
+
   .swatch {
     display: inline-block;
     width: 0.9rem;
diff --git a/gui/frontend/src/lib/layout/Shell.svelte b/gui/frontend/src/lib/layout/Shell.svelte
index f38eb6f..b1b1c56 100644
--- a/gui/frontend/src/lib/layout/Shell.svelte
+++ b/gui/frontend/src/lib/layout/Shell.svelte
@@ -5,6 +5,7 @@
   import ConfigNav from "./ConfigNav.svelte";
   import MainContent from "./MainContent.svelte";
   import type { Snippet } from "svelte";
+  import { Dropdown, DropdownGroup, Checkbox } from "flowbite-svelte";
 
   // `below` is where App.svelte puts the existing snapshot grid / WS dev
   // panel for now, until they become the mockup's real Video + Debug Console
@@ -19,26 +20,12 @@
 
   // Global settings menu (gear, top-right) -- preferences (../preferences.svelte)
   // is app-wide state, not scoped to any one tab, so it belongs in the shell
-  // rather than wherever happened to need it first.
+  // rather than wherever happened to need it first. Dropdown (flowbite-svelte)
+  // owns open/close and outside-click dismissal itself now -- previously
+  // hand-rolled here with a window click listener.
   let settingsOpen = $state(false);
-  let settingsEl: HTMLDivElement | undefined = $state();
-
-  function toggleSettings(): void {
-    settingsOpen = !settingsOpen;
-  }
-
-  // Closes on any click outside the button+menu -- a click on the gear
-  // itself is inside settingsEl too, so this never fights toggleSettings's
-  // own open/close.
-  function handleWindowClick(event: MouseEvent): void {
-    if (settingsOpen && !settingsEl?.contains(event.target as Node)) {
-      settingsOpen = false;
-    }
-  }
 </script>
 
-<svelte:window onclick={handleWindowClick} />
-
 <div class="shell">
   <header>
     <h1>vision-processor</h1>
@@ -46,28 +33,28 @@
       {$connectionState.toUpperCase()} ({location.host})
     </span>
 
-    <div class="settings" bind:this={settingsEl}>
+    <div class="settings">
       <button
+        id="settings-trigger"
         type="button"
         class="settings-button"
         aria-label="Settings"
-        onclick={toggleSettings}
       >
         ⚙
       </button>
 
-      {#if settingsOpen}
-        <div class="settings-menu">
-          <label>
-            <input type="checkbox" bind:checked={preferences.tooltipsEnabled} />
+      <Dropdown
+        placement="bottom-end"
+        triggeredBy="#settings-trigger"
+        bind:isOpen={settingsOpen}
+      >
+        <DropdownGroup class="flex flex-col gap-2 p-3">
+          <Checkbox bind:checked={preferences.tooltipsEnabled}>
             Show extra tooltips
-          </label>
-          <label>
-            <input type="checkbox" bind:checked={preferences.expertUser} />
-            Expert mode
-          </label>
-        </div>
-      {/if}
+          </Checkbox>
+          <Checkbox bind:checked={preferences.expertUser}>Expert mode</Checkbox>
+        </DropdownGroup>
+      </Dropdown>
     </div>
   </header>
 
@@ -157,31 +144,6 @@
     background: #f5f5f5;
   }
 
-  .settings-menu {
-    position: absolute;
-    top: calc(100% + 0.5rem);
-    right: 0;
-    z-index: 20;
-    min-width: 180px;
-    display: flex;
-    flex-direction: column;
-    gap: 0.5rem;
-    padding: 0.6rem 0.75rem;
-    background: white;
-    border: 1px solid #ccc;
-    border-radius: 6px;
-    box-shadow: 0 2px 8px rgba(0, 0, 0, 0.15);
-    font-size: 0.85rem;
-    color: #333;
-  }
-
-  .settings-menu label {
-    display: flex;
-    align-items: center;
-    gap: 0.4rem;
-    cursor: pointer;
-  }
-
   .sidebar {
     display: flex;
     flex-direction: column;

From 2d286df4a1a8bc59cd308532ddf91b2ab0af899a Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Sat, 3 Oct 2026 17:34:32 -0400
Subject: [PATCH 16/23] unify config, overhaul save/load, confirm dialogue

---
 .gitignore                                    |   5 +
 README.md                                     |   4 +-
 config.yml                                    | 160 +-----
 gui/ARCHITECTURE.md                           | 110 ++--
 gui/CLAUDE.md                                 |  57 +-
 gui/README.md                                 |  20 +-
 gui/cmd/ssl-vision-processor-gui/main.go      | 130 ++++-
 gui/cmd/ssl-vision-processor-gui/main_test.go |  41 +-
 gui/cmd/ssl-vision-processor-gui/routes.go    |  16 +-
 gui/cmd/ssl-vision-processor-gui/server.go    | 328 +++++------
 .../ssl-vision-processor-gui/server_test.go   | 449 ++++++---------
 .../testdata/vision.yml                       |  66 +++
 gui/frontend/README.md                        |  10 +-
 gui/frontend/src/App.svelte                   |   2 +
 gui/frontend/src/lib/CornerPicker.svelte      | 246 +++++---
 gui/frontend/src/lib/FieldEditor.svelte       | 320 ++++-------
 gui/frontend/src/lib/api.ts                   |   2 +-
 gui/frontend/src/lib/color.svelte.ts          | 165 ++++--
 gui/frontend/src/lib/config.svelte.ts         | 362 ++++++++++++
 .../src/lib/config/CalibrationCard.svelte     | 141 +++++
 gui/frontend/src/lib/config/ColorPanel.svelte |  85 ++-
 .../src/lib/config/GeometryPanel.svelte       |  18 +-
 .../src/lib/config/WeightTriangle.svelte      |   2 +
 .../src/lib/config/YuvPositionPane.svelte     |  25 +-
 gui/frontend/src/lib/geometry.svelte.ts       | 149 +----
 gui/frontend/src/lib/layout/ChangeList.svelte | 102 ++++
 .../src/lib/layout/ConfigDialogs.svelte       | 271 +++++++++
 .../src/lib/layout/InstanceList.svelte        |  33 +-
 gui/frontend/src/lib/layout/Shell.svelte      |  91 ++-
 gui/frontend/src/lib/layout/TabBar.svelte     |  24 +-
 .../src/lib/layout/fileDialogs.svelte.ts      |  10 +
 gui/frontend/src/lib/layout/nav.svelte.ts     |  34 +-
 gui/frontend/src/lib/lineCorners.svelte.ts    |  73 ---
 .../src/lib/wizard/steps/WizardFinish.svelte  |  10 +-
 gui/frontend/src/lib/wizard/wizard.svelte.ts  |  55 +-
 gui/internal/config/color.go                  | 170 ++++++
 gui/internal/config/diff.go                   | 150 +++++
 gui/internal/config/document.go               | 444 +++++++++++++++
 gui/internal/config/document_test.go          | 338 +++++++++++
 gui/internal/config/import.go                 | 151 +++++
 gui/internal/config/render.go                 | 131 +++++
 gui/internal/config/status.go                 |  86 +++
 gui/internal/config/store.go                  | 533 ++++++++++++++++++
 gui/internal/config/store_test.go             | 417 ++++++++++++++
 .../config/testdata/legacy-config.yml         |  30 +
 .../config/testdata/legacy-geometry.yml       |  27 +
 gui/internal/config/testdata/vision.yml       |  66 +++
 gui/internal/geometry/colorconfig.go          | 272 ---------
 gui/internal/geometry/colorconfig_test.go     | 248 --------
 gui/internal/geometry/field_config.go         | 228 +-------
 gui/internal/geometry/field_config_test.go    | 219 ++-----
 gui/internal/geometry/geometry.go             | 187 ++++--
 gui/internal/geometry/geometry_test.go        |  88 ++-
 gui/internal/geometry/instance_config.go      | 305 ----------
 gui/internal/geometry/instance_config_test.go | 292 ----------
 55 files changed, 5054 insertions(+), 2944 deletions(-)
 create mode 100644 gui/cmd/ssl-vision-processor-gui/testdata/vision.yml
 create mode 100644 gui/frontend/src/lib/config.svelte.ts
 create mode 100644 gui/frontend/src/lib/config/CalibrationCard.svelte
 create mode 100644 gui/frontend/src/lib/layout/ChangeList.svelte
 create mode 100644 gui/frontend/src/lib/layout/ConfigDialogs.svelte
 create mode 100644 gui/frontend/src/lib/layout/fileDialogs.svelte.ts
 delete mode 100644 gui/frontend/src/lib/lineCorners.svelte.ts
 create mode 100644 gui/internal/config/color.go
 create mode 100644 gui/internal/config/diff.go
 create mode 100644 gui/internal/config/document.go
 create mode 100644 gui/internal/config/document_test.go
 create mode 100644 gui/internal/config/import.go
 create mode 100644 gui/internal/config/render.go
 create mode 100644 gui/internal/config/status.go
 create mode 100644 gui/internal/config/store.go
 create mode 100644 gui/internal/config/store_test.go
 create mode 100644 gui/internal/config/testdata/legacy-config.yml
 create mode 100644 gui/internal/config/testdata/legacy-geometry.yml
 create mode 100644 gui/internal/config/testdata/vision.yml
 delete mode 100644 gui/internal/geometry/colorconfig.go
 delete mode 100644 gui/internal/geometry/colorconfig_test.go
 delete mode 100644 gui/internal/geometry/instance_config.go
 delete mode 100644 gui/internal/geometry/instance_config_test.go

diff --git a/.gitignore b/.gitignore
index 9dc4a5a..a4a0392 100644
--- a/.gitignore
+++ b/.gitignore
@@ -33,6 +33,11 @@ __pycache__
 /gui/config.yml
 /gui/geometry.yml
 
+# The GUI host's unified config (field, per-camera config, locked
+# calibrations) is venue-specific for the same reason.
+/vision*.yml
+/gui/vision*.yml
+
 #Output binaries
 vision_processor
 blob_benchmark
diff --git a/README.md b/README.md
index fe70465..3e1e187 100644
--- a/README.md
+++ b/README.md
@@ -87,8 +87,8 @@ Installation with PIP: `pip install protobuf pyyaml`
 
 Your own `config[X].yml`/`geometry[X].yml` files (camera or venue specific) are gitignored by
 default and won't be committed. Only the reference templates -- `config.yml`, `config-minimal.yml`,
-`geometry-divA.yml`, `geometry-divB.yml` -- are tracked; `gui/config.yml` and `gui/geometry.yml`
-(the GUI's own working copies, bootstrapped from these) are gitignored the same way. If you need to
+`geometry-divA.yml`, `geometry-divB.yml` -- are tracked; the GUI's unified `vision.yml` (and the
+older `gui/config.yml` and `gui/geometry.yml` working copies) are gitignored the same way. If you need to
 track a variant anyway, `git add -f` it.
 
 
diff --git a/config.yml b/config.yml
index 0ce4c75..93ee732 100644
--- a/config.yml
+++ b/config.yml
@@ -1,152 +1,10 @@
-# VisionProcessor configuration
-
-# Vision camera ID handled by this VisionProcessor instance.
-# On multi camera fields the IDs have to be ordered according to camera_ids.png.
-#cam_id: 0
-
-# Team bot heights yml file (heights in mm)
-#bot_heights_file: robot-heights.yml
-
-camera:
-  # Camera driver type. Availability depending on libraries installed.
-  # Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
-  #driver: SPINNAKER
-
-  # Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
-  #id: 0
-  # OpenCV camera device, image or video file path (if unset id is used instead)
-  #path: /dev/video0
-
-  # Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
-  # 0 = highest resolution supported by the camera
-  #width: 0
-  #height: 0
-
-  # Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
-  # Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
-  # 0.0 = automatic exposure
-  #exposure: 0.0
-  # Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
-  # Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
-  # 0.0 = automatic gain
-  #gain: 0.0
-  # Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
-  # Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
-  # 1.0 = no gamma
-  #gamma: 1.0
-
-  # Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
-  # (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
-  #white_balance: OUTDOOR
-  # If you want to set manual white balance values use this format:
-  #white_balance:
-  #  red: 1.0
-  #  blue: 1.0
-
+# Generated by vision-processor-gui from vision.yml.
+# Edit that file (or use the GUI) instead; changes here are overwritten.
+cam_id: 0
 geometry:
-  # Total camera amount over the field
-  #camera_amount: 1
-  # Camera height above field in mm
-  # 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
-  #camera_height: 0.0
-
-  # Field line crossings at the edges of the camera extent in pixels from the top left image corner.
-  # The first coordinate must be the edge with the smallest x and y field coordinate.
-  #line_corners:
-  #- [0 , 1000]
-  #- [0 , 0]
-  #- [1000, 0]
-  #- [1000, 1000]
-
-  # Enable field line pixel refinement.
-  # Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
-  #refinement: true
-
-  # Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
-  #field_line_threshold: 5
-  # Minimum length of line segments to ensure angular stability in pixels
-  #min_line_segment_length: 10.0
-  # Maximum perpendicular offset of line segments for merging in pixels
-  #max_line_segment_offset: 10.0
-  # Maximum relative angle of line segments for merging in °
-  #max_line_segment_angle: 3.0
-
-thresholds:
-  # Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
-  # High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
-  #circularity: 15.0
-  # Minimum circularity/(3*stddev) ball blob score
-  #score: 5.0
-
-  # Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
-  #blobs: 2000
-
-  # Minimum confidence (0.0 - 1.0)
-  #min_confidence: 0.2
-
-  # Min ball camera edge distance in mm
-  #min_cam_edge_distance: 170.0
-
-  # Maximum allowed clipping of two objects in mm
-  #clipping_tolerance: 10.0
-
-  # Added tolerance to geometry related operations in mm.
-  # Affects field border cutoff area and field line blob classification.
-  #geometry_tolerance: 10.0
-
-color:
-  # Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
-  #reference_force: 0.1
-  # Strength of the previous color during color updates (0.0 - 1.0-reference_force)
-  #history_force: 0.7
-
-  # Reference colors used for ball determination
-  #orange: [192, 128, 64]
-  #field: [128, 128, 128]
-  # Reference colors used for center blob determination
-  #yellow: [255, 128, 0]
-  #blue: [0, 128, 255]
-  # Reference colors used for side blob determination
-  #green: [0, 255, 128]
-  #pink: [255, 0, 128]
-
-tracking:
-  # Min tracking radius in mm
-  #min_tracking_radius: 20.0
-
-  # Max tracked bot acceleration in m/s^2
-  #max_bot_acceleration: 6.5
-
-network:
-  # Game controller multicast ip address
-  #gc_ip: "224.5.23.1"
-  # Game controller multicast port
-  #gc_port: 10003
-
-  # Vision multicast IP address
-  #vision_ip: "224.5.23.2"
-  # Vision multicast port
-  #vision_port: 10006
-
-stream:
-  # If false no network live stream will be encoded and sent
-  #active: true
-  # Only stream raw camera footage. Useful for recordings.
-  #raw_feed: false
-
-  # Camera stream ip prefix
-  #ip_base_prefix: 224.5.23.
-  # Camera stream ip end base (cam_id is added to maintain separation)
-  #ip_base_end: 100
-  # Camera stream port
-  #port: 10100
-
-debug:
-  # Ground truth file. Only used by blob and geometry benchmark.
-  #ground_truth: gt.yml
-  # Wait for geometry prior to processing frames
-  #wait_for_geometry: false
-  # Save additional debug images in img/.
-  #debug_images: false
-  # Periodically overwrite img/.sample.<camId>.png while calibration isn't accepted yet, every N milliseconds. 0 disables.
-  #debug_stream_interval_ms: 0
+  camera_amount: 1
+  line_corners:
+    - [1584, 613]
+    - [2520, 151]
+    - [3012, 1471]
+    - [2256, 1885]
diff --git a/gui/ARCHITECTURE.md b/gui/ARCHITECTURE.md
index 24302ea..d8aa903 100644
--- a/gui/ARCHITECTURE.md
+++ b/gui/ARCHITECTURE.md
@@ -11,7 +11,7 @@ over multicast, and serves the frontend, a JSON API, and a WebSocket for live up
 ## System overview
 
 A venue runs one or more vision_processor instances, one per camera. Each instance shares a filesystem with the
-gui host (debug images in `img/`, the instance's own `config.yml`) and exchanges SSL vision protocol messages
+gui host (debug images in `img/`, the instance's generated `config.yml`) and exchanges SSL vision protocol messages
 with it over the same multicast group the rest of the league uses.
 
 ```mermaid
@@ -45,7 +45,7 @@ HTTP and a WebSocket instead, covered under HTTP API and WebSocket protocol belo
 
 ## Process layout
 
-`ssl-vision-processor-gui` is one process with three concurrent responsibilities, wired together in
+`ssl-vision-processor-gui` is one process with four concurrent responsibilities, wired together in
 `cmd/ssl-vision-processor-gui/main.go`.
 
 ```mermaid
@@ -54,25 +54,31 @@ graph TD
     http["HTTP server\ngoroutine"]
     bridge["multicast bridge\ngoroutine"]
     publish["geometry publish loop\ngoroutine, 1Hz"]
+    watch["vision.yml watcher\ngoroutine, 1Hz"]
 
     main --> http
     main --> bridge
     main --> publish
+    main --> watch
     bridge -- "Absorb(calib)" --> Geometry
     publish -- "Encoded()" --> Geometry
-    http -- "reads/writes" --> Geometry
+    http -- "reads/writes" --> Store
+    watch -- "checkDisk()" --> Store
+    Store -- "ApplyConfig / SetLocked" --> Geometry
 ```
 
-All three goroutines share one `*geometry.Geometry` instance, guarded by its own mutex. Shutdown is graceful: an
-`os.Interrupt`/`SIGTERM` cancels a shared context, the HTTP server drains in-flight requests, and `main` waits for
-both other goroutines to exit before returning.
+The goroutines share one `*config.Store` and one `*geometry.Geometry`, each guarded by its own mutex. The store
+pushes into the geometry, never the other way around. Shutdown is graceful: an `os.Interrupt`/`SIGTERM` cancels a
+shared context, the HTTP server drains in-flight requests, and `main` waits for the other goroutines to exit
+before returning.
 
 ## Package responsibilities
 
 | Package                | Responsibility                                                                 |
 | ---------------------- | -------------------------------------------------------------------------------|
 | `cmd/ssl-vision-processor-gui` | Flags, wiring, HTTP handlers and routes.                                |
-| `internal/geometry`    | Field configuration, calibration merge, the 1Hz publish loop, and the corner picker's config.yml writeback. |
+| `internal/config`      | `vision.yml`: the working document, save and load, locked calibrations, the disk watcher, and generated `config.yml` files. |
+| `internal/geometry`    | The live field template, published calibrations, and the 1Hz publish loop. Holds no file state. |
 | `internal/multicast`   | Bridge to the SSL vision multicast group.                                     |
 | `internal/hub`         | In-process topic pub/sub and the `/ws` WebSocket handler.                     |
 | `internal/snapshot`    | Debug image listing and serving.                                              |
@@ -82,54 +88,66 @@ both other goroutines to exit before returning.
 
 ## Data flow: geometry state
 
-`Geometry` holds one `SSL_WrapperPacket`: the field template plus every camera's absorbed calibration. It keeps a
-cached protobuf encoding alongside the live message, since `proto.Marshal` writes to the message's own size cache
-and is not safe to call from multiple goroutines without a lock.
+`Geometry` holds one `SSL_WrapperPacket`: the field template plus one calibration per camera. A camera's published
+calibration is its locked one if set, otherwise the latest one absorbed from the network. It keeps a cached
+protobuf encoding alongside the live message, since `proto.Marshal` writes to the message's own size cache and is
+not safe to call from multiple goroutines without a lock.
 
 ```mermaid
 graph LR
-    Absorb["Absorb(calib)\nfrom multicast"] -->|"validated,\nmerged"| State[("Geometry\n(wrapper + encoded)")]
-    UpdateField["UpdateField / SaveAs / LoadFrom\nfrom HTTP"] -->|"validated,\npersisted to disk"| State
+    Absorb["Absorb(calib)\nfrom multicast"] -->|"validated"| State[("Geometry\n(wrapper + encoded)")]
+    Store["config.Store\n(working document)"] -->|"ApplyConfig, SetLocked, Unlock"| State
     State -->|"Encoded()"| Multicast["multicast bridge"]
     State -->|"Snapshot() -> protojson"| API["GET /api/geometry"]
 ```
 
 A calibration missing a required proto2 field is rejected with `proto.CheckInitialized` before it can touch
-`State`, so a malformed message from one instance never desyncs the held message from its cached encoding. A
-field edit that fails to persist to disk (`UpdateField`, `SaveAs`) is rolled back the same way, so the live,
-broadcast state never claims a change that was never actually saved.
+`State`, so a malformed message from one instance never desyncs the held message from its cached encoding.
 
-## Data flow: corner picker calibration hint
+## Configuration: vision.yml
 
-The corner picker lets an operator mark the field's first calibration corner directly on a debug snapshot in the
-browser, instead of estimating pixel coordinates by eye. It writes into the target instance's own `config.yml`,
-not into the shared `geometry.yml`.
+`vision.yml` is the one file the host owns. It holds the field template, shared `defaults` in vision_processor's
+own `config.yml` layout, and a `cameras` list keyed by `camera_id`. Each camera carries its own overrides, its
+corner picker `seed` (corners plus the image resolution they were picked at), and optionally a locked
+`calibration`.
+
+`config.Store` keeps two copies of the document: the working copy and the copy last loaded from or saved to disk.
+Edits from the browser replace the working copy and apply live straight away. Save writes the working copy to
+disk. The difference between the two is what the browser shows as unsaved changes.
 
 ```mermaid
 sequenceDiagram
     participant Browser
-    participant GUI as gui host
-    participant Config as config.yml
+    participant Store as config.Store
+    participant Geometry
+    participant Disk as vision.yml
     participant VP as vision_processor
 
-    Browser->>GUI: PUT /api/config/line-corners
-    GUI->>Config: splice geometry.line_corners, goal_side_marker
-    Note over VP: geometry: is only read at startup,<br/>not by reloadConfigIfChanged() -- restart required
-    VP->>VP: geometryCalibration()
-    VP-->>GUI: SSL_GeometryData (multicast)
-    GUI->>GUI: Absorb(calib)
-    GUI-->>Browser: wrapper_packet.out (WebSocket)
+    Browser->>Store: PUT /api/config (working document)
+    Store->>Geometry: ApplyConfig, SetLocked
+    Store->>VP: regenerate config.yml (local cameras)
+    Geometry-->>VP: SSL_WrapperPacket (multicast)
+    Browser->>Store: POST /api/config/save
+    Store->>Disk: atomic write
+    Note over Store,Disk: the watcher polls once a second and records<br/>any change it did not write itself
+    Store-->>Browser: config.state (WebSocket)
 ```
 
-`internal/geometry.WriteLineCorners` edits `config.yml` as text, not as decoded and re-encoded YAML. The file
-ships full of comments and commented out example values meant for a human to read, and a decode and re-encode
-round trip through the YAML library does not reliably preserve those. A line based splice touches only the two
-keys it is asked to set.
+A vision_processor skips calibrating at startup only if the geometry packet it receives already holds a
+calibration for its camera. Publishing locked calibrations is what keeps a restart of either side from triggering
+a recalibration. Unlocking stops publishing that camera's calibration. A running vision_processor keeps the model
+it already has, since the protocol has no way to ask for a live recalibration, so it recalibrates on its next
+restart.
+
+Until vision_processor accepts configuration over the network, a camera with a `config_path` gets its
+`config.yml` regenerated from `vision.yml` on every change, written only when the content differs. The file
+starts with a header saying it is generated. `reloadConfigIfChanged()` in `src/Resources.cpp` hot reloads
+`thresholds`, `tracking`, `color`, and `debug` every half second, but never `geometry`, `camera`, `network`, or
+`stream`. Changes to those take effect when the instance restarts.
 
-The `geometry:` section is only read once, when `Resources` is constructed at process startup
-(`src/Resources.cpp`). `reloadConfigIfChanged()` hot reloads `thresholds`, `tracking`, `color`, and `debug` every
-half second, but never `geometry`, `camera`, `network`, or `stream`. A corner saved through this endpoint has no
-effect until the target vision_processor instance is restarted.
+Every number in the free form blocks is normalized to an int or a float64. The browser sends every number as a
+JSON float and YAML decodes integers as ints, so without this every edit would show spurious changes such as
+`1920 -> 1920`.
 
 ## HTTP API
 
@@ -139,13 +157,15 @@ All routes are registered in `cmd/ssl-vision-processor-gui/routes.go`.
 | ------ | ----------------------------- | -------------------------------------------------------------------|
 | GET    | `/api/health`                 | Liveness check.                                                     |
 | GET    | `/api/geometry`                | The full wrapper packet, as canonical protojson.                   |
-| GET    | `/api/geometry/field`          | The editable field dimensions and optional line toggles.           |
-| PUT    | `/api/geometry/field`          | Update the field dimensions, persisted to the current geometry file. |
-| POST   | `/api/geometry/field/save-as`  | Save the field config to a new file and switch to editing it.      |
-| POST   | `/api/geometry/field/load`     | Discard the current field config and load another file.            |
 | GET    | `/api/geometry/presets`        | The rulebook presets, read live from `geometry-divA.yml`/`geometry-divB.yml`. |
-| GET    | `/api/config/line-corners`     | The corner picker's last saved corners and goal side marker.        |
-| PUT    | `/api/config/line-corners`     | Save the corner picker's calibration hint to `config.yml`.          |
+| GET    | `/api/config`                  | The working document and the store's state.                         |
+| PUT    | `/api/config`                  | Replace the working document and apply it live. 409 on a stale revision. |
+| POST   | `/api/config/save`             | Write the working document to disk. 409 if the file changed on disk, unless forced. |
+| POST   | `/api/config/save-as`          | Write to a new path and edit that file from then on.                |
+| POST   | `/api/config/load`             | Load another file, discarding unsaved changes.                      |
+| POST   | `/api/config/reload`           | Accept the file as it is on disk, discarding unsaved changes.       |
+| POST   | `/api/config/cameras/{id}/calibration` | Lock the camera's latest live calibration.                  |
+| DELETE | `/api/config/cameras/{id}/calibration` | Unlock it and stop publishing any calibration for the camera. |
 | GET    | `/api/snapshots`               | List of debug images currently on disk.                            |
 | GET    | `/api/snapshot/{camID}/{view}` | One debug image.                                                    |
 | GET    | `/ws`                          | WebSocket, see below.                                               |
@@ -167,6 +187,9 @@ frontend, with a fallback to `index.html` for client side routes.
 ```
 
 `wrapper_packet.out` carries the current `SSL_WrapperPacket` as canonical protojson, published once per second.
+`config.state` carries `config.Store`'s state: the revision, unsaved changes, any change made to the file on disk,
+and per camera calibration status. It is published on every change and once per second, since live calibration
+status comes from the network rather than the store.
 Every channel in this path, from a topic's own subscriber channel to a connection's shared outbound channel, is
 size limited and drops the oldest queued value in favor of the newest one. A slow client sees only the latest
 value once it catches up, never a growing backlog of stale ones.
@@ -183,6 +206,7 @@ regenerates them as an ordinary build prerequisite. See `gui/README.md` for the
 - **Discovery.** Parsing `SSL_VPConfig` announces off multicast into an instance table. The C++ side does not
   emit these yet.
 - **Host owned config push.** Diffing an instance's announced config against a desired one and pushing the
-  difference, rather than editing its `config.yml` by hand as the corner picker does today.
+  difference, rather than regenerating a local `config.yml` as the host does today. This also needs a way to ask
+  a running instance to recalibrate.
 - **Remote video.** `internal/snapshot` assumes the gui host and the vision_processor instance share a
   filesystem. This does not hold once instances run on other hosts.
diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
index 1b225ca..63a0c42 100644
--- a/gui/CLAUDE.md
+++ b/gui/CLAUDE.md
@@ -14,7 +14,7 @@ which still import it directly — do not delete `geom_publisher.py`.
 All run from `gui/`.
 
 ```
-make run       # regenerate proto, build frontend, run the Go host on :8085
+make run       # regenerate proto, build frontend, run the Go host on :8085 (-config vision.yml)
 make test      # frontend check/lint/format + go test -race, all packages
 make install   # go install after a frontend build
 make proto     # regenerate internal/{vision,gamecontroller} and frontend/src/proto
@@ -39,7 +39,9 @@ cd frontend && npm run dev   # Vite HMR on :5173, proxies /api and /ws to :8085
 ```
 cmd/ssl-vision-processor-gui/   entry point: flags, wiring, HTTP server
 internal/
-  geometry/    field config + calibration merge + 1Hz publish loop
+  config/      vision.yml store: working/disk copies, save/load, locked
+               calibrations, disk watcher, generated config.yml files
+  geometry/    live field template + published calibrations + 1Hz publish loop
   multicast/   bridge to the SSL vision multicast group
   hub/         topic pub/sub + the /ws handler
   snapshot/    debug image listing/serving
@@ -113,16 +115,33 @@ filesystem.** This is unchanged from the Python `snapshot.py` it replaces and
 is a known limitation, not an oversight -- it does not work once vision
 processors run on other hosts. See "Not yet built."
 
-**`internal/geometry.WriteLineCorners` edits vision_processor's per-instance
-`config.yml` as text, not as decoded/re-encoded YAML.** That file ships full
-of comments and commented-out example values meant to be hand-read; a
-decode/re-encode round trip through `gopkg.in/yaml.v3` (confirmed while
-building this) drops comments elsewhere in the document and drifts
-indentation. A line-based splice around the `line_corners:` key touches
-nothing else. This is a stand-in for the not-yet-built `internal/config`
-(single, same-host instance, matching `-imgDir`'s assumption) -- see "Not yet
-built" -- kept in `internal/geometry` for now since the corner picker needed
-it working immediately; move it if/when `internal/config` exists.
+**`vision.yml` is the one host-owned config file; `internal/config.Store`
+holds a working copy and a disk copy.** Browser edits replace the working copy
+and apply live immediately (field to `Geometry`, locked calibrations to
+`Geometry.SetLocked`, regenerated `config.yml` for local cameras); Save writes
+the working copy to disk. The diff between the two is the "unsaved changes"
+list, and its section classification drives the tab asterisks. A 1Hz watcher
+records edits made outside the GUI so the browser can offer load-or-overwrite.
+Comments in `vision.yml` are not preserved on save; it's machine-written.
+
+**Calibrations are locked explicitly, never auto-persisted.** A camera's
+published calibration is its locked one, else the latest absorbed. A
+vision_processor only skips startup calibration if the packet holds a
+calibration for its camera_id, so publishing locked ones is what stops host or
+VP restarts from triggering recalibration. Unlock withholds the camera's
+calibration; a running VP keeps its model (no live recalibrate in the
+protocol), so it recalibrates on its next restart.
+
+**Each local camera's `config.yml` is generated, not edited.** It's the
+transport until vision_processor accepts config over the network:
+`defaults` deep-merged with the camera's `config`, plus derived `cam_id`,
+`camera_amount` (number of cameras) and `line_corners` (from the seed). This
+supersedes the old line-splice writers, which existed to preserve the file's
+comments -- irrelevant once the file is generated.
+
+**Numbers in free-form blocks are normalized** (integral floats to int). JSON
+from the browser makes every number a float64 and YAML makes integers ints;
+without this every edit diffs as `1920 -> 1920`.
 
 **buf reads the proto submodule directly**: `inputs: [{directory:
 ../proto/proto}]` in `buf.gen.yaml`. No vendored copy to drift. Generated
@@ -143,8 +162,7 @@ one stays committed: `dist/` is the frontend's actual build *output*, not
 codegen from a source of truth already in the tree, so there's nothing to
 regenerate it from without first running the build it's the output of.
 
-**Discovery is multicast-announce-based, config is host-owned** -- both
-still unimplemented; see below.
+**Discovery is multicast-announce-based** -- still unimplemented; see below.
 
 ## Gotchas
 
@@ -204,11 +222,12 @@ Not automated -- there is no CI hardware to run it on.
 
 - **`internal/discovery`** -- parsing `SSL_VPConfig` announces off multicast
   into an instance table. The C++ side does not emit these yet.
-- **`internal/config`** -- the host-owned config store and the diff-based
-  reprovision loop (push desired config to an instance when its announced
-  config doesn't match, rather than trying to detect death). Blocked on
-  discovery above and on a C++-side HTTP config-apply endpoint (another
-  contributor's work, not started).
+- **Config push / reprovision loop** -- `internal/config` exists as the
+  host-owned store, but delivery is still a regenerated local `config.yml`.
+  The diff-based reprovision loop (push desired config to an instance when its
+  announced config doesn't match) is blocked on discovery above and on a
+  C++-side config-apply endpoint (another contributor's work). That endpoint
+  should also carry a way to ask a running instance to recalibrate.
 - **Bootstrap identity.** `SSL_VPConfig.instance` is `required`, but the plan
   drops VP-local config files entirely. Nothing yet decides what a freshly
   started, unconfigured VP calls itself before it has ever been provisioned.
diff --git a/gui/README.md b/gui/README.md
index 5acb6bc..da6751e 100644
--- a/gui/README.md
+++ b/gui/README.md
@@ -1,6 +1,7 @@
 # gui
 
-Go host and browser UI for vision_processor. Owns the shared field geometry, absorbs camera calibrations from
+Go host and browser UI for vision_processor. Owns `vision.yml` (the field geometry, per camera settings, and
+locked calibrations), absorbs camera calibrations from
 vision_processor instances over multicast, and serves the frontend, a JSON API, and a WebSocket for live updates,
 all on one port. See [ARCHITECTURE.md](ARCHITECTURE.md) for how it fits together and why it is built this way.
 
@@ -28,6 +29,17 @@ Run these from `gui/`.
 | `make test`    | Frontend check, lint, and format, plus `go test -race` for every package.     |
 | `make install` | `go install` after a frontend build.                                          |
 | `make proto`   | Regenerate `internal/vision`, `internal/gamecontroller`, and `frontend/src/proto`. |
+
+## Configuration
+
+The host reads and writes one file, `-config` (default `vision.yml`). Edits made in the browser apply live and
+are written to the file only on Save, after a confirmation that lists every change. The host watches the file,
+so a hand edit prompts the browser to load it or overwrite it.
+
+If `-config` does not exist yet, the host creates it on startup. It imports `-importGeometry` (default
+`geometry.yml`) and `-importConfig` (default `config.yml`) when they exist, and otherwise starts from
+`-geometryPreset`. An imported `config.yml` becomes a camera with that file as its `config_path`, so the host
+regenerates it from `vision.yml` from then on. Keep a copy if you want its comments.
 | `make vet`     | `go vet` for every package.                                                    |
 | `make build`   | `go build` for every package, without installing.                            |
 | `make clean`   | Remove the frontend build, generated protobuf code, and build sentinels.      |
@@ -51,7 +63,9 @@ second terminal) for the page to show anything.
 ```
 cmd/ssl-vision-processor-gui/   entry point: flags, wiring, HTTP server
 internal/
-  geometry/    field config, calibration merge, the 1Hz publish loop, corner picker writeback
+  config/      vision.yml: working document, save and load, locked calibrations, disk watcher,
+               generated config.yml files
+  geometry/    live field template, published calibrations, the 1Hz publish loop
   multicast/   bridge to the SSL vision multicast group
   hub/         topic pub/sub and the /ws handler
   snapshot/    debug image listing and serving
@@ -65,7 +79,7 @@ buf.gen.yaml   buf configuration for the two packages above
 ## Testing
 
 `go test -race` runs on every package. This code is concurrent by construction: a mutex guarded `Geometry` and a
-multi goroutine WebSocket hub. Tests that exercise a file write (`internal/geometry`, `cmd/.../server_test.go`)
+multi goroutine WebSocket hub. Tests that exercise a file write (`internal/config`, `cmd/.../server_test.go`)
 copy their fixture into `t.TempDir()` first and never operate on the checked in `testdata/` files directly.
 
 `go test ./...` from `gui/` will try to compile stray Go source inside `frontend/node_modules`. Use
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
index fd2ce5e..c6068df 100644
--- a/gui/cmd/ssl-vision-processor-gui/main.go
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -2,6 +2,7 @@ package main
 
 import (
 	"context"
+	"encoding/json"
 	"errors"
 	"flag"
 	"fmt"
@@ -15,6 +16,7 @@ import (
 	"syscall"
 	"time"
 
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/config"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/logging"
@@ -26,20 +28,16 @@ var address = flag.String("address", ":8085", "The address on which the vision p
 var visionAddress = flag.String("visionAddress", "224.5.23.2:10006", "The multicast address of field vision, default: 224.5.23.2:10006")
 var skipInterfaces = flag.String("skipInterfaces", "", "Comma separated list of interface names to ignore when receiving multicast packets")
 
-// geometry-divA.yml/geometry-divB.yml are read-only rulebook presets (see
-// geometry.ReadOnlyFiles) -- the default here must never be one of them, or
-// the first Save in the Virtual Field editor would silently overwrite a
-// tracked competition preset instead of a working copy.
-var geometryFile = flag.String("geometryFile", "geometry.yml", "Field geometry config file, default: geometry.yml")
-var geometryPreset = flag.String("geometryPreset", "geometry-divB.yml", "Preset to seed -geometryFile from if it doesn't exist yet, default: geometry-divB.yml")
-var imgDir = flag.String("imgDir", "img", "Directory the vision processor writes debug snapshot images to, default: img")
+// vision.yml holds everything the host owns: the field template, shared and
+// per-camera vision_processor settings, and locked calibrations.
+var configPath = flag.String("config", "vision.yml", "Host configuration file (field, cameras, calibrations), default: vision.yml")
 
-// The vision_processor instance's own config file -- distinct from
-// -geometryFile (the shared field template). Matches vision_processor's own
-// default (argv[1] falling back to "config.yml", see src/main.cpp). Assumes
-// a single, same-host instance, same as -imgDir; see gui/CLAUDE.md's
-// "internal/discovery"/"internal/config" notes for the multi-instance plan.
-var configFile = flag.String("configFile", "config.yml", "vision_processor instance config file to write calibration values into, default: config.yml")
+// Used only when -config doesn't exist yet, to build it from a pre-vision.yml
+// setup. Without -importGeometry the field comes from -geometryPreset.
+var importGeometry = flag.String("importGeometry", "geometry.yml", "Legacy field geometry file to import into a new -config, default: geometry.yml")
+var importConfig = flag.String("importConfig", "config.yml", "Legacy vision_processor config.yml to import into a new -config as its camera, default: config.yml")
+var geometryPreset = flag.String("geometryPreset", "geometry-divB.yml", "Field preset for a new -config when there's no -importGeometry, default: geometry-divB.yml")
+var imgDir = flag.String("imgDir", "img", "Directory the vision processor writes debug snapshot images to, default: img")
 var logLevelFlag = flag.String("logLevel", "Info", "Log Level: Debug, Info, Warn, Error. Default: Info")
 var logFile = flag.String("logFile", "logs/vision-processor-gui.log", "Rotating log file to write alongside stderr, empty to disable. Default: logs/vision-processor-gui.log")
 
@@ -74,19 +72,21 @@ func run() int {
 
 	slog.Info("Init VP GUI")
 
-	if err := bootstrapGeometryFile(*geometryFile, *geometryPreset); err != nil {
-		slog.Error("bootstrapping geometry file", "err", err)
+	if err := bootstrapConfig(*configPath, *importGeometry, *importConfig, *geometryPreset); err != nil {
+		slog.Error("creating config file", "err", err)
 
 		return 1
 	}
 
-	geom, err := geometry.New(*geometryFile)
+	geom, store, err := openConfig(*configPath)
 	if err != nil {
-		slog.Error("loading geometry", "err", err)
+		slog.Error("loading config", "path", *configPath, "err", err)
 
 		return 1
 	}
 
+	slog.Info("loaded config", "path", *configPath)
+
 	// register Ctrl+C handler
 	ctx, stopSignals := signal.NotifyContext(context.Background(), os.Interrupt, syscall.SIGTERM)
 	defer stopSignals()
@@ -94,6 +94,8 @@ func run() int {
 	bridge := multicast.New(*visionAddress, splitInterfaces(*skipInterfaces), level == slog.LevelDebug)
 	wsHub := hub.New()
 
+	store.OnChange(func() { publishConfigState(wsHub, store) })
+
 	var wg sync.WaitGroup
 
 	runBackground(&wg, "multicast bridge", func() error { return bridge.Run(ctx, geom.Absorb) })
@@ -101,12 +103,16 @@ func run() int {
 		return geom.Run(ctx, func(encoded []byte) {
 			bridge.Send(encoded)
 			publishGeometryToHub(wsHub, geom)
+			// Live calibration state comes from the network, not the store, so
+			// it's refreshed on this tick rather than only on store changes.
+			publishConfigState(wsHub, store)
 		})
 	})
+	runBackground(&wg, "config file watcher", func() error { return store.Watch(ctx, configWatchInterval) })
 
 	srv := &http.Server{
 		Addr:              *address,
-		Handler:           NewVisionServer(geom, wsHub, *imgDir, *configFile),
+		Handler:           NewVisionServer(geom, store, wsHub, *imgDir),
 		ReadHeaderTimeout: 10 * time.Second,
 	}
 
@@ -145,32 +151,100 @@ func run() int {
 	return 0
 }
 
-// bootstrapGeometryFile seeds path with a copy of preset if path doesn't
-// exist yet, so a fresh checkout with no working geometry.yml starts from a
-// real, complete config instead of failing at startup. A plain byte copy,
-// not a YAML round trip, so the preset's own comments survive into the new
-// working file. Never touches path if it already exists.
-func bootstrapGeometryFile(path, preset string) error {
+// configWatchInterval is how often vision.yml is checked for edits made
+// outside the GUI.
+const configWatchInterval = time.Second
+
+// bootstrapConfig creates path if it doesn't exist yet: imported from the
+// legacy geometry/config files where present, otherwise from preset. Never
+// touches an existing path.
+func bootstrapConfig(path, legacyGeometry, legacyConfig, preset string) error {
 	if _, err := os.Stat(path); err == nil {
-		return nil // already exists, nothing to do
+		return nil
 	} else if !os.IsNotExist(err) {
 		return err
 	}
 
-	data, err := os.ReadFile(preset)
+	geometrySource := preset
+	if fileExists(legacyGeometry) {
+		geometrySource = legacyGeometry
+	}
+
+	configSource := ""
+	if fileExists(legacyConfig) {
+		configSource = legacyConfig
+	}
+
+	doc, err := config.Import(geometrySource, configSource)
 	if err != nil {
-		return fmt.Errorf("read preset %s: %w", preset, err)
+		return fmt.Errorf("import %s / %q: %w", geometrySource, configSource, err)
+	}
+
+	data, err := config.Marshal(doc)
+	if err != nil {
+		return err
 	}
 
 	if err := os.WriteFile(path, data, 0o644); err != nil {
 		return fmt.Errorf("write %s: %w", path, err)
 	}
 
-	slog.Info("seeded a fresh geometry file from preset", "path", path, "preset", preset)
+	slog.Info("created config file", "path", path, "geometry", geometrySource, "config", configSource)
 
 	return nil
 }
 
+// openConfig builds the live Geometry from path's field template and opens
+// the store that keeps it in sync with the file.
+func openConfig(path string) (*geometry.Geometry, *config.Store, error) {
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return nil, nil, err
+	}
+
+	doc, err := config.Parse(data)
+	if err != nil {
+		return nil, nil, err
+	}
+
+	models, err := doc.ModelsProto()
+	if err != nil {
+		return nil, nil, err
+	}
+
+	geom, err := geometry.New(doc.Field, doc.OptionalFieldLines, models)
+	if err != nil {
+		return nil, nil, err
+	}
+
+	store, err := config.Open(path, geom)
+	if err != nil {
+		return nil, nil, err
+	}
+
+	return geom, store, nil
+}
+
+func fileExists(path string) bool {
+	_, err := os.Stat(path)
+
+	return err == nil
+}
+
+// configStateTopic carries config.Store's State to the frontend.
+const configStateTopic = "config.state"
+
+func publishConfigState(wsHub *hub.Hub, store *config.Store) {
+	data, err := json.Marshal(store.State())
+	if err != nil {
+		slog.Error("marshalling config state", "err", err)
+
+		return
+	}
+
+	wsHub.Publish(configStateTopic, data)
+}
+
 // wrapperPacketTopic is the hub topic name the frontend already subscribes to
 // (see gui/frontend/src/App.svelte).
 const wrapperPacketTopic = "wrapper_packet.out"
diff --git a/gui/cmd/ssl-vision-processor-gui/main_test.go b/gui/cmd/ssl-vision-processor-gui/main_test.go
index 30062c0..ff37cd9 100644
--- a/gui/cmd/ssl-vision-processor-gui/main_test.go
+++ b/gui/cmd/ssl-vision-processor-gui/main_test.go
@@ -5,41 +5,54 @@ import (
 	"path/filepath"
 	"strings"
 	"testing"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/config"
 )
 
-func TestBootstrapGeometryFileSeedsFromPreset(t *testing.T) {
-	dir := t.TempDir()
-	path := filepath.Join(dir, "geometry.yml")
+func TestBootstrapConfigImportsLegacyFiles(t *testing.T) {
+	path := filepath.Join(t.TempDir(), "vision.yml")
 
-	if err := bootstrapGeometryFile(path, "testdata/geometry.yml"); err != nil {
-		t.Fatalf("bootstrapGeometryFile: %v", err)
+	if err := bootstrapConfig(path, "testdata/geometry.yml", "testdata/config.yml", "missing-preset.yml"); err != nil {
+		t.Fatalf("bootstrapConfig: %v", err)
 	}
 
-	got, err := os.ReadFile(path)
+	data, err := os.ReadFile(path)
 	if err != nil {
 		t.Fatalf("ReadFile: %v", err)
 	}
 
-	want, err := os.ReadFile("testdata/geometry.yml")
+	doc, err := config.Parse(data)
 	if err != nil {
-		t.Fatalf("ReadFile preset: %v", err)
+		t.Fatalf("bootstrapped file doesn't parse: %v", err)
 	}
 
-	if string(got) != string(want) {
-		t.Error("bootstrapped file does not match the preset byte-for-byte")
+	if len(doc.Cameras) != 1 || doc.Cameras[0].ConfigPath != "testdata/config.yml" || doc.Cameras[0].Seed == nil {
+		t.Fatalf("cameras = %+v, want the legacy config imported as camera with its corners", doc.Cameras)
 	}
 }
 
-func TestBootstrapGeometryFileLeavesExistingFileAlone(t *testing.T) {
+func TestBootstrapConfigFallsBackToThePreset(t *testing.T) {
 	dir := t.TempDir()
-	path := filepath.Join(dir, "geometry.yml")
+	path := filepath.Join(dir, "vision.yml")
+
+	if err := bootstrapConfig(path, filepath.Join(dir, "none.yml"), filepath.Join(dir, "none.yml"), "testdata/geometry.yml"); err != nil {
+		t.Fatalf("bootstrapConfig: %v", err)
+	}
+
+	if _, err := os.Stat(path); err != nil {
+		t.Fatalf("no file created: %v", err)
+	}
+}
+
+func TestBootstrapConfigLeavesExistingFileAlone(t *testing.T) {
+	path := filepath.Join(t.TempDir(), "vision.yml")
 
 	if err := os.WriteFile(path, []byte("already here"), 0o644); err != nil {
 		t.Fatalf("WriteFile: %v", err)
 	}
 
-	if err := bootstrapGeometryFile(path, "testdata/geometry.yml"); err != nil {
-		t.Fatalf("bootstrapGeometryFile: %v", err)
+	if err := bootstrapConfig(path, "testdata/geometry.yml", "", "testdata/geometry.yml"); err != nil {
+		t.Fatalf("bootstrapConfig: %v", err)
 	}
 
 	got, err := os.ReadFile(path)
diff --git a/gui/cmd/ssl-vision-processor-gui/routes.go b/gui/cmd/ssl-vision-processor-gui/routes.go
index aba3fb3..ceb1201 100644
--- a/gui/cmd/ssl-vision-processor-gui/routes.go
+++ b/gui/cmd/ssl-vision-processor-gui/routes.go
@@ -11,15 +11,15 @@ import (
 func (s *VisionServer) addRoutes(mux *http.ServeMux) {
 	mux.Handle("GET /api/health", s.handleHealth())
 	mux.Handle("GET /api/geometry", s.handleGetGeometry())
-	mux.Handle("GET /api/geometry/field", s.handleGetFieldConfig())
-	mux.Handle("PUT /api/geometry/field", s.handlePutFieldConfig())
-	mux.Handle("POST /api/geometry/field/save-as", s.handlePostSaveAs())
-	mux.Handle("POST /api/geometry/field/load", s.handlePostLoad())
 	mux.Handle("GET /api/geometry/presets", s.handleGetFieldPresets())
-	mux.Handle("GET /api/config/line-corners", s.handleGetLineCorners())
-	mux.Handle("PUT /api/config/line-corners", s.handlePutLineCorners())
-	mux.Handle("GET /api/config/color", s.handleGetColor())
-	mux.Handle("PUT /api/config/color", s.handlePutColor())
+	mux.Handle("GET /api/config", s.handleGetConfig())
+	mux.Handle("PUT /api/config", s.handlePutConfig())
+	mux.Handle("POST /api/config/save", s.handleSave())
+	mux.Handle("POST /api/config/save-as", s.handleSaveAs())
+	mux.Handle("POST /api/config/load", s.handleLoad())
+	mux.Handle("POST /api/config/reload", s.handleReload())
+	mux.Handle("POST /api/config/cameras/{id}/calibration", s.handleLockCalibration())
+	mux.Handle("DELETE /api/config/cameras/{id}/calibration", s.handleUnlockCalibration())
 	mux.Handle("GET /api/snapshots", snapshot.HandleList(s.imgDir))
 	mux.Handle("GET /api/snapshot/{camID}/{view}", snapshot.HandleGet(s.imgDir))
 	mux.Handle("/api/", http.NotFoundHandler())
diff --git a/gui/cmd/ssl-vision-processor-gui/server.go b/gui/cmd/ssl-vision-processor-gui/server.go
index 08fbe9a..6ab0140 100644
--- a/gui/cmd/ssl-vision-processor-gui/server.go
+++ b/gui/cmd/ssl-vision-processor-gui/server.go
@@ -5,21 +5,23 @@ import (
 	"errors"
 	"log/slog"
 	"net/http"
+	"strconv"
 
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/config"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
 	"google.golang.org/protobuf/encoding/protojson"
 )
 
 type VisionServer struct {
-	geometry   *geometry.Geometry
-	hub        *hub.Hub
-	imgDir     string
-	configFile string
+	geometry *geometry.Geometry
+	store    *config.Store
+	hub      *hub.Hub
+	imgDir   string
 }
 
-func NewVisionServer(geom *geometry.Geometry, wsHub *hub.Hub, imgDir, configFile string) http.Handler {
-	s := &VisionServer{geometry: geom, hub: wsHub, imgDir: imgDir, configFile: configFile}
+func NewVisionServer(geom *geometry.Geometry, store *config.Store, wsHub *hub.Hub, imgDir string) http.Handler {
+	s := &VisionServer{geometry: geom, store: store, hub: wsHub, imgDir: imgDir}
 
 	mux := http.NewServeMux()
 	s.addRoutes(mux)
@@ -29,11 +31,7 @@ func NewVisionServer(geom *geometry.Geometry, wsHub *hub.Hub, imgDir, configFile
 
 func (s *VisionServer) handleHealth() http.HandlerFunc {
 	return func(w http.ResponseWriter, r *http.Request) {
-		w.Header().Set("Content-Type", "application/json")
-
-		if err := json.NewEncoder(w).Encode(map[string]string{"status": "ok"}); err != nil {
-			slog.Error("writing health response", "err", err)
-		}
+		writeJSON(w, map[string]string{"status": "ok"})
 	}
 }
 
@@ -57,67 +55,64 @@ func (s *VisionServer) handleGetGeometry() http.HandlerFunc {
 	}
 }
 
-// fieldConfigResponse is the "virtual field" shape: just the editable
-// dimensions and optional-line toggles, not the full wrapper packet (calib,
-// source, generated field_lines/arcs) that handleGetGeometry serves. Path is
-// which file this came from / would be saved to -- omitted on requests where
-// it doesn't apply (PUT), populated on every response.
-type fieldConfigResponse struct {
-	Path               string                       `json:"path,omitempty"`
-	Field              geometry.FieldConfig         `json:"field"`
-	OptionalFieldLines geometry.OptionalLinesConfig `json:"optionalFieldLines"`
+// configResponse is the working document plus the store's state.
+type configResponse struct {
+	Document config.Document `json:"document"`
+	State    config.State    `json:"state"`
 }
 
-func (s *VisionServer) handleGetFieldConfig() http.HandlerFunc {
+func (s *VisionServer) handleGetConfig() http.HandlerFunc {
 	return func(w http.ResponseWriter, r *http.Request) {
-		field, optional := s.geometry.FieldConfig()
+		doc, _ := s.store.Working()
+		writeJSON(w, configResponse{Document: doc, State: s.store.State()})
+	}
+}
 
-		w.Header().Set("Content-Type", "application/json")
+type revisionResponse struct {
+	Revision int64 `json:"revision"`
+}
 
-		resp := fieldConfigResponse{Path: s.geometry.Path(), Field: field, OptionalFieldLines: optional}
-		if err := json.NewEncoder(w).Encode(resp); err != nil {
-			slog.Error("writing field config response", "err", err)
-		}
-	}
+type putConfigRequest struct {
+	Revision int64           `json:"revision"`
+	Document config.Document `json:"document"`
 }
 
-// respondGeometryErr classifies an error from a geometry package call and
-// writes the matching HTTP response: a caller-fixable *ValidationError or
-// *ReadOnlyError becomes 400 (the error's own message is safe to return --
-// both types exist specifically to describe the caller's mistake back to
-// them), anything else is logged and reported as a generic 500. Shared by
-// every handler whose geometry call can fail either way.
-//
-// handlePostLoad deliberately does not use this: every LoadFrom failure is
-// about the path the caller gave, not an internal failure on our part, so
-// it's unconditionally 400 regardless of error type -- see its own comment.
-func respondGeometryErr(w http.ResponseWriter, err error, logMsg string, logArgs ...any) {
-	var validation *geometry.ValidationError
-	var readOnly *geometry.ReadOnlyError
+// handlePutConfig replaces the working document, applying it live. Nothing
+// is written to vision.yml until a save.
+func (s *VisionServer) handlePutConfig() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		var req putConfigRequest
+		if !decodeJSON(w, r, &req) {
+			return
+		}
 
-	switch {
-	case errors.As(err, &validation), errors.As(err, &readOnly):
-		http.Error(w, err.Error(), http.StatusBadRequest)
-	default:
-		slog.Error(logMsg, append(logArgs, "err", err)...)
-		http.Error(w, "internal error", http.StatusInternalServerError)
+		rev, err := s.store.Update(req.Revision, req.Document)
+		if err != nil {
+			respondConfigErr(w, err, "updating config")
+
+			return
+		}
+
+		writeJSON(w, revisionResponse{Revision: rev})
 	}
 }
 
-// handlePutFieldConfig edits the virtual field: dimensions and which optional
-// markings exist. Regenerates the derived field lines/arcs and persists to
-// geometry.yml -- see geometry.Geometry.UpdateField.
-func (s *VisionServer) handlePutFieldConfig() http.HandlerFunc {
-	return func(w http.ResponseWriter, r *http.Request) {
-		var req fieldConfigResponse
-		if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
-			http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
+type saveRequest struct {
+	Revision int64 `json:"revision"`
+	// Force overwrites vision.yml even if it changed on disk since it was
+	// loaded -- the "overwrite disk" answer to the external-change prompt.
+	Force bool `json:"force"`
+}
 
+func (s *VisionServer) handleSave() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		var req saveRequest
+		if !decodeJSON(w, r, &req) {
 			return
 		}
 
-		if err := s.geometry.UpdateField(req.Field, req.OptionalFieldLines); err != nil {
-			respondGeometryErr(w, err, "updating field config")
+		if err := s.store.Save(req.Revision, req.Force); err != nil {
+			respondConfigErr(w, err, "saving config")
 
 			return
 		}
@@ -126,19 +121,15 @@ func (s *VisionServer) handlePutFieldConfig() http.HandlerFunc {
 	}
 }
 
-// saveAsRequest is fieldConfigResponse's shape with Path meaning "save here"
-// instead of "loaded from here" -- same fields, different direction, kept as
-// a distinct type so the two aren't confused at the call site.
-type saveAsRequest = fieldConfigResponse
+type saveAsRequest struct {
+	Revision int64  `json:"revision"`
+	Path     string `json:"path"`
+}
 
-// handlePostSaveAs writes the given field config to Path and switches
-// Geometry to editing that file from now on -- see geometry.Geometry.SaveAs.
-func (s *VisionServer) handlePostSaveAs() http.HandlerFunc {
+func (s *VisionServer) handleSaveAs() http.HandlerFunc {
 	return func(w http.ResponseWriter, r *http.Request) {
 		var req saveAsRequest
-		if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
-			http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
-
+		if !decodeJSON(w, r, &req) {
 			return
 		}
 
@@ -148,8 +139,8 @@ func (s *VisionServer) handlePostSaveAs() http.HandlerFunc {
 			return
 		}
 
-		if err := s.geometry.SaveAs(req.Path, req.Field, req.OptionalFieldLines); err != nil {
-			respondGeometryErr(w, err, "saving field config as", "path", req.Path)
+		if err := s.store.SaveAs(req.Revision, req.Path); err != nil {
+			respondConfigErr(w, err, "saving config as", "path", req.Path)
 
 			return
 		}
@@ -162,16 +153,12 @@ type loadRequest struct {
 	Path string `json:"path"`
 }
 
-// handlePostLoad replaces the live geometry with whatever's in the given
-// path and returns it, so the frontend doesn't need a second round trip --
-// see geometry.Geometry.LoadFrom. Any failure to load is reported as 400:
-// it's about the path the caller gave, not an internal failure on our part.
-func (s *VisionServer) handlePostLoad() http.HandlerFunc {
+// handleLoad switches to editing another vision.yml, replacing the working
+// document (unsaved changes included) and applying it live.
+func (s *VisionServer) handleLoad() http.HandlerFunc {
 	return func(w http.ResponseWriter, r *http.Request) {
 		var req loadRequest
-		if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
-			http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
-
+		if !decodeJSON(w, r, &req) {
 			return
 		}
 
@@ -181,137 +168,99 @@ func (s *VisionServer) handlePostLoad() http.HandlerFunc {
 			return
 		}
 
-		if err := s.geometry.LoadFrom(req.Path); err != nil {
-			http.Error(w, err.Error(), http.StatusBadRequest)
+		if err := s.store.Load(req.Path); err != nil {
+			respondConfigErr(w, err, "loading config", "path", req.Path)
 
 			return
 		}
 
-		field, optional := s.geometry.FieldConfig()
-
-		w.Header().Set("Content-Type", "application/json")
-
-		resp := fieldConfigResponse{Path: s.geometry.Path(), Field: field, OptionalFieldLines: optional}
-		if err := json.NewEncoder(w).Encode(resp); err != nil {
-			slog.Error("writing load response", "err", err)
-		}
+		w.WriteHeader(http.StatusNoContent)
 	}
 }
 
-type lineCornersRequest struct {
-	Corners []geometry.Corner `json:"corners"`
-	// GoalSideMarker is 1-based, matching the corner picker's on-screen
-	// number for whichever marker was chosen as the goal-side corner.
-	GoalSideMarker int `json:"goalSideMarker"`
-}
-
-// handleGetLineCorners reads back whatever was last written to the
-// instance's config.yml (see geometry.ReadLineCorners), so the corner picker
-// can restore its markers instead of always starting from the default inset
-// rectangle. A file with nothing saved yet -- or that can't be read at all --
-// degrades to an empty response rather than an error: not being calibrated
-// yet is the normal state, not a failure.
-func (s *VisionServer) handleGetLineCorners() http.HandlerFunc {
+// handleReload accepts the current file on disk over the working document:
+// both the "load from disk" answer to the external-change prompt and the
+// menu's "revert to disk".
+func (s *VisionServer) handleReload() http.HandlerFunc {
 	return func(w http.ResponseWriter, r *http.Request) {
-		corners, marker, err := geometry.ReadLineCorners(s.configFile)
-		if err != nil {
-			slog.Warn("no existing line corners to load", "path", s.configFile, "err", err)
+		if err := s.store.Reload(); err != nil {
+			respondConfigErr(w, err, "reloading config")
 
-			corners, marker = nil, 0
+			return
 		}
 
-		w.Header().Set("Content-Type", "application/json")
-
-		resp := lineCornersRequest{Corners: corners, GoalSideMarker: marker}
-		if err := json.NewEncoder(w).Encode(resp); err != nil {
-			slog.Error("writing line corners response", "err", err)
-		}
+		w.WriteHeader(http.StatusNoContent)
 	}
 }
 
-// handlePutLineCorners writes the corner picker's calibration hint into the
-// instance's own config.yml (geometry.line_corners) -- see
-// geometry.WriteLineCorners. This isn't part of the shared field template
-// (Geometry/geometry.yml); it's a stand-in for the not-yet-built
-// internal/config (see gui/CLAUDE.md's "Not yet built"), kept in
-// internal/geometry for now since it's already of immediate use.
-func (s *VisionServer) handlePutLineCorners() http.HandlerFunc {
-	return func(w http.ResponseWriter, r *http.Request) {
-		var req lineCornersRequest
-		if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
-			http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
+func (s *VisionServer) handleLockCalibration() http.HandlerFunc {
+	return s.calibrationHandler(s.store.LockCalibration, "locking calibration")
+}
 
-			return
-		}
+func (s *VisionServer) handleUnlockCalibration() http.HandlerFunc {
+	return s.calibrationHandler(s.store.UnlockCalibration, "unlocking calibration")
+}
 
-		if len(req.Corners) != 4 {
-			http.Error(w, "corners: exactly 4 required", http.StatusBadRequest)
+func (s *VisionServer) calibrationHandler(action func(int) (int64, error), logMsg string) http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		id, err := strconv.Atoi(r.PathValue("id"))
+		if err != nil {
+			http.Error(w, "id: want a camera_id", http.StatusBadRequest)
 
 			return
 		}
 
-		// goalSideMarker's own range check lives in WriteLineCorners, not
-		// duplicated here -- it returns a *ValidationError for exactly this
-		// case, which respondGeometryErr turns back into a 400.
-		if err := geometry.WriteLineCorners(s.configFile, req.Corners, req.GoalSideMarker); err != nil {
-			respondGeometryErr(w, err, "writing line corners", "path", s.configFile)
+		rev, err := action(id)
+		if err != nil {
+			respondConfigErr(w, err, logMsg, "cam", id)
 
 			return
 		}
 
-		w.WriteHeader(http.StatusNoContent)
+		writeJSON(w, revisionResponse{Revision: rev})
 	}
 }
 
-// handleGetColor reads back the instance's config.yml color: block (see
-// geometry.ReadColorConfig), including vision_processor's own hardcoded
-// fallback for any color left commented out -- there's no "unset" state to
-// degrade to here, unlike line corners, since every color always resolves to
-// something the instance is actually running.
-func (s *VisionServer) handleGetColor() http.HandlerFunc {
-	return func(w http.ResponseWriter, r *http.Request) {
-		cfg, err := geometry.ReadColorConfig(s.configFile)
-		if err != nil {
-			slog.Error("reading color config", "path", s.configFile, "err", err)
-			http.Error(w, "internal error", http.StatusInternalServerError)
-
-			return
-		}
+// conflictResponse is the body of a 409, so the frontend can tell a stale
+// edit (refetch) from a file changed on disk (prompt the user).
+type conflictResponse struct {
+	Error   string `json:"error"`
+	Message string `json:"message"`
+}
 
+// respondConfigErr maps a config.Store error to an HTTP response: caller
+// mistakes are 400 with the error's own message, conflicts 409 with a code,
+// anything else a logged 500.
+func respondConfigErr(w http.ResponseWriter, err error, logMsg string, logArgs ...any) {
+	conflict := func(code string) {
 		w.Header().Set("Content-Type", "application/json")
+		w.WriteHeader(http.StatusConflict)
 
-		if err := json.NewEncoder(w).Encode(cfg); err != nil {
-			slog.Error("writing color config response", "err", err)
+		if err := json.NewEncoder(w).Encode(conflictResponse{Error: code, Message: err.Error()}); err != nil {
+			slog.Error("writing conflict response", "err", err)
 		}
 	}
-}
-
-// handlePutColor writes the color panel's reference colors and update
-// weights into the instance's own config.yml -- see geometry.WriteColorConfig.
-// Same not-yet-built-internal/config stand-in as handlePutLineCorners.
-func (s *VisionServer) handlePutColor() http.HandlerFunc {
-	return func(w http.ResponseWriter, r *http.Request) {
-		var req geometry.ColorConfig
-		if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
-			http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
-
-			return
-		}
-
-		if err := geometry.WriteColorConfig(s.configFile, req); err != nil {
-			respondGeometryErr(w, err, "writing color config", "path", s.configFile)
 
-			return
-		}
-
-		w.WriteHeader(http.StatusNoContent)
+	switch {
+	case config.IsValidation(err):
+		http.Error(w, err.Error(), http.StatusBadRequest)
+	case errors.Is(err, config.ErrStale):
+		conflict("stale")
+	case errors.Is(err, config.ErrDiskChanged):
+		conflict("disk_changed")
+	case errors.Is(err, config.ErrNoLiveCalibration):
+		conflict("no_live_calibration")
+	case errors.Is(err, config.ErrUnknownCamera):
+		http.Error(w, err.Error(), http.StatusNotFound)
+	default:
+		slog.Error(logMsg, append(logArgs, "err", err)...)
+		http.Error(w, "internal error", http.StatusInternalServerError)
 	}
 }
 
 // fieldPresets are the rulebook defaults, read live from the same files a
 // human would open (geometry-divA.yml, geometry-divB.yml at the repo root) --
-// not a copy that could drift from them. See geometry.ReadOnlyFiles: saves
-// through handlePutFieldConfig refuse to touch these paths.
+// not a copy that could drift from them. Saves refuse to touch these paths.
 var fieldPresets = []struct {
 	Name string
 	Path string
@@ -321,14 +270,14 @@ var fieldPresets = []struct {
 }
 
 type fieldPresetResponse struct {
-	Name string `json:"name"`
-	fieldConfigResponse
+	Name               string                       `json:"name"`
+	Field              geometry.FieldConfig         `json:"field"`
+	OptionalFieldLines geometry.OptionalLinesConfig `json:"optionalFieldLines"`
 }
 
-// handleGetFieldPresets serves the rulebook presets for the "start from a
-// preset" feature. A preset file that can't be read (wrong working
-// directory, for one) is skipped with a warning rather than failing the
-// whole request -- the other preset(s) are still useful.
+// handleGetFieldPresets serves the rulebook presets for the setup wizard. A
+// preset file that can't be read (wrong working directory, for one) is
+// skipped with a warning rather than failing the whole request.
 func (s *VisionServer) handleGetFieldPresets() http.HandlerFunc {
 	return func(w http.ResponseWriter, r *http.Request) {
 		presets := make([]fieldPresetResponse, 0, len(fieldPresets))
@@ -341,16 +290,27 @@ func (s *VisionServer) handleGetFieldPresets() http.HandlerFunc {
 				continue
 			}
 
-			presets = append(presets, fieldPresetResponse{
-				Name:                p.Name,
-				fieldConfigResponse: fieldConfigResponse{Field: field, OptionalFieldLines: optional},
-			})
+			presets = append(presets, fieldPresetResponse{Name: p.Name, Field: field, OptionalFieldLines: optional})
 		}
 
-		w.Header().Set("Content-Type", "application/json")
+		writeJSON(w, presets)
+	}
+}
 
-		if err := json.NewEncoder(w).Encode(presets); err != nil {
-			slog.Error("writing field presets response", "err", err)
-		}
+func decodeJSON(w http.ResponseWriter, r *http.Request, v any) bool {
+	if err := json.NewDecoder(r.Body).Decode(v); err != nil {
+		http.Error(w, "malformed request body: "+err.Error(), http.StatusBadRequest)
+
+		return false
+	}
+
+	return true
+}
+
+func writeJSON(w http.ResponseWriter, v any) {
+	w.Header().Set("Content-Type", "application/json")
+
+	if err := json.NewEncoder(w).Encode(v); err != nil {
+		slog.Error("writing response", "err", err)
 	}
 }
diff --git a/gui/cmd/ssl-vision-processor-gui/server_test.go b/gui/cmd/ssl-vision-processor-gui/server_test.go
index 8d47f62..e9c3362 100644
--- a/gui/cmd/ssl-vision-processor-gui/server_test.go
+++ b/gui/cmd/ssl-vision-processor-gui/server_test.go
@@ -1,6 +1,8 @@
 package main
 
 import (
+	"bytes"
+	"encoding/json"
 	"net/http"
 	"net/http/httptest"
 	"os"
@@ -8,74 +10,92 @@ import (
 	"strings"
 	"testing"
 
-	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/config"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
 )
 
-// testServer loads a *copy* of the fixture, never testdata/geometry.yml
-// directly -- the /api/geometry/field PUT handler writes back to whatever
-// path Geometry was loaded from, and would otherwise rewrite a tracked file
-// on every test run.
-func testServer(t *testing.T) http.Handler {
+// testServer serves a *copy* of testdata/vision.yml -- saves write back to
+// it, and would otherwise rewrite a tracked file on every run.
+func testServer(t *testing.T) (http.Handler, string) {
 	t.Helper()
 
-	src, err := os.ReadFile("testdata/geometry.yml")
+	src, err := os.ReadFile("testdata/vision.yml")
 	if err != nil {
 		t.Fatalf("ReadFile fixture: %v", err)
 	}
 
-	path := filepath.Join(t.TempDir(), "geometry.yml")
+	path := filepath.Join(t.TempDir(), "vision.yml")
 	if err := os.WriteFile(path, src, 0o644); err != nil {
 		t.Fatalf("WriteFile: %v", err)
 	}
 
-	geom, err := geometry.New(path)
+	geom, store, err := openConfig(path)
 	if err != nil {
-		t.Fatalf("geometry.New: %v", err)
+		t.Fatalf("openConfig: %v", err)
 	}
 
-	return NewVisionServer(geom, hub.New(), t.TempDir(), filepath.Join(t.TempDir(), "config.yml"))
+	return NewVisionServer(geom, store, hub.New(), t.TempDir()), path
 }
 
-// testServerWithConfig is testServer plus a real, writable copy of
-// testdata/config.yml -- for the line-corners tests, which need to read back
-// what was written.
-func testServerWithConfig(t *testing.T) (http.Handler, string) {
+func do(t *testing.T, h http.Handler, method, target string, body any) *httptest.ResponseRecorder {
 	t.Helper()
 
-	geomSrc, err := os.ReadFile("testdata/geometry.yml")
-	if err != nil {
-		t.Fatalf("ReadFile geometry fixture: %v", err)
+	var reader *bytes.Reader
+
+	switch b := body.(type) {
+	case nil:
+		reader = bytes.NewReader(nil)
+	case string:
+		reader = bytes.NewReader([]byte(b))
+	default:
+		data, err := json.Marshal(b)
+		if err != nil {
+			t.Fatalf("Marshal body: %v", err)
+		}
+
+		reader = bytes.NewReader(data)
 	}
 
-	geomPath := filepath.Join(t.TempDir(), "geometry.yml")
-	if err := os.WriteFile(geomPath, geomSrc, 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
+	rec := httptest.NewRecorder()
+	h.ServeHTTP(rec, httptest.NewRequest(method, target, reader))
+
+	return rec
+}
+
+func getConfig(t *testing.T, h http.Handler) configResponse {
+	t.Helper()
+
+	rec := do(t, h, http.MethodGet, "/api/config", nil)
+	if rec.Code != http.StatusOK {
+		t.Fatalf("GET /api/config = %d: %s", rec.Code, rec.Body)
 	}
 
-	geom, err := geometry.New(geomPath)
-	if err != nil {
-		t.Fatalf("geometry.New: %v", err)
+	var resp configResponse
+	if err := json.NewDecoder(rec.Body).Decode(&resp); err != nil {
+		t.Fatalf("decode: %v", err)
 	}
 
-	configSrc, err := os.ReadFile("testdata/config.yml")
-	if err != nil {
-		t.Fatalf("ReadFile config fixture: %v", err)
+	return resp
+}
+
+func conflictCode(t *testing.T, rec *httptest.ResponseRecorder) string {
+	t.Helper()
+
+	if rec.Code != http.StatusConflict {
+		t.Fatalf("status = %d (%s), want 409", rec.Code, rec.Body)
 	}
 
-	configPath := filepath.Join(t.TempDir(), "config.yml")
-	if err := os.WriteFile(configPath, configSrc, 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
+	var resp conflictResponse
+	if err := json.NewDecoder(rec.Body).Decode(&resp); err != nil {
+		t.Fatalf("decode conflict: %v", err)
 	}
 
-	return NewVisionServer(geom, hub.New(), t.TempDir(), configPath), configPath
+	return resp.Error
 }
 
 func TestHealthReturnsOK(t *testing.T) {
-	req := httptest.NewRequest(http.MethodGet, "/api/health", nil)
-	rec := httptest.NewRecorder()
-
-	testServer(t).ServeHTTP(rec, req)
+	h, _ := testServer(t)
+	rec := do(t, h, http.MethodGet, "/api/health", nil)
 
 	if rec.Code != http.StatusOK {
 		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
@@ -91,320 +111,228 @@ func TestHealthReturnsOK(t *testing.T) {
 	}
 }
 
-func TestGeometryReturnsProtojson(t *testing.T) {
-	req := httptest.NewRequest(http.MethodGet, "/api/geometry", nil)
-	rec := httptest.NewRecorder()
-
-	testServer(t).ServeHTTP(rec, req)
+func TestGeometryReturnsProtojsonWithTheLockedCalibration(t *testing.T) {
+	h, _ := testServer(t)
+	rec := do(t, h, http.MethodGet, "/api/geometry", nil)
 
 	if rec.Code != http.StatusOK {
 		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
 	}
 
-	if got := rec.Header().Get("Content-Type"); got != "application/json" {
-		t.Errorf("Content-Type = %q, want application/json", got)
-	}
-
-	if !strings.Contains(rec.Body.String(), `"fieldLength"`) {
-		t.Errorf("body = %q, want it to contain fieldLength", rec.Body.String())
+	body := rec.Body.String()
+	if !strings.Contains(body, `"fieldLength"`) || !strings.Contains(body, `"pixelImageWidth":1920`) {
+		t.Errorf("body = %q, want field and the fixture's locked calibration", body)
 	}
 }
 
-func TestGetFieldConfigReturnsCurrentValues(t *testing.T) {
-	req := httptest.NewRequest(http.MethodGet, "/api/geometry/field", nil)
-	rec := httptest.NewRecorder()
+func TestGetConfigReturnsTheDocumentAndACleanState(t *testing.T) {
+	h, path := testServer(t)
+	resp := getConfig(t, h)
 
-	testServer(t).ServeHTTP(rec, req)
-
-	if rec.Code != http.StatusOK {
-		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
+	if resp.Document.Field.FieldLength != 9000 || len(resp.Document.Cameras) != 2 {
+		t.Errorf("document = %+v, want the fixture", resp.Document)
 	}
 
-	if !strings.Contains(rec.Body.String(), `"fieldLength"`) || !strings.Contains(rec.Body.String(), `"optionalFieldLines"`) {
-		t.Errorf("body = %q, want fieldLength and optionalFieldLines", rec.Body.String())
+	if resp.State.Path != path || len(resp.State.Changes) != 0 || resp.State.External != nil {
+		t.Errorf("state = %+v, want a clean store at %s", resp.State, path)
 	}
 }
 
-func TestPutFieldConfigUpdatesAndPersists(t *testing.T) {
-	srv := testServer(t)
-
-	body := strings.NewReader(`{
-		"field": {"fieldLength": 2160, "fieldWidth": 1680, "goalWidth": 280, "goalDepth": 50, "boundaryWidth": 100, "lineThickness": 10},
-		"optionalFieldLines": {"halfway": true, "penalty": true}
-	}`)
+func TestPutConfigAppliesLiveWithoutSaving(t *testing.T) {
+	h, path := testServer(t)
+	before, _ := os.ReadFile(path)
 
-	putReq := httptest.NewRequest(http.MethodPut, "/api/geometry/field", body)
-	putRec := httptest.NewRecorder()
-	srv.ServeHTTP(putRec, putReq)
+	resp := getConfig(t, h)
+	resp.Document.Field.FieldWidth = 5000
 
-	if putRec.Code != http.StatusNoContent {
-		t.Fatalf("PUT status = %d, want %d, body: %s", putRec.Code, http.StatusNoContent, putRec.Body.String())
+	rec := do(t, h, http.MethodPut, "/api/config", putConfigRequest{Revision: resp.State.Revision, Document: resp.Document})
+	if rec.Code != http.StatusOK {
+		t.Fatalf("PUT = %d: %s", rec.Code, rec.Body)
 	}
 
-	getReq := httptest.NewRequest(http.MethodGet, "/api/geometry/field", nil)
-	getRec := httptest.NewRecorder()
-	srv.ServeHTTP(getRec, getReq)
-
-	if !strings.Contains(getRec.Body.String(), `"fieldLength":2160`) {
-		t.Errorf("after PUT, GET returned %q, want it to reflect the update", getRec.Body.String())
+	if geo := do(t, h, http.MethodGet, "/api/geometry", nil).Body.String(); !strings.Contains(geo, `"fieldWidth":5000`) {
+		t.Errorf("live geometry = %q, want field_width 5000 applied immediately", geo)
 	}
-}
 
-// A zero/negative dimension is the caller's mistake -- 400, not a 500, and
-// must not silently write anything to disk.
-func TestPutFieldConfigRejectsInvalidDimensions(t *testing.T) {
-	srv := testServer(t)
-
-	body := strings.NewReader(`{"field": {"fieldLength": 0}, "optionalFieldLines": {}}`)
-	req := httptest.NewRequest(http.MethodPut, "/api/geometry/field", body)
-	rec := httptest.NewRecorder()
-
-	srv.ServeHTTP(rec, req)
+	if after, _ := os.ReadFile(path); !bytes.Equal(before, after) {
+		t.Error("PUT wrote to disk; only save should")
+	}
 
-	if rec.Code != http.StatusBadRequest {
-		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	if changes := getConfig(t, h).State.Changes; len(changes) != 1 || changes[0].Path != "field.field_width" {
+		t.Errorf("changes = %+v, want field.field_width", changes)
 	}
 }
 
-func TestPutFieldConfigRejectsMalformedJSON(t *testing.T) {
-	req := httptest.NewRequest(http.MethodPut, "/api/geometry/field", strings.NewReader(`not json`))
-	rec := httptest.NewRecorder()
+func TestPutConfigRejectsAStaleRevision(t *testing.T) {
+	h, _ := testServer(t)
+	resp := getConfig(t, h)
+	req := putConfigRequest{Revision: resp.State.Revision, Document: resp.Document}
 
-	testServer(t).ServeHTTP(rec, req)
+	if rec := do(t, h, http.MethodPut, "/api/config", req); rec.Code != http.StatusOK {
+		t.Fatalf("first PUT = %d: %s", rec.Code, rec.Body)
+	}
 
-	if rec.Code != http.StatusBadRequest {
-		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	if code := conflictCode(t, do(t, h, http.MethodPut, "/api/config", req)); code != "stale" {
+		t.Errorf("conflict = %q, want stale", code)
 	}
 }
 
-// The preset endpoint reads the real repo-root files -- this test runs from
-// cmd/ssl-vision-processor-gui, so it doesn't see them and both are skipped.
-// It's still worth asserting the endpoint degrades to an empty list rather
-// than failing outright when a preset can't be read.
-func TestGetFieldPresetsDegradesGracefullyWhenFilesAreMissing(t *testing.T) {
-	req := httptest.NewRequest(http.MethodGet, "/api/geometry/presets", nil)
-	rec := httptest.NewRecorder()
+func TestPutConfigRejectsInvalidAndMalformedBodies(t *testing.T) {
+	h, _ := testServer(t)
+	resp := getConfig(t, h)
+	resp.Document.Field.FieldLength = 0
 
-	testServer(t).ServeHTTP(rec, req)
-
-	if rec.Code != http.StatusOK {
-		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
+	if rec := do(t, h, http.MethodPut, "/api/config", putConfigRequest{Revision: resp.State.Revision, Document: resp.Document}); rec.Code != http.StatusBadRequest {
+		t.Errorf("invalid PUT = %d, want 400", rec.Code)
 	}
 
-	if strings.TrimSpace(rec.Body.String()) != "[]" {
-		t.Errorf("body = %q, want an empty array (no presets reachable from this cwd)", rec.Body.String())
+	if rec := do(t, h, http.MethodPut, "/api/config", "{nope"); rec.Code != http.StatusBadRequest {
+		t.Errorf("malformed PUT = %d, want 400", rec.Code)
 	}
 }
 
-func TestSaveAsWritesANewFileAndGetReflectsIt(t *testing.T) {
-	srv := testServer(t)
+func TestSaveWritesTheWorkingDocument(t *testing.T) {
+	h, path := testServer(t)
+	resp := getConfig(t, h)
+	resp.Document.Field.FieldWidth = 5000
 
-	newPath := filepath.Join(t.TempDir(), "renamed.yml")
-	body := strings.NewReader(`{
-		"path": "` + newPath + `",
-		"field": {"fieldLength": 2160, "fieldWidth": 1680, "goalWidth": 280, "goalDepth": 50, "boundaryWidth": 100, "lineThickness": 10},
-		"optionalFieldLines": {"halfway": true, "penalty": true}
-	}`)
-
-	postReq := httptest.NewRequest(http.MethodPost, "/api/geometry/field/save-as", body)
-	postRec := httptest.NewRecorder()
-	srv.ServeHTTP(postRec, postReq)
-
-	if postRec.Code != http.StatusNoContent {
-		t.Fatalf("save-as status = %d, want %d, body: %s", postRec.Code, http.StatusNoContent, postRec.Body.String())
+	var put revisionResponse
+	rec := do(t, h, http.MethodPut, "/api/config", putConfigRequest{Revision: resp.State.Revision, Document: resp.Document})
+	if err := json.NewDecoder(rec.Body).Decode(&put); err != nil {
+		t.Fatalf("decode PUT: %v", err)
 	}
 
-	if _, err := os.Stat(newPath); err != nil {
-		t.Fatalf("Stat(newPath): %v", err)
+	if rec := do(t, h, http.MethodPost, "/api/config/save", saveRequest{Revision: put.Revision}); rec.Code != http.StatusNoContent {
+		t.Fatalf("save = %d: %s", rec.Code, rec.Body)
 	}
 
-	getRec := httptest.NewRecorder()
-	srv.ServeHTTP(getRec, httptest.NewRequest(http.MethodGet, "/api/geometry/field", nil))
-
-	if !strings.Contains(getRec.Body.String(), `"fieldLength":2160`) {
-		t.Errorf("GET after save-as returned %q, want it to reflect the new values", getRec.Body.String())
+	data, _ := os.ReadFile(path)
+	if !strings.Contains(string(data), "field_width: 5000") {
+		t.Errorf("saved file missing the edit:\n%s", data)
 	}
 
-	if !strings.Contains(getRec.Body.String(), newPath) {
-		t.Errorf("GET after save-as path = %q, want it to contain %q", getRec.Body.String(), newPath)
+	if changes := getConfig(t, h).State.Changes; len(changes) != 0 {
+		t.Errorf("changes after save = %+v, want none", changes)
 	}
 }
 
-func TestSaveAsRejectsAPresetTarget(t *testing.T) {
-	body := strings.NewReader(`{
-		"path": "geometry-divB.yml",
-		"field": {"fieldLength": 2160, "fieldWidth": 1680, "goalWidth": 280, "goalDepth": 50, "boundaryWidth": 100},
-		"optionalFieldLines": {}
-	}`)
+func TestSaveRefusesAnExternalEditUnlessForced(t *testing.T) {
+	h, path := testServer(t)
+	rev := getConfig(t, h).State.Revision
 
-	req := httptest.NewRequest(http.MethodPost, "/api/geometry/field/save-as", body)
-	rec := httptest.NewRecorder()
+	data, _ := os.ReadFile(path)
+	if err := os.WriteFile(path, bytes.Replace(data, []byte("tz: 4000"), []byte("tz: 4100"), 1), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
 
-	testServer(t).ServeHTTP(rec, req)
+	if code := conflictCode(t, do(t, h, http.MethodPost, "/api/config/save", saveRequest{Revision: rev})); code != "disk_changed" {
+		t.Errorf("conflict = %q, want disk_changed", code)
+	}
 
-	if rec.Code != http.StatusBadRequest {
-		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	if ext := getConfig(t, h).State.External; ext == nil || len(ext.Changes) != 1 {
+		t.Errorf("external = %+v, want the tz edit reported", ext)
 	}
-}
 
-func TestLoadReplacesTheActiveFieldAndReturnsIt(t *testing.T) {
-	otherPath := filepath.Join(t.TempDir(), "other.yml")
-	if err := os.WriteFile(otherPath, []byte(
-		"optional_field_lines:\n  goal2goal: false\n  halfway: false\n  centercircle: false\n  penalty: false\n"+
-			"field:\n  field_length: 3000\n  field_width: 2000\n  goal_width: 300\n  goal_depth: 60\n  boundary_width: 120\n",
-	), 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
+	if rec := do(t, h, http.MethodPost, "/api/config/save", saveRequest{Revision: rev, Force: true}); rec.Code != http.StatusNoContent {
+		t.Fatalf("forced save = %d: %s", rec.Code, rec.Body)
 	}
+}
 
-	req := httptest.NewRequest(http.MethodPost, "/api/geometry/field/load", strings.NewReader(`{"path":"`+otherPath+`"}`))
-	rec := httptest.NewRecorder()
+func TestReloadAcceptsTheFileOnDisk(t *testing.T) {
+	h, path := testServer(t)
 
-	testServer(t).ServeHTTP(rec, req)
+	data, _ := os.ReadFile(path)
+	if err := os.WriteFile(path, bytes.Replace(data, []byte("field_width: 6000"), []byte("field_width: 6200"), 1), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
 
-	if rec.Code != http.StatusOK {
-		t.Fatalf("status = %d, want %d, body: %s", rec.Code, http.StatusOK, rec.Body.String())
+	if rec := do(t, h, http.MethodPost, "/api/config/reload", nil); rec.Code != http.StatusNoContent {
+		t.Fatalf("reload = %d: %s", rec.Code, rec.Body)
 	}
 
-	if !strings.Contains(rec.Body.String(), `"fieldLength":3000`) {
-		t.Errorf("body = %q, want it to reflect the loaded file", rec.Body.String())
+	if got := getConfig(t, h).Document.Field.FieldWidth; got != 6200 {
+		t.Errorf("field_width = %d, want 6200 from disk", got)
 	}
 }
 
 func TestLoadOfAMissingFileReturns400(t *testing.T) {
-	req := httptest.NewRequest(http.MethodPost, "/api/geometry/field/load", strings.NewReader(`{"path":"does-not-exist.yml"}`))
-	rec := httptest.NewRecorder()
+	h, _ := testServer(t)
 
-	testServer(t).ServeHTTP(rec, req)
-
-	if rec.Code != http.StatusBadRequest {
-		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	if rec := do(t, h, http.MethodPost, "/api/config/load", loadRequest{Path: "/nonexistent/vision.yml"}); rec.Code != http.StatusBadRequest {
+		t.Errorf("status = %d, want 400", rec.Code)
 	}
 }
 
-func TestGetLineCornersReturnsWhatWasWritten(t *testing.T) {
-	srv, _ := testServerWithConfig(t)
-
-	putBody := strings.NewReader(`{"corners": [{"x":1,"y":2},{"x":3,"y":4},{"x":5,"y":6},{"x":7,"y":8}], "goalSideMarker": 2}`)
-	putReq := httptest.NewRequest(http.MethodPut, "/api/config/line-corners", putBody)
-	putRec := httptest.NewRecorder()
-	srv.ServeHTTP(putRec, putReq)
-
-	if putRec.Code != http.StatusNoContent {
-		t.Fatalf("PUT status = %d, want %d, body: %s", putRec.Code, http.StatusNoContent, putRec.Body.String())
-	}
-
-	getReq := httptest.NewRequest(http.MethodGet, "/api/config/line-corners", nil)
-	getRec := httptest.NewRecorder()
-	srv.ServeHTTP(getRec, getReq)
-
-	if getRec.Code != http.StatusOK {
-		t.Fatalf("GET status = %d, want %d, body: %s", getRec.Code, http.StatusOK, getRec.Body.String())
-	}
+func TestSaveAsRejectsAPresetTarget(t *testing.T) {
+	h, path := testServer(t)
+	rev := getConfig(t, h).State.Revision
+	target := filepath.Join(filepath.Dir(path), "geometry-divA.yml")
 
-	body := getRec.Body.String()
-	if !strings.Contains(body, `"x":1`) || !strings.Contains(body, `"goalSideMarker":2`) {
-		t.Errorf("GET body = %q, want it to reflect the PUT", body)
+	if rec := do(t, h, http.MethodPost, "/api/config/save-as", saveAsRequest{Revision: rev, Path: target}); rec.Code != http.StatusBadRequest {
+		t.Errorf("status = %d, want 400", rec.Code)
 	}
 }
 
-func TestGetLineCornersDegradesGracefullyWithNothingSavedYet(t *testing.T) {
-	// testServer's configFile path doesn't exist at all.
-	srv := testServer(t)
-
-	req := httptest.NewRequest(http.MethodGet, "/api/config/line-corners", nil)
-	rec := httptest.NewRecorder()
+func TestLockCalibrationErrors(t *testing.T) {
+	h, _ := testServer(t)
 
-	srv.ServeHTTP(rec, req)
+	if code := conflictCode(t, do(t, h, http.MethodPost, "/api/config/cameras/1/calibration", nil)); code != "no_live_calibration" {
+		t.Errorf("conflict = %q, want no_live_calibration", code)
+	}
 
-	if rec.Code != http.StatusOK {
-		t.Fatalf("status = %d, want %d, body: %s", rec.Code, http.StatusOK, rec.Body.String())
+	if rec := do(t, h, http.MethodPost, "/api/config/cameras/9/calibration", nil); rec.Code != http.StatusNotFound {
+		t.Errorf("unknown camera = %d, want 404", rec.Code)
 	}
 
-	if !strings.Contains(rec.Body.String(), `"goalSideMarker":0`) {
-		t.Errorf("body = %q, want a zero-value response", rec.Body.String())
+	if rec := do(t, h, http.MethodPost, "/api/config/cameras/x/calibration", nil); rec.Code != http.StatusBadRequest {
+		t.Errorf("bad id = %d, want 400", rec.Code)
 	}
 }
 
-func TestPutLineCornersWritesToConfigFile(t *testing.T) {
-	srv, configPath := testServerWithConfig(t)
-
-	body := strings.NewReader(`{"corners": [{"x":1,"y":2},{"x":3,"y":4},{"x":5,"y":6},{"x":7,"y":8}], "goalSideMarker": 3}`)
-	req := httptest.NewRequest(http.MethodPut, "/api/config/line-corners", body)
-	rec := httptest.NewRecorder()
-
-	srv.ServeHTTP(rec, req)
+func TestUnlockCalibrationRemovesItLiveAndFromTheDocument(t *testing.T) {
+	h, _ := testServer(t)
 
-	if rec.Code != http.StatusNoContent {
-		t.Fatalf("status = %d, want %d, body: %s", rec.Code, http.StatusNoContent, rec.Body.String())
+	if rec := do(t, h, http.MethodDelete, "/api/config/cameras/0/calibration", nil); rec.Code != http.StatusOK {
+		t.Fatalf("unlock = %d: %s", rec.Code, rec.Body)
 	}
 
-	got, err := os.ReadFile(configPath)
-	if err != nil {
-		t.Fatalf("ReadFile: %v", err)
+	resp := getConfig(t, h)
+	if resp.Document.Cameras[0].Calibration != nil {
+		t.Error("document still holds camera 0's calibration")
 	}
 
-	if !strings.Contains(string(got), "- [1, 2]") {
-		t.Errorf("config.yml was not updated: %s", got)
+	if geo := do(t, h, http.MethodGet, "/api/geometry", nil).Body.String(); strings.Contains(geo, "pixelImageWidth") {
+		t.Errorf("live geometry still publishes the calibration: %s", geo)
 	}
 
-	if !strings.Contains(string(got), "goal_side_marker: 3") {
-		t.Errorf("goal_side_marker was not recorded: %s", got)
+	var sawCalibrationChange bool
+	for _, c := range resp.State.Changes {
+		sawCalibrationChange = sawCalibrationChange || c.Path == "cameras[0].calibration" && c.Section == config.SectionGeometry
 	}
-}
-
-func TestPutLineCornersRejectsAnOutOfRangeGoalSideMarker(t *testing.T) {
-	srv, _ := testServerWithConfig(t)
-
-	body := strings.NewReader(`{"corners": [{"x":1,"y":2},{"x":3,"y":4},{"x":5,"y":6},{"x":7,"y":8}], "goalSideMarker": 5}`)
-	req := httptest.NewRequest(http.MethodPut, "/api/config/line-corners", body)
-	rec := httptest.NewRecorder()
 
-	srv.ServeHTTP(rec, req)
-
-	if rec.Code != http.StatusBadRequest {
-		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	if !sawCalibrationChange {
+		t.Errorf("changes = %+v, want the removed calibration listed for saving", resp.State.Changes)
 	}
 }
 
-func TestPutLineCornersRejectsTheWrongCornerCount(t *testing.T) {
-	srv, _ := testServerWithConfig(t)
-
-	body := strings.NewReader(`{"corners": [{"x":1,"y":2}]}`)
-	req := httptest.NewRequest(http.MethodPut, "/api/config/line-corners", body)
-	rec := httptest.NewRecorder()
-
-	srv.ServeHTTP(rec, req)
+func TestGetFieldPresetsDegradesGracefullyWhenFilesAreMissing(t *testing.T) {
+	h, _ := testServer(t)
+	rec := do(t, h, http.MethodGet, "/api/geometry/presets", nil)
 
-	if rec.Code != http.StatusBadRequest {
-		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	if rec.Code != http.StatusOK {
+		t.Fatalf("status = %d, want %d", rec.Code, http.StatusOK)
 	}
-}
-
-func TestPutLineCornersRejectsMalformedJSON(t *testing.T) {
-	srv, _ := testServerWithConfig(t)
 
-	req := httptest.NewRequest(http.MethodPut, "/api/config/line-corners", strings.NewReader(`not json`))
-	rec := httptest.NewRecorder()
-
-	srv.ServeHTTP(rec, req)
-
-	if rec.Code != http.StatusBadRequest {
-		t.Errorf("status = %d, want %d", rec.Code, http.StatusBadRequest)
+	if strings.TrimSpace(rec.Body.String()) != "[]" {
+		t.Errorf("body = %q, want an empty array (no presets reachable from this cwd)", rec.Body.String())
 	}
 }
 
-// A wrong method is a 404 rather than a 405: the "/" catch-all matches every
-// method, so ServeMux never reaches its method-not-allowed path. What matters is
-// that the "/api/" subtree answers, instead of the request falling through to
-// the frontend and returning HTML with status 200.
 func TestHealthRejectsNonGET(t *testing.T) {
-	for _, method := range []string{http.MethodPost, http.MethodPut, http.MethodDelete} {
-		req := httptest.NewRequest(method, "/api/health", nil)
-		rec := httptest.NewRecorder()
-
-		testServer(t).ServeHTTP(rec, req)
+	h, _ := testServer(t)
 
-		if rec.Code != http.StatusNotFound {
+	for _, method := range []string{http.MethodPost, http.MethodPut, http.MethodDelete} {
+		if rec := do(t, h, method, "/api/health", nil); rec.Code != http.StatusNotFound {
 			t.Errorf("%s /api/health = %d, want %d", method, rec.Code, http.StatusNotFound)
 		}
 	}
@@ -414,10 +342,8 @@ func TestHealthRejectsNonGET(t *testing.T) {
 // index.html here would give fetch() HTML where it expects JSON, surfacing as a
 // parse error rather than as the 404 it really is.
 func TestUnknownAPIPathReturns404(t *testing.T) {
-	req := httptest.NewRequest(http.MethodGet, "/api/does-not-exist", nil)
-	rec := httptest.NewRecorder()
-
-	testServer(t).ServeHTTP(rec, req)
+	h, _ := testServer(t)
+	rec := do(t, h, http.MethodGet, "/api/does-not-exist", nil)
 
 	if rec.Code != http.StatusNotFound {
 		t.Errorf("status = %d, want %d", rec.Code, http.StatusNotFound)
@@ -431,12 +357,9 @@ func TestUnknownAPIPathReturns404(t *testing.T) {
 // The counterpart: a path that looks like a client-side route does get the app,
 // so a deep link survives a reload.
 func TestUnknownPathServesApp(t *testing.T) {
-	req := httptest.NewRequest(http.MethodGet, "/instances/cam0/calibration", nil)
-	rec := httptest.NewRecorder()
-
-	testServer(t).ServeHTTP(rec, req)
+	h, _ := testServer(t)
 
-	if rec.Code != http.StatusOK {
+	if rec := do(t, h, http.MethodGet, "/instances/cam0/calibration", nil); rec.Code != http.StatusOK {
 		t.Errorf("status = %d, want %d", rec.Code, http.StatusOK)
 	}
 }
diff --git a/gui/cmd/ssl-vision-processor-gui/testdata/vision.yml b/gui/cmd/ssl-vision-processor-gui/testdata/vision.yml
new file mode 100644
index 0000000..5168d5f
--- /dev/null
+++ b/gui/cmd/ssl-vision-processor-gui/testdata/vision.yml
@@ -0,0 +1,66 @@
+# vision.yml fixture: two cameras, one with a locked calibration.
+version: 1
+field:
+  field_length: 9000
+  field_width: 6000
+  goal_width: 1000
+  goal_depth: 180
+  goal_height: 160
+  penalty_area_depth: 1000
+  penalty_area_width: 2000
+  goal_center_to_penalty_mark: 6000
+  boundary_width: 300
+  boundary_width_goal_line: 300
+  center_circle_radius: 500
+  line_thickness: 10
+  ball_radius: 21.5
+  max_robot_radius: 90
+  goal_substitution_area_width: 0
+optional_field_lines:
+  goal2goal: true
+  halfway: true
+  centercircle: true
+  penalty: true
+defaults:
+  bot_heights_file: robot-heights.yml
+  thresholds:
+    min_confidence: 0.2
+  color:
+    reference_force: 0.1
+    orange: [192, 128, 64]
+  camera:
+    driver: OPENCV
+cameras:
+  - camera_id: 0
+    instance: host-a
+    config:
+      camera:
+        path: /dev/video0
+        width: 1920
+        height: 1080
+      color:
+        orange: [200, 120, 60]
+    seed:
+      resolution: [1920, 1080]
+      line_corners: [[1131, 949], [1512, 733], [1266, 76], [792, 303]]
+      goal_side_marker: 1
+    calibration:
+      locked_at: 2026-10-03T13:54:50Z
+      field_hash: sha256:0000000000000000
+      camera:
+        camera_id: 0
+        focal_length: 1184.5924
+        principal_point_x: 960
+        principal_point_y: 540
+        distortion: -0.1
+        q0: 0
+        q1: 0
+        q2: 0
+        q3: 1
+        tx: 0
+        ty: 0
+        tz: 4000
+        pixel_image_width: 1920
+        pixel_image_height: 1080
+  - camera_id: 1
+    instance: host-b
diff --git a/gui/frontend/README.md b/gui/frontend/README.md
index 3c13fe1..47685d3 100644
--- a/gui/frontend/README.md
+++ b/gui/frontend/README.md
@@ -8,10 +8,12 @@ together. This document covers the frontend's own layout and scripts.
 The UI is organized as a two column shell: an instance list and config
 category nav on the left, the selected category's panel on the right. A tab
 bar above the panel gives quick access to the categories used most, Virtual
-Field, Geometry, and Color. Virtual Field edits the shared `geometry.yml`
-field template. Geometry embeds the corner picker, which lets an operator
-mark a calibration corner on a debug snapshot and save it into that
-instance's `config.yml`. Debug snapshots (via `GET /api/snapshots`) are only
+Field, Geometry, and Color. All three edit the host's `vision.yml` working
+copy, which applies live; Save in the settings menu writes it to disk, and a
+tab shows an asterisk while it has unsaved changes. Virtual Field edits the
+shared field. Geometry holds the selected camera's calibration lock and the
+corner picker, which marks calibration corners on a debug snapshot. Debug
+snapshots (via `GET /api/snapshots`) are only
 meaningful when the browser and the vision processor share a filesystem, see
 the root [README.md](../../README.md).
 
diff --git a/gui/frontend/src/App.svelte b/gui/frontend/src/App.svelte
index bfb5dce..de75bdc 100644
--- a/gui/frontend/src/App.svelte
+++ b/gui/frontend/src/App.svelte
@@ -5,6 +5,7 @@
   import { nav, selectedCategory } from "./lib/layout/nav.svelte";
   import { requestJSON } from "./lib/api";
   import SetupWizard from "./lib/wizard/SetupWizard.svelte";
+  import { loadConfig } from "./lib/config.svelte";
 
   let subscribed = $state(false);
   let wrapperPacket = $state<Record<string, unknown> | null>(null);
@@ -64,6 +65,7 @@
   }
 
   onMount(() => {
+    void loadConfig();
     void refreshSnapshotList();
     const listId = setInterval(() => void refreshSnapshotList(), 5000);
     const imgId = setInterval(() => {
diff --git a/gui/frontend/src/lib/CornerPicker.svelte b/gui/frontend/src/lib/CornerPicker.svelte
index 2f3fa73..c62026a 100644
--- a/gui/frontend/src/lib/CornerPicker.svelte
+++ b/gui/frontend/src/lib/CornerPicker.svelte
@@ -1,13 +1,11 @@
 <script lang="ts">
-  import { onMount } from "svelte";
-  import {
-    lineCorners,
-    loadLineCorners,
-    saveLineCorners,
-  } from "./lineCorners.svelte";
-
-  // Hacky first pass at the corner-drag picker from the calibration UI plan.
-  // Web-only: no C++ changes, camera hardcoded to 0 (no camera selector yet).
+  import { untrack } from "svelte";
+  import { config, cameraDoc } from "./config.svelte";
+
+  // The corner-drag picker from the calibration UI plan. Corners live in the
+  // host's working document as this camera's seed, together with the image
+  // resolution they were picked at; a drag commits on release and goes live
+  // (regenerating the camera's config.yml), Save persists it.
   //
   // Ordering, traced from src/calib/GeomModel.cpp's cornerCalibration: only
   // the first point in line_corners matters. It must be the corner where the
@@ -16,14 +14,24 @@
   // valid clockwise rotation of them and keeps whichever fits best. So this
   // picker just needs the user to mark ONE corner, not sort all four.
 
-  const camId = "0";
+  interface Props {
+    cameraId: number;
+  }
+
+  let { cameraId }: Props = $props();
+
   const view = "geomcalib_input"; // GeomModel.cpp's calibration input snapshot
 
+  interface Point {
+    x: number;
+    y: number;
+  }
+
   let cacheBuster = $state(Date.now());
   let imageWidth = $state(0);
   let imageHeight = $state(0);
 
-  let corners = $state<{ x: number; y: number }[]>([]);
+  let corners = $state<Point[]>([]);
 
   let svgEl: SVGSVGElement | undefined = $state();
   let draggingIndex = $state<number | null>(null);
@@ -32,60 +40,81 @@
   // to the first handle; click a different one to change it.
   let originIndex = $state(0);
 
-  // corners is seeded exactly once, from whichever of these two independent
-  // async sources (the <img> loading, the saved-corners fetch) finishes
-  // last -- not from whichever happens to win a race. Without this, a fast
-  // cached image load could seed the default rectangle before the fetch
-  // resolves, and the fetch would then see corners already non-empty and
-  // silently skip applying the user's real, already-saved calibration.
-  let imageReady = $state(false);
-  let fetchDone = $state(false);
+  let seed = $derived(cameraDoc(cameraId)?.seed);
+
+  // JSON of the seed as this picker last wrote it, so the effect below can
+  // tell its own commit (keep markers as they are) from a change that came
+  // from elsewhere (a load, a hand edit, another tab: re-seat them).
+  let lastCommitted = "";
 
   function handleImageLoad(img: HTMLImageElement): void {
     imageWidth = img.naturalWidth;
     imageHeight = img.naturalHeight;
-    imageReady = true;
-    maybeInitializeCorners();
   }
 
-  onMount(() => {
-    void loadLineCorners().then(() => {
-      fetchDone = true;
-      maybeInitializeCorners();
+  // (Re)seats the markers whenever the image size is known and the seed
+  // changed from outside this picker. Saved corners come first (already
+  // ordered goal-side first, so origin is index 0); otherwise an inset
+  // rectangle so all four handles are visible and draggable immediately.
+  //
+  // Corners that fall outside the current image (saved against a different
+  // resolution) would render entirely off the canvas -- the SVG's viewBox
+  // always matches the live image -- so they fall back to the rectangle too,
+  // with the resolution banner below explaining why.
+  $effect(() => {
+    const json = JSON.stringify(seed);
+    if (imageWidth === 0 || !config.doc) return;
+
+    untrack(() => {
+      if (corners.length !== 0 && json === lastCommitted) return;
+
+      lastCommitted = json;
+      originIndex = 0;
+
+      const saved = (seed?.lineCorners ?? []).map(([x, y]) => ({ x, y }));
+      if (saved.length === 4 && fitsImage(saved)) {
+        corners = saved;
+
+        return;
+      }
+
+      const marginX = imageWidth * 0.15;
+      const marginY = imageHeight * 0.15;
+      corners = [
+        { x: marginX, y: marginY },
+        { x: imageWidth - marginX, y: marginY },
+        { x: imageWidth - marginX, y: imageHeight - marginY },
+        { x: marginX, y: imageHeight - marginY },
+      ];
     });
   });
 
-  // Saved corners take priority (already reordered with the goal-side corner
-  // first -- see saveLineCorners's callers below, so origin is always index
-  // 0). Otherwise, default to an inset rectangle so all four handles are
-  // visible and draggable immediately.
-  function maybeInitializeCorners(): void {
-    if (corners.length !== 0 || !imageReady || !fetchDone) return;
+  function fitsImage(points: Point[]): boolean {
+    return points.every(
+      (p) => p.x >= 0 && p.x <= imageWidth && p.y >= 0 && p.y <= imageHeight,
+    );
+  }
 
-    if (lineCorners.corners.length === 4) {
-      corners = lineCorners.corners;
-      originIndex = 0;
+  // Writes the markers to the document, origin first, with the resolution
+  // they were placed against.
+  function commit(): void {
+    const camera = cameraDoc(cameraId);
+    if (!camera || orderedCorners.length !== 4) return;
 
-      return;
-    }
+    const next = {
+      resolution: [imageWidth, imageHeight] as [number, number],
+      lineCorners: orderedCorners.map((c) => [c.x, c.y] as [number, number]),
+      goalSideMarker: originIndex + 1,
+    };
 
-    const marginX = imageWidth * 0.15;
-    const marginY = imageHeight * 0.15;
-    corners = [
-      { x: marginX, y: marginY },
-      { x: imageWidth - marginX, y: marginY },
-      { x: imageWidth - marginX, y: imageHeight - marginY },
-      { x: marginX, y: imageHeight - marginY },
-    ];
+    lastCommitted = JSON.stringify(next);
+    camera.seed = next;
   }
 
   // Screen pixels -> SVG user-space (== image pixel space, since viewBox is
   // set to the image's natural dimensions). Using the SVG's own CTM handles
   // however the browser has scaled it, rather than reimplementing that math.
-  function toImagePoint(
-    clientX: number,
-    clientY: number,
-  ): { x: number; y: number } {
+  function toImagePoint(clientX: number, clientY: number): Point {
     if (!svgEl) return { x: 0, y: 0 };
 
     const pt = svgEl.createSVGPoint();
@@ -112,11 +141,18 @@
       x: Math.round(Math.max(0, Math.min(imageWidth, p.x))),
       y: Math.round(Math.max(0, Math.min(imageHeight, p.y))),
     };
-    lineCorners.savedAt = null;
   }
 
   function endDrag(): void {
+    if (draggingIndex === null) return;
+
     draggingIndex = null;
+    commit();
+  }
+
+  function chooseOrigin(index: number): void {
+    originIndex = index;
+    commit();
   }
 
   function refreshFrame(): void {
@@ -139,6 +175,33 @@
         .join("\n"),
   );
 
+  // How the saved seed relates to the image now being served.
+  let resolutionStatus = $derived.by(() => {
+    if (seed?.lineCorners.length !== 4 || imageWidth === 0) {
+      return "ok";
+    }
+
+    const [w, h] = seed.resolution;
+    if (w === 0 || h === 0) return "unknown";
+    if (w === imageWidth && h === imageHeight) return "ok";
+
+    return w * imageHeight === h * imageWidth ? "rescalable" : "aspect";
+  });
+
+  // Same aspect ratio, so the saved corners map onto the new image by a
+  // single scale factor.
+  function rescaleSeed(): void {
+    if (!seed) return;
+
+    const factor = imageWidth / seed.resolution[0];
+    corners = seed.lineCorners.map(([x, y]) => ({
+      x: Math.round(x * factor),
+      y: Math.round(y * factor),
+    }));
+    originIndex = 0;
+    commit();
+  }
+
   // The label/stroke sizes below are SVG user-space units, i.e. image
   // pixels (viewBox == the image's natural size) -- not screen pixels. They
   // must scale with image resolution the same way the handle radius already
@@ -149,33 +212,54 @@
   let labelFontSize = $derived(handleRadius * 2.5);
   let labelDy = $derived(-(handleRadius * 1.8));
   let labelStrokeWidth = $derived(handleRadius * 0.3);
-
-  function handleSave(): void {
-    void saveLineCorners(orderedCorners, originIndex + 1);
-  }
 </script>
 
 <section class="corner-picker">
-  <h2>Corner picker (hacky, cam 0 only)</h2>
+  <h2>Corner picker</h2>
   <p class="hint">
     Drag the four markers onto the real field corners in the image below, then
     click the number on whichever one sits where the goal line meets the
     touchline nearest this field's (0,0) corner -- that one turns green and
     becomes first in the output. The other three can be in any order; the
-    calibration algorithm works that out itself. No camera selector yet.
+    calibration algorithm works that out itself. Changes apply when you let go
+    of a marker; Save keeps them.
   </p>
 
+  {#if resolutionStatus === "rescalable" && seed}
+    <div class="banner">
+      Corners were picked at {seed.resolution[0]}x{seed.resolution[1]}, but this
+      image is {imageWidth}x{imageHeight}. Same aspect ratio, so they can be
+      scaled to fit.
+      <button type="button" onclick={rescaleSeed}>
+        Rescale corners to {imageWidth}x{imageHeight}
+      </button>
+    </div>
+  {:else if resolutionStatus === "aspect" && seed}
+    <div class="banner">
+      Corners were picked at {seed.resolution[0]}x{seed.resolution[1]}, but this
+      image is {imageWidth}x{imageHeight} -- a different aspect ratio, so they can't
+      be scaled. Re-pick them on this image.
+    </div>
+  {:else if resolutionStatus === "unknown"}
+    <div class="banner">
+      These corners were saved without the resolution they were picked at, so a
+      camera resolution change can't be detected. Move any marker to record it.
+    </div>
+  {/if}
+
   <button type="button" onclick={refreshFrame}>Refresh frame</button>
 
   <div
     class="overlay-container"
+    role="application"
+    aria-label="Calibration corner picker"
     onpointermove={onDrag}
     onpointerup={endDrag}
     onpointercancel={endDrag}
   >
     <img
-      src={`/api/snapshot/${camId}/${view}?t=${String(cacheBuster)}`}
-      alt={`cam ${camId} calibration input`}
+      src={`/api/snapshot/${String(cameraId)}/${view}?t=${String(cacheBuster)}`}
+      alt={`cam ${String(cameraId)} calibration input`}
       onload={(e: Event) => {
         handleImageLoad(e.currentTarget as HTMLImageElement);
       }}
@@ -195,6 +279,7 @@
             stroke-width={handleStrokeWidth}
             class="handle"
             class:origin={index === originIndex}
+            role="presentation"
             onpointerdown={(e) => {
               startDrag(index, e);
             }}
@@ -208,10 +293,10 @@
             role="button"
             tabindex="0"
             onclick={() => {
-              originIndex = index;
+              chooseOrigin(index);
             }}
             onkeydown={(e) => {
-              if (e.key === "Enter" || e.key === " ") originIndex = index;
+              if (e.key === "Enter" || e.key === " ") chooseOrigin(index);
             }}
           >
             {index + 1}
@@ -229,22 +314,6 @@
   </div>
 
   <pre>{yamlSnippet}</pre>
-
-  <div class="save-row">
-    <button
-      type="button"
-      onclick={handleSave}
-      disabled={lineCorners.saving || orderedCorners.length !== 4}
-    >
-      {lineCorners.saving ? "Saving..." : "Save to config.yml"}
-    </button>
-    {#if lineCorners.savedAt}
-      <span class="saved">Saved.</span>
-    {/if}
-    {#if lineCorners.error}
-      <span class="error">Error: {lineCorners.error}</span>
-    {/if}
-  </div>
 </section>
 
 <style>
@@ -309,26 +378,23 @@
     font-size: 0.85rem;
   }
 
-  .hint {
-    color: #888;
-    font-size: 0.8rem;
-    font-style: italic;
-  }
-
-  .save-row {
+  .banner {
     display: flex;
+    flex-wrap: wrap;
     align-items: center;
     gap: 0.5rem;
-    margin-top: 0.5rem;
-  }
-
-  .saved {
-    color: #1b5e20;
+    margin: 0.5rem 0;
+    padding: 0.5rem 0.75rem;
+    border: 1px solid #ffe1a8;
+    border-radius: 4px;
+    background: #fff6e5;
+    color: #7a4a00;
     font-size: 0.85rem;
   }
 
-  .error {
-    color: #b00020;
-    font-size: 0.85rem;
+  .hint {
+    color: #888;
+    font-size: 0.8rem;
+    font-style: italic;
   }
 </style>
diff --git a/gui/frontend/src/lib/FieldEditor.svelte b/gui/frontend/src/lib/FieldEditor.svelte
index b1b5c31..ce66b29 100644
--- a/gui/frontend/src/lib/FieldEditor.svelte
+++ b/gui/frontend/src/lib/FieldEditor.svelte
@@ -1,12 +1,6 @@
 <script lang="ts">
-  import { onMount } from "svelte";
-  import {
-    virtualField,
-    loadVirtualField,
-    saveVirtualField,
-    saveVirtualFieldAs,
-    loadVirtualFieldFrom,
-  } from "./geometry.svelte";
+  import { virtualField } from "./geometry.svelte";
+  import { config } from "./config.svelte";
   import FieldSketch from "./FieldSketch.svelte";
   import { computeFieldSlice, CAMERA_COUNT_OPTIONS } from "./fieldSplit";
   import { DIMENSION_FIELDS, OPTIONAL_LINE_FIELDS } from "./fieldConfigFields";
@@ -14,7 +8,7 @@
 
   // "Half field" is a data-entry convenience, not a wire concept: the backend
   // (SSL_GeometryFieldSize.field_length) only ever means the FULL field.
-  // virtualField.field.fieldLength keeps that meaning always; this toggle
+  // config.doc.field.fieldLength keeps that meaning always; this toggle
   // just changes what the length input shows and how it's written back, so
   // switching modes never silently mutates already-loaded data. See
   // gui/CLAUDE.md and src/CameraModel.cpp's visibleFieldExtentEstimation for
@@ -41,18 +35,17 @@
     computeFieldSlice(
       clampedCameraId,
       cameraAmount,
-      virtualField.field.fieldLength ?? 0,
-      virtualField.field.fieldWidth ?? 0,
+      config.doc?.field.fieldLength ?? 0,
+      config.doc?.field.fieldWidth ?? 0,
     ),
   );
 
   let halfLength = $derived(
-    Math.round((virtualField.field.fieldLength ?? 0) / 2),
+    Math.round((config.doc?.field.fieldLength ?? 0) / 2),
   );
 
   function setHalfLength(value: number): void {
-    virtualField.field.fieldLength = value * 2;
-    markDirty();
+    if (config.doc) config.doc.field.fieldLength = value * 2;
   }
 
   function setFieldLayout(layout: "full" | "half"): void {
@@ -63,206 +56,128 @@
       cameraCount = options[0] ?? 1;
     }
   }
-
-  let saveAsPath = $state("");
-  let loadPath = $state("");
-
-  function handleSaveAs(): void {
-    if (!saveAsPath) return;
-    void saveVirtualFieldAs(saveAsPath);
-  }
-
-  function handleLoad(): void {
-    if (!loadPath) return;
-    if (virtualField.dirty && !confirm("Discard unsaved changes?")) return;
-    void loadVirtualFieldFrom(loadPath);
-  }
-
-  // virtualField is a module-level singleton, not component-local state --
-  // switching tabs away and back destroys and recreates this component
-  // (MainContent's {#if}/{:else if}), re-running onMount, but virtualField
-  // itself survives that unmount with whatever dirty edits were in progress.
-  // Reloading unconditionally would silently discard them; guard it exactly
-  // like handleLoad below does for the same class of data loss.
-  onMount(() => {
-    if (!virtualField.dirty || confirm("Discard unsaved changes?")) {
-      void loadVirtualField();
-    }
-  });
-
-  function markDirty(): void {
-    virtualField.dirty = true;
-  }
-
-  function handleSave(): void {
-    void saveVirtualField();
-  }
 </script>
 
 <section class="field-editor">
   <div class="title-row">
     <h2>Virtual field</h2>
-    <span class="path">{virtualField.path || "(unsaved)"}</span>
+    <span class="path">{config.state?.path ?? ""}</span>
     <button type="button" class="wizard-button" onclick={openWizard}>
       Run setup wizard
     </button>
   </div>
 
-  {#if virtualField.error}
-    <p class="error">Error: {virtualField.error}</p>
-  {/if}
+  {#if config.doc}
+    {@const doc = config.doc}
+    <div class="layout">
+      <form>
+        <fieldset>
+          <legend>Field layout</legend>
+
+          <label class="radio-row">
+            <span>
+              <input
+                type="radio"
+                name="fieldLayout"
+                checked={fieldLayout === "full"}
+                onchange={() => {
+                  setFieldLayout("full");
+                }}
+              />
+              Full field
+            </span>
+            <span>
+              <input
+                type="radio"
+                name="fieldLayout"
+                checked={fieldLayout === "half"}
+                onchange={() => {
+                  setFieldLayout("half");
+                }}
+              />
+              Half field
+            </span>
+          </label>
 
-  <div class="layout">
-    <form
-      onsubmit={(e) => {
-        e.preventDefault();
-        handleSave();
-      }}
-    >
-      <fieldset disabled={virtualField.loading}>
-        <legend>File</legend>
-        <div class="file-actions">
-          <button
-            type="submit"
-            disabled={virtualField.saving || !virtualField.dirty}
-          >
-            {virtualField.saving ? "Saving..." : "Save"}
-          </button>
-          {#if virtualField.dirty && !virtualField.saving}
-            <span class="hint">*new changes</span>
+          {#if fieldLayout === "half"}
+            <label>
+              Half length (full: {doc.field.fieldLength ?? 0}mm)
+              <input
+                type="number"
+                value={halfLength}
+                oninput={(e) => {
+                  setHalfLength(e.currentTarget.valueAsNumber);
+                }}
+              />
+            </label>
           {/if}
-        </div>
-
-        <label>
-          Save as
-          <span>
-            <input type="text" bind:value={saveAsPath} placeholder="path.yml" />
-            <button type="button" onclick={handleSaveAs} disabled={!saveAsPath}
-              >Save as</button
-            >
-          </span>
-        </label>
-
-        <label>
-          Load
-          <span>
-            <input type="text" bind:value={loadPath} placeholder="path.yml" />
-            <button type="button" onclick={handleLoad} disabled={!loadPath}
-              >Load</button
-            >
-          </span>
-        </label>
-      </fieldset>
-
-      <fieldset disabled={virtualField.loading}>
-        <legend>Field layout</legend>
-
-        <label class="radio-row">
-          <span>
-            <input
-              type="radio"
-              name="fieldLayout"
-              checked={fieldLayout === "full"}
-              onchange={() => {
-                setFieldLayout("full");
-              }}
-            />
-            Full field
-          </span>
-          <span>
-            <input
-              type="radio"
-              name="fieldLayout"
-              checked={fieldLayout === "half"}
-              onchange={() => {
-                setFieldLayout("half");
-              }}
-            />
-            Half field
-          </span>
-        </label>
 
-        {#if fieldLayout === "half"}
           <label>
-            Half length (full: {virtualField.field.fieldLength ?? 0}mm)
-            <input
-              type="number"
-              value={halfLength}
-              oninput={(e) => {
-                setHalfLength(e.currentTarget.valueAsNumber);
+            Cameras (camera_amount: {cameraAmount})
+            <select
+              value={cameraCount}
+              onchange={(e) => {
+                cameraCount = Number(e.currentTarget.value);
               }}
-            />
+            >
+              {#each CAMERA_COUNT_OPTIONS[fieldLayout] as count (count)}
+                <option value={count}>{count}</option>
+              {/each}
+            </select>
           </label>
-        {/if}
-
-        <label>
-          Cameras (camera_amount: {cameraAmount})
-          <select
-            value={cameraCount}
-            onchange={(e) => {
-              cameraCount = Number(e.currentTarget.value);
-            }}
-          >
-            {#each CAMERA_COUNT_OPTIONS[fieldLayout] as count (count)}
-              <option value={count}>{count}</option>
-            {/each}
-          </select>
-        </label>
-
-        <label>
-          This camera (camera_id)
-          <select
-            value={clampedCameraId}
-            onchange={(e) => {
-              cameraId = Number(e.currentTarget.value);
-            }}
-          >
-            {#each Array.from(Array(cameraAmount).keys()) as id (id)}
-              <option value={id}>{id}</option>
-            {/each}
-          </select>
-        </label>
-      </fieldset>
-
-      <fieldset disabled={virtualField.loading}>
-        <legend>Dimensions</legend>
-        {#each DIMENSION_FIELDS as { key, label } (key)}
+
           <label>
-            {label}
-            <input
-              type="number"
-              bind:value={virtualField.field[key]}
-              oninput={markDirty}
-            />
-          </label>
-        {/each}
-      </fieldset>
-
-      <fieldset disabled={virtualField.loading}>
-        <legend>Markings present on this field</legend>
-        {#each OPTIONAL_LINE_FIELDS as { key, label } (key)}
-          <label class="checkbox">
-            <input
-              type="checkbox"
-              bind:checked={virtualField.optionalFieldLines[key]}
-              onchange={markDirty}
-            />
-            {label}
+            This camera (camera_id)
+            <select
+              value={clampedCameraId}
+              onchange={(e) => {
+                cameraId = Number(e.currentTarget.value);
+              }}
+            >
+              {#each Array.from(Array(cameraAmount).keys()) as id (id)}
+                <option value={id}>{id}</option>
+              {/each}
+            </select>
           </label>
-        {/each}
-      </fieldset>
-    </form>
-
-    <div class="sketch">
-      <FieldSketch
-        fieldLength={virtualField.field.fieldLength ?? 0}
-        fieldWidth={virtualField.field.fieldWidth ?? 0}
-        lines={virtualField.fieldLines}
-        arcs={virtualField.fieldArcs}
-        slice={fieldSlice}
-      />
+        </fieldset>
+
+        <fieldset>
+          <legend>Dimensions</legend>
+          {#each DIMENSION_FIELDS as { key, label } (key)}
+            <label>
+              {label}
+              <input type="number" bind:value={doc.field[key]} />
+            </label>
+          {/each}
+        </fieldset>
+
+        <fieldset>
+          <legend>Markings present on this field</legend>
+          {#each OPTIONAL_LINE_FIELDS as { key, label } (key)}
+            <label class="checkbox">
+              <input
+                type="checkbox"
+                bind:checked={doc.optionalFieldLines[key]}
+              />
+              {label}
+            </label>
+          {/each}
+        </fieldset>
+      </form>
+
+      <div class="sketch">
+        <FieldSketch
+          fieldLength={doc.field.fieldLength ?? 0}
+          fieldWidth={doc.field.fieldWidth ?? 0}
+          lines={virtualField.fieldLines}
+          arcs={virtualField.fieldArcs}
+          slice={fieldSlice}
+        />
+      </div>
     </div>
-  </div>
+  {:else}
+    <p class="hint">Loading...</p>
+  {/if}
 </section>
 
 <style>
@@ -344,21 +259,6 @@
     width: 6rem;
   }
 
-  input[type="text"] {
-    width: 10rem;
-  }
-
-  .file-actions {
-    display: flex;
-    align-items: center;
-    gap: 0.5rem;
-    margin: 0.4rem 0;
-  }
-
-  .error {
-    color: #b00020;
-  }
-
   .hint {
     color: #888;
     font-size: 0.8rem;
diff --git a/gui/frontend/src/lib/api.ts b/gui/frontend/src/lib/api.ts
index 0c34f26..1af71d7 100644
--- a/gui/frontend/src/lib/api.ts
+++ b/gui/frontend/src/lib/api.ts
@@ -1,5 +1,5 @@
 // Shared fetch helpers, used by every module that owns request state
-// (geometry.svelte.ts, lineCorners.svelte.ts, App.svelte's snapshot poll):
+// (geometry.svelte.ts, App.svelte's snapshot poll):
 // the same "set a loading/saving flag, clear the error, run the request,
 // catch and format any failure, always clear the flag" and "throw the
 // backend's own error text on a non-2xx response" shapes were previously
diff --git a/gui/frontend/src/lib/color.svelte.ts b/gui/frontend/src/lib/color.svelte.ts
index 844ce8e..86011a1 100644
--- a/gui/frontend/src/lib/color.svelte.ts
+++ b/gui/frontend/src/lib/color.svelte.ts
@@ -1,9 +1,8 @@
-// Shared state for the Color config tab, same pattern as lineCorners.svelte.ts:
-// a module-level $state object plus load/save built on api.ts's shared
-// request/loading-state helpers. Mirrors gui's ColorConfig (see
-// internal/geometry/colorconfig.go) field-for-field -- this is the JSON
-// shape /api/config/color actually sends and accepts.
-import { requestJSON, withLoadingState } from "./api";
+// Shared state for the Color config tab. colorConfig.config is an editing
+// buffer the color widgets bind to; ColorPanel keeps it in sync with the
+// selected camera's color: block in the host's working document (see
+// colorFromDoc/writeColorToDoc below), where edits go live.
+import { config, cameraDoc } from "./config.svelte";
 
 export interface RGB {
   r: number;
@@ -155,9 +154,8 @@ export interface ColorConfigData {
 }
 
 // Matches vision_processor's own Resources.cpp fallbacks (see
-// colorReferenceDefaults in colorconfig.go) so the panel shows something
-// sane for the instant before the first load response arrives, rather than
-// black/zeroed swatches.
+// colorReferenceDefaults in internal/config/color.go) -- what a camera runs
+// for anything neither it nor the shared defaults set.
 export function defaultColorConfig(): ColorConfigData {
   return {
     referenceForce: 0.1,
@@ -172,18 +170,8 @@ export function defaultColorConfig(): ColorConfigData {
   };
 }
 
-export const colorConfig = $state<{
-  config: ColorConfigData;
-  loading: boolean;
-  saving: boolean;
-  error: string | null;
-  savedAt: number | null;
-}>({
+export const colorConfig = $state<{ config: ColorConfigData }>({
   config: defaultColorConfig(),
-  loading: false,
-  saving: false,
-  error: null,
-  savedAt: null,
 });
 
 // Whether the minimum-reference-weight floor has been unlocked for editing
@@ -196,40 +184,113 @@ export const colorConfig = $state<{
 // on a full page reload, since it's never persisted anywhere.
 export const minReferenceForceUnlock = $state({ unlocked: false });
 
-// Loads the instance's config.yml color: block (see
-// geometry.ReadColorConfig) -- always a complete, concrete config, since
-// every color/force resolves to either what's set or vision_processor's own
-// default, never "unset."
-export async function loadColorConfig(): Promise<void> {
-  await withLoadingState(
-    (v) => (colorConfig.loading = v),
-    (v) => (colorConfig.error = v),
-    async () => {
-      const response = await requestJSON("/api/config/color");
-      colorConfig.config = (await response.json()) as ColorConfigData;
-    },
+// config.yml's own key for each force field.
+const FORCE_KEYS = {
+  referenceForce: "reference_force",
+  historyForce: "history_force",
+  minReferenceForce: "min_reference_force",
+} as const;
+
+type Block = Record<string, unknown>;
+
+function asBlock(value: unknown): Block {
+  return value !== null && typeof value === "object" && !Array.isArray(value)
+    ? (value as Block)
+    : {};
+}
+
+function fromBlock(block: Block, base: ColorConfigData): ColorConfigData {
+  const out: ColorConfigData = {
+    ...base,
+    ...Object.fromEntries(COLOR_CLASSES.map((cls) => [cls, { ...base[cls] }])),
+  };
+
+  for (const [field, key] of Object.entries(FORCE_KEYS) as [
+    keyof typeof FORCE_KEYS,
+    string,
+  ][]) {
+    const value = block[key];
+    if (typeof value === "number") out[field] = value;
+  }
+
+  for (const cls of COLOR_CLASSES) {
+    const value = block[cls];
+    if (
+      Array.isArray(value) &&
+      value.length === 3 &&
+      value.every((n) => typeof n === "number")
+    ) {
+      const [r, g, b] = value as [number, number, number];
+      out[cls] = { r, g, b };
+    }
+  }
+
+  return out;
+}
+
+// What a camera runs before its own overrides: vision_processor's built-in
+// fallbacks under the document's shared defaults.color.
+function inheritedColor(): ColorConfigData {
+  return fromBlock(
+    asBlock(asBlock(config.doc?.defaults)["color"]),
+    defaultColorConfig(),
   );
 }
 
-// Saves the given config to the instance's config.yml (see
-// geometry.WriteColorConfig). Server-side validation (force ranges, the
-// minReferenceForce floor, 0-255 channels) can reject this -- the error
-// message from requestJSON is the backend's own, surfaced as-is.
-export async function saveColorConfig(cfg: ColorConfigData): Promise<void> {
-  colorConfig.savedAt = null;
-
-  await withLoadingState(
-    (v) => (colorConfig.saving = v),
-    (v) => (colorConfig.error = v),
-    async () => {
-      await requestJSON("/api/config/color", {
-        method: "PUT",
-        headers: { "Content-Type": "application/json" },
-        body: JSON.stringify(cfg),
-      });
-
-      colorConfig.config = cfg;
-      colorConfig.savedAt = Date.now();
-    },
+// The camera's effective color settings.
+export function colorFromDoc(cameraId: number): ColorConfigData {
+  return fromBlock(
+    asBlock(asBlock(cameraDoc(cameraId)?.config)["color"]),
+    inheritedColor(),
   );
 }
+
+// Writes data as the camera's own color: overrides, keeping the block
+// minimal: a value equal to what the camera inherits is only written if the
+// camera already overrode it, so an untouched color doesn't show up as a
+// change to save.
+export function writeColorToDoc(cameraId: number, data: ColorConfigData): void {
+  const camera = cameraDoc(cameraId);
+  if (!camera) return;
+
+  const existing = asBlock(asBlock(camera.config)["color"]);
+  const inherited = inheritedColor();
+  const block: Block = {};
+
+  const put = (key: string, value: unknown, inheritedValue: unknown): void => {
+    if (
+      key in existing ||
+      JSON.stringify(value) !== JSON.stringify(inheritedValue)
+    ) {
+      block[key] = value;
+    }
+  };
+
+  for (const [field, key] of Object.entries(FORCE_KEYS) as [
+    keyof typeof FORCE_KEYS,
+    string,
+  ][]) {
+    put(key, data[field], inherited[field]);
+  }
+
+  for (const cls of COLOR_CLASSES) {
+    const { r, g, b } = data[cls];
+    const base = inherited[cls];
+    put(cls, [r, g, b], [base.r, base.g, base.b]);
+  }
+
+  // Keys this panel doesn't edit ride along unchanged.
+  for (const [key, value] of Object.entries(existing)) {
+    if (!(key in block)) block[key] = value;
+  }
+
+  if (JSON.stringify(block) === JSON.stringify(existing)) return;
+
+  camera.config ??= {};
+
+  if (Object.keys(block).length === 0) {
+    delete camera.config["color"];
+  } else {
+    camera.config["color"] = block;
+  }
+}
diff --git a/gui/frontend/src/lib/config.svelte.ts b/gui/frontend/src/lib/config.svelte.ts
new file mode 100644
index 0000000..0b9e9a7
--- /dev/null
+++ b/gui/frontend/src/lib/config.svelte.ts
@@ -0,0 +1,362 @@
+// The host's working vision.yml document, shared by every tab. Edits apply to
+// the running system as soon as they reach the host; only Save writes the
+// file. Components bind straight into config.doc -- a root effect below
+// notices any change and debounces a PUT, so no component needs to call a
+// setter or remember to save.
+import { requestJSON } from "./api";
+import { topic } from "./wrapper-bus";
+import {
+  refreshFieldMarkings,
+  type FieldConfig,
+  type OptionalFieldLines,
+} from "./geometry.svelte";
+
+export type Section = "field" | "geometry" | "color" | "other";
+
+// Mirrors gui/internal/config's Change: one leaf difference between two
+// documents, keyed by its vision.yml path.
+export interface Change {
+  path: string;
+  before: unknown;
+  after: unknown;
+  section: Section;
+  cameraId?: number;
+}
+
+export interface Warning {
+  code: string;
+  message: string;
+}
+
+export interface CameraStatus {
+  cameraId: number;
+  calibration: "none" | "live" | "locked";
+  live?: Record<string, unknown>;
+  liveResolution: [number, number];
+  warnings: Warning[];
+}
+
+export interface ConfigState {
+  path: string;
+  revision: number;
+  // What saving would write: disk -> working.
+  changes: Change[];
+  // Set while vision.yml on disk differs from what was loaded or saved.
+  external?: { error?: string; changes: Change[] };
+  cameras: CameraStatus[];
+  renderErrors?: Record<string, string>;
+}
+
+export interface Seed {
+  // [width, height] the corners were picked at; [0, 0] if unknown.
+  resolution: [number, number];
+  lineCorners: [number, number][];
+  goalSideMarker?: number;
+}
+
+export interface Calibration {
+  lockedAt: string;
+  fieldHash: string;
+  camera: Record<string, unknown>;
+}
+
+export interface CameraDoc {
+  cameraId: number;
+  instance?: string;
+  configPath?: string;
+  config?: Record<string, unknown>;
+  seed?: Seed;
+  calibration?: Calibration;
+}
+
+export interface ConfigDocument {
+  version: number;
+  field: FieldConfig;
+  optionalFieldLines: OptionalFieldLines;
+  models?: Record<string, unknown>;
+  defaults?: Record<string, unknown>;
+  cameras: CameraDoc[];
+}
+
+interface ConfigResponse {
+  document: ConfigDocument;
+  state: ConfigState;
+}
+
+interface ConflictResponse {
+  error: "stale" | "disk_changed" | "no_live_calibration";
+  message: string;
+}
+
+export const config = $state<{
+  doc: ConfigDocument | null;
+  // Revision doc was last confirmed at by the host.
+  revision: number;
+  state: ConfigState | null;
+  // Last failed request, shown as a banner (e.g. a rejected edit).
+  error: string | null;
+  busy: boolean;
+}>({
+  doc: null,
+  revision: 0,
+  state: null,
+  error: null,
+  busy: false,
+});
+
+const PUT_DEBOUNCE_MS = 250;
+
+// JSON of the doc as last sent to (or received from) the host -- the root
+// effect compares against this so a doc that just arrived from the host isn't
+// echoed straight back.
+let lastSynced = "";
+let putTimer: ReturnType<typeof setTimeout> | null = null;
+let inFlight: Promise<void> | null = null;
+
+export function cameraDoc(cameraId: number): CameraDoc | undefined {
+  return config.doc?.cameras.find((c) => c.cameraId === cameraId);
+}
+
+export function cameraStatus(cameraId: number): CameraStatus | undefined {
+  return config.state?.cameras.find((c) => c.cameraId === cameraId);
+}
+
+export function changesFor(section: Section, cameraId?: number): Change[] {
+  return (config.state?.changes ?? []).filter(
+    (c) =>
+      c.section === section &&
+      (cameraId === undefined ||
+        c.cameraId === undefined ||
+        c.cameraId === cameraId),
+  );
+}
+
+export async function loadConfig(): Promise<void> {
+  try {
+    const response = await requestJSON("/api/config");
+    const data = (await response.json()) as ConfigResponse;
+    lastSynced = JSON.stringify(data.document);
+    config.doc = data.document;
+    config.revision = data.state.revision;
+    config.state = data.state;
+    await refreshFieldMarkings();
+  } catch (err) {
+    config.error = message(err);
+  }
+}
+
+// Resolves once no edit is waiting to be sent or in flight, so a save sees
+// everything the user has typed.
+export async function flushEdits(): Promise<void> {
+  if (putTimer !== null) {
+    clearTimeout(putTimer);
+    putTimer = null;
+    void sendPending();
+  }
+
+  while (inFlight) await inFlight;
+}
+
+function schedulePut(): void {
+  if (putTimer !== null) clearTimeout(putTimer);
+
+  putTimer = setTimeout(() => {
+    putTimer = null;
+    void sendPending();
+  }, PUT_DEBOUNCE_MS);
+}
+
+async function sendPending(): Promise<void> {
+  if (inFlight) {
+    await inFlight;
+  }
+
+  const json = JSON.stringify(config.doc);
+  if (!config.doc || json === lastSynced) return;
+
+  lastSynced = json;
+  inFlight = putDoc(json);
+
+  try {
+    await inFlight;
+  } finally {
+    inFlight = null;
+  }
+
+  // Anything typed while that was in flight goes out next.
+  if (JSON.stringify(config.doc) !== lastSynced) void sendPending();
+}
+
+async function putDoc(json: string): Promise<void> {
+  const response = await fetch("/api/config", {
+    method: "PUT",
+    headers: { "Content-Type": "application/json" },
+    body: `{"revision":${String(config.revision)},"document":${json}}`,
+  });
+
+  if (response.ok) {
+    config.revision = (
+      (await response.json()) as { revision: number }
+    ).revision;
+    config.error = null;
+    await refreshFieldMarkings();
+
+    return;
+  }
+
+  if (response.status === 409) {
+    // Another tab edited first. Take the host's version rather than
+    // clobbering it.
+    config.error = "Edited elsewhere at the same time; reloaded the latest.";
+    await loadConfig();
+
+    return;
+  }
+
+  config.error = await response.text();
+}
+
+$effect.root(() => {
+  $effect(() => {
+    const json = JSON.stringify(config.doc);
+    if (config.doc && json !== lastSynced) schedulePut();
+  });
+
+  // State arrives on every host change and once a second (live calibration
+  // state comes from the network). A revision we don't have means someone
+  // else changed the document -- another tab, or a lock/reload -- so refetch,
+  // unless our own edit is mid-flight and about to report that revision.
+  $effect(() => {
+    return topic<ConfigState>("config.state").subscribe((state) => {
+      if (!state) return;
+
+      config.state = state;
+
+      if (
+        config.doc &&
+        state.revision !== config.revision &&
+        !inFlight &&
+        putTimer === null
+      ) {
+        void loadConfig();
+      }
+    });
+  });
+});
+
+async function action(
+  url: string,
+  init: RequestInit = {},
+): Promise<ConflictResponse | null> {
+  config.busy = true;
+
+  try {
+    const response = await fetch(url, init);
+
+    if (response.status === 409) {
+      return (await response.json()) as ConflictResponse;
+    }
+
+    if (!response.ok) {
+      throw new Error(await response.text());
+    }
+
+    config.error = null;
+
+    return null;
+  } finally {
+    config.busy = false;
+    await loadConfig();
+  }
+}
+
+function post(url: string, body?: unknown): Promise<ConflictResponse | null> {
+  return action(url, {
+    method: "POST",
+    headers: { "Content-Type": "application/json" },
+    body: body === undefined ? undefined : JSON.stringify(body),
+  });
+}
+
+// Writes the working document to vision.yml. A conflict comes back rather
+// than throwing: "disk_changed" means the file was edited elsewhere and the
+// caller should let the user choose (state.external now describes it).
+export async function saveConfig(
+  force = false,
+): Promise<ConflictResponse | null> {
+  await flushEdits();
+
+  return guarded(() =>
+    post("/api/config/save", { revision: config.revision, force }),
+  );
+}
+
+export async function saveConfigAs(path: string): Promise<void> {
+  await flushEdits();
+  await guarded(() =>
+    post("/api/config/save-as", { revision: config.revision, path }),
+  );
+}
+
+export async function loadConfigFrom(path: string): Promise<void> {
+  await guarded(() => post("/api/config/load", { path }));
+}
+
+// Accepts vision.yml as it is on disk, discarding unsaved edits.
+export async function reloadFromDisk(): Promise<void> {
+  await guarded(() => post("/api/config/reload"));
+}
+
+export async function lockCalibration(cameraId: number): Promise<void> {
+  await flushEdits();
+
+  const conflict = await guarded(() =>
+    post(`/api/config/cameras/${String(cameraId)}/calibration`),
+  );
+  if (conflict) config.error = conflict.message;
+}
+
+export async function unlockCalibration(cameraId: number): Promise<void> {
+  await flushEdits();
+  await guarded(() =>
+    action(`/api/config/cameras/${String(cameraId)}/calibration`, {
+      method: "DELETE",
+    }),
+  );
+}
+
+async function guarded<T>(fn: () => Promise<T>): Promise<T | null> {
+  try {
+    return await fn();
+  } catch (err) {
+    config.error = message(err);
+
+    return null;
+  }
+}
+
+function message(err: unknown): string {
+  return err instanceof Error ? err.message : String(err);
+}
+
+// A short, human-readable rendering of a Change value for the confirmation
+// dialogs: whole blocks (a locked calibration, a new camera) are summarized
+// rather than dumped.
+export function formatValue(value: unknown): string {
+  if (value === undefined || value === null) return "(none)";
+
+  if (typeof value === "object" && !Array.isArray(value)) {
+    const keys = Object.keys(value);
+
+    return `{${String(keys.length)} fields}`;
+  }
+
+  return JSON.stringify(value);
+}
+
+export const SECTION_LABELS: Record<Section, string> = {
+  field: "Virtual Field",
+  geometry: "Geometry",
+  color: "Color",
+  other: "Other settings",
+};
diff --git a/gui/frontend/src/lib/config/CalibrationCard.svelte b/gui/frontend/src/lib/config/CalibrationCard.svelte
new file mode 100644
index 0000000..be0f2de
--- /dev/null
+++ b/gui/frontend/src/lib/config/CalibrationCard.svelte
@@ -0,0 +1,141 @@
+<script lang="ts">
+  import {
+    config,
+    cameraDoc,
+    cameraStatus,
+    lockCalibration,
+    unlockCalibration,
+  } from "../config.svelte";
+
+  interface Props {
+    cameraId: number;
+  }
+
+  let { cameraId }: Props = $props();
+
+  let status = $derived(cameraStatus(cameraId));
+  let locked = $derived(cameraDoc(cameraId)?.calibration);
+  let renderError = $derived(config.state?.renderErrors?.[String(cameraId)]);
+
+  let liveResolution = $derived(
+    status && status.liveResolution[0] > 0
+      ? `${String(status.liveResolution[0])}x${String(status.liveResolution[1])}`
+      : null,
+  );
+
+  function lockedResolution(camera: Record<string, unknown>): string {
+    const w = camera["pixel_image_width"];
+    const h = camera["pixel_image_height"];
+
+    return typeof w === "number" && typeof h === "number"
+      ? `${String(w)}x${String(h)}`
+      : "unknown size";
+  }
+
+  function unlock(): void {
+    if (
+      confirm(
+        `Unlock camera ${String(cameraId)}'s calibration? It stops being published now, and the camera recalibrates the next time its vision_processor restarts.`,
+      )
+    ) {
+      void unlockCalibration(cameraId);
+    }
+  }
+</script>
+
+<section class="calibration">
+  <h3>Calibration</h3>
+
+  {#if !status}
+    <p class="hint">Loading...</p>
+  {:else}
+    <p class="state">
+      {#if status.calibration === "locked" && locked}
+        <strong>Locked</strong> at {new Date(locked.lockedAt).toLocaleString()}
+        ({lockedResolution(locked.camera)}). Published in place of anything the
+        camera sends, and kept across restarts once saved.
+      {:else if status.calibration === "live"}
+        <strong>Live, not locked</strong>{liveResolution
+          ? ` (${liveResolution})`
+          : ""}. The camera calibrated itself; it recalibrates on its next
+        restart unless you lock this.
+      {:else}
+        <strong>None.</strong> No calibration received from this camera yet.
+      {/if}
+    </p>
+
+    {#each status.warnings as warning (warning.code)}
+      <p class="warning">{warning.message}</p>
+    {/each}
+
+    {#if renderError}
+      <p class="warning">{renderError}</p>
+    {/if}
+
+    <div class="actions">
+      <button
+        type="button"
+        disabled={!status.live || config.busy}
+        title={status.live
+          ? "Store the calibration this camera last sent"
+          : "No calibration received from this camera yet"}
+        onclick={() => void lockCalibration(cameraId)}
+      >
+        {status.calibration === "locked"
+          ? "Re-lock latest live calibration"
+          : "Lock current calibration"}
+      </button>
+      <button
+        type="button"
+        disabled={status.calibration === "none" || config.busy}
+        onclick={unlock}
+      >
+        Unlock (recalibrates on processor restart)
+      </button>
+    </div>
+    <p class="hint">
+      Locking and unlocking apply immediately; Save writes them to the file.
+      There's no way yet to make a running vision_processor recalibrate on
+      request -- it needs a restart.
+    </p>
+  {/if}
+</section>
+
+<style>
+  .calibration {
+    margin: 1rem 0;
+    padding: 0.75rem 1rem;
+    border: 1px solid #ddd;
+    border-radius: 4px;
+  }
+
+  h3 {
+    margin: 0 0 0.5rem;
+  }
+
+  .state {
+    margin: 0 0 0.5rem;
+    font-size: 0.9rem;
+  }
+
+  .warning {
+    margin: 0.25rem 0;
+    padding: 0.4rem 0.6rem;
+    border-radius: 4px;
+    background: #fff6e5;
+    color: #7a4a00;
+    font-size: 0.85rem;
+  }
+
+  .actions {
+    display: flex;
+    flex-wrap: wrap;
+    gap: 0.5rem;
+    margin: 0.5rem 0;
+  }
+
+  .hint {
+    color: #666;
+    font-size: 0.8rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/ColorPanel.svelte b/gui/frontend/src/lib/config/ColorPanel.svelte
index 208a2fe..c721371 100644
--- a/gui/frontend/src/lib/config/ColorPanel.svelte
+++ b/gui/frontend/src/lib/config/ColorPanel.svelte
@@ -1,10 +1,11 @@
 <script lang="ts">
-  import { onMount } from "svelte";
+  import { untrack } from "svelte";
   import type { VisionInstance } from "../layout/nav.svelte";
+  import { config } from "../config.svelte";
   import {
     colorConfig,
-    loadColorConfig,
-    saveColorConfig,
+    colorFromDoc,
+    writeColorToDoc,
     rgbToCss,
     rgbToYuv,
     COLOR_CLASSES,
@@ -21,7 +22,6 @@
     TableBody,
     TableBodyRow,
     TableBodyCell,
-    Button,
   } from "flowbite-svelte";
 
   // No `category` prop, unlike GeometryPanel/ConfigCategoryPlaceholder:
@@ -42,17 +42,46 @@
   // contributor's protobuf work will eventually add).
   let selectedClass = $state<ColorClass>("orange");
 
-  onMount(() => {
-    void loadColorConfig();
+  let cameraId = $derived(instance?.cameraId);
+
+  // Which camera colorConfig.config currently mirrors. Edits are only
+  // written back once it has been filled from that camera's document entry --
+  // otherwise the placeholder defaults would overwrite its real overrides.
+  let syncedCamera = $state<number | undefined>(undefined);
+
+  // Document -> buffer: on camera switch, and whenever the document's color
+  // changes underneath (a load, a reload, another tab).
+  $effect(() => {
+    if (cameraId === undefined || !config.doc) return;
+
+    const fresh = colorFromDoc(cameraId);
+    const id = cameraId;
+
+    untrack(() => {
+      if (
+        JSON.stringify(fresh) !==
+        JSON.stringify($state.snapshot(colorConfig.config))
+      ) {
+        colorConfig.config = fresh;
+      }
+
+      syncedCamera = id;
+    });
+  });
+
+  // Buffer -> document: every edit goes live through the working document.
+  $effect(() => {
+    const data = $state.snapshot(colorConfig.config);
+    const id = cameraId;
+
+    untrack(() => {
+      if (id !== undefined && id === syncedCamera) writeColorToDoc(id, data);
+    });
   });
 
   let updateForce = $derived(
     1 - colorConfig.config.referenceForce - colorConfig.config.historyForce,
   );
-
-  function handleSave(): void {
-    void saveColorConfig(colorConfig.config);
-  }
 </script>
 
 <section class="color-panel">
@@ -67,7 +96,7 @@
     <p class="hint">Select a vision processor on the left first.</p>
   {/if}
 
-  {#if colorConfig.loading}
+  {#if !config.doc}
     <p class="hint">Loading...</p>
   {/if}
 
@@ -202,23 +231,6 @@
       </TableBodyRow>
     </TableBody>
   </Table>
-
-  <div class="save-row">
-    <Button
-      size="sm"
-      color="primary"
-      onclick={handleSave}
-      disabled={colorConfig.saving}
-    >
-      {colorConfig.saving ? "Saving..." : "Save to config.yml"}
-    </Button>
-    {#if colorConfig.savedAt}
-      <span class="saved">Saved.</span>
-    {/if}
-    {#if colorConfig.error}
-      <span class="error">Error: {colorConfig.error}</span>
-    {/if}
-  </div>
 </section>
 
 <style>
@@ -285,21 +297,4 @@
   .rgb-editor input {
     width: 4.5rem;
   }
-
-  .save-row {
-    display: flex;
-    align-items: center;
-    gap: 0.5rem;
-    margin-top: 1.5rem;
-  }
-
-  .saved {
-    color: #1b5e20;
-    font-size: 0.85rem;
-  }
-
-  .error {
-    color: #b00020;
-    font-size: 0.85rem;
-  }
 </style>
diff --git a/gui/frontend/src/lib/config/GeometryPanel.svelte b/gui/frontend/src/lib/config/GeometryPanel.svelte
index 567943a..bcb5081 100644
--- a/gui/frontend/src/lib/config/GeometryPanel.svelte
+++ b/gui/frontend/src/lib/config/GeometryPanel.svelte
@@ -2,6 +2,7 @@
   import type { ConfigCategory } from "../layout/configCategories";
   import type { VisionInstance } from "../layout/nav.svelte";
   import CornerPicker from "../CornerPicker.svelte";
+  import CalibrationCard from "./CalibrationCard.svelte";
   import ConfigFieldList from "./ConfigFieldList.svelte";
 
   interface Props {
@@ -18,17 +19,26 @@
   {#if instance}
     <p class="hint">
       {instance.host} / cam {instance.cameraId}. The numeric settings below
-      (config.yml's <code>geometry:</code> block) aren't wired to a backend yet; the
-      corner picker further down already is (writes to this host's configured config.yml
-      automatically).
+      (config.yml's <code>geometry:</code> block) aren't editable here yet; the calibration
+      and corner picker are, and apply live.
     </p>
   {:else}
     <p class="hint">Select a vision processor on the left first.</p>
   {/if}
 
+  {#if instance}
+    {#key instance.cameraId}
+      <CalibrationCard cameraId={instance.cameraId} />
+    {/key}
+  {/if}
+
   <ConfigFieldList fields={category.fields} />
 
-  <CornerPicker />
+  {#if instance}
+    {#key instance.cameraId}
+      <CornerPicker cameraId={instance.cameraId} />
+    {/key}
+  {/if}
 </section>
 
 <style>
diff --git a/gui/frontend/src/lib/config/WeightTriangle.svelte b/gui/frontend/src/lib/config/WeightTriangle.svelte
index 7e0ed97..971e555 100644
--- a/gui/frontend/src/lib/config/WeightTriangle.svelte
+++ b/gui/frontend/src/lib/config/WeightTriangle.svelte
@@ -314,6 +314,8 @@
     <svg
       bind:this={svgEl}
       viewBox="0 0 100 110"
+      role="application"
+      aria-label="Color weight triangle"
       onpointerdown={startDrag}
       onpointermove={onDrag}
       onpointerup={endDrag}
diff --git a/gui/frontend/src/lib/config/YuvPositionPane.svelte b/gui/frontend/src/lib/config/YuvPositionPane.svelte
index 0ffb021..9bd692f 100644
--- a/gui/frontend/src/lib/config/YuvPositionPane.svelte
+++ b/gui/frontend/src/lib/config/YuvPositionPane.svelte
@@ -580,6 +580,8 @@
   <div class="plane-row">
     <div
       class="plane"
+      role="application"
+      aria-label="YUV reference plane"
       bind:this={containerEl}
       onpointerdown={startPlaneDrag}
       onpointermove={onPlaneDrag}
@@ -602,7 +604,10 @@
             style:top={`${String(vToScreenFraction(m.yuv.v) * 100)}%`}
             style:background={rgbToCss(CANONICAL_COLORS[m.cls])}
             title={`${CLASS_LABELS[m.cls]} reference`}
-            onpointerdown={(e) => selectMarkerClass(m.cls, e)}
+            role="presentation"
+            onpointerdown={(e) => {
+              selectMarkerClass(m.cls, e);
+            }}
           >
             {CLASS_LETTERS[m.cls]}
           </div>
@@ -681,7 +686,12 @@
         ></div>
 
         <div class="restore-buttons">
-          <Button size="xs" color="light" outline onclick={restoreSelectedColor}>
+          <Button
+            size="xs"
+            color="light"
+            outline
+            onclick={restoreSelectedColor}
+          >
             Restore selected color
           </Button>
           <Button
@@ -711,13 +721,20 @@
     </div>
   </div>
 
-  <Modal title="Restore all colors?" bind:open={showRestoreAllConfirm} size="xs">
+  <Modal
+    title="Restore all colors?"
+    bind:open={showRestoreAllConfirm}
+    size="xs"
+  >
     <p>
       Resets all six reference colors to their defaults. Undo can step back
       through them one color at a time.
     </p>
     {#snippet footer()}
-      <Button color="alternative" onclick={() => (showRestoreAllConfirm = false)}>
+      <Button
+        color="alternative"
+        onclick={() => (showRestoreAllConfirm = false)}
+      >
         Cancel
       </Button>
       <Button color="red" onclick={confirmRestoreAllColors}>Restore all</Button>
diff --git a/gui/frontend/src/lib/geometry.svelte.ts b/gui/frontend/src/lib/geometry.svelte.ts
index c7ad585..4397595 100644
--- a/gui/frontend/src/lib/geometry.svelte.ts
+++ b/gui/frontend/src/lib/geometry.svelte.ts
@@ -1,11 +1,13 @@
-// Shared state for the virtual field editor. A module-level $state object,
-// per the project convention (this replaces a store; see CLAUDE.md).
+// Field types and the live field markings. The editable field itself lives in
+// the host's working document (config.svelte.ts's config.doc.field); this
+// module holds what's derived from it on the host -- the generated lines and
+// arcs -- plus the rulebook presets.
 import type {
   SSL_GeometryFieldSizeJson,
   SSL_FieldLineSegmentJson,
   SSL_FieldCircularArcJson,
 } from "../proto/vision/ssl_vision_geometry_pb";
-import { requestJSON, withLoadingState } from "./api";
+import { requestJSON } from "./api";
 
 // The editable dimensions: everything the generated field size carries except
 // fieldLines/fieldArcs, which are derived server-side and never hand-edited.
@@ -21,18 +23,14 @@ export interface OptionalFieldLines {
   penalty: boolean;
 }
 
-interface FieldConfigResponse {
-  path?: string;
-  field: FieldConfig;
-  optionalFieldLines: OptionalFieldLines;
-}
-
 // A rulebook preset, as served by GET /api/geometry/presets -- read live
 // from geometry-divA.yml/geometry-divB.yml on the Go host, not duplicated
 // here. See the setup wizard's WizardStart.svelte for what's done with one
 // once loaded.
-export interface FieldPreset extends FieldConfigResponse {
+export interface FieldPreset {
   name: string;
+  field: FieldConfig;
+  optionalFieldLines: OptionalFieldLines;
 }
 
 // Just enough of the full /api/geometry response to render the sketch -- not
@@ -47,138 +45,35 @@ interface GeometryResponse {
 }
 
 export const virtualField = $state<{
-  path: string;
-  field: FieldConfig;
-  optionalFieldLines: OptionalFieldLines;
   fieldLines: SSL_FieldLineSegmentJson[];
   fieldArcs: SSL_FieldCircularArcJson[];
   presets: FieldPreset[];
-  loading: boolean;
-  saving: boolean;
-  error: string | null;
-  dirty: boolean;
 }>({
-  path: "",
-  field: {},
-  optionalFieldLines: {
-    goal2Goal: false,
-    halfway: false,
-    centerCircle: false,
-    penalty: false,
-  },
   fieldLines: [],
   fieldArcs: [],
   presets: [],
-  loading: false,
-  saving: false,
-  error: null,
-  dirty: false,
 });
 
-// Presets are loaded separately from loadVirtualField: a preset endpoint that
-// can't be read (see the Go handler's graceful degradation) shouldn't stop
-// the actual field config from loading, and vice versa -- a convenience, not
-// required, so a failure here is silently ignored rather than surfaced.
+// A convenience, not required: a preset endpoint that can't be read (see the
+// Go handler's graceful degradation) just leaves the list empty.
 export async function loadFieldPresets(): Promise<void> {
   try {
     const response = await requestJSON("/api/geometry/presets");
     virtualField.presets = (await response.json()) as FieldPreset[];
   } catch {
-    // An empty list just means the preset section has nothing to offer.
+    // An empty list just means there's nothing to offer.
   }
 }
 
-// Refreshes fieldLines/fieldArcs from /api/geometry -- the field-config
-// endpoints don't carry the generated markings themselves, and every one of
-// them (load, save, save-as) leaves the server having just regenerated these
-// from whatever field config is now active.
-async function refreshFieldMarkings(): Promise<void> {
-  const response = await requestJSON("/api/geometry");
-  const geometry = (await response.json()) as GeometryResponse;
-  virtualField.fieldLines = geometry.geometry?.field?.fieldLines ?? [];
-  virtualField.fieldArcs = geometry.geometry?.field?.fieldArcs ?? [];
-}
-
-function applyFieldConfigResponse(config: FieldConfigResponse): void {
-  virtualField.path = config.path ?? "";
-  virtualField.field = config.field;
-  virtualField.optionalFieldLines = config.optionalFieldLines;
-  virtualField.dirty = false;
-}
-
-export async function loadVirtualField(): Promise<void> {
-  await withLoadingState(
-    (v) => (virtualField.loading = v),
-    (v) => (virtualField.error = v),
-    async () => {
-      const response = await requestJSON("/api/geometry/field");
-      applyFieldConfigResponse((await response.json()) as FieldConfigResponse);
-      await refreshFieldMarkings();
-    },
-  );
-}
-
-export async function saveVirtualField(): Promise<void> {
-  await withLoadingState(
-    (v) => (virtualField.saving = v),
-    (v) => (virtualField.error = v),
-    async () => {
-      await requestJSON("/api/geometry/field", {
-        method: "PUT",
-        headers: { "Content-Type": "application/json" },
-        body: JSON.stringify({
-          field: virtualField.field,
-          optionalFieldLines: virtualField.optionalFieldLines,
-        } satisfies FieldConfigResponse),
-      });
-
-      virtualField.dirty = false;
-      await refreshFieldMarkings();
-    },
-  );
-}
-
-// Writes the current field config to a new path and switches to editing that
-// file (see geometry.Geometry.SaveAs) -- subsequent saveVirtualField calls go
-// there, not wherever this session started out.
-export async function saveVirtualFieldAs(path: string): Promise<void> {
-  await withLoadingState(
-    (v) => (virtualField.saving = v),
-    (v) => (virtualField.error = v),
-    async () => {
-      await requestJSON("/api/geometry/field/save-as", {
-        method: "POST",
-        headers: { "Content-Type": "application/json" },
-        body: JSON.stringify({
-          path,
-          field: virtualField.field,
-          optionalFieldLines: virtualField.optionalFieldLines,
-        } satisfies FieldConfigResponse),
-      });
-
-      virtualField.path = path;
-      virtualField.dirty = false;
-      await refreshFieldMarkings();
-    },
-  );
-}
-
-// Discards the current field config and replaces it with whatever's at path
-// (see geometry.Geometry.LoadFrom). Existing calibrations are dropped
-// server-side -- they belonged to the field this used to be.
-export async function loadVirtualFieldFrom(path: string): Promise<void> {
-  await withLoadingState(
-    (v) => (virtualField.loading = v),
-    (v) => (virtualField.error = v),
-    async () => {
-      const response = await requestJSON("/api/geometry/field/load", {
-        method: "POST",
-        headers: { "Content-Type": "application/json" },
-        body: JSON.stringify({ path }),
-      });
-
-      applyFieldConfigResponse((await response.json()) as FieldConfigResponse);
-      await refreshFieldMarkings();
-    },
-  );
+// Refreshes fieldLines/fieldArcs from /api/geometry, which the host
+// regenerates from the field whenever the working document changes.
+export async function refreshFieldMarkings(): Promise<void> {
+  try {
+    const response = await requestJSON("/api/geometry");
+    const geometry = (await response.json()) as GeometryResponse;
+    virtualField.fieldLines = geometry.geometry?.field?.fieldLines ?? [];
+    virtualField.fieldArcs = geometry.geometry?.field?.fieldArcs ?? [];
+  } catch {
+    // The sketch keeps its last markings; the next edit retries.
+  }
 }
diff --git a/gui/frontend/src/lib/layout/ChangeList.svelte b/gui/frontend/src/lib/layout/ChangeList.svelte
new file mode 100644
index 0000000..a93c33d
--- /dev/null
+++ b/gui/frontend/src/lib/layout/ChangeList.svelte
@@ -0,0 +1,102 @@
+<script lang="ts">
+  import {
+    formatValue,
+    SECTION_LABELS,
+    type Change,
+    type Section,
+  } from "../config.svelte";
+
+  interface Props {
+    changes: Change[];
+  }
+
+  let { changes }: Props = $props();
+
+  const SECTION_ORDER: Section[] = ["field", "geometry", "color", "other"];
+
+  // Grouped by tab, then camera, so the list reads the way the UI is laid out.
+  let groups = $derived(
+    SECTION_ORDER.flatMap((section) => {
+      const inSection = changes.filter((c) => c.section === section);
+      const cameras = [...new Set(inSection.map((c) => c.cameraId))].sort(
+        (a, b) => (a ?? -1) - (b ?? -1),
+      );
+
+      return cameras.map((cameraId) => ({
+        key: `${section}:${String(cameraId)}`,
+        title:
+          cameraId === undefined
+            ? SECTION_LABELS[section]
+            : `${SECTION_LABELS[section]} — cam ${String(cameraId)}`,
+        changes: inSection.filter((c) => c.cameraId === cameraId),
+      }));
+    }),
+  );
+</script>
+
+<div class="change-list">
+  {#each groups as group (group.key)}
+    <h4>{group.title}</h4>
+    <ul>
+      {#each group.changes as change (change.path)}
+        <li>
+          <code class="path">{change.path}</code>
+          <span class="values">
+            <span class="before">{formatValue(change.before)}</span>
+            →
+            <span class="after">{formatValue(change.after)}</span>
+          </span>
+        </li>
+      {/each}
+    </ul>
+  {/each}
+</div>
+
+<style>
+  .change-list {
+    max-height: 50vh;
+    overflow-y: auto;
+    font-size: 0.85rem;
+  }
+
+  h4 {
+    margin: 0.75rem 0 0.25rem;
+    font-weight: 600;
+  }
+
+  h4:first-child {
+    margin-top: 0;
+  }
+
+  ul {
+    margin: 0;
+    padding: 0;
+    list-style: none;
+  }
+
+  li {
+    display: flex;
+    flex-wrap: wrap;
+    justify-content: space-between;
+    gap: 0.5rem;
+    padding: 0.2rem 0;
+    border-bottom: 1px solid #eee;
+  }
+
+  .path {
+    color: #444;
+  }
+
+  .values {
+    font-family: monospace;
+    overflow-wrap: anywhere;
+  }
+
+  .before {
+    color: #b00020;
+  }
+
+  .after {
+    color: #1b5e20;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/ConfigDialogs.svelte b/gui/frontend/src/lib/layout/ConfigDialogs.svelte
new file mode 100644
index 0000000..1316e1e
--- /dev/null
+++ b/gui/frontend/src/lib/layout/ConfigDialogs.svelte
@@ -0,0 +1,271 @@
+<script lang="ts">
+  import { Modal, Button } from "flowbite-svelte";
+  import {
+    config,
+    saveConfig,
+    saveConfigAs,
+    loadConfigFrom,
+    reloadFromDisk,
+  } from "../config.svelte";
+  import { fileDialogs } from "./fileDialogs.svelte";
+  import ChangeList from "./ChangeList.svelte";
+
+  // Mounted once at the shell root. The Modal class pins position/centering
+  // itself -- flowbite-svelte's dialog theme ships with its fixed-position
+  // variant commented out (see wizard/SetupWizard.svelte).
+  const MODAL_CLASS = "fixed inset-0 m-auto";
+
+  let changes = $derived(config.state?.changes ?? []);
+  let external = $derived(config.state?.external);
+  let externalKey = $derived(external ? JSON.stringify(external) : "");
+  let externalOpen = $derived(
+    externalKey !== "" && externalKey !== fileDialogs.dismissedExternal,
+  );
+
+  let pathInput = $state("");
+
+  $effect(() => {
+    if (fileDialogs.saveAs || fileDialogs.load) {
+      pathInput = config.state?.path ?? "";
+    }
+  });
+
+  function onKeydown(e: KeyboardEvent): void {
+    if ((e.ctrlKey || e.metaKey) && e.key.toLowerCase() === "s") {
+      e.preventDefault();
+      fileDialogs.save = true;
+    }
+  }
+
+  async function confirmSave(): Promise<void> {
+    const conflict = await saveConfig();
+    fileDialogs.save = false;
+
+    // A disk_changed conflict leaves state.external set, which opens the
+    // external-change dialog below on its own.
+    if (conflict && conflict.error !== "disk_changed") {
+      config.error = conflict.message;
+    }
+  }
+
+  async function confirmSaveAs(): Promise<void> {
+    if (!pathInput) return;
+
+    await saveConfigAs(pathInput);
+    if (!config.error) fileDialogs.saveAs = false;
+  }
+
+  async function confirmLoad(): Promise<void> {
+    if (!pathInput) return;
+
+    await loadConfigFrom(pathInput);
+    if (!config.error) fileDialogs.load = false;
+  }
+
+  async function overwriteDisk(): Promise<void> {
+    await saveConfig(true);
+  }
+
+  function later(): void {
+    fileDialogs.dismissedExternal = externalKey;
+  }
+</script>
+
+<svelte:window onkeydown={onKeydown} />
+
+{#if config.error}
+  <div class="error-banner" role="alert">
+    <span>{config.error}</span>
+    <button
+      type="button"
+      class="dismiss"
+      aria-label="Dismiss"
+      onclick={() => {
+        config.error = null;
+      }}>×</button
+    >
+  </div>
+{/if}
+
+<Modal
+  bind:open={fileDialogs.save}
+  title="Save configuration"
+  size="lg"
+  class={MODAL_CLASS}
+>
+  <p class="text-sm text-gray-600">
+    Writes to <code>{config.state?.path}</code>.
+  </p>
+
+  {#if changes.length === 0}
+    <p class="text-sm">No unsaved changes.</p>
+  {:else}
+    <ChangeList {changes} />
+  {/if}
+
+  <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
+    <Button
+      color="alternative"
+      onclick={() => {
+        fileDialogs.save = false;
+      }}>Cancel</Button
+    >
+    <Button
+      disabled={changes.length === 0 || config.busy}
+      onclick={confirmSave}
+    >
+      Save {changes.length} change{changes.length === 1 ? "" : "s"}
+    </Button>
+  </div>
+</Modal>
+
+<Modal
+  bind:open={fileDialogs.saveAs}
+  title="Save configuration as"
+  size="md"
+  class={MODAL_CLASS}
+>
+  <label class="flex flex-col gap-1 text-sm">
+    Path on the host
+    <input
+      type="text"
+      class="rounded border border-gray-300 p-1.5"
+      bind:value={pathInput}
+      placeholder="vision.yml"
+    />
+  </label>
+  <p class="text-sm text-gray-600">
+    The GUI edits and watches the new file from then on.
+  </p>
+
+  <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
+    <Button
+      color="alternative"
+      onclick={() => {
+        fileDialogs.saveAs = false;
+      }}>Cancel</Button
+    >
+    <Button disabled={!pathInput || config.busy} onclick={confirmSaveAs}
+      >Save</Button
+    >
+  </div>
+</Modal>
+
+<Modal
+  bind:open={fileDialogs.load}
+  title="Load configuration"
+  size="md"
+  class={MODAL_CLASS}
+>
+  <label class="flex flex-col gap-1 text-sm">
+    Path on the host
+    <input
+      type="text"
+      class="rounded border border-gray-300 p-1.5"
+      bind:value={pathInput}
+      placeholder="vision.yml"
+    />
+  </label>
+
+  {#if changes.length > 0}
+    <p class="text-sm text-red-700">
+      Loading discards {changes.length} unsaved change{changes.length === 1
+        ? ""
+        : "s"}, and applies the loaded file live.
+    </p>
+  {:else}
+    <p class="text-sm text-gray-600">The loaded file applies live.</p>
+  {/if}
+
+  <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
+    <Button
+      color="alternative"
+      onclick={() => {
+        fileDialogs.load = false;
+      }}>Cancel</Button
+    >
+    <Button disabled={!pathInput || config.busy} onclick={confirmLoad}
+      >Load</Button
+    >
+  </div>
+</Modal>
+
+<Modal
+  open={externalOpen}
+  title="Configuration changed on disk"
+  size="lg"
+  class={MODAL_CLASS}
+  dismissable={false}
+>
+  <p class="text-sm">
+    <code>{config.state?.path}</code> was edited outside the GUI.
+  </p>
+
+  {#if external?.error}
+    <p class="text-sm text-red-700">It can't be loaded as it is:</p>
+    <pre class="error-detail">{external.error}</pre>
+  {:else if external && external.changes.length > 0}
+    <p class="text-sm text-gray-600">Loading it would change:</p>
+    <ChangeList changes={external.changes} />
+  {:else}
+    <p class="text-sm text-gray-600">
+      The values match what's running; only formatting or comments differ.
+    </p>
+  {/if}
+
+  {#if changes.length > 0}
+    <p class="text-sm text-red-700">
+      You have {changes.length} unsaved change{changes.length === 1 ? "" : "s"}.
+      Loading discards them; overwriting replaces the edited file with them.
+    </p>
+  {/if}
+
+  <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
+    <Button color="alternative" onclick={later}>Later</Button>
+    <Button color="alternative" disabled={config.busy} onclick={overwriteDisk}
+      >Overwrite disk</Button
+    >
+    <Button
+      disabled={Boolean(external?.error) || config.busy}
+      onclick={reloadFromDisk}>Load from disk</Button
+    >
+  </div>
+</Modal>
+
+<style>
+  .error-banner {
+    position: fixed;
+    right: 1rem;
+    bottom: 1rem;
+    z-index: 60;
+    display: flex;
+    align-items: flex-start;
+    gap: 0.75rem;
+    max-width: 32rem;
+    padding: 0.75rem 1rem;
+    border: 1px solid #f5c2c7;
+    border-radius: 6px;
+    background: #fdecee;
+    color: #842029;
+    font-size: 0.85rem;
+    white-space: pre-wrap;
+  }
+
+  .dismiss {
+    padding: 0 0.3rem;
+    border: none;
+    background: none;
+    font-size: 1rem;
+    line-height: 1;
+  }
+
+  .error-detail {
+    max-height: 30vh;
+    overflow: auto;
+    padding: 0.5rem;
+    border-radius: 4px;
+    background: #f5f5f5;
+    font-size: 0.8rem;
+    white-space: pre-wrap;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/InstanceList.svelte b/gui/frontend/src/lib/layout/InstanceList.svelte
index 2e4b9a8..56bfe5e 100644
--- a/gui/frontend/src/lib/layout/InstanceList.svelte
+++ b/gui/frontend/src/lib/layout/InstanceList.svelte
@@ -1,27 +1,41 @@
 <script lang="ts">
-  import { nav } from "./nav.svelte";
+  import { nav, instances, selectedInstance } from "./nav.svelte";
+  import { config } from "../config.svelte";
+
+  // Cameras with unsaved changes get a dot, same idea as the tab asterisks.
+  let dirtyCameras = $derived(
+    new Set(
+      (config.state?.changes ?? [])
+        .map((c) => c.cameraId)
+        .filter((id) => id !== undefined),
+    ),
+  );
 </script>
 
 <section class="instance-list">
   <h2>Vision processors</h2>
   <p class="hint">
     One row per camera role, not per machine -- a host running all 4 cameras of
-    a quad setup appears here 4 times. Mock data for now; see internal/discovery
-    in gui/CLAUDE.md's "Not yet built".
+    a quad setup appears here 4 times. From vision.yml's cameras list.
   </p>
 
   <ul>
-    {#each nav.instances as instance (instance.id)}
+    {#each instances() as instance (instance.id)}
       <li>
         <button
           type="button"
-          class:selected={instance.id === nav.selectedInstanceId}
+          class:selected={instance.id === selectedInstance()?.id}
           onclick={() => {
             nav.selectedInstanceId = instance.id;
           }}
         >
           <span class="host">{instance.host}</span>
-          <span class="cam">cam {instance.cameraId}</span>
+          <span class="cam">
+            cam {instance.cameraId}{#if dirtyCameras.has(instance.cameraId)}<span
+                class="dirty-dot"
+                title="Unsaved changes">●</span
+              >{/if}
+          </span>
         </button>
       </li>
     {/each}
@@ -29,6 +43,13 @@
 </section>
 
 <style>
+  .dirty-dot {
+    margin-left: 0.3rem;
+    color: #1a56db;
+    font-size: 0.6rem;
+    vertical-align: middle;
+  }
+
   .instance-list {
     padding: 0.75rem;
     border-bottom: 1px solid #ddd;
diff --git a/gui/frontend/src/lib/layout/Shell.svelte b/gui/frontend/src/lib/layout/Shell.svelte
index b1b1c56..9320c51 100644
--- a/gui/frontend/src/lib/layout/Shell.svelte
+++ b/gui/frontend/src/lib/layout/Shell.svelte
@@ -5,7 +5,16 @@
   import ConfigNav from "./ConfigNav.svelte";
   import MainContent from "./MainContent.svelte";
   import type { Snippet } from "svelte";
-  import { Dropdown, DropdownGroup, Checkbox } from "flowbite-svelte";
+  import {
+    Dropdown,
+    DropdownGroup,
+    DropdownHeader,
+    DropdownItem,
+    Checkbox,
+  } from "flowbite-svelte";
+  import { config, reloadFromDisk } from "../config.svelte";
+  import { fileDialogs } from "./fileDialogs.svelte";
+  import ConfigDialogs from "./ConfigDialogs.svelte";
 
   // `below` is where App.svelte puts the existing snapshot grid / WS dev
   // panel for now, until they become the mockup's real Video + Debug Console
@@ -18,14 +27,42 @@
 
   let { below }: Props = $props();
 
-  // Global settings menu (gear, top-right) -- preferences (../preferences.svelte)
-  // is app-wide state, not scoped to any one tab, so it belongs in the shell
-  // rather than wherever happened to need it first. Dropdown (flowbite-svelte)
+  // Global settings menu (gear, top-right): the vision.yml file actions, then
+  // preferences (../preferences.svelte) -- both app-wide, not scoped to any
+  // one tab, so they belong in the shell rather than wherever happened to
+  // need them first. Dropdown (flowbite-svelte)
   // owns open/close and outside-click dismissal itself now -- previously
   // hand-rolled here with a window click listener.
   let settingsOpen = $state(false);
+
+  let unsaved = $derived(config.state?.changes.length ?? 0);
+
+  // Clears app.css's base-layer button chrome and matches the preference
+  // checkboxes below: same text, same left inset as their p-3 group.
+  const ITEM_CLASS =
+    "flex items-center justify-between gap-4 rounded-none border-0 bg-transparent px-3 py-1.5 text-sm font-medium text-gray-900 dark:text-white";
+
+  function openDialog(which: "save" | "saveAs" | "load"): void {
+    settingsOpen = false;
+    fileDialogs[which] = true;
+  }
+
+  function revert(): void {
+    settingsOpen = false;
+
+    if (
+      unsaved === 0 ||
+      confirm(
+        `Discard ${String(unsaved)} unsaved change(s) and reload from disk?`,
+      )
+    ) {
+      void reloadFromDisk();
+    }
+  }
 </script>
 
+<ConfigDialogs />
+
 <div class="shell">
   <header>
     <h1>vision-processor</h1>
@@ -40,7 +77,8 @@
         class="settings-button"
         aria-label="Settings"
       >
-        ⚙
+        ⚙{#if unsaved > 0}<span class="unsaved-dot" title="Unsaved changes"
+          ></span>{/if}
       </button>
 
       <Dropdown
@@ -48,6 +86,38 @@
         triggeredBy="#settings-trigger"
         bind:isOpen={settingsOpen}
       >
+        <DropdownHeader class="px-3">
+          <span class="block text-xs text-gray-500">Configuration</span>
+          <span class="block truncate font-mono text-xs"
+            >{config.state?.path ?? ""}</span
+          >
+        </DropdownHeader>
+        <DropdownGroup>
+          <DropdownItem
+            class={ITEM_CLASS}
+            onclick={() => {
+              openDialog("save");
+            }}
+          >
+            <span>Save{unsaved > 0 ? ` (${String(unsaved)})` : ""}</span>
+            <span class="text-xs font-normal text-gray-400">Ctrl+S</span>
+          </DropdownItem>
+          <DropdownItem
+            class={ITEM_CLASS}
+            onclick={() => {
+              openDialog("saveAs");
+            }}>Save as…</DropdownItem
+          >
+          <DropdownItem
+            class={ITEM_CLASS}
+            onclick={() => {
+              openDialog("load");
+            }}>Load…</DropdownItem
+          >
+          <DropdownItem class={ITEM_CLASS} onclick={revert}
+            >Revert to disk</DropdownItem
+          >
+        </DropdownGroup>
         <DropdownGroup class="flex flex-col gap-2 p-3">
           <Checkbox bind:checked={preferences.tooltipsEnabled}>
             Show extra tooltips
@@ -74,6 +144,16 @@
 </div>
 
 <style>
+  .unsaved-dot {
+    position: absolute;
+    top: 0.15rem;
+    right: 0.15rem;
+    width: 0.45rem;
+    height: 0.45rem;
+    border-radius: 50%;
+    background: #1a56db;
+  }
+
   .shell {
     display: grid;
     grid-template-columns: 280px 1fr;
@@ -127,6 +207,7 @@
   }
 
   .settings-button {
+    position: relative;
     width: 2rem;
     height: 2rem;
     display: inline-flex;
diff --git a/gui/frontend/src/lib/layout/TabBar.svelte b/gui/frontend/src/lib/layout/TabBar.svelte
index d59f48f..a78b529 100644
--- a/gui/frontend/src/lib/layout/TabBar.svelte
+++ b/gui/frontend/src/lib/layout/TabBar.svelte
@@ -1,6 +1,26 @@
 <script lang="ts">
-  import { nav } from "./nav.svelte";
+  import { nav, selectedInstance } from "./nav.svelte";
   import { CONFIG_CATEGORIES, TAB_CATEGORY_IDS } from "./configCategories";
+  import { changesFor, type Section } from "../config.svelte";
+
+  // Tab id -> which section of unsaved changes marks it dirty. Shared
+  // sections (the field) count regardless of camera; per-camera ones only for
+  // the selected camera.
+  const TAB_SECTIONS: Record<string, Section> = {
+    field: "field",
+    geometry: "geometry",
+    color: "color",
+  };
+
+  function isDirty(tabId: string): boolean {
+    const section = TAB_SECTIONS[tabId];
+    if (!section) return false;
+
+    const cameraId =
+      section === "field" ? undefined : selectedInstance()?.cameraId;
+
+    return changesFor(section, cameraId).length > 0;
+  }
 
   // Same source data as the sidebar (CONFIG_CATEGORIES), just a curated
   // subset in a fixed order -- both bind to nav.selectedCategoryId, so
@@ -25,7 +45,7 @@
         nav.selectedCategoryId = tab.id;
       }}
     >
-      {tab.label}
+      {tab.label}{isDirty(tab.id) ? "*" : ""}
     </button>
   {/each}
 </div>
diff --git a/gui/frontend/src/lib/layout/fileDialogs.svelte.ts b/gui/frontend/src/lib/layout/fileDialogs.svelte.ts
new file mode 100644
index 0000000..cfd9f05
--- /dev/null
+++ b/gui/frontend/src/lib/layout/fileDialogs.svelte.ts
@@ -0,0 +1,10 @@
+// Which file dialog is open. Module-level so the gear menu (which unmounts its
+// contents when it closes) can open a dialog that outlives it.
+export const fileDialogs = $state({
+  save: false,
+  saveAs: false,
+  load: false,
+  // The external change the user answered "Later" to; it re-prompts once the
+  // file changes again.
+  dismissedExternal: "",
+});
diff --git a/gui/frontend/src/lib/layout/nav.svelte.ts b/gui/frontend/src/lib/layout/nav.svelte.ts
index 024a2c8..90283bd 100644
--- a/gui/frontend/src/lib/layout/nav.svelte.ts
+++ b/gui/frontend/src/lib/layout/nav.svelte.ts
@@ -2,38 +2,38 @@
 // instance and which config category are selected. A module-level $state
 // object, per the project convention (see CLAUDE.md).
 import { CONFIG_CATEGORIES, type ConfigCategory } from "./configCategories";
+import { config } from "../config.svelte";
 
-// One row in the instance list: a single camera role on a single host, not a
-// machine. A host running all 4 cameras of a quad setup appears as 4 rows
-// sharing the same host, one per camera_id -- see the note in App.svelte
-// about internal/discovery not existing yet.
+// One row in the instance list: a single camera role, keyed by camera_id (its
+// position on the field) -- a host running all 4 cameras of a quad setup
+// appears as 4 rows. Comes from vision.yml's cameras list.
 export interface VisionInstance {
   id: string;
   host: string;
   cameraId: number;
 }
 
-// TODO(discovery): mock data. Replace with instances built from SSL_VPConfig
-// announces once internal/discovery exists (see gui/CLAUDE.md's "Not yet
-// built"). Kept non-empty so the panel has something to click while that's
-// unbuilt, rather than looking broken.
-const MOCK_INSTANCES: VisionInstance[] = [
-  { id: "camtest:0", host: "camtest-host", cameraId: 0 },
-  { id: "camtest:1", host: "camtest-host", cameraId: 1 },
-];
-
 export const nav = $state<{
-  instances: VisionInstance[];
   selectedInstanceId: string | null;
   selectedCategoryId: string;
 }>({
-  instances: MOCK_INSTANCES,
-  selectedInstanceId: MOCK_INSTANCES[0]?.id ?? null,
+  selectedInstanceId: null,
   selectedCategoryId: "field",
 });
 
+export function instances(): VisionInstance[] {
+  return (config.doc?.cameras ?? []).map((c) => ({
+    id: `cam:${String(c.cameraId)}`,
+    host: c.instance ?? "",
+    cameraId: c.cameraId,
+  }));
+}
+
+// The selected camera, or the first one until something's been picked.
 export function selectedInstance(): VisionInstance | undefined {
-  return nav.instances.find((i) => i.id === nav.selectedInstanceId);
+  const all = instances();
+
+  return all.find((i) => i.id === nav.selectedInstanceId) ?? all[0];
 }
 
 export function selectedCategory(): ConfigCategory {
diff --git a/gui/frontend/src/lib/lineCorners.svelte.ts b/gui/frontend/src/lib/lineCorners.svelte.ts
deleted file mode 100644
index e267e67..0000000
--- a/gui/frontend/src/lib/lineCorners.svelte.ts
+++ /dev/null
@@ -1,73 +0,0 @@
-// Shared state for the corner picker, mirroring geometry.svelte.ts's pattern
-// for the virtual field editor: a module-level $state object plus load/save
-// functions built on the shared api.ts helpers, instead of the corner picker
-// hand-rolling its own one-off fetch/loading/error shape.
-import { requestJSON, withLoadingState } from "./api";
-
-export interface Corner {
-  x: number;
-  y: number;
-}
-
-interface LineCornersResponse {
-  corners?: Corner[];
-  goalSideMarker?: number;
-}
-
-export const lineCorners = $state<{
-  corners: Corner[];
-  goalSideMarker: number | null;
-  loading: boolean;
-  saving: boolean;
-  error: string | null;
-  savedAt: number | null;
-}>({
-  corners: [],
-  goalSideMarker: null,
-  loading: false,
-  saving: false,
-  error: null,
-  savedAt: null,
-});
-
-// Loads whatever was last saved to the instance's config.yml (see
-// geometry.ReadLineCorners). lineCorners.corners stays empty if nothing's
-// been saved yet, or if what's there isn't a complete set of 4 -- that's the
-// normal, not-yet-calibrated state, not a failure.
-export async function loadLineCorners(): Promise<void> {
-  await withLoadingState(
-    (v) => (lineCorners.loading = v),
-    (v) => (lineCorners.error = v),
-    async () => {
-      const response = await requestJSON("/api/config/line-corners");
-      const data = (await response.json()) as LineCornersResponse;
-      lineCorners.corners = data.corners?.length === 4 ? data.corners : [];
-      lineCorners.goalSideMarker = data.goalSideMarker ?? null;
-    },
-  );
-}
-
-// Saves corners (already reordered so the goal-side corner is first -- see
-// orderedCorners in CornerPicker.svelte) and which original on-screen marker
-// number (1-4) was chosen, to the instance's config.yml (see
-// geometry.WriteLineCorners).
-export async function saveLineCorners(
-  corners: Corner[],
-  goalSideMarker: number,
-): Promise<void> {
-  lineCorners.savedAt = null;
-
-  await withLoadingState(
-    (v) => (lineCorners.saving = v),
-    (v) => (lineCorners.error = v),
-    async () => {
-      await requestJSON("/api/config/line-corners", {
-        method: "PUT",
-        headers: { "Content-Type": "application/json" },
-        body: JSON.stringify({ corners, goalSideMarker }),
-      });
-
-      lineCorners.savedAt = Date.now();
-    },
-  );
-}
diff --git a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
index 38dfba1..c545056 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
@@ -1,5 +1,5 @@
 <script lang="ts">
-  import { virtualField } from "../../geometry.svelte";
+  import { config } from "../../config.svelte";
   import { wizard } from "../wizard.svelte";
   import { OPTIONAL_LINE_FIELDS } from "../../fieldConfigFields";
 
@@ -10,7 +10,7 @@
 
 <div class="flex flex-col gap-3">
   <p class="text-sm text-gray-700">
-    Review, then apply to load these values into the editor.
+    Review, then apply to put these values live on the field.
   </p>
 
   <ul class="flex flex-col gap-1 text-sm text-gray-700">
@@ -25,9 +25,9 @@
   </ul>
 
   <p class="text-sm text-gray-600">
-    Applying loads these values into the Virtual Field editor but doesn't save
-    them -- use its own Save button to write <code
-      >{virtualField.path || "geometry.yml"}</code
+    Applying takes effect immediately but doesn't save -- use Save in the
+    settings menu (or Ctrl+S) to write <code
+      >{config.state?.path ?? "vision.yml"}</code
     >, then calibrate each camera on its own Geometry tab.
   </p>
 </div>
diff --git a/gui/frontend/src/lib/wizard/wizard.svelte.ts b/gui/frontend/src/lib/wizard/wizard.svelte.ts
index 965f3b7..a95411e 100644
--- a/gui/frontend/src/lib/wizard/wizard.svelte.ts
+++ b/gui/frontend/src/lib/wizard/wizard.svelte.ts
@@ -4,15 +4,15 @@
 // dimension fields are even worth asking about (a field with no penalty box
 // has no penalty box depth/width to enter). See WizardDimensions.svelte.
 // There's no dedicated save step: finish is a summary/confirm gate, and
-// confirming there is what copies `draft` into the live virtualField state
-// (see finishWizard below) -- persisting that to disk stays the normal
-// Save/Save As action in the main Virtual Field panel.
-import {
-  virtualField,
-  type FieldConfig,
-  type OptionalFieldLines,
-  type FieldPreset,
+// confirming there is what copies `draft` into the host's working document
+// (see finishWizard below), where it applies live -- persisting it to disk is
+// the normal Save in the settings menu.
+import type {
+  FieldConfig,
+  OptionalFieldLines,
+  FieldPreset,
 } from "../geometry.svelte";
+import { config } from "../config.svelte";
 
 export const WIZARD_STEPS = [
   "start",
@@ -34,9 +34,9 @@ export const wizard = $state<{
   fieldLayout: "full" | "half";
   cameraCount: number;
   // A working copy the wizard's own steps read and write, kept separate from
-  // virtualField so an abandoned wizard (closed without reaching Finish)
+  // config.doc so an abandoned wizard (closed without reaching Finish)
   // never leaves a half-entered field applied to the live editor/webpage.
-  // Only finishWizard() below copies this into virtualField.
+  // Only finishWizard() below copies this into config.doc.
   draft: { field: FieldConfig; optionalFieldLines: OptionalFieldLines };
 }>({
   open: false,
@@ -60,13 +60,15 @@ export function openWizard(): void {
   wizard.cameraCount = 1;
   // Seed from the current live field, not blank -- reopening the wizard to
   // adjust an already-configured field should start from what's there.
-  // $state.snapshot, not structuredClone: virtualField.field is itself a
-  // $state proxy, and structuredClone throws ("Proxy object could not be
-  // cloned") on one directly -- snapshot first to get a plain object.
-  wizard.draft.field = $state.snapshot(virtualField.field);
-  wizard.draft.optionalFieldLines = $state.snapshot(
-    virtualField.optionalFieldLines,
-  );
+  // $state.snapshot, not structuredClone: config.doc is a $state proxy, and
+  // structuredClone throws ("Proxy object could not be cloned") on one
+  // directly -- snapshot first to get a plain object.
+  if (config.doc) {
+    wizard.draft.field = $state.snapshot(config.doc.field);
+    wizard.draft.optionalFieldLines = $state.snapshot(
+      config.doc.optionalFieldLines,
+    );
+  }
   wizard.open = true;
 }
 
@@ -75,7 +77,7 @@ export function goToStep(step: WizardStep): void {
 }
 
 // The Division A/B short-circuit: loads the preset into the draft (not
-// virtualField directly) and skips straight past layout/optional lines/
+// config.doc directly) and skips straight past layout/optional lines/
 // dimensions, since a preset already supplies all three.
 export function applyPresetToDraft(preset: FieldPreset): void {
   wizard.draft.field = $state.snapshot(preset.field);
@@ -86,15 +88,16 @@ export function skipToFinish(): void {
   wizard.step = "finish";
 }
 
-// Only place the draft ever reaches virtualField: called from Finish's
-// confirm action. Marks dirty so the main panel's own Save/Save As (unchanged)
-// is what actually persists it.
+// Only place the draft ever reaches config.doc: called from Finish's confirm
+// action. It applies live from there; Save persists it.
 export function finishWizard(): void {
-  virtualField.field = $state.snapshot(wizard.draft.field);
-  virtualField.optionalFieldLines = $state.snapshot(
-    wizard.draft.optionalFieldLines,
-  );
-  virtualField.dirty = true;
+  if (config.doc) {
+    config.doc.field = $state.snapshot(wizard.draft.field);
+    config.doc.optionalFieldLines = $state.snapshot(
+      wizard.draft.optionalFieldLines,
+    );
+  }
+
   wizard.open = false;
 }
 
diff --git a/gui/internal/config/color.go b/gui/internal/config/color.go
new file mode 100644
index 0000000..ad29a97
--- /dev/null
+++ b/gui/internal/config/color.go
@@ -0,0 +1,170 @@
+package config
+
+import (
+	"errors"
+	"fmt"
+
+	"gopkg.in/yaml.v3"
+)
+
+// defaultMinReferenceForce is used when a color block has no
+// min_reference_force. It's a Go-host-only safety rail (see ColorConfig), not
+// a C++ constant to mirror -- 5% keeps the reference color from being tuned
+// away entirely without blocking deliberate low settings.
+const defaultMinReferenceForce = 0.05
+
+// colorReferenceDefaults mirrors src/Resources.cpp's applyTunables fallbacks
+// -- what vision_processor itself uses for a color left unset.
+var colorReferenceDefaults = map[string]RGB{
+	"orange": {192, 128, 64},
+	"field":  {128, 128, 128},
+	"yellow": {255, 128, 0},
+	"blue":   {0, 128, 255},
+	"green":  {0, 255, 128},
+	"pink":   {255, 0, 128},
+}
+
+// RGB is one reference color, 0-255 per channel.
+type RGB struct {
+	R int
+	G int
+	B int
+}
+
+// ColorConfig is a camera's effective color: block, with vision_processor's
+// own fallbacks filled in for anything unset. MinReferenceForce has no
+// protocol equivalent: it's a GUI-only floor on ReferenceForce, stored as
+// min_reference_force in the color block (yaml-cpp ignores unknown keys).
+type ColorConfig struct {
+	ReferenceForce    float64
+	HistoryForce      float64
+	MinReferenceForce float64
+	Orange            RGB
+	Field             RGB
+	Yellow            RGB
+	Blue              RGB
+	Green             RGB
+	Pink              RGB
+}
+
+// colorBlock is the YAML shape of a color: block. Scalars are pointers so a
+// missing key falls back to vision_processor's default rather than Go's zero
+// value, which would silently disagree with what the instance runs.
+type colorBlock struct {
+	ReferenceForce    *float64 `yaml:"reference_force"`
+	HistoryForce      *float64 `yaml:"history_force"`
+	MinReferenceForce *float64 `yaml:"min_reference_force"`
+	Orange            []int    `yaml:"orange"`
+	Field             []int    `yaml:"field"`
+	Yellow            []int    `yaml:"yellow"`
+	Blue              []int    `yaml:"blue"`
+	Green             []int    `yaml:"green"`
+	Pink              []int    `yaml:"pink"`
+}
+
+// colorFromBlock decodes a config.yml-layout color block (generic YAML values,
+// possibly nil) into a ColorConfig with fallbacks applied.
+func colorFromBlock(block any) (ColorConfig, error) {
+	var parsed colorBlock
+
+	if block != nil {
+		data, err := yaml.Marshal(block)
+		if err != nil {
+			return ColorConfig{}, err
+		}
+
+		if err := yaml.Unmarshal(data, &parsed); err != nil {
+			return ColorConfig{}, &ValidationError{fmt.Errorf("color: %w", err)}
+		}
+	}
+
+	floatOr := func(v *float64, def float64) float64 {
+		if v == nil {
+			return def
+		}
+
+		return *v
+	}
+
+	rgb := func(name string, vals []int) (RGB, error) {
+		switch len(vals) {
+		case 0:
+			return colorReferenceDefaults[name], nil
+		case 3:
+			return RGB{R: vals[0], G: vals[1], B: vals[2]}, nil
+		default:
+			return RGB{}, fmt.Errorf("color.%s: want [r, g, b], got %d values", name, len(vals))
+		}
+	}
+
+	var errs error
+
+	pick := func(name string, vals []int) RGB {
+		c, err := rgb(name, vals)
+		errs = errors.Join(errs, err)
+
+		return c
+	}
+
+	cfg := ColorConfig{
+		ReferenceForce:    floatOr(parsed.ReferenceForce, 0.1),
+		HistoryForce:      floatOr(parsed.HistoryForce, 0.7),
+		MinReferenceForce: floatOr(parsed.MinReferenceForce, defaultMinReferenceForce),
+		Orange:            pick("orange", parsed.Orange),
+		Field:             pick("field", parsed.Field),
+		Yellow:            pick("yellow", parsed.Yellow),
+		Blue:              pick("blue", parsed.Blue),
+		Green:             pick("green", parsed.Green),
+		Pink:              pick("pink", parsed.Pink),
+	}
+
+	if errs != nil {
+		return ColorConfig{}, &ValidationError{errs}
+	}
+
+	return cfg, nil
+}
+
+// Validate reports every out-of-range value at once.
+func (c ColorConfig) Validate() error {
+	var errs error
+
+	checkForce := func(name string, value float64) {
+		if value < 0 || value > 1 {
+			errs = errors.Join(errs, fmt.Errorf("color.%s: must be between 0 and 1, got %v", name, value))
+		}
+	}
+
+	checkForce("reference_force", c.ReferenceForce)
+	checkForce("history_force", c.HistoryForce)
+	checkForce("min_reference_force", c.MinReferenceForce)
+
+	if c.ReferenceForce < c.MinReferenceForce {
+		errs = errors.Join(errs, fmt.Errorf("color.reference_force: must be at least min_reference_force (%v), got %v", c.MinReferenceForce, c.ReferenceForce))
+	}
+
+	if c.ReferenceForce+c.HistoryForce > 1 {
+		errs = errors.Join(errs, fmt.Errorf("color.reference_force + history_force: must not exceed 1, got %v", c.ReferenceForce+c.HistoryForce))
+	}
+
+	checkColor := func(name string, c RGB) {
+		for channel, v := range map[string]int{"red": c.R, "green": c.G, "blue": c.B} {
+			if v < 0 || v > 255 {
+				errs = errors.Join(errs, fmt.Errorf("color.%s.%s: must be between 0 and 255, got %d", name, channel, v))
+			}
+		}
+	}
+
+	checkColor("orange", c.Orange)
+	checkColor("field", c.Field)
+	checkColor("yellow", c.Yellow)
+	checkColor("blue", c.Blue)
+	checkColor("green", c.Green)
+	checkColor("pink", c.Pink)
+
+	if errs != nil {
+		return &ValidationError{errs}
+	}
+
+	return nil
+}
diff --git a/gui/internal/config/diff.go b/gui/internal/config/diff.go
new file mode 100644
index 0000000..49d02f1
--- /dev/null
+++ b/gui/internal/config/diff.go
@@ -0,0 +1,150 @@
+package config
+
+import (
+	"fmt"
+	"reflect"
+	"slices"
+	"strings"
+)
+
+// Section names which GUI tab a change belongs to.
+const (
+	SectionField    = "field"
+	SectionGeometry = "geometry"
+	SectionColor    = "color"
+	SectionOther    = "other"
+)
+
+// Change is one leaf-level difference between two documents. Before or
+// After is nil when the value was added or removed. Lists (e.g.
+// line_corners) are compared as a whole, not element by element.
+type Change struct {
+	Path     string `json:"path"`
+	Before   any    `json:"before"`
+	After    any    `json:"after"`
+	Section  string `json:"section"`
+	CameraID *int   `json:"cameraId,omitempty"`
+}
+
+// Diff lists every difference from before to after, ordered by path.
+// Cameras are matched by camera_id, so reordering the list is not a change.
+func Diff(before, after Document) []Change {
+	var changes []Change
+
+	diffValue(nil, keyCameras(before.generic()), keyCameras(after.generic()), &changes)
+
+	return changes
+}
+
+// keyCameras replaces the cameras list with a map keyed "cameras[<id>]"
+// segments, so cameras diff by identity rather than list position.
+func keyCameras(doc map[string]any) map[string]any {
+	list, _ := doc["cameras"].([]any)
+	delete(doc, "cameras")
+
+	for _, item := range list {
+		cam, ok := item.(map[string]any)
+		if !ok {
+			continue
+		}
+
+		id := cam["camera_id"]
+		delete(cam, "camera_id")
+		doc[fmt.Sprintf("cameras[%v]", id)] = cam
+	}
+
+	return doc
+}
+
+// diffValue recurses only while both sides are maps. A map present on just
+// one side (a camera added, a calibration locked) is one change holding the
+// whole block, not one change per leaf.
+func diffValue(path []string, before, after any, changes *[]Change) {
+	beforeMap, beforeIsMap := before.(map[string]any)
+	afterMap, afterIsMap := after.(map[string]any)
+
+	if !beforeIsMap || !afterIsMap {
+		if !reflect.DeepEqual(before, after) {
+			*changes = append(*changes, newChange(path, before, after))
+		}
+
+		return
+	}
+
+	keys := make([]string, 0, len(beforeMap)+len(afterMap))
+	for k := range beforeMap {
+		keys = append(keys, k)
+	}
+
+	for k := range afterMap {
+		if _, ok := beforeMap[k]; !ok {
+			keys = append(keys, k)
+		}
+	}
+
+	slices.Sort(keys)
+
+	for _, k := range keys {
+		diffValue(append(slices.Clip(path), k), beforeMap[k], afterMap[k], changes)
+	}
+}
+
+func newChange(path []string, before, after any) Change {
+	section, cam := classify(path)
+
+	return Change{
+		Path:     strings.Join(path, "."),
+		Before:   before,
+		After:    after,
+		Section:  section,
+		CameraID: cam,
+	}
+}
+
+// classify maps a change's path to the GUI tab it belongs to and, for
+// per-camera settings, which camera.
+func classify(path []string) (string, *int) {
+	if len(path) == 0 {
+		return SectionOther, nil
+	}
+
+	segment := func(i int) string {
+		if i < len(path) {
+			return path[i]
+		}
+
+		return ""
+	}
+
+	switch first := path[0]; {
+	case first == "field" || first == "optional_field_lines" || first == "models":
+		return SectionField, nil
+	case first == "defaults":
+		if segment(1) == "color" {
+			return SectionColor, nil
+		}
+
+		return SectionOther, nil
+	case strings.HasPrefix(first, "cameras["):
+		var id int
+		if _, err := fmt.Sscanf(first, "cameras[%d]", &id); err != nil {
+			return SectionOther, nil
+		}
+
+		switch segment(1) {
+		case "config":
+			switch segment(2) {
+			case "color":
+				return SectionColor, &id
+			case "camera", "geometry", "":
+				return SectionGeometry, &id
+			default:
+				return SectionOther, &id
+			}
+		default:
+			return SectionGeometry, &id
+		}
+	default:
+		return SectionOther, nil
+	}
+}
diff --git a/gui/internal/config/document.go b/gui/internal/config/document.go
new file mode 100644
index 0000000..ce2e106
--- /dev/null
+++ b/gui/internal/config/document.go
@@ -0,0 +1,444 @@
+// Package config owns vision.yml: the single host-owned file holding the
+// field template, shared and per-camera vision_processor settings, and
+// explicitly locked camera calibrations. See Store for the live working copy
+// and its relationship to the file on disk.
+package config
+
+import (
+	"bytes"
+	"crypto/sha256"
+	"encoding/hex"
+	"encoding/json"
+	"errors"
+	"fmt"
+	"math"
+	"time"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/encoding/protojson"
+	"google.golang.org/protobuf/proto"
+	"gopkg.in/yaml.v3"
+)
+
+// Version is the vision.yml format version this package reads and writes.
+const Version = 1
+
+const fileHeader = `# vision-processor-gui configuration. Edit freely: the GUI watches this file
+# and asks before applying or overwriting changes made here. Comments are not
+# preserved when the GUI saves.
+`
+
+// Document is one vision.yml.
+type Document struct {
+	Version            int                          `yaml:"version" json:"version"`
+	Field              geometry.FieldConfig         `yaml:"field" json:"field"`
+	OptionalFieldLines geometry.OptionalLinesConfig `yaml:"optional_field_lines" json:"optionalFieldLines"`
+	// Models is SSL_GeometryModels in protojson (proto field names).
+	Models map[string]any `yaml:"models,omitempty" json:"models,omitempty"`
+	// Defaults uses vision_processor's own config.yml layout (camera:,
+	// geometry:, color:, thresholds:, ...) and applies to every camera.
+	Defaults map[string]any `yaml:"defaults,omitempty" json:"defaults,omitempty"`
+	Cameras  []Camera       `yaml:"cameras" json:"cameras"`
+}
+
+// Camera is one vision_processor instance, keyed by camera_id (its position
+// on the field), not by which machine runs it.
+type Camera struct {
+	CameraID int    `yaml:"camera_id" json:"cameraId"`
+	Instance string `yaml:"instance,omitempty" json:"instance,omitempty"`
+	// ConfigPath is a host-local config.yml to regenerate from this document
+	// for a vision_processor on the same machine. Empty for remote instances.
+	ConfigPath string `yaml:"config_path,omitempty" json:"configPath,omitempty"`
+	// Config overrides Defaults, same config.yml layout, deep-merged.
+	Config      map[string]any `yaml:"config,omitempty" json:"config,omitempty"`
+	Seed        *Seed          `yaml:"seed,omitempty" json:"seed,omitempty"`
+	Calibration *Calibration   `yaml:"calibration,omitempty" json:"calibration,omitempty"`
+}
+
+// Seed is the human-picked calibration starting point: the four field line
+// corners in image pixels, and the image resolution they were picked at.
+// Resolution [0, 0] means unknown (e.g. imported from a legacy config.yml).
+type Seed struct {
+	Resolution  [2]int   `yaml:"resolution,flow" json:"resolution"`
+	LineCorners [][2]int `yaml:"line_corners,flow" json:"lineCorners"`
+	// GoalSideMarker records which corner-picker marker (1-4) was chosen as
+	// the goal-side corner. vision_processor never reads it.
+	GoalSideMarker int `yaml:"goal_side_marker,omitempty" json:"goalSideMarker,omitempty"`
+}
+
+// Calibration is a locked SSL_GeometryCameraCalibration, published in place
+// of whatever the camera's vision_processor last sent.
+type Calibration struct {
+	LockedAt time.Time `yaml:"locked_at" json:"lockedAt"`
+	// FieldHash identifies the field dimensions the calibration was solved
+	// against; a mismatch means the field changed since locking.
+	FieldHash string `yaml:"field_hash" json:"fieldHash"`
+	// Camera is SSL_GeometryCameraCalibration in protojson (proto field names).
+	Camera map[string]any `yaml:"camera" json:"camera"`
+}
+
+// ValidationError marks a document rejected for its content -- the caller's
+// mistake, not ours. Callers use errors.As to answer 400 instead of 500.
+type ValidationError struct{ err error }
+
+func (v *ValidationError) Error() string { return v.err.Error() }
+func (v *ValidationError) Unwrap() error { return v.err }
+
+// IsValidation reports whether err is a content problem in either this
+// package's or internal/geometry's sense.
+func IsValidation(err error) bool {
+	var ours *ValidationError
+	var theirs *geometry.ValidationError
+
+	return errors.As(err, &ours) || errors.As(err, &theirs)
+}
+
+// Parse decodes and validates a vision.yml. Unknown keys are rejected so a
+// typo in a hand edit is reported rather than silently ignored.
+func Parse(data []byte) (Document, error) {
+	doc, err := decode(data)
+	if err != nil {
+		return Document{}, err
+	}
+
+	return doc, doc.Validate()
+}
+
+func decode(data []byte) (Document, error) {
+	decoder := yaml.NewDecoder(bytes.NewReader(data))
+	decoder.KnownFields(true)
+
+	var doc Document
+	if err := decoder.Decode(&doc); err != nil {
+		return Document{}, &ValidationError{fmt.Errorf("parse: %w", err)}
+	}
+
+	doc.normalize()
+
+	return doc, nil
+}
+
+// Marshal encodes doc as vision.yml, header comment included.
+func Marshal(doc Document) ([]byte, error) {
+	var buf bytes.Buffer
+	buf.WriteString(fileHeader)
+
+	encoder := yaml.NewEncoder(&buf)
+	encoder.SetIndent(2)
+
+	if err := encoder.Encode(doc); err != nil {
+		return nil, err
+	}
+
+	if err := encoder.Close(); err != nil {
+		return nil, err
+	}
+
+	return buf.Bytes(), nil
+}
+
+// Validate reports every problem at once, wrapped in a *ValidationError.
+func (d Document) Validate() error {
+	var errs error
+
+	add := func(err error) { errs = errors.Join(errs, err) }
+
+	if d.Version != Version {
+		add(fmt.Errorf("version: want %d, got %d", Version, d.Version))
+	}
+
+	if err := d.Field.Validate(); err != nil {
+		add(fmt.Errorf("field: %w", err))
+	}
+
+	if _, err := d.ModelsProto(); err != nil {
+		add(err)
+	}
+
+	seen := map[int]bool{}
+
+	for _, c := range d.Cameras {
+		prefix := fmt.Sprintf("cameras[%d]", c.CameraID)
+
+		if c.CameraID < 0 {
+			add(fmt.Errorf("%s.camera_id: must not be negative", prefix))
+		}
+
+		if seen[c.CameraID] {
+			add(fmt.Errorf("%s.camera_id: duplicate", prefix))
+		}
+
+		seen[c.CameraID] = true
+
+		if c.Seed != nil {
+			add(c.Seed.validate(prefix + ".seed"))
+		}
+
+		if c.Calibration != nil {
+			p, err := c.Calibration.Proto()
+			switch {
+			case err != nil:
+				add(fmt.Errorf("%s.calibration: %w", prefix, err))
+			case int(p.GetCameraId()) != c.CameraID:
+				add(fmt.Errorf("%s.calibration.camera.camera_id: want %d, got %d", prefix, c.CameraID, p.GetCameraId()))
+			}
+		}
+
+		color, err := colorFromBlock(d.Effective(c)["color"])
+		if err != nil {
+			add(fmt.Errorf("%s: %w", prefix, err))
+		} else if err := color.Validate(); err != nil {
+			add(fmt.Errorf("%s: %w", prefix, err))
+		}
+	}
+
+	if errs != nil {
+		return &ValidationError{errs}
+	}
+
+	return nil
+}
+
+func (s Seed) validate(prefix string) error {
+	var errs error
+
+	if s.Resolution[0] < 0 || s.Resolution[1] < 0 {
+		errs = errors.Join(errs, fmt.Errorf("%s.resolution: must not be negative", prefix))
+	}
+
+	if (s.Resolution[0] == 0) != (s.Resolution[1] == 0) {
+		errs = errors.Join(errs, fmt.Errorf("%s.resolution: set both width and height, or neither", prefix))
+	}
+
+	if n := len(s.LineCorners); n != 0 && n != 4 {
+		errs = errors.Join(errs, fmt.Errorf("%s.line_corners: want 0 or 4 corners, got %d", prefix, n))
+	}
+
+	if s.GoalSideMarker < 0 || s.GoalSideMarker > 4 {
+		errs = errors.Join(errs, fmt.Errorf("%s.goal_side_marker: want 0-4, got %d", prefix, s.GoalSideMarker))
+	}
+
+	return errs
+}
+
+// Effective is a camera's config.yml-layout settings: Defaults with the
+// camera's own Config deep-merged over it.
+func (d Document) Effective(c Camera) map[string]any {
+	return deepMerge(d.Defaults, c.Config)
+}
+
+// ModelsProto decodes Models, or returns nil if there are none.
+func (d Document) ModelsProto() (*vision.SSL_GeometryModels, error) {
+	if len(d.Models) == 0 {
+		return nil, nil
+	}
+
+	data, err := json.Marshal(d.Models)
+	if err != nil {
+		return nil, err
+	}
+
+	models := &vision.SSL_GeometryModels{}
+	if err := protojson.Unmarshal(data, models); err != nil {
+		return nil, fmt.Errorf("models: %w", err)
+	}
+
+	return models, nil
+}
+
+// Proto decodes the locked calibration and checks it's complete.
+func (c Calibration) Proto() (*vision.SSL_GeometryCameraCalibration, error) {
+	data, err := json.Marshal(c.Camera)
+	if err != nil {
+		return nil, err
+	}
+
+	calib := &vision.SSL_GeometryCameraCalibration{}
+	if err := protojson.Unmarshal(data, calib); err != nil {
+		return nil, fmt.Errorf("camera: %w", err)
+	}
+
+	if err := proto.CheckInitialized(calib); err != nil {
+		return nil, fmt.Errorf("camera: %w", err)
+	}
+
+	return calib, nil
+}
+
+// protoMap is msg as protojson with proto field names, decoded to plain
+// values -- the form Models and Calibration.Camera are stored in.
+func protoMap(msg proto.Message) (map[string]any, error) {
+	data, err := protojson.MarshalOptions{UseProtoNames: true}.Marshal(msg)
+	if err != nil {
+		return nil, err
+	}
+
+	var m map[string]any
+	if err := json.Unmarshal(data, &m); err != nil {
+		return nil, err
+	}
+
+	normalized, _ := normalize(m).(map[string]any)
+
+	return normalized, nil
+}
+
+// fieldHash fingerprints the field dimensions a calibration was solved
+// against. Short, since it only needs to notice a change, not resist attack.
+func fieldHash(field geometry.FieldConfig) string {
+	data, err := yaml.Marshal(field)
+	if err != nil {
+		return ""
+	}
+
+	sum := sha256.Sum256(data)
+
+	return "sha256:" + hex.EncodeToString(sum[:8])
+}
+
+// camera returns a pointer to the camera with id, or nil.
+func (d *Document) camera(id int) *Camera {
+	for i := range d.Cameras {
+		if d.Cameras[i].CameraID == id {
+			return &d.Cameras[i]
+		}
+	}
+
+	return nil
+}
+
+// clone deep-copies d through its YAML encoding.
+func (d Document) clone() Document {
+	data, err := yaml.Marshal(d)
+	if err != nil {
+		panic(fmt.Sprintf("config: marshal for clone: %v", err))
+	}
+
+	var out Document
+	if err := yaml.Unmarshal(data, &out); err != nil {
+		panic(fmt.Sprintf("config: unmarshal for clone: %v", err))
+	}
+
+	out.normalize()
+
+	return out
+}
+
+// generic is d as plain YAML values -- what Diff compares.
+func (d Document) generic() map[string]any {
+	data, err := yaml.Marshal(d)
+	if err != nil {
+		panic(fmt.Sprintf("config: marshal for diff: %v", err))
+	}
+
+	var out map[string]any
+	if err := yaml.Unmarshal(data, &out); err != nil {
+		panic(fmt.Sprintf("config: unmarshal for diff: %v", err))
+	}
+
+	normalized, _ := normalize(out).(map[string]any)
+
+	return normalized
+}
+
+// normalize canonicalizes every free-form map in d, so a value is equal to
+// itself whether it arrived as YAML (ints) or JSON from the browser (all
+// float64).
+func (d *Document) normalize() {
+	d.Models = normalizeMap(d.Models)
+	d.Defaults = normalizeMap(d.Defaults)
+
+	for i := range d.Cameras {
+		c := &d.Cameras[i]
+		c.Config = normalizeMap(c.Config)
+
+		if c.Calibration != nil {
+			c.Calibration.Camera = normalizeMap(c.Calibration.Camera)
+		}
+	}
+}
+
+func normalizeMap(m map[string]any) map[string]any {
+	if m == nil {
+		return nil
+	}
+
+	out, _ := normalize(m).(map[string]any)
+
+	return out
+}
+
+// normalize turns integral floats into ints and every number type into int
+// or float64, recursively.
+func normalize(v any) any {
+	switch t := v.(type) {
+	case map[string]any:
+		out := make(map[string]any, len(t))
+		for k, val := range t {
+			out[k] = normalize(val)
+		}
+
+		return out
+	case []any:
+		out := make([]any, len(t))
+		for i, val := range t {
+			out[i] = normalize(val)
+		}
+
+		return out
+	case float64:
+		if t == math.Trunc(t) && math.Abs(t) < 1<<53 {
+			return int(t)
+		}
+
+		return t
+	case float32:
+		return normalize(float64(t))
+	case int64:
+		return int(t)
+	case uint64:
+		return int(t)
+	default:
+		return v
+	}
+}
+
+// deepMerge returns base with over merged on top: nested maps merge, anything
+// else in over replaces. Neither input is modified.
+func deepMerge(base, over map[string]any) map[string]any {
+	out := make(map[string]any, len(base)+len(over))
+
+	for k, v := range base {
+		out[k] = deepCopy(v)
+	}
+
+	for k, v := range over {
+		baseMap, baseIsMap := out[k].(map[string]any)
+		overMap, overIsMap := v.(map[string]any)
+
+		if baseIsMap && overIsMap {
+			out[k] = deepMerge(baseMap, overMap)
+		} else {
+			out[k] = deepCopy(v)
+		}
+	}
+
+	return out
+}
+
+func deepCopy(v any) any {
+	switch t := v.(type) {
+	case map[string]any:
+		return deepMerge(t, nil)
+	case []any:
+		out := make([]any, len(t))
+		for i, val := range t {
+			out[i] = deepCopy(val)
+		}
+
+		return out
+	default:
+		return v
+	}
+}
diff --git a/gui/internal/config/document_test.go b/gui/internal/config/document_test.go
new file mode 100644
index 0000000..0d27d46
--- /dev/null
+++ b/gui/internal/config/document_test.go
@@ -0,0 +1,338 @@
+package config
+
+import (
+	"encoding/json"
+	"os"
+	"path/filepath"
+	"strings"
+	"testing"
+	"time"
+
+	"gopkg.in/yaml.v3"
+)
+
+func loadFixture(t *testing.T) Document {
+	t.Helper()
+
+	data, err := os.ReadFile("testdata/vision.yml")
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	doc, err := Parse(data)
+	if err != nil {
+		t.Fatalf("Parse: %v", err)
+	}
+
+	return doc
+}
+
+func TestParseReadsTheFixture(t *testing.T) {
+	doc := loadFixture(t)
+
+	if doc.Field.FieldLength != 9000 || len(doc.Cameras) != 2 {
+		t.Fatalf("field_length=%d cameras=%d, want 9000 and 2", doc.Field.FieldLength, len(doc.Cameras))
+	}
+
+	c := doc.Cameras[0]
+	if c.Seed == nil || c.Seed.Resolution != [2]int{1920, 1080} || len(c.Seed.LineCorners) != 4 {
+		t.Fatalf("seed = %+v, want 1920x1080 with 4 corners", c.Seed)
+	}
+
+	calib, err := c.Calibration.Proto()
+	if err != nil {
+		t.Fatalf("Calibration.Proto: %v", err)
+	}
+
+	if calib.GetPixelImageWidth() != 1920 || calib.GetTz() != 4000 {
+		t.Fatalf("calibration = %v, want pixel width 1920 and tz 4000", calib)
+	}
+}
+
+func TestMarshalParseRoundTrips(t *testing.T) {
+	doc := loadFixture(t)
+
+	data, err := Marshal(doc)
+	if err != nil {
+		t.Fatalf("Marshal: %v", err)
+	}
+
+	again, err := Parse(data)
+	if err != nil {
+		t.Fatalf("Parse(Marshal(doc)): %v\n%s", err, data)
+	}
+
+	if changes := Diff(doc, again); len(changes) != 0 {
+		t.Fatalf("round trip changed the document: %+v", changes)
+	}
+}
+
+// The browser sends every number as a JSON float; a document that went
+// through JSON must still compare equal to the one read from YAML, or every
+// edit would show bogus "1920 -> 1920" changes.
+func TestDiffIgnoresNumberRepresentation(t *testing.T) {
+	doc := loadFixture(t)
+
+	data, err := json.Marshal(doc)
+	if err != nil {
+		t.Fatalf("json.Marshal: %v", err)
+	}
+
+	var fromJSON Document
+	if err := json.Unmarshal(data, &fromJSON); err != nil {
+		t.Fatalf("json.Unmarshal: %v", err)
+	}
+
+	fromJSON.normalize()
+
+	if changes := Diff(doc, fromJSON); len(changes) != 0 {
+		t.Fatalf("JSON round trip produced changes: %+v", changes)
+	}
+}
+
+func TestParseRejectsUnknownKeys(t *testing.T) {
+	data, err := os.ReadFile("testdata/vision.yml")
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	typo := strings.Replace(string(data), "optional_field_lines:", "optional_feild_lines:", 1)
+
+	if _, err := Parse([]byte(typo)); err == nil || !IsValidation(err) {
+		t.Fatalf("Parse(typo) = %v, want a validation error", err)
+	}
+}
+
+func TestValidateReportsEveryProblem(t *testing.T) {
+	doc := loadFixture(t)
+	doc.Cameras[1].CameraID = 0
+	doc.Cameras[0].Seed.LineCorners = doc.Cameras[0].Seed.LineCorners[:3]
+	doc.Field.GoalWidth = 0
+
+	err := doc.Validate()
+	if err == nil {
+		t.Fatal("Validate accepted a broken document")
+	}
+
+	for _, want := range []string{"duplicate", "want 0 or 4 corners", "goal_width"} {
+		if !strings.Contains(err.Error(), want) {
+			t.Errorf("error %q missing %q", err, want)
+		}
+	}
+}
+
+func TestValidateRejectsAMismatchedCalibrationCameraID(t *testing.T) {
+	doc := loadFixture(t)
+	doc.Cameras[0].Calibration.Camera["camera_id"] = 3
+
+	if err := doc.Validate(); err == nil || !strings.Contains(err.Error(), "camera_id") {
+		t.Fatalf("Validate = %v, want a camera_id mismatch", err)
+	}
+}
+
+func TestValidateRejectsAnOutOfRangeColor(t *testing.T) {
+	doc := loadFixture(t)
+	doc.Cameras[0].Config["color"] = map[string]any{"reference_force": 0.9, "history_force": 0.5}
+
+	if err := doc.Validate(); err == nil || !strings.Contains(err.Error(), "must not exceed 1") {
+		t.Fatalf("Validate = %v, want a color force error", err)
+	}
+}
+
+func TestImportBuildsADocumentFromLegacyFiles(t *testing.T) {
+	doc, err := Import("testdata/legacy-geometry.yml", "testdata/legacy-config.yml")
+	if err != nil {
+		t.Fatalf("Import: %v", err)
+	}
+
+	if doc.Field.FieldLength != 2160 || !doc.OptionalFieldLines.Halfway {
+		t.Errorf("field = %+v, want the legacy geometry", doc.Field)
+	}
+
+	if _, ok := doc.Models["straight_two_phase"]; !ok {
+		t.Errorf("models = %v, want straight_two_phase carried over", doc.Models)
+	}
+
+	if len(doc.Cameras) != 1 {
+		t.Fatalf("cameras = %d, want 1", len(doc.Cameras))
+	}
+
+	c := doc.Cameras[0]
+	if c.CameraID != 1 || c.ConfigPath != "testdata/legacy-config.yml" {
+		t.Errorf("camera_id=%d config_path=%q, want 1 and the legacy file", c.CameraID, c.ConfigPath)
+	}
+
+	if c.Seed == nil || len(c.Seed.LineCorners) != 4 || c.Seed.GoalSideMarker != 2 || c.Seed.Resolution != [2]int{} {
+		t.Errorf("seed = %+v, want 4 corners, marker 2, unknown resolution", c.Seed)
+	}
+
+	geom, _ := c.Config["geometry"].(map[string]any)
+	for _, derived := range []string{"line_corners", "goal_side_marker", "camera_amount"} {
+		if _, ok := geom[derived]; ok {
+			t.Errorf("camera config still has geometry.%s", derived)
+		}
+	}
+
+	if _, ok := c.Config["color"]; !ok {
+		t.Error("color should be per-camera")
+	}
+
+	if _, ok := doc.Defaults["thresholds"]; !ok {
+		t.Error("thresholds should be a shared default")
+	}
+
+	if _, ok := doc.Defaults["tracking"]; ok {
+		t.Error("an empty legacy section should not be carried over")
+	}
+}
+
+func TestImportWithoutAConfigFileMakesCameraZero(t *testing.T) {
+	doc, err := Import("testdata/legacy-geometry.yml", "")
+	if err != nil {
+		t.Fatalf("Import: %v", err)
+	}
+
+	if len(doc.Cameras) != 1 || doc.Cameras[0].CameraID != 0 || doc.Cameras[0].ConfigPath != "" {
+		t.Fatalf("cameras = %+v, want a lone camera 0 with no config_path", doc.Cameras)
+	}
+}
+
+func TestDiffClassifiesSections(t *testing.T) {
+	before := loadFixture(t)
+	after := before.clone()
+
+	after.Field.FieldWidth = 5000
+	after.Cameras[0].Seed.LineCorners[0] = [2]int{1, 2}
+	after.Cameras[0].Config["color"].(map[string]any)["orange"] = []any{1, 2, 3}
+	after.Defaults["color"].(map[string]any)["reference_force"] = 0.2
+	after.Defaults["thresholds"].(map[string]any)["min_confidence"] = 0.4
+	after.Cameras[0].Calibration.Camera["tz"] = 4100
+
+	want := map[string]struct {
+		section string
+		camera  int // -1 for none
+	}{
+		"field.field_width":                  {SectionField, -1},
+		"cameras[0].seed.line_corners":       {SectionGeometry, 0},
+		"cameras[0].config.color.orange":     {SectionColor, 0},
+		"defaults.color.reference_force":     {SectionColor, -1},
+		"defaults.thresholds.min_confidence": {SectionOther, -1},
+		"cameras[0].calibration.camera.tz":   {SectionGeometry, 0},
+	}
+
+	changes := Diff(before, after)
+	if len(changes) != len(want) {
+		t.Fatalf("got %d changes, want %d: %+v", len(changes), len(want), changes)
+	}
+
+	for _, c := range changes {
+		w, ok := want[c.Path]
+		if !ok {
+			t.Errorf("unexpected change %q", c.Path)
+
+			continue
+		}
+
+		gotCamera := -1
+		if c.CameraID != nil {
+			gotCamera = *c.CameraID
+		}
+
+		if c.Section != w.section || gotCamera != w.camera {
+			t.Errorf("%s: section=%s camera=%d, want %s and %d", c.Path, c.Section, gotCamera, w.section, w.camera)
+		}
+	}
+}
+
+func TestDiffMatchesCamerasByIDNotPosition(t *testing.T) {
+	before := loadFixture(t)
+	after := before.clone()
+	after.Cameras[0], after.Cameras[1] = after.Cameras[1], after.Cameras[0]
+
+	if changes := Diff(before, after); len(changes) != 0 {
+		t.Fatalf("reordering cameras produced changes: %+v", changes)
+	}
+}
+
+func TestDiffReportsANewBlockAsOneChange(t *testing.T) {
+	before := loadFixture(t)
+	after := before.clone()
+	after.Cameras = append(after.Cameras, Camera{CameraID: 2})
+	after.Cameras[1].Calibration = before.Cameras[0].clone().Calibration
+
+	paths := []string{}
+	for _, c := range Diff(before, after) {
+		paths = append(paths, c.Path)
+	}
+
+	want := []string{"cameras[1].calibration", "cameras[2]"}
+	if strings.Join(paths, ",") != strings.Join(want, ",") {
+		t.Fatalf("paths = %v, want %v", paths, want)
+	}
+}
+
+func TestRenderMergesDefaultsAndInjectsDerivedKeys(t *testing.T) {
+	doc := loadFixture(t)
+
+	data, err := Render(doc, doc.Cameras[0], "vision.yml")
+	if err != nil {
+		t.Fatalf("Render: %v", err)
+	}
+
+	var got map[string]any
+	if err := yaml.Unmarshal(data, &got); err != nil {
+		t.Fatalf("Unmarshal render: %v\n%s", err, data)
+	}
+
+	camera := got["camera"].(map[string]any)
+	if camera["driver"] != "OPENCV" || camera["width"] != 1920 {
+		t.Errorf("camera = %v, want the default driver merged with the camera's own width", camera)
+	}
+
+	color := got["color"].(map[string]any)
+	if color["reference_force"] != 0.1 || color["orange"].([]any)[0] != 200 {
+		t.Errorf("color = %v, want default force with the camera's orange override", color)
+	}
+
+	geom := got["geometry"].(map[string]any)
+	if got["cam_id"] != 0 || geom["camera_amount"] != 2 || len(geom["line_corners"].([]any)) != 4 {
+		t.Errorf("cam_id=%v geometry=%v, want derived cam_id 0, camera_amount 2, 4 corners", got["cam_id"], geom)
+	}
+
+	if !strings.Contains(string(data), "- [1131, 949]") {
+		t.Errorf("corners should render as flow pairs:\n%s", data)
+	}
+}
+
+func TestRenderAllOnlyWritesChangedFiles(t *testing.T) {
+	doc := loadFixture(t)
+	path := filepath.Join(t.TempDir(), "config.yml")
+	doc.Cameras[0].ConfigPath = path
+
+	if failures := renderAll(doc, "vision.yml"); len(failures) != 0 {
+		t.Fatalf("renderAll: %v", failures)
+	}
+
+	old := time.Now().Add(-time.Hour).Truncate(time.Second)
+	if err := os.Chtimes(path, old, old); err != nil {
+		t.Fatalf("Chtimes: %v", err)
+	}
+
+	renderAll(doc, "vision.yml")
+
+	if info, _ := os.Stat(path); !info.ModTime().Equal(old) {
+		t.Fatalf("unchanged render rewrote the file")
+	}
+
+	doc.Cameras[0].Config["camera"].(map[string]any)["width"] = 1280
+	renderAll(doc, "vision.yml")
+
+	if info, _ := os.Stat(path); info.ModTime().Equal(old) {
+		t.Fatalf("changed render did not rewrite the file")
+	}
+}
+
+// clone of one camera, via the document clone, for tests.
+func (c Camera) clone() Camera {
+	return Document{Version: Version, Cameras: []Camera{c}}.clone().Cameras[0]
+}
diff --git a/gui/internal/config/import.go b/gui/internal/config/import.go
new file mode 100644
index 0000000..1d9ebbd
--- /dev/null
+++ b/gui/internal/config/import.go
@@ -0,0 +1,151 @@
+package config
+
+import (
+	"fmt"
+	"os"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
+	"gopkg.in/yaml.v3"
+)
+
+// perCameraSections are the config.yml sections an import places on the
+// camera itself; every other top-level key becomes a shared default.
+var perCameraSections = []string{"camera", "geometry", "color"}
+
+// Import builds a document from the pre-vision.yml layout: a geometry file
+// (geometry-*.yml) and, optionally, one vision_processor config.yml. With no
+// config file the document gets a single camera 0. The imported camera's
+// ConfigPath is the config file itself, so the next render regenerates it in
+// place.
+func Import(geometryPath, configPath string) (Document, error) {
+	field, optional, models, err := geometry.LoadFieldFile(geometryPath)
+	if err != nil {
+		return Document{}, err
+	}
+
+	doc := Document{
+		Version:            Version,
+		Field:              field,
+		OptionalFieldLines: optional,
+	}
+
+	if models != nil {
+		m, err := protoMap(models)
+		if err != nil {
+			return Document{}, fmt.Errorf("models: %w", err)
+		}
+
+		doc.Models = m
+	}
+
+	camera := Camera{CameraID: 0}
+
+	if configPath != "" {
+		camera, doc.Defaults, err = importConfig(configPath)
+		if err != nil {
+			return Document{}, err
+		}
+	}
+
+	if host, err := os.Hostname(); err == nil {
+		camera.Instance = host
+	}
+
+	doc.Cameras = []Camera{camera}
+	doc.normalize()
+
+	return doc, doc.Validate()
+}
+
+func importConfig(path string) (Camera, map[string]any, error) {
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return Camera{}, nil, fmt.Errorf("read %s: %w", path, err)
+	}
+
+	var raw map[string]any
+	if err := yaml.Unmarshal(data, &raw); err != nil {
+		return Camera{}, nil, fmt.Errorf("parse %s: %w", path, err)
+	}
+
+	raw, _ = normalize(raw).(map[string]any)
+	if raw == nil {
+		raw = map[string]any{}
+	}
+
+	// A section header with every key under it commented out (how config.yml
+	// ships) decodes as null; there's nothing to carry over.
+	for k, v := range raw {
+		if v == nil {
+			delete(raw, k)
+		}
+	}
+
+	camera := Camera{ConfigPath: path, Config: map[string]any{}}
+
+	if id, ok := raw["cam_id"].(int); ok {
+		camera.CameraID = id
+	}
+
+	delete(raw, "cam_id")
+
+	if geom, ok := raw["geometry"].(map[string]any); ok {
+		seed, err := importSeed(geom)
+		if err != nil {
+			return Camera{}, nil, fmt.Errorf("%s: %w", path, err)
+		}
+
+		camera.Seed = seed
+
+		delete(geom, "line_corners")
+		delete(geom, "goal_side_marker")
+		delete(geom, "camera_amount") // derived from the camera count now
+	}
+
+	for _, key := range perCameraSections {
+		if block, ok := raw[key].(map[string]any); ok && len(block) > 0 {
+			camera.Config[key] = block
+		}
+
+		delete(raw, key)
+	}
+
+	if len(camera.Config) == 0 {
+		camera.Config = nil
+	}
+
+	if len(raw) == 0 {
+		raw = nil
+	}
+
+	return camera, raw, nil
+}
+
+func importSeed(geom map[string]any) (*Seed, error) {
+	list, _ := geom["line_corners"].([]any)
+	marker, _ := geom["goal_side_marker"].(int)
+
+	if len(list) == 0 {
+		return nil, nil
+	}
+
+	seed := &Seed{GoalSideMarker: marker}
+
+	for i, item := range list {
+		pair, ok := item.([]any)
+		if !ok || len(pair) != 2 {
+			return nil, fmt.Errorf("geometry.line_corners[%d]: want [x, y]", i)
+		}
+
+		x, xok := pair[0].(int)
+		y, yok := pair[1].(int)
+
+		if !xok || !yok {
+			return nil, fmt.Errorf("geometry.line_corners[%d]: want integer pixels", i)
+		}
+
+		seed.LineCorners = append(seed.LineCorners, [2]int{x, y})
+	}
+
+	return seed, nil
+}
diff --git a/gui/internal/config/render.go b/gui/internal/config/render.go
new file mode 100644
index 0000000..4e53948
--- /dev/null
+++ b/gui/internal/config/render.go
@@ -0,0 +1,131 @@
+package config
+
+import (
+	"bytes"
+	"fmt"
+	"os"
+	"path/filepath"
+
+	"gopkg.in/yaml.v3"
+)
+
+// Render produces the config.yml vision_processor reads for camera c: the
+// document's defaults with c's own config merged over, plus the values
+// derived from the document as a whole (cam_id, camera_amount, and the seed's
+// line_corners). sourcePath is named in the header comment.
+//
+// This is the stand-in transport until vision_processor accepts config over
+// the network; vision_processor hot-reloads color/thresholds/tracking/debug
+// from it and needs a restart for everything else.
+func Render(doc Document, c Camera, sourcePath string) ([]byte, error) {
+	merged := doc.Effective(c)
+	merged["cam_id"] = c.CameraID
+
+	geom, _ := merged["geometry"].(map[string]any)
+	if geom == nil {
+		geom = map[string]any{}
+		merged["geometry"] = geom
+	}
+
+	geom["camera_amount"] = len(doc.Cameras)
+	delete(geom, "line_corners")
+
+	if c.Seed != nil && len(c.Seed.LineCorners) == 4 {
+		corners := make([]flowPair, len(c.Seed.LineCorners))
+		for i, p := range c.Seed.LineCorners {
+			corners[i] = flowPair(p)
+		}
+
+		geom["line_corners"] = corners
+	}
+
+	var buf bytes.Buffer
+	fmt.Fprintf(&buf, "# Generated by vision-processor-gui from %s.\n# Edit that file (or use the GUI) instead; changes here are overwritten.\n", sourcePath)
+
+	encoder := yaml.NewEncoder(&buf)
+	encoder.SetIndent(2)
+
+	if err := encoder.Encode(merged); err != nil {
+		return nil, err
+	}
+
+	if err := encoder.Close(); err != nil {
+		return nil, err
+	}
+
+	return buf.Bytes(), nil
+}
+
+// flowPair encodes as [x, y] rather than a two-line block sequence.
+type flowPair [2]int
+
+func (p flowPair) MarshalYAML() (any, error) {
+	node := &yaml.Node{Kind: yaml.SequenceNode, Style: yaml.FlowStyle}
+	for _, v := range p {
+		node.Content = append(node.Content, &yaml.Node{Kind: yaml.ScalarNode, Tag: "!!int", Value: fmt.Sprint(v)})
+	}
+
+	return node, nil
+}
+
+// renderAll regenerates every camera's config.yml that has a ConfigPath,
+// returning an error message per camera_id that failed.
+func renderAll(doc Document, sourcePath string) map[int]string {
+	failures := map[int]string{}
+
+	for _, c := range doc.Cameras {
+		if c.ConfigPath == "" {
+			continue
+		}
+
+		data, err := Render(doc, c, sourcePath)
+		if err == nil {
+			_, err = writeIfChanged(c.ConfigPath, data)
+		}
+
+		if err != nil {
+			failures[c.CameraID] = fmt.Sprintf("render %s: %v", c.ConfigPath, err)
+		}
+	}
+
+	return failures
+}
+
+// writeIfChanged writes data to path only if it differs from what's there,
+// so an unchanged render doesn't bump the mtime vision_processor polls.
+func writeIfChanged(path string, data []byte) (bool, error) {
+	if existing, err := os.ReadFile(path); err == nil && bytes.Equal(existing, data) {
+		return false, nil
+	}
+
+	return true, atomicWrite(path, data)
+}
+
+// atomicWrite replaces path via a temp file and rename, so a reader (the
+// watcher, vision_processor's own reload) never sees a half-written file.
+func atomicWrite(path string, data []byte) error {
+	tmp, err := os.CreateTemp(filepath.Dir(path), "."+filepath.Base(path)+".tmp-*")
+	if err != nil {
+		return err
+	}
+
+	defer os.Remove(tmp.Name()) // no-op once renamed
+
+	if _, err := tmp.Write(data); err != nil {
+		tmp.Close()
+
+		return err
+	}
+
+	if err := tmp.Chmod(0o644); err != nil {
+		tmp.Close()
+
+		return err
+	}
+
+	if err := tmp.Close(); err != nil {
+		return err
+	}
+
+	return os.Rename(tmp.Name(), path)
+}
diff --git a/gui/internal/config/status.go b/gui/internal/config/status.go
new file mode 100644
index 0000000..d375a7e
--- /dev/null
+++ b/gui/internal/config/status.go
@@ -0,0 +1,86 @@
+package config
+
+import (
+	"fmt"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+)
+
+// Calibration states reported per camera.
+const (
+	CalibrationNone   = "none"   // nothing received, nothing locked
+	CalibrationLive   = "live"   // received from the network, not locked
+	CalibrationLocked = "locked" // locked in the document
+)
+
+// CameraStatus is everything about a camera derived from the document plus
+// the live network state -- never stored.
+type CameraStatus struct {
+	CameraID    int    `json:"cameraId"`
+	Calibration string `json:"calibration"`
+	// Live is the latest calibration received from the network (proto field
+	// names), whether or not one is locked -- what "Lock" would store.
+	Live map[string]any `json:"live,omitempty"`
+	// LiveResolution is the image size the live calibration was solved at,
+	// [0, 0] if unknown.
+	LiveResolution [2]int    `json:"liveResolution"`
+	Warnings       []Warning `json:"warnings"`
+}
+
+// Warning is one problem worth surfacing on a camera, with a stable code the
+// frontend can key UI (e.g. a "rescale corners" button) off.
+type Warning struct {
+	Code    string `json:"code"`
+	Message string `json:"message"`
+}
+
+func cameraStatus(doc Document, c Camera, live *vision.SSL_GeometryCameraCalibration) CameraStatus {
+	status := CameraStatus{CameraID: c.CameraID, Calibration: CalibrationNone, Warnings: []Warning{}}
+
+	warn := func(code, format string, args ...any) {
+		status.Warnings = append(status.Warnings, Warning{Code: code, Message: fmt.Sprintf(format, args...)})
+	}
+
+	if live != nil {
+		status.Calibration = CalibrationLive
+		status.Live, _ = protoMap(live)
+		status.LiveResolution = [2]int{int(live.GetPixelImageWidth()), int(live.GetPixelImageHeight())}
+	}
+
+	liveRes := status.LiveResolution
+	liveKnown := liveRes[0] > 0 && liveRes[1] > 0
+
+	if c.Calibration != nil {
+		status.Calibration = CalibrationLocked
+
+		if c.Calibration.FieldHash != fieldHash(doc.Field) {
+			warn("field_changed", "The field dimensions changed after this calibration was locked; it was solved against the old field lines.")
+		}
+
+		if locked, err := c.Calibration.Proto(); err == nil && liveKnown {
+			lockedRes := [2]int{int(locked.GetPixelImageWidth()), int(locked.GetPixelImageHeight())}
+			if lockedRes[0] > 0 && lockedRes[1] > 0 && !sameAspect(lockedRes, liveRes) {
+				warn("calibration_aspect_mismatch", "Locked calibration was solved at %dx%d but the camera now reports %dx%d, a different aspect ratio. vision_processor can't rescale across aspect ratios; unlock and recalibrate.", lockedRes[0], lockedRes[1], liveRes[0], liveRes[1])
+			}
+		}
+	}
+
+	if c.Seed != nil && len(c.Seed.LineCorners) == 4 {
+		seedRes := c.Seed.Resolution
+
+		switch {
+		case seedRes[0] == 0 || seedRes[1] == 0:
+			warn("seed_resolution_unknown", "Line corners were saved without the image resolution they were picked at, so a resolution change can't be detected. Re-save them from the corner picker.")
+		case liveKnown && seedRes != liveRes && sameAspect(seedRes, liveRes):
+			warn("seed_rescalable", "Line corners were picked at %dx%d but the camera now reports %dx%d. Same aspect ratio, so they can be rescaled.", seedRes[0], seedRes[1], liveRes[0], liveRes[1])
+		case liveKnown && seedRes != liveRes:
+			warn("seed_aspect_mismatch", "Line corners were picked at %dx%d but the camera now reports %dx%d, a different aspect ratio. Re-pick them.", seedRes[0], seedRes[1], liveRes[0], liveRes[1])
+		}
+	}
+
+	return status
+}
+
+func sameAspect(a, b [2]int) bool {
+	return a[0]*b[1] == b[0]*a[1]
+}
diff --git a/gui/internal/config/store.go b/gui/internal/config/store.go
new file mode 100644
index 0000000..fd2040a
--- /dev/null
+++ b/gui/internal/config/store.go
@@ -0,0 +1,533 @@
+package config
+
+import (
+	"context"
+	"crypto/sha256"
+	"encoding/hex"
+	"errors"
+	"fmt"
+	"os"
+	"path/filepath"
+	"sync"
+	"time"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+)
+
+var (
+	// ErrStale means the caller edited an older revision than the current one
+	// (another browser tab got there first). Refetch and retry.
+	ErrStale = errors.New("stale revision")
+	// ErrDiskChanged means vision.yml was changed by something else since it
+	// was last loaded or saved; saving would silently discard that change.
+	ErrDiskChanged = errors.New("file changed on disk since it was loaded")
+	// ErrNoLiveCalibration means Lock was asked for a camera no calibration
+	// has been received for.
+	ErrNoLiveCalibration = errors.New("no calibration received for this camera yet")
+	// ErrUnknownCamera means the camera_id isn't in the document.
+	ErrUnknownCamera = errors.New("no such camera")
+)
+
+// readOnlyFiles are rulebook presets a save must never overwrite, matched by
+// base filename wherever they live.
+var readOnlyFiles = map[string]bool{
+	"geometry-divA.yml": true,
+	"geometry-divB.yml": true,
+}
+
+// Applier is the live system a Store pushes the working document into.
+// *geometry.Geometry implements it.
+type Applier interface {
+	ApplyConfig(geometry.FieldConfig, geometry.OptionalLinesConfig, *vision.SSL_GeometryModels) error
+	SetLocked(map[uint32]*vision.SSL_GeometryCameraCalibration) error
+	Unlock(camID uint32) error
+	LiveCalibration(camID uint32) *vision.SSL_GeometryCameraCalibration
+}
+
+// Store holds the working document -- live, already applied to the running
+// system -- alongside the document as last loaded from or saved to disk.
+// Edits change only working; Save writes working to disk. A watcher notices
+// when the file changes underneath and records it for the user to resolve.
+type Store struct {
+	mu         sync.Mutex
+	path       string
+	disk       Document
+	diskHash   string
+	working    Document
+	revision   int64
+	external   *external
+	renderErrs map[int]string
+	live       Applier
+	onChange   func()
+	stamp      fileStamp
+}
+
+// external is a version of the file on disk that differs from what the
+// store last loaded or wrote.
+type external struct {
+	hash string
+	doc  *Document // nil if it doesn't parse or validate
+	err  string
+}
+
+type fileStamp struct {
+	modTime time.Time
+	size    int64
+}
+
+// State is the store's status as the GUI sees it.
+type State struct {
+	Path     string `json:"path"`
+	Revision int64  `json:"revision"`
+	// Changes are what saving would write: disk -> working.
+	Changes []Change `json:"changes"`
+	// External is set while the file on disk differs from what was last
+	// loaded or saved.
+	External     *ExternalState `json:"external,omitempty"`
+	Cameras      []CameraStatus `json:"cameras"`
+	RenderErrors map[int]string `json:"renderErrors,omitempty"`
+}
+
+// ExternalState describes a change made to the file on disk by something
+// else. Changes are what loading it would do to the working document.
+type ExternalState struct {
+	Error   string   `json:"error,omitempty"`
+	Changes []Change `json:"changes"`
+}
+
+// Open loads path, applies it to live, and renders every local camera's
+// config.yml.
+func Open(path string, live Applier) (*Store, error) {
+	s := &Store{path: path, live: live}
+
+	if err := s.loadLocked(path); err != nil {
+		return nil, err
+	}
+
+	return s, nil
+}
+
+// OnChange registers fn to run (without the store's lock held) after any
+// change to the store's state.
+func (s *Store) OnChange(fn func()) {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	s.onChange = fn
+}
+
+func (s *Store) notify() {
+	s.mu.Lock()
+	fn := s.onChange
+	s.mu.Unlock()
+
+	if fn != nil {
+		fn()
+	}
+}
+
+// Working returns a copy of the working document and its revision.
+func (s *Store) Working() (Document, int64) {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	return s.working.clone(), s.revision
+}
+
+// Update replaces the working document and applies it live. rev must be the
+// revision the caller's edit was based on.
+func (s *Store) Update(rev int64, doc Document) (int64, error) {
+	next, err := s.update(rev, doc)
+	if err == nil {
+		s.notify()
+	}
+
+	return next, err
+}
+
+func (s *Store) update(rev int64, doc Document) (int64, error) {
+	doc.normalize()
+
+	if err := doc.Validate(); err != nil {
+		return 0, err
+	}
+
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	if rev != s.revision {
+		return 0, ErrStale
+	}
+
+	if err := s.apply(doc); err != nil {
+		return 0, err
+	}
+
+	s.working = doc.clone()
+	s.revision++
+
+	return s.revision, nil
+}
+
+// apply pushes doc into the live system and regenerates config.yml files.
+// doc must already be validated. Callers must hold mu.
+func (s *Store) apply(doc Document) error {
+	models, err := doc.ModelsProto()
+	if err != nil {
+		return err
+	}
+
+	if err := s.live.ApplyConfig(doc.Field, doc.OptionalFieldLines, models); err != nil {
+		return err
+	}
+
+	locked := map[uint32]*vision.SSL_GeometryCameraCalibration{}
+
+	for _, c := range doc.Cameras {
+		if c.Calibration == nil {
+			continue
+		}
+
+		calib, err := c.Calibration.Proto()
+		if err != nil {
+			return err
+		}
+
+		locked[uint32(c.CameraID)] = calib
+	}
+
+	if err := s.live.SetLocked(locked); err != nil {
+		return err
+	}
+
+	s.renderErrs = renderAll(doc, s.path)
+
+	return nil
+}
+
+// Save writes the working document to disk. rev must be the current
+// revision. Unless force is set, a file changed on disk since it was loaded
+// is not overwritten (ErrDiskChanged).
+func (s *Store) Save(rev int64, force bool) error {
+	err := s.save(rev, force)
+	s.notify()
+
+	return err
+}
+
+func (s *Store) save(rev int64, force bool) error {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	if rev != s.revision {
+		return ErrStale
+	}
+
+	if !force {
+		if data, err := os.ReadFile(s.path); err == nil && hashBytes(data) != s.diskHash {
+			s.recordExternal(data)
+
+			return ErrDiskChanged
+		}
+	}
+
+	return s.writeLocked(s.path)
+}
+
+// SaveAs writes the working document to path and makes path the file this
+// store loads from, saves to, and watches.
+func (s *Store) SaveAs(rev int64, path string) error {
+	err := s.saveAs(rev, path)
+	if err == nil {
+		s.notify()
+	}
+
+	return err
+}
+
+func (s *Store) saveAs(rev int64, path string) error {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	if rev != s.revision {
+		return ErrStale
+	}
+
+	if err := s.writeLocked(path); err != nil {
+		return err
+	}
+
+	// Regenerated so each config.yml's header names the new source.
+	s.renderErrs = renderAll(s.working, path)
+
+	return nil
+}
+
+// writeLocked writes working to path and records it as the disk version.
+// Callers must hold mu.
+func (s *Store) writeLocked(path string) error {
+	if readOnlyFiles[filepath.Base(path)] {
+		return &ValidationError{fmt.Errorf("%s is a read-only rulebook preset", path)}
+	}
+
+	data, err := Marshal(s.working)
+	if err != nil {
+		return err
+	}
+
+	if err := atomicWrite(path, data); err != nil {
+		return fmt.Errorf("write %s: %w", path, err)
+	}
+
+	s.path = path
+	s.disk = s.working.clone()
+	s.diskHash = hashBytes(data)
+	s.external = nil
+	s.stamp = statFile(path)
+
+	return nil
+}
+
+// Load replaces both the working and disk documents with path's contents,
+// applies it live, and switches to editing path.
+func (s *Store) Load(path string) error {
+	s.mu.Lock()
+	err := s.loadLocked(path)
+	s.mu.Unlock()
+
+	if err == nil {
+		s.notify()
+	}
+
+	return err
+}
+
+// Reload is Load of the current path: it accepts whatever is on disk now,
+// discarding unsaved working changes.
+func (s *Store) Reload() error {
+	s.mu.Lock()
+	path := s.path
+	s.mu.Unlock()
+
+	return s.Load(path)
+}
+
+func (s *Store) loadLocked(path string) error {
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return &ValidationError{fmt.Errorf("read %s: %w", path, err)}
+	}
+
+	doc, err := Parse(data)
+	if err != nil {
+		return fmt.Errorf("%s: %w", path, err)
+	}
+
+	previousPath := s.path
+	s.path = path
+
+	if err := s.apply(doc); err != nil {
+		s.path = previousPath
+
+		return err
+	}
+
+	s.working = doc
+	s.disk = doc.clone()
+	s.diskHash = hashBytes(data)
+	s.external = nil
+	s.stamp = statFile(path)
+	s.revision++
+
+	return nil
+}
+
+// LockCalibration stores the latest calibration received for camID in the
+// working document, so it's published in place of anything the camera sends
+// and survives restarts once saved.
+func (s *Store) LockCalibration(camID int) (int64, error) {
+	rev, err := s.editCamera(camID, func(doc *Document, c *Camera) error {
+		live := s.live.LiveCalibration(uint32(camID))
+		if live == nil {
+			return ErrNoLiveCalibration
+		}
+
+		m, err := protoMap(live)
+		if err != nil {
+			return err
+		}
+
+		c.Calibration = &Calibration{
+			LockedAt:  time.Now().UTC().Truncate(time.Second),
+			FieldHash: fieldHash(doc.Field),
+			Camera:    m,
+		}
+
+		return nil
+	})
+	if err == nil {
+		s.notify()
+	}
+
+	return rev, err
+}
+
+// UnlockCalibration removes camID's locked calibration and stops publishing
+// any calibration for it, so its vision_processor calibrates the next time
+// it starts.
+func (s *Store) UnlockCalibration(camID int) (int64, error) {
+	rev, err := s.editCamera(camID, func(_ *Document, c *Camera) error {
+		c.Calibration = nil
+
+		return s.live.Unlock(uint32(camID))
+	})
+	if err == nil {
+		s.notify()
+	}
+
+	return rev, err
+}
+
+func (s *Store) editCamera(camID int, edit func(*Document, *Camera) error) (int64, error) {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	doc := s.working.clone()
+
+	c := doc.camera(camID)
+	if c == nil {
+		return 0, ErrUnknownCamera
+	}
+
+	if err := edit(&doc, c); err != nil {
+		return 0, err
+	}
+
+	if err := s.apply(doc); err != nil {
+		return 0, err
+	}
+
+	s.working = doc
+	s.revision++
+
+	return s.revision, nil
+}
+
+// State reports the store's current status, including live per-camera state.
+func (s *Store) State() State {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	state := State{
+		Path:         s.path,
+		Revision:     s.revision,
+		Changes:      nonNil(Diff(s.disk, s.working)),
+		Cameras:      make([]CameraStatus, 0, len(s.working.Cameras)),
+		RenderErrors: s.renderErrs,
+	}
+
+	for _, c := range s.working.Cameras {
+		state.Cameras = append(state.Cameras, cameraStatus(s.working, c, s.live.LiveCalibration(uint32(c.CameraID))))
+	}
+
+	if s.external != nil {
+		ext := &ExternalState{Error: s.external.err, Changes: []Change{}}
+		if s.external.doc != nil {
+			ext.Changes = nonNil(Diff(s.working, *s.external.doc))
+		}
+
+		state.External = ext
+	}
+
+	return state
+}
+
+// Watch polls the file every interval until ctx is cancelled, recording a
+// change made by anything other than this store.
+func (s *Store) Watch(ctx context.Context, interval time.Duration) error {
+	ticker := time.NewTicker(interval)
+	defer ticker.Stop()
+
+	for {
+		select {
+		case <-ctx.Done():
+			return ctx.Err()
+		case <-ticker.C:
+			if s.checkDisk() {
+				s.notify()
+			}
+		}
+	}
+}
+
+// checkDisk reports whether the external-change state changed.
+func (s *Store) checkDisk() bool {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	stamp := statFile(s.path)
+	if stamp == s.stamp {
+		return false
+	}
+
+	s.stamp = stamp
+
+	data, err := os.ReadFile(s.path)
+	if err != nil {
+		return false // mid-replace or deleted; the next tick will see it
+	}
+
+	if hashBytes(data) == s.diskHash {
+		cleared := s.external != nil
+		s.external = nil
+
+		return cleared
+	}
+
+	return s.recordExternal(data)
+}
+
+// recordExternal notes data as the on-disk version, reporting whether it's
+// new. Callers must hold mu.
+func (s *Store) recordExternal(data []byte) bool {
+	hash := hashBytes(data)
+	if s.external != nil && s.external.hash == hash {
+		return false
+	}
+
+	ext := &external{hash: hash}
+
+	if doc, err := Parse(data); err != nil {
+		ext.err = err.Error()
+	} else {
+		ext.doc = &doc
+	}
+
+	s.external = ext
+
+	return true
+}
+
+func statFile(path string) fileStamp {
+	info, err := os.Stat(path)
+	if err != nil {
+		return fileStamp{}
+	}
+
+	return fileStamp{modTime: info.ModTime(), size: info.Size()}
+}
+
+func hashBytes(data []byte) string {
+	sum := sha256.Sum256(data)
+
+	return hex.EncodeToString(sum[:])
+}
+
+func nonNil(changes []Change) []Change {
+	if changes == nil {
+		return []Change{}
+	}
+
+	return changes
+}
diff --git a/gui/internal/config/store_test.go b/gui/internal/config/store_test.go
new file mode 100644
index 0000000..7f27d4d
--- /dev/null
+++ b/gui/internal/config/store_test.go
@@ -0,0 +1,417 @@
+package config
+
+import (
+	"errors"
+	"os"
+	"path/filepath"
+	"strings"
+	"sync"
+	"testing"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/proto"
+)
+
+// fakeLive records what a Store pushed and serves canned live calibrations.
+type fakeLive struct {
+	mu       sync.Mutex
+	field    geometry.FieldConfig
+	locked   map[uint32]*vision.SSL_GeometryCameraCalibration
+	unlocked []uint32
+	live     map[uint32]*vision.SSL_GeometryCameraCalibration
+}
+
+func (f *fakeLive) ApplyConfig(field geometry.FieldConfig, _ geometry.OptionalLinesConfig, _ *vision.SSL_GeometryModels) error {
+	f.mu.Lock()
+	defer f.mu.Unlock()
+
+	f.field = field
+
+	return nil
+}
+
+func (f *fakeLive) SetLocked(locked map[uint32]*vision.SSL_GeometryCameraCalibration) error {
+	f.mu.Lock()
+	defer f.mu.Unlock()
+
+	f.locked = locked
+
+	return nil
+}
+
+func (f *fakeLive) Unlock(camID uint32) error {
+	f.mu.Lock()
+	defer f.mu.Unlock()
+
+	f.unlocked = append(f.unlocked, camID)
+	delete(f.live, camID)
+
+	return nil
+}
+
+func (f *fakeLive) LiveCalibration(camID uint32) *vision.SSL_GeometryCameraCalibration {
+	f.mu.Lock()
+	defer f.mu.Unlock()
+
+	return f.live[camID]
+}
+
+func liveCalib(camID uint32, width, height uint32) *vision.SSL_GeometryCameraCalibration {
+	return &vision.SSL_GeometryCameraCalibration{
+		CameraId:         proto.Uint32(camID),
+		FocalLength:      proto.Float32(900),
+		PrincipalPointX:  proto.Float32(float32(width) / 2),
+		PrincipalPointY:  proto.Float32(float32(height) / 2),
+		Distortion:       proto.Float32(0),
+		Q0:               proto.Float32(0),
+		Q1:               proto.Float32(0),
+		Q2:               proto.Float32(0),
+		Q3:               proto.Float32(1),
+		Tx:               proto.Float32(0),
+		Ty:               proto.Float32(0),
+		Tz:               proto.Float32(4000),
+		PixelImageWidth:  proto.Uint32(width),
+		PixelImageHeight: proto.Uint32(height),
+	}
+}
+
+// testStore opens a copy of the fixture in a temp dir, with camera 0's
+// config.yml rendered alongside it.
+func testStore(t *testing.T) (*Store, *fakeLive, string) {
+	t.Helper()
+
+	dir := t.TempDir()
+	doc := loadFixture(t)
+	doc.Cameras[0].ConfigPath = filepath.Join(dir, "config-0.yml")
+
+	data, err := Marshal(doc)
+	if err != nil {
+		t.Fatalf("Marshal: %v", err)
+	}
+
+	path := filepath.Join(dir, "vision.yml")
+	if err := os.WriteFile(path, data, 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	live := &fakeLive{live: map[uint32]*vision.SSL_GeometryCameraCalibration{}}
+
+	s, err := Open(path, live)
+	if err != nil {
+		t.Fatalf("Open: %v", err)
+	}
+
+	return s, live, path
+}
+
+func TestOpenAppliesAndRenders(t *testing.T) {
+	s, live, path := testStore(t)
+
+	if live.field.FieldLength != 9000 {
+		t.Errorf("applied field_length = %d, want 9000", live.field.FieldLength)
+	}
+
+	if _, ok := live.locked[0]; !ok || len(live.locked) != 1 {
+		t.Errorf("locked = %v, want camera 0's locked calibration", live.locked)
+	}
+
+	rendered, err := os.ReadFile(filepath.Join(filepath.Dir(path), "config-0.yml"))
+	if err != nil || !strings.Contains(string(rendered), "cam_id: 0") {
+		t.Errorf("rendered config.yml = %q (%v), want cam_id 0", rendered, err)
+	}
+
+	if state := s.State(); len(state.Changes) != 0 || state.External != nil {
+		t.Errorf("fresh store state = %+v, want clean", state)
+	}
+}
+
+func TestUpdateAppliesLiveAndSaveClearsTheChanges(t *testing.T) {
+	s, live, path := testStore(t)
+
+	doc, rev := s.Working()
+	doc.Field.FieldWidth = 5000
+
+	rev, err := s.Update(rev, doc)
+	if err != nil {
+		t.Fatalf("Update: %v", err)
+	}
+
+	if live.field.FieldWidth != 5000 {
+		t.Errorf("live field_width = %d, want 5000 applied immediately", live.field.FieldWidth)
+	}
+
+	if changes := s.State().Changes; len(changes) != 1 || changes[0].Path != "field.field_width" {
+		t.Fatalf("changes = %+v, want just field.field_width", changes)
+	}
+
+	if err := s.Save(rev, false); err != nil {
+		t.Fatalf("Save: %v", err)
+	}
+
+	if changes := s.State().Changes; len(changes) != 0 {
+		t.Fatalf("changes after save = %+v, want none", changes)
+	}
+
+	data, _ := os.ReadFile(path)
+
+	saved, err := Parse(data)
+	if err != nil || saved.Field.FieldWidth != 5000 {
+		t.Fatalf("saved file field_width = %d (%v), want 5000", saved.Field.FieldWidth, err)
+	}
+}
+
+func TestUpdateRejectsAStaleRevision(t *testing.T) {
+	s, _, _ := testStore(t)
+	doc, rev := s.Working()
+
+	if _, err := s.Update(rev, doc); err != nil {
+		t.Fatalf("first Update: %v", err)
+	}
+
+	if _, err := s.Update(rev, doc); !errors.Is(err, ErrStale) {
+		t.Fatalf("second Update with the old revision = %v, want ErrStale", err)
+	}
+}
+
+func TestUpdateRejectsAnInvalidDocumentAndChangesNothing(t *testing.T) {
+	s, live, _ := testStore(t)
+	doc, rev := s.Working()
+	doc.Field.FieldLength = -1
+
+	if _, err := s.Update(rev, doc); !IsValidation(err) {
+		t.Fatalf("Update = %v, want a validation error", err)
+	}
+
+	if live.field.FieldLength != 9000 {
+		t.Fatalf("live field_length = %d, want unchanged 9000", live.field.FieldLength)
+	}
+
+	if _, after := s.Working(); after != rev {
+		t.Fatalf("revision moved on a rejected update")
+	}
+}
+
+func TestSaveRefusesToOverwriteAnExternalChangeUnlessForced(t *testing.T) {
+	s, _, path := testStore(t)
+	_, rev := s.Working()
+
+	writeExternal(t, path, "field_width: 6000", "field_width: 6100")
+
+	if err := s.Save(rev, false); !errors.Is(err, ErrDiskChanged) {
+		t.Fatalf("Save = %v, want ErrDiskChanged", err)
+	}
+
+	if ext := s.State().External; ext == nil {
+		t.Fatal("refused save should record the external change")
+	}
+
+	if err := s.Save(rev, true); err != nil {
+		t.Fatalf("forced Save: %v", err)
+	}
+
+	data, _ := os.ReadFile(path)
+	if !strings.Contains(string(data), "field_width: 6000") {
+		t.Fatalf("forced save did not overwrite the external edit:\n%s", data)
+	}
+
+	if s.State().External != nil {
+		t.Fatal("forced save should clear the external change")
+	}
+}
+
+func TestWatcherReportsExternalEditsButNotOwnSaves(t *testing.T) {
+	s, _, path := testStore(t)
+	doc, rev := s.Working()
+	doc.Field.FieldWidth = 5000
+
+	rev, _ = s.Update(rev, doc)
+	if err := s.Save(rev, false); err != nil {
+		t.Fatalf("Save: %v", err)
+	}
+
+	if s.checkDisk() {
+		t.Fatal("watcher fired on the store's own save")
+	}
+
+	writeExternal(t, path, "tz: 4000", "tz: 4200")
+
+	if !s.checkDisk() {
+		t.Fatal("watcher missed an external edit")
+	}
+
+	ext := s.State().External
+	if ext == nil || ext.Error != "" || len(ext.Changes) != 1 || ext.Changes[0].Path != "cameras[0].calibration.camera.tz" {
+		t.Fatalf("external = %+v, want one calibration tz change", ext)
+	}
+
+	if err := s.Reload(); err != nil {
+		t.Fatalf("Reload: %v", err)
+	}
+
+	working, _ := s.Working()
+	if tz := working.Cameras[0].Calibration.Camera["tz"]; tz != 4200 {
+		t.Errorf("tz after accepting the disk version = %v, want 4200", tz)
+	}
+
+	if s.State().External != nil {
+		t.Error("Reload should clear the external change")
+	}
+}
+
+func TestWatcherReportsAnUnparseableFile(t *testing.T) {
+	s, _, path := testStore(t)
+
+	writeExternal(t, path, "version: 1", "version: 1\nbogus_key: true")
+
+	if !s.checkDisk() {
+		t.Fatal("watcher missed an external edit")
+	}
+
+	if ext := s.State().External; ext == nil || ext.Error == "" {
+		t.Fatalf("external = %+v, want a parse error", ext)
+	}
+}
+
+func TestLockAndUnlockCalibration(t *testing.T) {
+	s, live, _ := testStore(t)
+	live.live[1] = liveCalib(1, 1280, 720)
+
+	if _, err := s.LockCalibration(1); err != nil {
+		t.Fatalf("LockCalibration: %v", err)
+	}
+
+	working, _ := s.Working()
+	if c := working.camera(1); c.Calibration == nil || c.Calibration.FieldHash != fieldHash(working.Field) {
+		t.Fatalf("camera 1 calibration = %+v, want locked with the current field hash", c.Calibration)
+	}
+
+	if _, ok := live.locked[1]; !ok {
+		t.Fatal("locking should publish the calibration as locked")
+	}
+
+	if status := s.State().Cameras[1]; status.Calibration != CalibrationLocked {
+		t.Fatalf("status = %+v, want locked", status)
+	}
+
+	if _, err := s.UnlockCalibration(1); err != nil {
+		t.Fatalf("UnlockCalibration: %v", err)
+	}
+
+	working, _ = s.Working()
+	if working.camera(1).Calibration != nil {
+		t.Fatal("unlock should remove the calibration from the document")
+	}
+
+	if _, ok := live.locked[1]; ok || len(live.unlocked) != 1 || live.unlocked[0] != 1 {
+		t.Fatalf("locked=%v unlocked=%v, want camera 1 withheld", live.locked, live.unlocked)
+	}
+}
+
+func TestLockWithoutALiveCalibrationFails(t *testing.T) {
+	s, _, _ := testStore(t)
+
+	if _, err := s.LockCalibration(1); !errors.Is(err, ErrNoLiveCalibration) {
+		t.Fatalf("LockCalibration = %v, want ErrNoLiveCalibration", err)
+	}
+
+	if _, err := s.LockCalibration(9); !errors.Is(err, ErrUnknownCamera) {
+		t.Fatalf("LockCalibration(9) = %v, want ErrUnknownCamera", err)
+	}
+}
+
+func TestStatusWarnings(t *testing.T) {
+	s, live, _ := testStore(t)
+
+	codes := func(camID int) string {
+		for _, c := range s.State().Cameras {
+			if c.CameraID == camID {
+				var out []string
+				for _, w := range c.Warnings {
+					out = append(out, w.Code)
+				}
+
+				return strings.Join(out, ",")
+			}
+		}
+
+		return "missing"
+	}
+
+	// The fixture's field_hash is a placeholder, so camera 0's lock is stale.
+	if got := codes(0); got != "field_changed" {
+		t.Errorf("camera 0 warnings = %q, want field_changed", got)
+	}
+
+	live.live[0] = liveCalib(0, 1280, 720) // same 16:9 as the 1920x1080 seed
+	if got := codes(0); got != "field_changed,seed_rescalable" {
+		t.Errorf("camera 0 warnings = %q, want field_changed,seed_rescalable", got)
+	}
+
+	live.live[0] = liveCalib(0, 640, 480) // 4:3, like the camera that broke the picker
+	if got := codes(0); got != "field_changed,calibration_aspect_mismatch,seed_aspect_mismatch" {
+		t.Errorf("camera 0 warnings = %q, want aspect mismatches", got)
+	}
+}
+
+func TestSaveAsSwitchesThePathAndRefusesPresets(t *testing.T) {
+	s, _, path := testStore(t)
+	_, rev := s.Working()
+
+	if err := s.SaveAs(rev, filepath.Join(filepath.Dir(path), "geometry-divB.yml")); !IsValidation(err) {
+		t.Fatalf("SaveAs(preset) = %v, want a validation error", err)
+	}
+
+	newPath := filepath.Join(filepath.Dir(path), "other.yml")
+	if err := s.SaveAs(rev, newPath); err != nil {
+		t.Fatalf("SaveAs: %v", err)
+	}
+
+	if got := s.State().Path; got != newPath {
+		t.Fatalf("path = %q, want %q", got, newPath)
+	}
+
+	if _, err := os.Stat(newPath); err != nil {
+		t.Fatalf("SaveAs did not write: %v", err)
+	}
+}
+
+func TestOnChangeFiresAfterEdits(t *testing.T) {
+	s, _, _ := testStore(t)
+
+	calls := 0
+	s.OnChange(func() {
+		_ = s.State() // must not deadlock: called without the lock held
+		calls++
+	})
+
+	doc, rev := s.Working()
+	if _, err := s.Update(rev, doc); err != nil {
+		t.Fatalf("Update: %v", err)
+	}
+
+	if calls != 1 {
+		t.Fatalf("OnChange calls = %d, want 1", calls)
+	}
+}
+
+// writeExternal edits path the way a person would, replacing one substring.
+// It also changes the size, so the watcher's mtime+size check can't miss it
+// within one filesystem timestamp tick.
+func writeExternal(t *testing.T, path, old, replacement string) {
+	t.Helper()
+
+	data, err := os.ReadFile(path)
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	edited := strings.Replace(string(data), old, replacement, 1)
+	if edited == string(data) {
+		t.Fatalf("%q not found in %s", old, path)
+	}
+
+	if err := os.WriteFile(path, []byte(edited), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+}
diff --git a/gui/internal/config/testdata/legacy-config.yml b/gui/internal/config/testdata/legacy-config.yml
new file mode 100644
index 0000000..2ca9e26
--- /dev/null
+++ b/gui/internal/config/testdata/legacy-config.yml
@@ -0,0 +1,30 @@
+# Legacy vision_processor config.yml fixture for config import tests.
+cam_id: 1
+
+#bot_heights_file: robot-heights.yml
+
+camera:
+  driver: OPENCV
+  path: /dev/video0
+
+geometry:
+  camera_amount: 2
+  camera_height: 0.0
+  line_corners:
+  - [1131, 949]
+  - [1512, 733]
+  - [1266, 76]
+  - [792, 303]
+  goal_side_marker: 2
+
+thresholds:
+  min_confidence: 0.3
+
+color:
+  reference_force: 0.2
+  orange: [200, 120, 60]
+
+tracking:
+
+debug:
+  debug_stream_interval_ms: 3000
diff --git a/gui/internal/config/testdata/legacy-geometry.yml b/gui/internal/config/testdata/legacy-geometry.yml
new file mode 100644
index 0000000..af4ea22
--- /dev/null
+++ b/gui/internal/config/testdata/legacy-geometry.yml
@@ -0,0 +1,27 @@
+# Legacy geometry-*.yml fixture for config import tests.
+field:
+  field_length: 2160
+  field_width: 1680
+  goal_width: 280
+  goal_depth: 50
+  goal_height: 160
+  penalty_area_depth: 290
+  penalty_area_width: 570
+  goal_center_to_penalty_mark: 1440
+  boundary_width: 100
+  boundary_width_goal_line: 100
+  center_circle_radius: 140
+  line_thickness: 10
+  ball_radius: 22
+  max_robot_radius: 90
+  goal_substitution_area_width: 0
+models:
+  straight_two_phase:
+    acc_roll: -0.45
+    acc_slide: -3.4
+    k_switch: 0.64
+optional_field_lines:
+  centercircle: false
+  goal2goal: false
+  halfway: true
+  penalty: true
diff --git a/gui/internal/config/testdata/vision.yml b/gui/internal/config/testdata/vision.yml
new file mode 100644
index 0000000..5168d5f
--- /dev/null
+++ b/gui/internal/config/testdata/vision.yml
@@ -0,0 +1,66 @@
+# vision.yml fixture: two cameras, one with a locked calibration.
+version: 1
+field:
+  field_length: 9000
+  field_width: 6000
+  goal_width: 1000
+  goal_depth: 180
+  goal_height: 160
+  penalty_area_depth: 1000
+  penalty_area_width: 2000
+  goal_center_to_penalty_mark: 6000
+  boundary_width: 300
+  boundary_width_goal_line: 300
+  center_circle_radius: 500
+  line_thickness: 10
+  ball_radius: 21.5
+  max_robot_radius: 90
+  goal_substitution_area_width: 0
+optional_field_lines:
+  goal2goal: true
+  halfway: true
+  centercircle: true
+  penalty: true
+defaults:
+  bot_heights_file: robot-heights.yml
+  thresholds:
+    min_confidence: 0.2
+  color:
+    reference_force: 0.1
+    orange: [192, 128, 64]
+  camera:
+    driver: OPENCV
+cameras:
+  - camera_id: 0
+    instance: host-a
+    config:
+      camera:
+        path: /dev/video0
+        width: 1920
+        height: 1080
+      color:
+        orange: [200, 120, 60]
+    seed:
+      resolution: [1920, 1080]
+      line_corners: [[1131, 949], [1512, 733], [1266, 76], [792, 303]]
+      goal_side_marker: 1
+    calibration:
+      locked_at: 2026-10-03T13:54:50Z
+      field_hash: sha256:0000000000000000
+      camera:
+        camera_id: 0
+        focal_length: 1184.5924
+        principal_point_x: 960
+        principal_point_y: 540
+        distortion: -0.1
+        q0: 0
+        q1: 0
+        q2: 0
+        q3: 1
+        tx: 0
+        ty: 0
+        tz: 4000
+        pixel_image_width: 1920
+        pixel_image_height: 1080
+  - camera_id: 1
+    instance: host-b
diff --git a/gui/internal/geometry/colorconfig.go b/gui/internal/geometry/colorconfig.go
deleted file mode 100644
index 2985248..0000000
--- a/gui/internal/geometry/colorconfig.go
+++ /dev/null
@@ -1,272 +0,0 @@
-package geometry
-
-import (
-	"errors"
-	"fmt"
-	"math"
-	"os"
-	"regexp"
-
-	"gopkg.in/yaml.v3"
-)
-
-// defaultMinReferenceForce is used when config.yml has no min_reference_force
-// yet. It's a Go-host-only safety rail (see ColorConfig doc), not a C++
-// constant to mirror, so the value is a starting-point choice rather than a
-// port of something else -- 5% keeps the reference color from being tuned
-// away entirely without blocking deliberate low settings.
-const defaultMinReferenceForce = 0.05
-
-// colorReferenceDefaults mirrors src/Resources.cpp's applyTunables fallbacks
-// (Resources.cpp:204-209) -- what vision_processor itself uses when a color
-// is left commented out in config.yml, as every color ships by default (see
-// config-camtest.yml's color: block). ReadColorConfig needs the same
-// fallbacks so the panel shows what the instance is actually running, not a
-// zeroed-out {0,0,0}.
-var colorReferenceDefaults = map[string]RGB{
-	"orange": {192, 128, 64},
-	"field":  {128, 128, 128},
-	"yellow": {255, 128, 0},
-	"blue":   {0, 128, 255},
-	"green":  {0, 255, 128},
-	"pink":   {255, 0, 128},
-}
-
-// RGB is one reference color, 0-255 per channel.
-type RGB struct {
-	R int `json:"r" yaml:"r"`
-	G int `json:"g" yaml:"g"`
-	B int `json:"b" yaml:"b"`
-}
-
-// ColorConfig mirrors config.yml's color: block (see
-// proto/proto/vision/ssl_vp_config.proto's SSL_VPConfigColor for the
-// upstream schema this is deliberately kept separate from -- MinReferenceForce
-// has no protocol equivalent, it's a GUI-only floor on ReferenceForce, kept
-// here rather than the protocol so it doesn't need an upstream ssl-protocol-defs
-// change to exist).
-type ColorConfig struct {
-	ReferenceForce    float64 `json:"referenceForce" yaml:"referenceForce"`
-	HistoryForce      float64 `json:"historyForce" yaml:"historyForce"`
-	MinReferenceForce float64 `json:"minReferenceForce" yaml:"minReferenceForce"`
-	Orange            RGB     `json:"orange" yaml:"orange"`
-	Field             RGB     `json:"field" yaml:"field"`
-	Yellow            RGB     `json:"yellow" yaml:"yellow"`
-	Blue              RGB     `json:"blue" yaml:"blue"`
-	Green             RGB     `json:"green" yaml:"green"`
-	Pink              RGB     `json:"pink" yaml:"pink"`
-}
-
-// colorFileConfig is the plain YAML shadow of the color: block. Scalars are
-// pointers so a missing key is distinguishable from an explicit 0 -- ReadColorConfig
-// applies colorReferenceDefaults/defaultMinReferenceForce itself rather than
-// relying on Go zero values, which would silently disagree with what
-// vision_processor actually falls back to.
-type colorFileConfig struct {
-	Color struct {
-		ReferenceForce    *float64 `yaml:"reference_force"`
-		HistoryForce      *float64 `yaml:"history_force"`
-		MinReferenceForce *float64 `yaml:"min_reference_force"`
-		Orange            []int    `yaml:"orange"`
-		Field             []int    `yaml:"field"`
-		Yellow            []int    `yaml:"yellow"`
-		Blue              []int    `yaml:"blue"`
-		Green             []int    `yaml:"green"`
-		Pink              []int    `yaml:"pink"`
-	} `yaml:"color"`
-}
-
-// Validate reports every out-of-range field at once, same convention as
-// FieldConfig.Validate -- a caller using errors.As gets a single
-// *ValidationError back (400), not an internal error.
-func (c ColorConfig) Validate() error {
-	var errs error
-
-	checkForce := func(name string, value float64) {
-		if value < 0 || value > 1 {
-			errs = errors.Join(errs, fmt.Errorf("%s: must be between 0 and 1, got %v", name, value))
-		}
-	}
-
-	checkForce("referenceForce", c.ReferenceForce)
-	checkForce("historyForce", c.HistoryForce)
-	checkForce("minReferenceForce", c.MinReferenceForce)
-
-	if c.ReferenceForce < c.MinReferenceForce {
-		errs = errors.Join(errs, fmt.Errorf("referenceForce: must be at least minReferenceForce (%v), got %v", c.MinReferenceForce, c.ReferenceForce))
-	}
-
-	if c.ReferenceForce+c.HistoryForce > 1 {
-		errs = errors.Join(errs, fmt.Errorf("referenceForce + historyForce: must not exceed 1, got %v", c.ReferenceForce+c.HistoryForce))
-	}
-
-	checkColor := func(name string, c RGB) {
-		for channel, v := range map[string]int{"red": c.R, "green": c.G, "blue": c.B} {
-			if v < 0 || v > 255 {
-				errs = errors.Join(errs, fmt.Errorf("%s.%s: must be between 0 and 255, got %d", name, channel, v))
-			}
-		}
-	}
-
-	checkColor("orange", c.Orange)
-	checkColor("field", c.Field)
-	checkColor("yellow", c.Yellow)
-	checkColor("blue", c.Blue)
-	checkColor("green", c.Green)
-	checkColor("pink", c.Pink)
-
-	if errs != nil {
-		return &ValidationError{errs}
-	}
-
-	return nil
-}
-
-func rgbFromSlice(vals []int, def RGB) RGB {
-	if len(vals) != 3 {
-		return def
-	}
-
-	return RGB{R: vals[0], G: vals[1], B: vals[2]}
-}
-
-// ReadColorConfig reads back config.yml's color: block, filling in whatever
-// vision_processor's own hardcoded defaults are (colorReferenceDefaults,
-// defaultMinReferenceForce) for anything left commented out -- same
-// "missing means the normal fallback, not an error" contract as
-// ReadLineCorners, but here the fallback is a real color rather than empty.
-func ReadColorConfig(path string) (ColorConfig, error) {
-	instanceConfigMu.Lock()
-	defer instanceConfigMu.Unlock()
-
-	data, err := os.ReadFile(path)
-	if err != nil {
-		return ColorConfig{}, fmt.Errorf("read %s: %w", path, err)
-	}
-
-	var cfg colorFileConfig
-	if err := yaml.Unmarshal(data, &cfg); err != nil {
-		return ColorConfig{}, fmt.Errorf("parse %s: %w", path, err)
-	}
-
-	floatOr := func(v *float64, def float64) float64 {
-		if v == nil {
-			return def
-		}
-
-		return *v
-	}
-
-	return ColorConfig{
-		ReferenceForce:    floatOr(cfg.Color.ReferenceForce, 0.1),
-		HistoryForce:      floatOr(cfg.Color.HistoryForce, 0.7),
-		MinReferenceForce: floatOr(cfg.Color.MinReferenceForce, defaultMinReferenceForce),
-		Orange:            rgbFromSlice(cfg.Color.Orange, colorReferenceDefaults["orange"]),
-		Field:             rgbFromSlice(cfg.Color.Field, colorReferenceDefaults["field"]),
-		Yellow:            rgbFromSlice(cfg.Color.Yellow, colorReferenceDefaults["yellow"]),
-		Blue:              rgbFromSlice(cfg.Color.Blue, colorReferenceDefaults["blue"]),
-		Green:             rgbFromSlice(cfg.Color.Green, colorReferenceDefaults["green"]),
-		Pink:              rgbFromSlice(cfg.Color.Pink, colorReferenceDefaults["pink"]),
-	}, nil
-}
-
-// WriteColorConfig writes cfg into config.yml's color: block, in place.
-// Every key in that block ships commented out by default (see
-// config-camtest.yml), so this uncomments a key the first time it's given a
-// value rather than appending a live duplicate under the dead commented
-// line -- see spliceColorKey.
-func WriteColorConfig(path string, cfg ColorConfig) error {
-	if err := cfg.Validate(); err != nil {
-		return err
-	}
-
-	instanceConfigMu.Lock()
-	defer instanceConfigMu.Unlock()
-
-	data, err := os.ReadFile(path)
-	if err != nil {
-		return fmt.Errorf("read %s: %w", path, err)
-	}
-
-	updated, err := spliceColorConfig(string(data), cfg)
-	if err != nil {
-		return fmt.Errorf("%s: %w", path, err)
-	}
-
-	if err := os.WriteFile(path, []byte(updated), 0o644); err != nil {
-		return fmt.Errorf("write %s: %w", path, err)
-	}
-
-	return nil
-}
-
-// spliceColorConfig is the pure text transform behind WriteColorConfig, split
-// out so it's testable without touching disk -- same split as
-// spliceLineCorners/spliceGoalSideMarker.
-func spliceColorConfig(doc string, cfg ColorConfig) (string, error) {
-	lines, trailingNewline := splitDoc(doc)
-
-	start, end, err := sectionBounds(lines, "color")
-	if err != nil {
-		return "", err
-	}
-
-	formatForce := func(v float64) string {
-		// Round to avoid writing float noise (e.g. 0.30000000000000004) picked
-		// up from triangle-drag arithmetic on the frontend.
-		return fmt.Sprintf("%g", math.Round(v*1e6)/1e6)
-	}
-	formatRGB := func(c RGB) string {
-		return fmt.Sprintf("[%d, %d, %d]", c.R, c.G, c.B)
-	}
-
-	keys := []struct {
-		name  string
-		value string
-	}{
-		{"reference_force", formatForce(cfg.ReferenceForce)},
-		{"history_force", formatForce(cfg.HistoryForce)},
-		{"min_reference_force", formatForce(cfg.MinReferenceForce)},
-		{"orange", formatRGB(cfg.Orange)},
-		{"field", formatRGB(cfg.Field)},
-		{"yellow", formatRGB(cfg.Yellow)},
-		{"blue", formatRGB(cfg.Blue)},
-		{"green", formatRGB(cfg.Green)},
-		{"pink", formatRGB(cfg.Pink)},
-	}
-
-	for _, k := range keys {
-		lines, end = spliceColorKey(lines, start, end, k.name, k.value)
-	}
-
-	return joinLines(lines, trailingNewline), nil
-}
-
-// spliceColorKey sets key's value within the color: section (lines[start:end]),
-// uncommenting the line in place if it's currently "#key: ..." (config.yml's
-// shipped, unset state), updating it in place if it's already live, or
-// appending a fresh "key: value" line at the end of the section if the key
-// isn't present at all (e.g. a hand-trimmed config.yml). Returns the
-// (possibly-grown) lines slice and the section's new end index, since
-// appending shifts it for the next key in the same WriteColorConfig call.
-func spliceColorKey(lines []string, start, end int, key, value string) ([]string, int) {
-	pattern := regexp.MustCompile(`^(\s*)#?` + regexp.QuoteMeta(key) + `:.*$`)
-
-	for i := start + 1; i < end; i++ {
-		if m := pattern.FindStringSubmatch(lines[i]); m != nil {
-			lines[i] = fmt.Sprintf("%s%s: %s", m[1], key, value)
-
-			return lines, end
-		}
-	}
-
-	indent := firstChildIndent(lines[start+1 : end])
-	newLine := fmt.Sprintf("%s%s: %s", indent, key, value)
-
-	out := make([]string, 0, len(lines)+1)
-	out = append(out, lines[:end]...)
-	out = append(out, newLine)
-	out = append(out, lines[end:]...)
-
-	return out, end + 1
-}
diff --git a/gui/internal/geometry/colorconfig_test.go b/gui/internal/geometry/colorconfig_test.go
deleted file mode 100644
index 72d6f0a..0000000
--- a/gui/internal/geometry/colorconfig_test.go
+++ /dev/null
@@ -1,248 +0,0 @@
-package geometry
-
-import (
-	"os"
-	"path/filepath"
-	"strings"
-	"testing"
-)
-
-func testColorConfig() ColorConfig {
-	return ColorConfig{
-		ReferenceForce:    0.2,
-		HistoryForce:      0.5,
-		MinReferenceForce: 0.05,
-		Orange:            RGB{200, 130, 70},
-		Field:             RGB{130, 130, 130},
-		Yellow:            RGB{250, 130, 10},
-		Blue:              RGB{10, 130, 250},
-		Green:             RGB{10, 250, 130},
-		Pink:              RGB{250, 10, 130},
-	}
-}
-
-func TestWriteColorConfigUncommentsAndUpdatesValuesInPlace(t *testing.T) {
-	path := testConfigFile(t)
-
-	if err := WriteColorConfig(path, testColorConfig()); err != nil {
-		t.Fatalf("WriteColorConfig: %v", err)
-	}
-
-	got, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile: %v", err)
-	}
-
-	for _, want := range []string{
-		"reference_force: 0.2",
-		"history_force: 0.5",
-		"min_reference_force: 0.05",
-		"orange: [200, 130, 70]",
-		"field: [130, 130, 130]",
-		"yellow: [250, 130, 10]",
-		"blue: [10, 130, 250]",
-		"green: [10, 250, 130]",
-		"pink: [250, 10, 130]",
-	} {
-		if !strings.Contains(string(got), want) {
-			t.Errorf("output missing %q:\n%s", want, got)
-		}
-	}
-
-	if strings.Contains(string(got), "#orange") || strings.Contains(string(got), "#reference_force") {
-		t.Errorf("commented-out key survived uncommenting:\n%s", got)
-	}
-}
-
-func TestWriteColorConfigPreservesComments(t *testing.T) {
-	path := testConfigFile(t)
-
-	before, err := os.ReadFile("testdata/config.yml")
-	if err != nil {
-		t.Fatalf("ReadFile fixture: %v", err)
-	}
-
-	if err := WriteColorConfig(path, testColorConfig()); err != nil {
-		t.Fatalf("WriteColorConfig: %v", err)
-	}
-
-	after, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile: %v", err)
-	}
-
-	// Every *explanatory* comment survives untouched. The commented-out key
-	// lines themselves (#orange: [...], #reference_force: ...) are expected
-	// to disappear -- that's WriteColorConfig uncommenting them into their
-	// live equivalent, not a lost comment.
-	writtenKeys := []string{"reference_force:", "history_force:", "min_reference_force:", "orange:", "field:", "yellow:", "blue:", "green:", "pink:"}
-
-	for _, line := range strings.Split(string(before), "\n") {
-		trimmed := strings.TrimSpace(line)
-		if trimmed == "" || !strings.HasPrefix(trimmed, "#") {
-			continue
-		}
-
-		isTargetKey := false
-		for _, key := range writtenKeys {
-			if strings.HasPrefix(strings.TrimPrefix(trimmed, "#"), key) {
-				isTargetKey = true
-
-				break
-			}
-		}
-
-		if isTargetKey {
-			continue
-		}
-
-		if !strings.Contains(string(after), line) {
-			t.Errorf("comment line lost: %q", line)
-		}
-	}
-
-	if !strings.Contains(string(after), "camera_amount: 2") {
-		t.Error("unrelated 'geometry' section was disturbed")
-	}
-}
-
-func TestWriteColorConfigUpdatesAnAlreadyLiveKeyInPlace(t *testing.T) {
-	path := testConfigFile(t)
-
-	if err := WriteColorConfig(path, testColorConfig()); err != nil {
-		t.Fatalf("WriteColorConfig (1st): %v", err)
-	}
-
-	second := testColorConfig()
-	second.Orange = RGB{1, 2, 3}
-
-	if err := WriteColorConfig(path, second); err != nil {
-		t.Fatalf("WriteColorConfig (2nd): %v", err)
-	}
-
-	got, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile: %v", err)
-	}
-
-	if strings.Count(string(got), "orange:") != 1 {
-		t.Errorf("expected exactly one 'orange:' key, got:\n%s", got)
-	}
-
-	if !strings.Contains(string(got), "orange: [1, 2, 3]") {
-		t.Errorf("orange was not updated in place:\n%s", got)
-	}
-}
-
-func TestWriteColorConfigAppendsMissingKeys(t *testing.T) {
-	path := filepath.Join(t.TempDir(), "config.yml")
-	data := "color:\n  #reference_force: 0.1\n"
-	if err := os.WriteFile(path, []byte(data), 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
-	}
-
-	if err := WriteColorConfig(path, testColorConfig()); err != nil {
-		t.Fatalf("WriteColorConfig: %v", err)
-	}
-
-	got, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile: %v", err)
-	}
-
-	if !strings.Contains(string(got), "orange: [200, 130, 70]") {
-		t.Errorf("missing 'orange' key was not appended:\n%s", got)
-	}
-}
-
-func TestWriteColorConfigErrorsWithoutAColorSection(t *testing.T) {
-	path := filepath.Join(t.TempDir(), "config.yml")
-	if err := os.WriteFile(path, []byte("camera:\n  driver: OPENCV\n"), 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
-	}
-
-	if err := WriteColorConfig(path, testColorConfig()); err == nil {
-		t.Fatal("expected an error, got nil")
-	}
-}
-
-func TestWriteColorConfigErrorsOnAMissingFile(t *testing.T) {
-	err := WriteColorConfig(filepath.Join(t.TempDir(), "does-not-exist.yml"), testColorConfig())
-	if err == nil {
-		t.Fatal("expected an error, got nil")
-	}
-}
-
-func TestWriteColorConfigRejectsInvalidValues(t *testing.T) {
-	base := testColorConfig()
-
-	cases := map[string]func(c *ColorConfig){
-		"referenceForce out of range": func(c *ColorConfig) { c.ReferenceForce = 1.5 },
-		"forces sum over 1":           func(c *ColorConfig) { c.ReferenceForce, c.HistoryForce = 0.6, 0.6 },
-		"reference below floor":       func(c *ColorConfig) { c.ReferenceForce, c.MinReferenceForce = 0.01, 0.05 },
-		"channel out of range":        func(c *ColorConfig) { c.Orange.R = 300 },
-	}
-
-	for name, mutate := range cases {
-		t.Run(name, func(t *testing.T) {
-			path := testConfigFile(t)
-
-			cfg := base
-			mutate(&cfg)
-
-			if err := WriteColorConfig(path, cfg); err == nil {
-				t.Fatal("expected an error, got nil")
-			}
-		})
-	}
-}
-
-func TestReadColorConfigRoundTripsWhatWriteColorConfigSaved(t *testing.T) {
-	path := testConfigFile(t)
-
-	want := testColorConfig()
-	if err := WriteColorConfig(path, want); err != nil {
-		t.Fatalf("WriteColorConfig: %v", err)
-	}
-
-	got, err := ReadColorConfig(path)
-	if err != nil {
-		t.Fatalf("ReadColorConfig: %v", err)
-	}
-
-	if got != want {
-		t.Errorf("got %+v, want %+v", got, want)
-	}
-}
-
-func TestReadColorConfigReturnsVisionProcessorsDefaultsWhenNothingIsSetYet(t *testing.T) {
-	path := testConfigFile(t)
-
-	got, err := ReadColorConfig(path)
-	if err != nil {
-		t.Fatalf("ReadColorConfig: %v", err)
-	}
-
-	want := ColorConfig{
-		ReferenceForce:    0.1,
-		HistoryForce:      0.7,
-		MinReferenceForce: defaultMinReferenceForce,
-		Orange:            RGB{192, 128, 64},
-		Field:             RGB{128, 128, 128},
-		Yellow:            RGB{255, 128, 0},
-		Blue:              RGB{0, 128, 255},
-		Green:             RGB{0, 255, 128},
-		Pink:              RGB{255, 0, 128},
-	}
-
-	if got != want {
-		t.Errorf("got %+v, want %+v (vision_processor's own Resources.cpp defaults)", got, want)
-	}
-}
-
-func TestReadColorConfigErrorsOnAMissingFile(t *testing.T) {
-	_, err := ReadColorConfig(filepath.Join(t.TempDir(), "does-not-exist.yml"))
-	if err == nil {
-		t.Fatal("expected an error, got nil")
-	}
-}
diff --git a/gui/internal/geometry/field_config.go b/gui/internal/geometry/field_config.go
index 98d927d..f1c22f6 100644
--- a/gui/internal/geometry/field_config.go
+++ b/gui/internal/geometry/field_config.go
@@ -3,36 +3,11 @@ package geometry
 import (
 	"errors"
 	"fmt"
-	"os"
-	"path/filepath"
 
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
 	"google.golang.org/protobuf/proto"
-	"gopkg.in/yaml.v3"
 )
 
-// ReadOnlyFiles are geometry files UpdateField refuses to overwrite: the
-// rulebook presets (see gui/frontend/src/lib/fieldPresets.ts, or rather --
-// once presets are read from these directly -- the sole source of truth for
-// them). Matched by base filename, wherever -geometryFile happens to point.
-//
-// This exists because it's an easy mistake to make once, not a hypothetical:
-// the default -geometryFile briefly was "geometry-divB.yml" itself, so the
-// very first Save in the Virtual Field editor would have silently overwritten
-// the tracked competition preset.
-var ReadOnlyFiles = map[string]bool{
-	"geometry-divA.yml": true,
-	"geometry-divB.yml": true,
-}
-
-// ReadOnlyError marks a save rejected because the target file is a protected
-// preset, not the caller's working config.
-type ReadOnlyError struct{ path string }
-
-func (e *ReadOnlyError) Error() string {
-	return fmt.Sprintf("%s is a read-only rulebook preset; point -geometryFile at a working copy instead", e.path)
-}
-
 // FieldConfig is the editable subset of SSL_GeometryFieldSize -- everything
 // except FieldLines/FieldArcs (generated, never hand-edited) and the fields
 // that live elsewhere (Calib is runtime state, not static config).
@@ -59,10 +34,10 @@ type FieldConfig struct {
 // "missing" case to represent here the way there is when parsing a hand-edited
 // YAML file.
 type OptionalLinesConfig struct {
-	Goal2Goal    bool `json:"goal2Goal"`
-	Halfway      bool `json:"halfway"`
-	CenterCircle bool `json:"centerCircle"`
-	Penalty      bool `json:"penalty"`
+	Goal2Goal    bool `yaml:"goal2goal" json:"goal2Goal"`
+	Halfway      bool `yaml:"halfway" json:"halfway"`
+	CenterCircle bool `yaml:"centercircle" json:"centerCircle"`
+	Penalty      bool `yaml:"penalty" json:"penalty"`
 }
 
 // ValidationError marks a FieldConfig rejected by Validate -- the caller's
@@ -98,15 +73,6 @@ func (c FieldConfig) Validate() error {
 	return nil
 }
 
-// FieldConfig returns the current editable field dimensions and optional-line
-// toggles.
-func (g *Geometry) FieldConfig() (FieldConfig, OptionalLinesConfig) {
-	g.mu.Lock()
-	defer g.mu.Unlock()
-
-	return fieldConfigFrom(g.wrapper.GetGeometry().GetField(), g.optional)
-}
-
 // fieldConfigFrom reads a FieldConfig/OptionalLinesConfig pair out of a
 // decoded field size and its optional-line toggles. Shared by FieldConfig
 // (the live, held Geometry) and LoadPreset (an arbitrary file read fresh,
@@ -136,27 +102,33 @@ func fieldConfigFrom(field *vision.SSL_GeometryFieldSize, optional optionalLines
 		}
 }
 
-// LoadPreset reads a geometry YAML file fresh -- no Geometry instance, no
-// mutation of anything -- and returns its field dimensions and optional-line
-// toggles. Used to serve the rulebook presets (geometry-divA.yml,
-// geometry-divB.yml) straight from the same files a human would open, rather
-// than a copy that could drift from them.
-func LoadPreset(path string) (FieldConfig, OptionalLinesConfig, error) {
+// LoadFieldFile reads a legacy geometry YAML file (geometry-*.yml) fresh --
+// no Geometry instance, no mutation of anything -- and returns its field
+// dimensions, optional-line toggles, and ball models. Used for the rulebook
+// presets and for importing a pre-vision.yml setup.
+func LoadFieldFile(path string) (FieldConfig, OptionalLinesConfig, *vision.SSL_GeometryModels, error) {
 	wrapper, optional, _, err := Load(path)
 	if err != nil {
-		return FieldConfig{}, OptionalLinesConfig{}, err
+		return FieldConfig{}, OptionalLinesConfig{}, nil, err
 	}
 
 	field, opt := fieldConfigFrom(wrapper.GetGeometry().GetField(), optional)
 
-	return field, opt, nil
+	return field, opt, wrapper.GetGeometry().GetModels(), nil
+}
+
+// LoadPreset is LoadFieldFile without the models, for serving the rulebook
+// presets (geometry-divA.yml, geometry-divB.yml) straight from the same files
+// a human would open, rather than a copy that could drift from them.
+func LoadPreset(path string) (FieldConfig, OptionalLinesConfig, error) {
+	field, opt, _, err := LoadFieldFile(path)
+
+	return field, opt, err
 }
 
 // applyFieldConfig builds a field message from cfg, regenerates its derived
-// markings, and installs both it and opt onto g. Callers must hold mu and
-// must have already validated cfg and checked ReadOnlyFiles for whichever
-// path they're about to write to -- this never fails, so it's only safe to
-// call once nothing left can reject the operation.
+// markings, and installs it onto g. Callers must hold mu and must have already
+// validated cfg -- this never fails.
 func (g *Geometry) applyFieldConfig(cfg FieldConfig, opt OptionalLinesConfig) {
 	field := &vision.SSL_GeometryFieldSize{
 		FieldLength:               proto.Int32(cfg.FieldLength),
@@ -186,160 +158,4 @@ func (g *Geometry) applyFieldConfig(cfg FieldConfig, opt OptionalLinesConfig) {
 	generateFieldMarkings(field, optional)
 
 	g.wrapper.Geometry.Field = field
-	g.optional = optional
-}
-
-// applyAndPersist mutates g to reflect cfg/opt, re-encodes, and calls persist
-// to write the change to disk -- rolling the in-memory mutation back if
-// either step fails, so a rejected save never leaves g holding (and
-// broadcasting, over multicast and the WS hub) field data that was never
-// actually written anywhere. Callers must hold mu, must have already
-// validated cfg, and must have already checked ReadOnlyFiles for whichever
-// path persist is about to write to.
-func (g *Geometry) applyAndPersist(cfg FieldConfig, opt OptionalLinesConfig, persist func() error) error {
-	previousField := g.wrapper.Geometry.Field
-	previousOptional := g.optional
-	previousEncoded := g.encoded
-
-	rollback := func() {
-		g.wrapper.Geometry.Field = previousField
-		g.optional = previousOptional
-		g.encoded = previousEncoded
-	}
-
-	g.applyFieldConfig(cfg, opt)
-
-	if err := g.reencode(); err != nil {
-		rollback()
-
-		return fmt.Errorf("encode updated geometry: %w", err)
-	}
-
-	if err := persist(); err != nil {
-		rollback()
-
-		return fmt.Errorf("save %s: %w", g.path, err)
-	}
-
-	return nil
-}
-
-// UpdateField replaces the field dimensions and optional-line toggles,
-// regenerates the derived field lines/arcs, and persists the change to the
-// file Geometry was loaded from. Existing calibrations are kept.
-//
-// Persisting rewrites the whole file, so hand-added comments in it do not
-// survive a save made through this path.
-func (g *Geometry) UpdateField(cfg FieldConfig, opt OptionalLinesConfig) error {
-	if err := cfg.Validate(); err != nil {
-		return err
-	}
-
-	g.mu.Lock()
-	defer g.mu.Unlock()
-
-	// Checked before anything below mutates g.wrapper/g.optional: a rejected
-	// save must not leave the in-memory (and multicast-broadcast) state
-	// holding values that were never actually persisted.
-	if ReadOnlyFiles[filepath.Base(g.path)] {
-		return &ReadOnlyError{path: g.path}
-	}
-
-	return g.applyAndPersist(cfg, opt, func() error { return g.saveYAML(cfg, opt) })
-}
-
-// SaveAs is UpdateField plus switching which file Geometry edits: it writes
-// cfg/opt to path rather than the current file, and -- once that write
-// succeeds -- every subsequent Save (UpdateField) goes to path too. Whatever
-// non-field content the current file carried (e.g. "models") comes along
-// unchanged; existing calibrations are kept, same as UpdateField.
-func (g *Geometry) SaveAs(path string, cfg FieldConfig, opt OptionalLinesConfig) error {
-	if err := cfg.Validate(); err != nil {
-		return err
-	}
-
-	g.mu.Lock()
-	defer g.mu.Unlock()
-
-	if ReadOnlyFiles[filepath.Base(path)] {
-		return &ReadOnlyError{path: path}
-	}
-
-	// g.path changes before persisting so applyAndPersist's error message (and
-	// saveYAML's ReadOnlyFiles recheck) refer to the new path -- rolled back
-	// on any failure, same as the field/optional/encoded state, so a rejected
-	// SaveAs never leaves Geometry claiming to be a file nothing was actually
-	// written to.
-	previousPath := g.path
-	g.path = path
-
-	if err := g.applyAndPersist(cfg, opt, func() error { return g.saveYAML(cfg, opt) }); err != nil {
-		g.path = previousPath
-
-		return err
-	}
-
-	return nil
-}
-
-// LoadFrom replaces this Geometry's entire state -- field config, optional
-// lines, and whatever else the file carries (e.g. "models") -- with what's in
-// path, and starts editing that file: subsequent Save calls go there.
-//
-// Existing calibrations are discarded, not carried over: they were computed
-// against the field this Geometry used to hold, and are meaningless against
-// whatever was just loaded (which may not even be the same size).
-func (g *Geometry) LoadFrom(path string) error {
-	wrapper, optional, extra, err := Load(path)
-	if err != nil {
-		return err
-	}
-
-	g.mu.Lock()
-	defer g.mu.Unlock()
-
-	g.wrapper = wrapper
-	g.path = path
-	g.optional = optional
-	g.extra = extra
-
-	return g.reencode()
-}
-
-// Path reports the file Geometry currently reads from and saves to.
-func (g *Geometry) Path() string {
-	g.mu.Lock()
-	defer g.mu.Unlock()
-
-	return g.path
-}
-
-// saveYAML writes the current field config and optional-line toggles back to
-// g.path, merged with whatever other top-level keys (e.g. "models") were
-// present when it was loaded. Callers must hold mu.
-func (g *Geometry) saveYAML(cfg FieldConfig, opt OptionalLinesConfig) error {
-	if ReadOnlyFiles[filepath.Base(g.path)] {
-		return &ReadOnlyError{path: g.path}
-	}
-
-	out := map[string]any{
-		"optional_field_lines": map[string]bool{
-			"goal2goal":    opt.Goal2Goal,
-			"halfway":      opt.Halfway,
-			"centercircle": opt.CenterCircle,
-			"penalty":      opt.Penalty,
-		},
-		"field": cfg,
-	}
-
-	for k, v := range g.extra {
-		out[k] = v
-	}
-
-	data, err := yaml.Marshal(out)
-	if err != nil {
-		return err
-	}
-
-	return os.WriteFile(g.path, data, 0o644)
 }
diff --git a/gui/internal/geometry/field_config_test.go b/gui/internal/geometry/field_config_test.go
index b8404cc..a0e0a83 100644
--- a/gui/internal/geometry/field_config_test.go
+++ b/gui/internal/geometry/field_config_test.go
@@ -1,12 +1,10 @@
 package geometry
 
 import (
-	"errors"
-	"os"
-	"path/filepath"
 	"testing"
 
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/proto"
 )
 
 func testConfig() FieldConfig {
@@ -24,59 +22,47 @@ func testOptional() OptionalLinesConfig {
 	return OptionalLinesConfig{Halfway: true, Penalty: true}
 }
 
-func TestFieldConfigRoundTripsThroughGet(t *testing.T) {
+func TestApplyConfigRegeneratesMarkings(t *testing.T) {
 	g := testGeometry(t)
 
-	cfg := testConfig()
-	opt := testOptional()
-
-	if err := g.UpdateField(cfg, opt); err != nil {
-		t.Fatalf("UpdateField: %v", err)
-	}
-
-	gotCfg, gotOpt := g.FieldConfig()
-	if gotCfg != cfg {
-		t.Errorf("FieldConfig() = %+v, want %+v", gotCfg, cfg)
-	}
-
-	if gotOpt != opt {
-		t.Errorf("optional = %+v, want %+v", gotOpt, opt)
+	if err := g.ApplyConfig(testConfig(), testOptional(), nil); err != nil {
+		t.Fatalf("ApplyConfig: %v", err)
 	}
-}
 
-func TestUpdateFieldRegeneratesMarkings(t *testing.T) {
-	g := testGeometry(t)
-
-	if err := g.UpdateField(testConfig(), testOptional()); err != nil {
-		t.Fatalf("UpdateField: %v", err)
+	field := g.Snapshot().GetGeometry().GetField()
+	if field.GetFieldLength() != 2160 {
+		t.Errorf("field_length = %d, want 2160", field.GetFieldLength())
 	}
 
-	lines := g.Snapshot().GetGeometry().GetField().GetFieldLines()
-
 	// Halfway is on, goal2goal/centercircle are off: expect the 4 mandatory
 	// lines + HalfwayLine + the 6 penalty stretches, nothing else.
-	if len(lines) != 11 {
+	if lines := field.GetFieldLines(); len(lines) != 11 {
 		t.Fatalf("field lines = %d, want 11 (got %v)", len(lines), lines)
 	}
 }
 
-func TestUpdateFieldRejectsNonsenseDimensions(t *testing.T) {
+func TestApplyConfigRejectsNonsenseAndChangesNothing(t *testing.T) {
 	g := testGeometry(t)
+	before := g.Encoded()
 
 	cfg := testConfig()
 	cfg.FieldLength = 0
 
-	if err := g.UpdateField(cfg, testOptional()); err == nil {
-		t.Fatal("UpdateField accepted a zero field_length")
+	if err := g.ApplyConfig(cfg, testOptional(), nil); err == nil {
+		t.Fatal("ApplyConfig accepted a zero field_length")
+	}
+
+	if string(g.Encoded()) != string(before) {
+		t.Fatal("a rejected ApplyConfig changed the published packet")
 	}
 }
 
-func TestUpdateFieldKeepsExistingCalibrations(t *testing.T) {
+func TestApplyConfigKeepsExistingCalibrations(t *testing.T) {
 	g := testGeometry(t)
 	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400)}})
 
-	if err := g.UpdateField(testConfig(), testOptional()); err != nil {
-		t.Fatalf("UpdateField: %v", err)
+	if err := g.ApplyConfig(testConfig(), testOptional(), nil); err != nil {
+		t.Fatalf("ApplyConfig: %v", err)
 	}
 
 	if got := g.Snapshot().GetGeometry().GetCalib(); len(got) != 1 {
@@ -84,93 +70,23 @@ func TestUpdateFieldKeepsExistingCalibrations(t *testing.T) {
 	}
 }
 
-// UpdateField persists to the file Geometry was loaded from. A second Load of
-// that same file must see the new dimensions, and "models" (which UpdateField
-// never touches) must have survived the round trip unchanged.
-func TestUpdateFieldPersistsAndPreservesExtraKeys(t *testing.T) {
-	dir := t.TempDir()
-	path := filepath.Join(dir, "geometry.yml")
-
-	src, err := os.ReadFile("testdata/geometry.yml")
-	if err != nil {
-		t.Fatalf("ReadFile fixture: %v", err)
-	}
-
-	fixtureWithModels := string(src) + "\nmodels:\n  straight_two_phase:\n    acc_slide: -3.4\n    acc_roll: -0.45\n    k_switch: 0.64\n"
-	if err := os.WriteFile(path, []byte(fixtureWithModels), 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
-	}
-
-	g, err := New(path)
-	if err != nil {
-		t.Fatalf("New: %v", err)
-	}
-
-	cfg := testConfig()
-	if err := g.UpdateField(cfg, testOptional()); err != nil {
-		t.Fatalf("UpdateField: %v", err)
-	}
-
-	reloaded, err := New(path)
-	if err != nil {
-		t.Fatalf("New (reload): %v", err)
-	}
-
-	gotCfg, _ := reloaded.FieldConfig()
-	if gotCfg.FieldLength != cfg.FieldLength {
-		t.Errorf("reloaded field_length = %d, want %d", gotCfg.FieldLength, cfg.FieldLength)
-	}
-
-	models := reloaded.Snapshot().GetGeometry().GetModels()
-	if models.GetStraightTwoPhase().GetAccSlide() != -3.4 {
-		t.Errorf("models.straight_two_phase.acc_slide did not survive the save: %v", models)
-	}
-}
-
-// UpdateField must refuse to overwrite a file whose name matches a protected
-// rulebook preset -- and must not mutate any in-memory state on the way to
-// refusing, since a rejected save that still changed what's held in memory
-// would get broadcast over multicast despite never reaching disk.
-func TestUpdateFieldRefusesToOverwriteAPreset(t *testing.T) {
-	src, err := os.ReadFile("testdata/geometry.yml")
-	if err != nil {
-		t.Fatalf("ReadFile fixture: %v", err)
-	}
-
-	path := filepath.Join(t.TempDir(), "geometry-divB.yml")
-	if err := os.WriteFile(path, src, 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
-	}
-
-	g, err := New(path)
-	if err != nil {
-		t.Fatalf("New: %v", err)
-	}
-
-	before, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile before: %v", err)
-	}
-
-	beforeCfg, _ := g.FieldConfig()
-
-	var readOnly *ReadOnlyError
-	if err := g.UpdateField(testConfig(), testOptional()); !errors.As(err, &readOnly) {
-		t.Fatalf("UpdateField err = %v, want a *ReadOnlyError", err)
-	}
+func TestApplyConfigReplacesModels(t *testing.T) {
+	g := testGeometry(t)
 
-	after, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile after: %v", err)
+	models := &vision.SSL_GeometryModels{
+		StraightTwoPhase: &vision.SSL_BallModelStraightTwoPhase{
+			AccSlide: proto.Float64(-3),
+			AccRoll:  proto.Float64(-0.3),
+			KSwitch:  proto.Float64(0.6),
+		},
 	}
 
-	if string(before) != string(after) {
-		t.Error("file was modified despite the rejected save")
+	if err := g.ApplyConfig(testConfig(), testOptional(), models); err != nil {
+		t.Fatalf("ApplyConfig: %v", err)
 	}
 
-	afterCfg, _ := g.FieldConfig()
-	if afterCfg != beforeCfg {
-		t.Errorf("in-memory config changed despite the rejected save: got %+v, want %+v", afterCfg, beforeCfg)
+	if got := g.Snapshot().GetGeometry().GetModels(); !proto.Equal(got, models) {
+		t.Fatalf("models = %v, want %v", got, models)
 	}
 }
 
@@ -189,76 +105,11 @@ func TestLoadPresetReadsWithoutAGeometryInstance(t *testing.T) {
 	}
 }
 
-func TestSaveAsWritesToTheNewPathAndSwitchesToIt(t *testing.T) {
-	g := testGeometry(t)
-
-	newPath := filepath.Join(t.TempDir(), "new-name.yml")
+func TestNewRejectsAnInvalidField(t *testing.T) {
 	cfg := testConfig()
+	cfg.FieldWidth = -1
 
-	if err := g.SaveAs(newPath, cfg, testOptional()); err != nil {
-		t.Fatalf("SaveAs: %v", err)
-	}
-
-	if g.Path() != newPath {
-		t.Errorf("Path() = %q, want %q", g.Path(), newPath)
-	}
-
-	if _, err := os.Stat(newPath); err != nil {
-		t.Fatalf("Stat(newPath): %v", err)
-	}
-
-	gotCfg, _ := g.FieldConfig()
-	if gotCfg != cfg {
-		t.Errorf("FieldConfig() = %+v, want %+v", gotCfg, cfg)
-	}
-
-	// A plain Save afterward must go to the new path, not the original one.
-	if err := g.UpdateField(cfg, testOptional()); err != nil {
-		t.Fatalf("UpdateField after SaveAs: %v", err)
-	}
-}
-
-func TestSaveAsRefusesAPresetTarget(t *testing.T) {
-	g := testGeometry(t)
-
-	before := g.Path()
-
-	var readOnly *ReadOnlyError
-	if err := g.SaveAs("geometry-divB.yml", testConfig(), testOptional()); !errors.As(err, &readOnly) {
-		t.Fatalf("SaveAs err = %v, want a *ReadOnlyError", err)
-	}
-
-	if g.Path() != before {
-		t.Errorf("Path() = %q, want unchanged %q", g.Path(), before)
-	}
-}
-
-func TestLoadFromReplacesStateAndDiscardsCalibrations(t *testing.T) {
-	g := testGeometry(t)
-	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400)}})
-
-	otherPath := filepath.Join(t.TempDir(), "other.yml")
-	if err := os.WriteFile(otherPath, []byte(
-		"optional_field_lines:\n  goal2goal: false\n  halfway: false\n  centercircle: false\n  penalty: false\n"+
-			"field:\n  field_length: 3000\n  field_width: 2000\n  goal_width: 300\n  goal_depth: 60\n  boundary_width: 120\n",
-	), 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
-	}
-
-	if err := g.LoadFrom(otherPath); err != nil {
-		t.Fatalf("LoadFrom: %v", err)
-	}
-
-	if g.Path() != otherPath {
-		t.Errorf("Path() = %q, want %q", g.Path(), otherPath)
-	}
-
-	cfg, _ := g.FieldConfig()
-	if cfg.FieldLength != 3000 {
-		t.Errorf("field_length = %d, want 3000 (from the newly loaded file)", cfg.FieldLength)
-	}
-
-	if got := g.Snapshot().GetGeometry().GetCalib(); len(got) != 0 {
-		t.Errorf("calib = %v, want discarded after loading a different file", got)
+	if _, err := New(cfg, testOptional(), nil); err == nil {
+		t.Fatal("New accepted a negative field_width")
 	}
 }
diff --git a/gui/internal/geometry/geometry.go b/gui/internal/geometry/geometry.go
index 4452dd6..ab73977 100644
--- a/gui/internal/geometry/geometry.go
+++ b/gui/internal/geometry/geometry.go
@@ -2,7 +2,9 @@ package geometry
 
 import (
 	"context"
+	"fmt"
 	"log/slog"
+	"slices"
 	"sync"
 	"time"
 
@@ -13,35 +15,50 @@ import (
 // PublishInterval is how often the merged wrapper packet is republished.
 const PublishInterval = time.Second
 
-// Geometry owns the field configuration and per-camera calibrations absorbed
-// from vision processors on the network.
+// Geometry owns the live field template and the per-camera calibrations
+// published with it. It holds no file state: internal/config owns vision.yml
+// and pushes changes in through ApplyConfig/SetLocked.
+//
+// Each camera's published calibration is its locked one if set, otherwise
+// the latest one absorbed from the network. A vision processor only skips
+// calibrating at startup if the packet it receives holds a calibration for
+// its camera_id, so publishing locked calibrations is what lets a restart of
+// this host (or of a processor) avoid a needless recalibration.
 //
 // proto.Marshal writes to the message's size cache, so this is not a
-// read-without-locking type. mu guards every access to wrapper. encoded is the
-// last marshalled snapshot, kept so Run never has to marshal on its own.
+// read-without-locking type. mu guards every field. encoded is the last
+// marshalled snapshot, kept so Run never has to marshal on its own.
 type Geometry struct {
 	mu       sync.Mutex
 	wrapper  *vision.SSL_WrapperPacket
 	encoded  []byte
-	path     string         // source file, for UpdateField's save-back
-	optional optionalLines  // retained so it can be read back and re-saved
-	extra    map[string]any // top-level YAML keys besides optional_field_lines/field (e.g. models), preserved verbatim on save
+	absorbed map[uint32]*vision.SSL_GeometryCameraCalibration
+	locked   map[uint32]*vision.SSL_GeometryCameraCalibration
 }
 
-// New loads geometry.yml at path.
-func New(path string) (*Geometry, error) {
-	wrapper, optional, extra, err := Load(path)
-	if err != nil {
+// New builds a Geometry publishing the given field template and no
+// calibrations.
+func New(field FieldConfig, optional OptionalLinesConfig, models *vision.SSL_GeometryModels) (*Geometry, error) {
+	if err := field.Validate(); err != nil {
 		return nil, err
 	}
 
-	g := &Geometry{wrapper: wrapper, path: path, optional: optional, extra: extra}
+	g := &Geometry{
+		wrapper: &vision.SSL_WrapperPacket{
+			Geometry: &vision.SSL_GeometryData{},
+			Source:   vision.SSL_Source_SSL_SOURCE_VISION_PROCESSOR.Enum(),
+		},
+		absorbed: map[uint32]*vision.SSL_GeometryCameraCalibration{},
+		locked:   map[uint32]*vision.SSL_GeometryCameraCalibration{},
+	}
+
+	g.applyFieldConfig(field, optional)
+	g.wrapper.Geometry.Models = cloneModels(models)
+
 	if err := g.reencode(); err != nil {
 		return nil, err
 	}
 
-	slog.Info("loaded geometry", "path", path, "calibrations", len(wrapper.GetGeometry().GetCalib()))
-
 	return g, nil
 }
 
@@ -73,10 +90,88 @@ func (g *Geometry) Snapshot() *vision.SSL_WrapperPacket {
 	return proto.Clone(g.wrapper).(*vision.SSL_WrapperPacket)
 }
 
-// Absorb merges one incoming SSL_GeometryData into the held wrapper packet.
-// Unknown camera IDs are appended, unchanged ones are left alone, changed ones
-// are replaced. A calibration missing required fields is rejected before it
-// can touch stored state, so a bad message never desyncs wrapper from encoded.
+// ApplyConfig replaces the field template (dimensions, optional markings,
+// ball models) and regenerates the derived field lines/arcs. Calibrations are
+// untouched. On failure nothing changes.
+func (g *Geometry) ApplyConfig(field FieldConfig, optional OptionalLinesConfig, models *vision.SSL_GeometryModels) error {
+	if err := field.Validate(); err != nil {
+		return err
+	}
+
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	previousField := g.wrapper.Geometry.Field
+	previousModels := g.wrapper.Geometry.Models
+
+	g.applyFieldConfig(field, optional)
+	g.wrapper.Geometry.Models = cloneModels(models)
+
+	if err := g.reencode(); err != nil {
+		g.wrapper.Geometry.Field = previousField
+		g.wrapper.Geometry.Models = previousModels
+
+		return fmt.Errorf("encode updated geometry: %w", err)
+	}
+
+	return nil
+}
+
+// SetLocked replaces the full set of locked calibrations, keyed by camera_id.
+// Each must already be complete (proto.CheckInitialized).
+func (g *Geometry) SetLocked(locked map[uint32]*vision.SSL_GeometryCameraCalibration) error {
+	next := make(map[uint32]*vision.SSL_GeometryCameraCalibration, len(locked))
+
+	for id, c := range locked {
+		if err := proto.CheckInitialized(c); err != nil {
+			return fmt.Errorf("locked calibration for camera %d: %w", id, err)
+		}
+
+		next[id] = proto.Clone(c).(*vision.SSL_GeometryCameraCalibration)
+	}
+
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	g.locked = next
+
+	return g.republishCalib()
+}
+
+// Unlock stops publishing any calibration for camID -- locked or absorbed --
+// so the next time that camera's vision processor starts, it finds none for
+// itself and calibrates. A processor that's already running keeps the model it
+// has; the protocol has no way to tell it to recalibrate live.
+func (g *Geometry) Unlock(camID uint32) error {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	delete(g.locked, camID)
+	delete(g.absorbed, camID)
+
+	return g.republishCalib()
+}
+
+// LiveCalibration returns a copy of the latest calibration absorbed from the
+// network for camID, or nil if none has arrived since startup (or since the
+// last Unlock).
+func (g *Geometry) LiveCalibration(camID uint32) *vision.SSL_GeometryCameraCalibration {
+	g.mu.Lock()
+	defer g.mu.Unlock()
+
+	c, ok := g.absorbed[camID]
+	if !ok {
+		return nil
+	}
+
+	return proto.Clone(c).(*vision.SSL_GeometryCameraCalibration)
+}
+
+// Absorb records the calibrations in one incoming SSL_GeometryData. A
+// calibration missing required fields is rejected before it can touch stored
+// state, so a bad message never desyncs wrapper from encoded. Absorbed
+// calibrations for a locked camera are kept (for LiveCalibration) but not
+// published -- the locked one wins.
 func (g *Geometry) Absorb(incoming *vision.SSL_GeometryData) {
 	g.mu.Lock()
 	defer g.mu.Unlock()
@@ -89,44 +184,62 @@ func (g *Geometry) Absorb(incoming *vision.SSL_GeometryData) {
 			continue
 		}
 
-		if g.mergeCalib(camera) {
-			changed = true
+		id := camera.GetCameraId()
+		if existing, ok := g.absorbed[id]; ok && proto.Equal(existing, camera) {
+			continue
 		}
+
+		g.absorbed[id] = proto.Clone(camera).(*vision.SSL_GeometryCameraCalibration)
+		slog.Info("absorbed camera calibration", "cam", id)
+
+		changed = true
 	}
 
 	if !changed {
 		return
 	}
 
-	if err := g.reencode(); err != nil {
+	if err := g.republishCalib(); err != nil {
 		slog.Error("re-encoding wrapper packet", "err", err)
 	}
 }
 
-// mergeCalib applies one camera's calibration, reporting whether it changed
-// anything. Callers must hold mu.
-func (g *Geometry) mergeCalib(camera *vision.SSL_GeometryCameraCalibration) bool {
-	calib := g.wrapper.GetGeometry().GetCalib()
+// republishCalib rebuilds the published calibration list from locked and
+// absorbed, ordered by camera_id, and re-encodes. Callers must hold mu.
+func (g *Geometry) republishCalib() error {
+	ids := make([]uint32, 0, len(g.locked)+len(g.absorbed))
+	for id := range g.locked {
+		ids = append(ids, id)
+	}
 
-	for i, existing := range calib {
-		if existing.GetCameraId() != camera.GetCameraId() {
-			continue
+	for id := range g.absorbed {
+		if _, ok := g.locked[id]; !ok {
+			ids = append(ids, id)
 		}
+	}
 
-		if proto.Equal(existing, camera) {
-			return false
+	slices.Sort(ids)
+
+	calib := make([]*vision.SSL_GeometryCameraCalibration, 0, len(ids))
+	for _, id := range ids {
+		if c, ok := g.locked[id]; ok {
+			calib = append(calib, c)
+		} else {
+			calib = append(calib, g.absorbed[id])
 		}
+	}
 
-		calib[i] = proto.Clone(camera).(*vision.SSL_GeometryCameraCalibration)
-		slog.Info("updated camera calibration", "cam", camera.GetCameraId())
+	g.wrapper.Geometry.Calib = calib
 
-		return true
-	}
+	return g.reencode()
+}
 
-	g.wrapper.Geometry.Calib = append(calib, proto.Clone(camera).(*vision.SSL_GeometryCameraCalibration))
-	slog.Info("added camera calibration", "cam", camera.GetCameraId())
+func cloneModels(models *vision.SSL_GeometryModels) *vision.SSL_GeometryModels {
+	if models == nil {
+		return nil
+	}
 
-	return true
+	return proto.Clone(models).(*vision.SSL_GeometryModels)
 }
 
 // Run publishes immediately, then republishes via publish once per
diff --git a/gui/internal/geometry/geometry_test.go b/gui/internal/geometry/geometry_test.go
index 53924a2..05e3b98 100644
--- a/gui/internal/geometry/geometry_test.go
+++ b/gui/internal/geometry/geometry_test.go
@@ -2,8 +2,6 @@ package geometry
 
 import (
 	"context"
-	"os"
-	"path/filepath"
 	"sync"
 	"testing"
 	"time"
@@ -12,24 +10,16 @@ import (
 	"google.golang.org/protobuf/proto"
 )
 
-// testGeometry loads a *copy* of the fixture into a temp dir, never the
-// checked-in testdata/geometry.yml directly -- UpdateField writes back to
-// whatever path it was loaded from, and a test calling it against the shared
-// fixture would silently rewrite a tracked file on every run.
+// testGeometry builds a Geometry from the fixture's field template.
 func testGeometry(t *testing.T) *Geometry {
 	t.Helper()
 
-	src, err := os.ReadFile("testdata/geometry.yml")
+	field, optional, models, err := LoadFieldFile("testdata/geometry.yml")
 	if err != nil {
-		t.Fatalf("ReadFile fixture: %v", err)
+		t.Fatalf("LoadFieldFile: %v", err)
 	}
 
-	path := filepath.Join(t.TempDir(), "geometry.yml")
-	if err := os.WriteFile(path, src, 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
-	}
-
-	g, err := New(path)
+	g, err := New(field, optional, models)
 	if err != nil {
 		t.Fatalf("New: %v", err)
 	}
@@ -170,6 +160,76 @@ func TestConcurrentAbsorbAndRead(t *testing.T) {
 	}
 }
 
+func TestLockedCalibrationOverridesAbsorbed(t *testing.T) {
+	g := testGeometry(t)
+
+	if err := g.SetLocked(map[uint32]*vision.SSL_GeometryCameraCalibration{0: calib(0, 300)}); err != nil {
+		t.Fatalf("SetLocked: %v", err)
+	}
+
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400)}})
+
+	got := g.Snapshot().GetGeometry().GetCalib()
+	if len(got) != 1 || got[0].GetFocalLength() != 300 {
+		t.Fatalf("published calib = %v, want the locked one (300)", got)
+	}
+
+	if live := g.LiveCalibration(0); live == nil || live.GetFocalLength() != 400 {
+		t.Fatalf("LiveCalibration = %v, want the absorbed one (400)", live)
+	}
+}
+
+func TestPublishedCalibrationsAreOrderedByCameraID(t *testing.T) {
+	g := testGeometry(t)
+
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(2, 400)}})
+
+	if err := g.SetLocked(map[uint32]*vision.SSL_GeometryCameraCalibration{1: calib(1, 300)}); err != nil {
+		t.Fatalf("SetLocked: %v", err)
+	}
+
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 500)}})
+
+	got := g.Snapshot().GetGeometry().GetCalib()
+	for i, c := range got {
+		if c.GetCameraId() != uint32(i) {
+			t.Fatalf("calib order = %v, want camera ids 0, 1, 2", got)
+		}
+	}
+}
+
+func TestUnlockWithholdsTheCamerasCalibration(t *testing.T) {
+	g := testGeometry(t)
+
+	if err := g.SetLocked(map[uint32]*vision.SSL_GeometryCameraCalibration{0: calib(0, 300)}); err != nil {
+		t.Fatalf("SetLocked: %v", err)
+	}
+
+	g.Absorb(&vision.SSL_GeometryData{Calib: []*vision.SSL_GeometryCameraCalibration{calib(0, 400), calib(1, 410)}})
+
+	if err := g.Unlock(0); err != nil {
+		t.Fatalf("Unlock: %v", err)
+	}
+
+	got := g.Snapshot().GetGeometry().GetCalib()
+	if len(got) != 1 || got[0].GetCameraId() != 1 {
+		t.Fatalf("published calib = %v, want only camera 1", got)
+	}
+
+	if live := g.LiveCalibration(0); live != nil {
+		t.Fatalf("LiveCalibration(0) = %v, want nil after Unlock", live)
+	}
+}
+
+func TestSetLockedRejectsAnIncompleteCalibration(t *testing.T) {
+	g := testGeometry(t)
+
+	incomplete := &vision.SSL_GeometryCameraCalibration{CameraId: proto.Uint32(0)}
+	if err := g.SetLocked(map[uint32]*vision.SSL_GeometryCameraCalibration{0: incomplete}); err == nil {
+		t.Fatal("SetLocked accepted an incomplete calibration")
+	}
+}
+
 // Real vision_processor instances wait for the field-geometry template
 // before they can calibrate -- Run must hand it to them immediately on
 // startup, not only after the first interval elapses.
diff --git a/gui/internal/geometry/instance_config.go b/gui/internal/geometry/instance_config.go
deleted file mode 100644
index 1da8eed..0000000
--- a/gui/internal/geometry/instance_config.go
+++ /dev/null
@@ -1,305 +0,0 @@
-package geometry
-
-import (
-	"fmt"
-	"os"
-	"regexp"
-	"strings"
-	"sync"
-
-	"gopkg.in/yaml.v3"
-)
-
-// instanceConfigMu serializes every WriteLineCorners/ReadLineCorners call.
-// Unlike Geometry, there's no per-instance object to hang a mutex off of --
-// this is a bare read-modify-write of a file on disk -- so a single
-// package-level lock is what keeps two concurrent PUT /api/config/line-corners
-// requests (two browser tabs, a double-click before the Save button disables)
-// from each doing their own unsynchronized os.ReadFile/os.WriteFile and
-// silently clobbering one another, and keeps a concurrent read from ever
-// seeing a half-written file. Matches this package's existing single,
-// same-host-instance assumption (see gui/CLAUDE.md) -- one config.yml, one
-// lock.
-var instanceConfigMu sync.Mutex
-
-// Corner is one point in image pixel coordinates, as produced by the corner
-// picker. Only the first element of a slice passed to WriteLineCorners is
-// meaningful to src/calib/GeomModel.cpp's cornerCalibration -- it must be the
-// field's (minX, minY) corner. The other three may be in any order.
-type Corner struct {
-	X int `json:"x"`
-	Y int `json:"y"`
-}
-
-var (
-	lineCornersKey   = regexp.MustCompile(`^(\s*)line_corners:\s*$`)
-	goalSideMarkerKV = regexp.MustCompile(`^(\s*)goal_side_marker:.*$`)
-)
-
-// WriteLineCorners updates geometry.line_corners in the vision_processor
-// instance config at path, in place, along with a goal_side_marker record of
-// which corner-picker marker (1-4, matching its on-screen number) was chosen
-// as the goal-side corner -- vision_processor itself never reads
-// goal_side_marker (yaml-cpp's Node["key"] lookups ignore unknown keys), it's
-// purely a record for whoever looks at this file next.
-//
-// A bad corners/goalSideMarker argument is reported as a *ValidationError
-// (the caller's mistake), same type UpdateField/SaveAs use for the same
-// purpose -- callers use errors.As to give it a 400 instead of a 500, so this
-// bounds check only has to live here, not also at whatever HTTP handler
-// calls in.
-//
-// This edits the text directly rather than decoding/re-encoding the file as
-// YAML (contrast Geometry.saveYAML for geometry.yml): config.yml ships full
-// of comments and commented-out example values meant to be hand-read, and
-// gopkg.in/yaml.v3 does not reliably preserve those across a decode/re-encode
-// round trip (confirmed while building this -- entire comment blocks
-// elsewhere in the file were dropped and indentation drifted). A line-based
-// splice touches nothing outside the two keys it's asked to set.
-func WriteLineCorners(path string, corners []Corner, goalSideMarker int) error {
-	if len(corners) == 0 {
-		return &ValidationError{fmt.Errorf("no corners given")}
-	}
-
-	if goalSideMarker < 1 || goalSideMarker > len(corners) {
-		return &ValidationError{fmt.Errorf("goalSideMarker must identify one of the %d corners, got %d", len(corners), goalSideMarker)}
-	}
-
-	instanceConfigMu.Lock()
-	defer instanceConfigMu.Unlock()
-
-	data, err := os.ReadFile(path)
-	if err != nil {
-		return fmt.Errorf("read %s: %w", path, err)
-	}
-
-	updated, err := spliceLineCorners(string(data), corners)
-	if err != nil {
-		return fmt.Errorf("%s: %w", path, err)
-	}
-
-	updated, err = spliceGoalSideMarker(updated, goalSideMarker)
-	if err != nil {
-		return fmt.Errorf("%s: %w", path, err)
-	}
-
-	if err := os.WriteFile(path, []byte(updated), 0o644); err != nil {
-		return fmt.Errorf("write %s: %w", path, err)
-	}
-
-	return nil
-}
-
-// instanceConfig mirrors just the two geometry fields WriteLineCorners
-// writes. Unlike WriteLineCorners, reading doesn't need to preserve
-// anything -- nothing gets written back -- so a plain yaml.Unmarshal is fine
-// here even though it isn't for the write path.
-type instanceConfig struct {
-	Geometry struct {
-		LineCorners    [][]int `yaml:"line_corners"`
-		GoalSideMarker int     `yaml:"goal_side_marker"`
-	} `yaml:"geometry"`
-}
-
-// ReadLineCorners reads back whatever WriteLineCorners last saved to path.
-// Returns a nil/empty corners slice and a zero marker (not an error) if the
-// file has no line_corners yet -- that's the normal, not-yet-calibrated
-// state, not a failure.
-func ReadLineCorners(path string) ([]Corner, int, error) {
-	instanceConfigMu.Lock()
-	defer instanceConfigMu.Unlock()
-
-	data, err := os.ReadFile(path)
-	if err != nil {
-		return nil, 0, fmt.Errorf("read %s: %w", path, err)
-	}
-
-	var cfg instanceConfig
-	if err := yaml.Unmarshal(data, &cfg); err != nil {
-		return nil, 0, fmt.Errorf("parse %s: %w", path, err)
-	}
-
-	corners := make([]Corner, len(cfg.Geometry.LineCorners))
-
-	for i, pair := range cfg.Geometry.LineCorners {
-		if len(pair) != 2 {
-			return nil, 0, fmt.Errorf("%s: geometry.line_corners[%d] has %d values, want 2", path, i, len(pair))
-		}
-
-		corners[i] = Corner{X: pair[0], Y: pair[1]}
-	}
-
-	return corners, cfg.Geometry.GoalSideMarker, nil
-}
-
-// sectionBounds finds the given top-level YAML key's line ("geometry:",
-// "color:", ...) and the line index where its section ends (the next
-// top-level key, or len(lines)). Shared by every instance-config writer that
-// splices a single top-level section in place.
-func sectionBounds(lines []string, key string) (start, end int, err error) {
-	header := regexp.MustCompile(`^` + regexp.QuoteMeta(key) + `:\s*$`)
-	start = -1
-
-	for i, line := range lines {
-		if header.MatchString(line) {
-			start = i
-
-			break
-		}
-	}
-
-	if start == -1 {
-		return 0, 0, fmt.Errorf("missing top-level '%s' section", key)
-	}
-
-	end = len(lines)
-
-	for i := start + 1; i < len(lines); i++ {
-		if isTopLevelKeyLine(lines[i]) {
-			end = i
-
-			break
-		}
-	}
-
-	return start, end, nil
-}
-
-// geometrySectionBounds is sectionBounds pinned to the 'geometry:' section --
-// kept as a named wrapper since every call site below reads more clearly
-// naming the section than repeating the string literal.
-func geometrySectionBounds(lines []string) (start, end int, err error) {
-	return sectionBounds(lines, "geometry")
-}
-
-// spliceLineCorners is the pure text transform behind WriteLineCorners' list
-// value, split out so it's testable without touching disk.
-func spliceLineCorners(doc string, corners []Corner) (string, error) {
-	lines, trailingNewline := splitDoc(doc)
-
-	geometryAt, sectionEnd, err := geometrySectionBounds(lines)
-	if err != nil {
-		return "", err
-	}
-
-	keyAt := -1
-	indent := ""
-
-	for i := geometryAt + 1; i < sectionEnd; i++ {
-		if m := lineCornersKey.FindStringSubmatch(lines[i]); m != nil {
-			keyAt = i
-			indent = m[1]
-
-			break
-		}
-	}
-
-	items := make([]string, len(corners))
-
-	if keyAt == -1 {
-		indent = firstChildIndent(lines[geometryAt+1 : sectionEnd])
-
-		for i, c := range corners {
-			items[i] = fmt.Sprintf("%s- [%d, %d]", indent, c.X, c.Y)
-		}
-
-		out := make([]string, 0, len(lines)+len(items)+1)
-		out = append(out, lines[:geometryAt+1]...)
-		out = append(out, indent+"line_corners:")
-		out = append(out, items...)
-		out = append(out, lines[geometryAt+1:]...)
-
-		return joinLines(out, trailingNewline), nil
-	}
-
-	// Consume any existing list items (real or commented-out placeholders)
-	// immediately following the key -- everything after that, including
-	// blank lines and the next section's comments, is left untouched.
-	itemLine := regexp.MustCompile(`^` + regexp.QuoteMeta(indent) + `#?-`)
-	end := keyAt + 1
-	for end < sectionEnd && itemLine.MatchString(lines[end]) {
-		end++
-	}
-
-	for i, c := range corners {
-		items[i] = fmt.Sprintf("%s- [%d, %d]", indent, c.X, c.Y)
-	}
-
-	out := make([]string, 0, len(lines)+len(items))
-	out = append(out, lines[:keyAt+1]...)
-	out = append(out, items...)
-	out = append(out, lines[end:]...)
-
-	return joinLines(out, trailingNewline), nil
-}
-
-// spliceGoalSideMarker is the pure text transform for the goal_side_marker
-// scalar. A one-line explanatory comment is added the first time the key is
-// created; updating an existing value leaves whatever's around it alone.
-func spliceGoalSideMarker(doc string, marker int) (string, error) {
-	lines, trailingNewline := splitDoc(doc)
-
-	geometryAt, sectionEnd, err := geometrySectionBounds(lines)
-	if err != nil {
-		return "", err
-	}
-
-	for i := geometryAt + 1; i < sectionEnd; i++ {
-		if m := goalSideMarkerKV.FindStringSubmatch(lines[i]); m != nil {
-			lines[i] = fmt.Sprintf("%sgoal_side_marker: %d", m[1], marker)
-
-			return joinLines(lines, trailingNewline), nil
-		}
-	}
-
-	indent := firstChildIndent(lines[geometryAt+1 : sectionEnd])
-	comment := indent + "# Which corner-picker marker (1-4, its on-screen number) was chosen as the goal-side corner. Not read by vision_processor -- record only."
-
-	out := make([]string, 0, len(lines)+2)
-	out = append(out, lines[:sectionEnd]...)
-	out = append(out, comment, fmt.Sprintf("%sgoal_side_marker: %d", indent, marker))
-	out = append(out, lines[sectionEnd:]...)
-
-	return joinLines(out, trailingNewline), nil
-}
-
-// isTopLevelKeyLine reports whether line starts a new root-level YAML key
-// (unindented, not blank, not a comment) -- the boundary of the 'geometry'
-// section.
-func isTopLevelKeyLine(line string) bool {
-	if line == "" {
-		return false
-	}
-
-	return line[0] != ' ' && line[0] != '\t' && line[0] != '#'
-}
-
-// firstChildIndent finds the leading whitespace of the first real (non-blank,
-// non-comment) line in a section, for a key that needs to be appended fresh.
-// Falls back to two spaces -- the indent every shipped config.yml template
-// uses -- if the section has no other real keys yet.
-func firstChildIndent(sectionLines []string) string {
-	for _, line := range sectionLines {
-		trimmed := strings.TrimSpace(line)
-		if trimmed == "" || strings.HasPrefix(trimmed, "#") {
-			continue
-		}
-
-		return line[:len(line)-len(strings.TrimLeft(line, " \t"))]
-	}
-
-	return "  "
-}
-
-func splitDoc(doc string) (lines []string, trailingNewline bool) {
-	return strings.Split(strings.TrimSuffix(doc, "\n"), "\n"), strings.HasSuffix(doc, "\n")
-}
-
-func joinLines(lines []string, trailingNewline bool) string {
-	out := strings.Join(lines, "\n")
-	if trailingNewline {
-		out += "\n"
-	}
-
-	return out
-}
diff --git a/gui/internal/geometry/instance_config_test.go b/gui/internal/geometry/instance_config_test.go
deleted file mode 100644
index 4bb225f..0000000
--- a/gui/internal/geometry/instance_config_test.go
+++ /dev/null
@@ -1,292 +0,0 @@
-package geometry
-
-import (
-	"os"
-	"path/filepath"
-	"strings"
-	"sync"
-	"testing"
-)
-
-// testConfigFile copies testdata/config.yml into t.TempDir() so tests can
-// freely write to it without touching the tracked fixture -- same discipline
-// as testGeometry in geometry_test.go.
-func testConfigFile(t *testing.T) string {
-	t.Helper()
-
-	src, err := os.ReadFile("testdata/config.yml")
-	if err != nil {
-		t.Fatalf("ReadFile fixture: %v", err)
-	}
-
-	path := filepath.Join(t.TempDir(), "config.yml")
-	if err := os.WriteFile(path, src, 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
-	}
-
-	return path
-}
-
-func TestWriteLineCornersUpdatesValuesInPlace(t *testing.T) {
-	path := testConfigFile(t)
-
-	corners := []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}
-	if err := WriteLineCorners(path, corners, 1); err != nil {
-		t.Fatalf("WriteLineCorners: %v", err)
-	}
-
-	got, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile: %v", err)
-	}
-
-	want := "line_corners:\n  - [1, 2]\n  - [3, 4]\n  - [5, 6]\n  - [7, 8]\n"
-	if !strings.Contains(string(got), want) {
-		t.Errorf("output does not contain the new corners as a block sequence of flow tuples:\n%s", got)
-	}
-
-	if strings.Contains(string(got), "398, 422") {
-		t.Error("old corner values are still present")
-	}
-}
-
-func TestWriteLineCornersPreservesComments(t *testing.T) {
-	path := testConfigFile(t)
-
-	before, err := os.ReadFile("testdata/config.yml")
-	if err != nil {
-		t.Fatalf("ReadFile fixture: %v", err)
-	}
-
-	if err := WriteLineCorners(path, []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}, 1); err != nil {
-		t.Fatalf("WriteLineCorners: %v", err)
-	}
-
-	after, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile: %v", err)
-	}
-
-	// Every comment line and every other section is untouched -- only the
-	// line_corners value itself should have changed.
-	for _, line := range strings.Split(string(before), "\n") {
-		trimmed := strings.TrimSpace(line)
-		if trimmed == "" || !strings.HasPrefix(trimmed, "#") {
-			continue
-		}
-
-		if !strings.Contains(string(after), line) {
-			t.Errorf("comment line lost: %q", line)
-		}
-	}
-
-	if !strings.Contains(string(after), "camera_amount: 2") {
-		t.Error("unrelated 'camera_amount' key was disturbed")
-	}
-
-	if !strings.Contains(string(after), "color:") {
-		t.Error("unrelated 'color' section was disturbed")
-	}
-}
-
-func TestWriteLineCornersAppendsTheKeyWhenAbsent(t *testing.T) {
-	path := filepath.Join(t.TempDir(), "config.yml")
-	data := "geometry:\n  camera_amount: 1\n"
-	if err := os.WriteFile(path, []byte(data), 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
-	}
-
-	if err := WriteLineCorners(path, []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}, 1); err != nil {
-		t.Fatalf("WriteLineCorners: %v", err)
-	}
-
-	got, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile: %v", err)
-	}
-
-	if !strings.Contains(string(got), "line_corners:") {
-		t.Errorf("line_corners key was not appended:\n%s", got)
-	}
-
-	if !strings.Contains(string(got), "camera_amount: 1") {
-		t.Error("existing key was disturbed")
-	}
-}
-
-func TestWriteLineCornersErrorsWithoutAGeometrySection(t *testing.T) {
-	path := filepath.Join(t.TempDir(), "config.yml")
-	if err := os.WriteFile(path, []byte("camera:\n  driver: OPENCV\n"), 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
-	}
-
-	err := WriteLineCorners(path, []Corner{{X: 1, Y: 2}}, 1)
-	if err == nil {
-		t.Fatal("expected an error, got nil")
-	}
-}
-
-func TestWriteLineCornersErrorsOnAMissingFile(t *testing.T) {
-	err := WriteLineCorners(filepath.Join(t.TempDir(), "does-not-exist.yml"), []Corner{{X: 1, Y: 2}}, 1)
-	if err == nil {
-		t.Fatal("expected an error, got nil")
-	}
-}
-
-func TestWriteLineCornersErrorsWithNoCorners(t *testing.T) {
-	path := testConfigFile(t)
-
-	if err := WriteLineCorners(path, nil, 1); err == nil {
-		t.Fatal("expected an error, got nil")
-	}
-}
-
-func TestWriteLineCornersErrorsWhenGoalSideMarkerIsOutOfRange(t *testing.T) {
-	path := testConfigFile(t)
-
-	corners := []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}
-
-	for _, marker := range []int{0, 5, -1} {
-		if err := WriteLineCorners(path, corners, marker); err == nil {
-			t.Errorf("goalSideMarker=%d: expected an error, got nil", marker)
-		}
-	}
-}
-
-func TestWriteLineCornersRecordsTheGoalSideMarker(t *testing.T) {
-	path := testConfigFile(t)
-
-	corners := []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}
-	if err := WriteLineCorners(path, corners, 3); err != nil {
-		t.Fatalf("WriteLineCorners: %v", err)
-	}
-
-	got, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile: %v", err)
-	}
-
-	if !strings.Contains(string(got), "goal_side_marker: 3") {
-		t.Errorf("goal_side_marker was not recorded:\n%s", got)
-	}
-}
-
-func TestReadLineCornersRoundTripsWhatWriteLineCornersSaved(t *testing.T) {
-	path := testConfigFile(t)
-
-	corners := []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}
-	if err := WriteLineCorners(path, corners, 3); err != nil {
-		t.Fatalf("WriteLineCorners: %v", err)
-	}
-
-	gotCorners, gotMarker, err := ReadLineCorners(path)
-	if err != nil {
-		t.Fatalf("ReadLineCorners: %v", err)
-	}
-
-	if len(gotCorners) != len(corners) {
-		t.Fatalf("got %d corners, want %d", len(gotCorners), len(corners))
-	}
-
-	for i, c := range corners {
-		if gotCorners[i] != c {
-			t.Errorf("corner %d = %+v, want %+v", i, gotCorners[i], c)
-		}
-	}
-
-	if gotMarker != 3 {
-		t.Errorf("goalSideMarker = %d, want 3", gotMarker)
-	}
-}
-
-func TestReadLineCornersReturnsEmptyWhenNothingSavedYet(t *testing.T) {
-	path := filepath.Join(t.TempDir(), "config.yml")
-	if err := os.WriteFile(path, []byte("geometry:\n  camera_amount: 1\n"), 0o644); err != nil {
-		t.Fatalf("WriteFile: %v", err)
-	}
-
-	corners, marker, err := ReadLineCorners(path)
-	if err != nil {
-		t.Fatalf("ReadLineCorners: %v", err)
-	}
-
-	if len(corners) != 0 {
-		t.Errorf("corners = %+v, want none", corners)
-	}
-
-	if marker != 0 {
-		t.Errorf("goalSideMarker = %d, want 0", marker)
-	}
-}
-
-func TestReadLineCornersErrorsOnAMissingFile(t *testing.T) {
-	_, _, err := ReadLineCorners(filepath.Join(t.TempDir(), "does-not-exist.yml"))
-	if err == nil {
-		t.Fatal("expected an error, got nil")
-	}
-}
-
-func TestWriteLineCornersUpdatesAnExistingGoalSideMarkerInPlace(t *testing.T) {
-	path := testConfigFile(t)
-
-	corners := []Corner{{X: 1, Y: 2}, {X: 3, Y: 4}, {X: 5, Y: 6}, {X: 7, Y: 8}}
-	if err := WriteLineCorners(path, corners, 2); err != nil {
-		t.Fatalf("WriteLineCorners: %v", err)
-	}
-
-	if err := WriteLineCorners(path, corners, 4); err != nil {
-		t.Fatalf("WriteLineCorners: %v", err)
-	}
-
-	got, err := os.ReadFile(path)
-	if err != nil {
-		t.Fatalf("ReadFile: %v", err)
-	}
-
-	if strings.Count(string(got), "goal_side_marker:") != 1 {
-		t.Errorf("expected exactly one goal_side_marker key, got:\n%s", got)
-	}
-
-	if !strings.Contains(string(got), "goal_side_marker: 4") {
-		t.Errorf("goal_side_marker was not updated to the new value:\n%s", got)
-	}
-}
-
-// Two browser tabs (or a double-click racing the Save button's disabled
-// state) can call this concurrently on the same file. instanceConfigMu must
-// serialize them -- run under -race, and check the result is one complete
-// write, not a torn mix of two.
-func TestWriteLineCornersIsSafeForConcurrentCallers(t *testing.T) {
-	path := testConfigFile(t)
-
-	var wg sync.WaitGroup
-
-	for i := 1; i <= 8; i++ {
-		wg.Add(1)
-
-		go func(marker int) {
-			defer wg.Done()
-
-			corners := []Corner{
-				{X: marker, Y: marker},
-				{X: marker + 1, Y: marker + 1},
-				{X: marker + 2, Y: marker + 2},
-				{X: marker + 3, Y: marker + 3},
-			}
-			if err := WriteLineCorners(path, corners, 1); err != nil {
-				t.Errorf("WriteLineCorners: %v", err)
-			}
-		}(i)
-	}
-
-	wg.Wait()
-
-	corners, marker, err := ReadLineCorners(path)
-	if err != nil {
-		t.Fatalf("ReadLineCorners: %v", err)
-	}
-
-	if len(corners) != 4 || marker != 1 {
-		t.Errorf("got corners=%v marker=%d, want exactly one complete write's worth of data", corners, marker)
-	}
-}

From a242adf878d1edf098831853ea137ba8f6bffe35 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Sat, 3 Oct 2026 21:56:23 -0400
Subject: [PATCH 17/23] network config added, network display, if filtering

---
 config.yml                                    |   4 +
 gui/ARCHITECTURE.md                           |  38 +-
 gui/CLAUDE.md                                 |   2 +-
 gui/README.md                                 |   6 +
 gui/cmd/ssl-vision-processor-gui/main.go      | 156 +++++++-
 gui/frontend/src/lib/NoteTip.svelte           |  48 +++
 gui/frontend/src/lib/config.svelte.ts         |   7 +-
 .../src/lib/config/HostInterfaces.svelte      | 206 +++++++++++
 .../src/lib/config/NetworkPanel.svelte        | 337 +++++++++++++++++
 gui/frontend/src/lib/layout/ChangeList.svelte |   8 +-
 gui/frontend/src/lib/layout/ConfigNav.svelte  |   6 +-
 .../src/lib/layout/MainContent.svelte         |   3 +
 gui/frontend/src/lib/layout/Shell.svelte      |  49 +++
 gui/frontend/src/lib/layout/TabBar.svelte     |  24 +-
 .../src/lib/layout/configCategories.ts        |   6 +-
 gui/frontend/src/lib/layout/nav.svelte.ts     |  24 +-
 gui/frontend/src/lib/network.svelte.ts        | 338 ++++++++++++++++++
 gui/internal/config/diff.go                   |  10 +-
 gui/internal/config/document.go               |  45 +++
 gui/internal/config/document_test.go          |   2 +
 gui/internal/config/network.go                | 131 +++++++
 gui/internal/config/network_test.go           | 124 +++++++
 gui/internal/multicast/bridge.go              |  70 ----
 gui/internal/multicast/bridge_test.go         |  70 ----
 gui/internal/multicast/consumers.go           |  42 +++
 gui/internal/multicast/endpoint.go            | 326 +++++++++++++++++
 gui/internal/multicast/endpoint_test.go       | 319 +++++++++++++++++
 gui/internal/multicast/host.go                | 178 +++++++++
 gui/internal/multicast/host_test.go           |  67 ++++
 gui/internal/multicast/sender.go              | 102 ++++++
 30 files changed, 2551 insertions(+), 197 deletions(-)
 create mode 100644 gui/frontend/src/lib/NoteTip.svelte
 create mode 100644 gui/frontend/src/lib/config/HostInterfaces.svelte
 create mode 100644 gui/frontend/src/lib/config/NetworkPanel.svelte
 create mode 100644 gui/frontend/src/lib/network.svelte.ts
 create mode 100644 gui/internal/config/network.go
 create mode 100644 gui/internal/config/network_test.go
 delete mode 100644 gui/internal/multicast/bridge.go
 delete mode 100644 gui/internal/multicast/bridge_test.go
 create mode 100644 gui/internal/multicast/consumers.go
 create mode 100644 gui/internal/multicast/endpoint.go
 create mode 100644 gui/internal/multicast/endpoint_test.go
 create mode 100644 gui/internal/multicast/host.go
 create mode 100644 gui/internal/multicast/host_test.go
 create mode 100644 gui/internal/multicast/sender.go

diff --git a/config.yml b/config.yml
index 93ee732..fda0cd8 100644
--- a/config.yml
+++ b/config.yml
@@ -8,3 +8,7 @@ geometry:
     - [2520, 151]
     - [3012, 1471]
     - [2256, 1885]
+network:
+  gc_ip: 255.255.255.255
+  vision_ip: 224.5.23.2
+  vision_port: 10006
diff --git a/gui/ARCHITECTURE.md b/gui/ARCHITECTURE.md
index d8aa903..b28c544 100644
--- a/gui/ARCHITECTURE.md
+++ b/gui/ARCHITECTURE.md
@@ -45,26 +45,30 @@ HTTP and a WebSocket instead, covered under HTTP API and WebSocket protocol belo
 
 ## Process layout
 
-`ssl-vision-processor-gui` is one process with four concurrent responsibilities, wired together in
+`ssl-vision-processor-gui` is one process with five concurrent responsibilities, wired together in
 `cmd/ssl-vision-processor-gui/main.go`.
 
 ```mermaid
 graph TD
     main["main() / run()"]
     http["HTTP server\ngoroutine"]
-    bridge["multicast bridge\ngoroutine"]
+    vision["vision multicast\ngoroutine"]
+    gc["game controller multicast\ngoroutine"]
     publish["geometry publish loop\ngoroutine, 1Hz"]
     watch["vision.yml watcher\ngoroutine, 1Hz"]
 
     main --> http
-    main --> bridge
+    main --> vision
+    main --> gc
     main --> publish
     main --> watch
-    bridge -- "Absorb(calib)" --> Geometry
+    vision -- "Absorb(calib)" --> Geometry
     publish -- "Encoded()" --> Geometry
     http -- "reads/writes" --> Store
     watch -- "checkDisk()" --> Store
     Store -- "ApplyConfig / SetLocked" --> Geometry
+    Store -- "SetAddress" --> vision
+    Store -- "SetAddress" --> gc
 ```
 
 The goroutines share one `*config.Store` and one `*geometry.Geometry`, each guarded by its own mutex. The store
@@ -79,7 +83,7 @@ before returning.
 | `cmd/ssl-vision-processor-gui` | Flags, wiring, HTTP handlers and routes.                                |
 | `internal/config`      | `vision.yml`: the working document, save and load, locked calibrations, the disk watcher, and generated `config.yml` files. |
 | `internal/geometry`    | The live field template, published calibrations, and the 1Hz publish loop. Holds no file state. |
-| `internal/multicast`   | Bridge to the SSL vision multicast group.                                     |
+| `internal/multicast`   | The vision and game controller multicast sockets, reopened when their address changes. |
 | `internal/hub`         | In-process topic pub/sub and the `/ws` WebSocket handler.                     |
 | `internal/snapshot`    | Debug image listing and serving.                                              |
 | `internal/logging`     | slog setup: a coloured console handler and a rotating file handler.           |
@@ -97,7 +101,7 @@ not safe to call from multiple goroutines without a lock.
 graph LR
     Absorb["Absorb(calib)\nfrom multicast"] -->|"validated"| State[("Geometry\n(wrapper + encoded)")]
     Store["config.Store\n(working document)"] -->|"ApplyConfig, SetLocked, Unlock"| State
-    State -->|"Encoded()"| Multicast["multicast bridge"]
+    State -->|"Encoded()"| Multicast["vision multicast"]
     State -->|"Snapshot() -> protojson"| API["GET /api/geometry"]
 ```
 
@@ -145,6 +149,24 @@ starts with a header saying it is generated. `reloadConfigIfChanged()` in `src/R
 `thresholds`, `tracking`, `color`, and `debug` every half second, but never `geometry`, `camera`, `network`, or
 `stream`. Changes to those take effect when the instance restarts.
 
+The host's own sockets use the shared `defaults.network` block (`vision_ip`, `vision_port`, `gc_ip`, `gc_port`),
+with vision_processor's defaults for missing keys. Each is a `multicast.Endpoint`. When an edit changes an
+address, the endpoint closes its sockets and opens new ones on the new address straight away. A multicast
+address joins the group. Any other IPv4 address, normally a broadcast address for switches whose IGMP snooping
+drops multicast, listens on the port instead; vision_processor handles broadcast too, since its socket sets
+`SO_BROADCAST`. The Network page offers the standard, backup (port + 10), legacy (10005), and broadcast choices,
+warns about addresses that aren't multicast or broadcast, and notes non-standard and privileged (below
+`ip_unprivileged_port_start`) choices when extra tooltips are on. vision_processor reads the same block, but only
+at startup.
+
+Which interfaces the host's own sockets use is `host.interfaces`, a section no vision_processor reads, since
+interface names only mean something on one machine. `auto` (the default) uses interfaces that are up, have
+carrier, support multicast, and have an IPv4 address, and skips loopback and virtual ones (Docker and VM bridges,
+VPN tunnels); it is re-evaluated every second. Otherwise `skip` is a blacklist. The selection matters because
+sslnet's multicast receiver listens on one interface at a time, so an idle bridge costs real packets. The host
+sends through its own sender rather than sslnet's `UdpClient`, which ignores the skip list. At startup the host
+warns if the loopback interface has multicast off, as Ubuntu ships it, and suggests the command that enables it.
+
 Every number in the free form blocks is normalized to an int or a float64. The browser sends every number as a
 JSON float and YAML decodes integers as ints, so without this every edit would show spurious changes such as
 `1920 -> 1920`.
@@ -190,6 +212,10 @@ frontend, with a fallback to `index.html` for client side routes.
 `config.state` carries `config.Store`'s state: the revision, unsaved changes, any change made to the file on disk,
 and per camera calibration status. It is published on every change and once per second, since live calibration
 status comes from the network rather than the store.
+`network.state` carries each multicast socket's address and what it has heard there: vision detection packets
+(the host's own looped back geometry doesn't count) and game controller referee messages. It is published once per
+second and on every config change.
+
 Every channel in this path, from a topic's own subscriber channel to a connection's shared outbound channel, is
 size limited and drops the oldest queued value in favor of the newest one. A slow client sees only the latest
 value once it catches up, never a growing backlog of stale ones.
diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
index 63a0c42..c204bd8 100644
--- a/gui/CLAUDE.md
+++ b/gui/CLAUDE.md
@@ -211,7 +211,7 @@ tests are preferred over mocks where the real thing is cheap to stand up:
 and `cmd/.../server_test.go` load real `testdata/*.yml` fixtures rather than
 constructing Go structs by hand.
 
-The full loop (this package's `Geometry`/`multicast.Bridge` against a real
+The full loop (this package's `Geometry`/vision `multicast.Endpoint` against a real
 `vision_processor` binary and a real camera) has been manually verified once,
 end to end: the Go host published a field template, `vision_processor`
 calibrated against a real skewed webcam view, and the calibration came back
diff --git a/gui/README.md b/gui/README.md
index da6751e..9d2d2e4 100644
--- a/gui/README.md
+++ b/gui/README.md
@@ -40,6 +40,12 @@ If `-config` does not exist yet, the host creates it on startup. It imports `-im
 `geometry.yml`) and `-importConfig` (default `config.yml`) when they exist, and otherwise starts from
 `-geometryPreset`. An imported `config.yml` becomes a camera with that file as its `config_path`, so the host
 regenerates it from `vision.yml` from then on. Keep a copy if you want its comments.
+
+The vision and game controller multicast addresses are in the same file, under `defaults.network`. They are
+set on the Network page, which the two address badges in the header open. Changing one reopens the host's
+sockets at once. The same page chooses which network interfaces the host uses, automatically or by unticking
+the ones to skip; that choice is stored under `host.interfaces` and applies to this host only. There are no
+command line flags for any of these.
 | `make vet`     | `go vet` for every package.                                                    |
 | `make build`   | `go build` for every package, without installing.                            |
 | `make clean`   | Remove the frontend build, generated protobuf code, and build sentinels.      |
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
index c6068df..cf9e299 100644
--- a/gui/cmd/ssl-vision-processor-gui/main.go
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -11,7 +11,6 @@ import (
 	"net/http"
 	"os"
 	"os/signal"
-	"strings"
 	"sync"
 	"syscall"
 	"time"
@@ -25,8 +24,10 @@ import (
 )
 
 var address = flag.String("address", ":8085", "The address on which the vision processor GUI and API are served, default: :8085")
-var visionAddress = flag.String("visionAddress", "224.5.23.2:10006", "The multicast address of field vision, default: 224.5.23.2:10006")
-var skipInterfaces = flag.String("skipInterfaces", "", "Comma separated list of interface names to ignore when receiving multicast packets")
+
+// The vision and game controller addresses (vision.yml's defaults.network)
+// and the interfaces the host uses (host.interfaces) can change at runtime, so
+// there are no flags for them.
 
 // vision.yml holds everything the host owns: the field template, shared and
 // per-camera vision_processor settings, and locked calibrations.
@@ -91,21 +92,43 @@ func run() int {
 	ctx, stopSignals := signal.NotifyContext(context.Background(), os.Interrupt, syscall.SIGTERM)
 	defer stopSignals()
 
-	bridge := multicast.New(*visionAddress, splitInterfaces(*skipInterfaces), level == slog.LevelDebug)
+	warnLoopbackMulticast()
+
+	addrs, auto, ifaces := currentNetwork(store)
+	opts := multicast.Options{Verbose: level == slog.LevelDebug}
+	sockets := &networkSockets{
+		vision: multicast.NewEndpoint("vision", addrs.VisionAddress(), ifaces, withSend(opts), multicast.VisionConsumer(geom.Absorb)),
+		gc:     multicast.NewEndpoint("game controller", addrs.GCAddress(), ifaces, opts, multicast.RefereeConsumer()),
+		auto:   auto,
+		ifaces: ifaces,
+	}
 	wsHub := hub.New()
 
-	store.OnChange(func() { publishConfigState(wsHub, store) })
+	store.OnChange(func() {
+		// A changed address or interface selection takes effect at once: the
+		// endpoints close their sockets and reopen.
+		sockets.apply(store)
+
+		publishConfigState(wsHub, store)
+		publishNetworkState(wsHub, sockets)
+	})
 
 	var wg sync.WaitGroup
 
-	runBackground(&wg, "multicast bridge", func() error { return bridge.Run(ctx, geom.Absorb) })
+	runBackground(&wg, "vision multicast", func() error { return sockets.vision.Run(ctx) })
+	runBackground(&wg, "game controller multicast", func() error { return sockets.gc.Run(ctx) })
 	runBackground(&wg, "geometry publish loop", func() error {
 		return geom.Run(ctx, func(encoded []byte) {
-			bridge.Send(encoded)
+			sockets.vision.Send(encoded)
 			publishGeometryToHub(wsHub, geom)
-			// Live calibration state comes from the network, not the store, so
-			// it's refreshed on this tick rather than only on store changes.
+			// Live calibration and socket state come from the network, not the
+			// store, so they're refreshed on this tick rather than only on
+			// store changes.
 			publishConfigState(wsHub, store)
+			// Re-evaluated every tick so automatic interface selection
+			// follows cables, Wi-Fi, and containers coming and going.
+			sockets.apply(store)
+			publishNetworkState(wsHub, sockets)
 		})
 	})
 	runBackground(&wg, "config file watcher", func() error { return store.Watch(ctx, configWatchInterval) })
@@ -245,6 +268,111 @@ func publishConfigState(wsHub *hub.Hub, store *config.Store) {
 	wsHub.Publish(configStateTopic, data)
 }
 
+// networkSockets is the host's two multicast groups.
+type networkSockets struct {
+	vision *multicast.Endpoint
+	gc     *multicast.Endpoint
+
+	mu     sync.Mutex
+	auto   bool
+	ifaces []multicast.Interface
+}
+
+// apply moves both endpoints to the store's current addresses and interface
+// selection. Each endpoint reopens only if something it uses changed.
+func (s *networkSockets) apply(store *config.Store) {
+	addrs, auto, ifaces := currentNetwork(store)
+
+	s.vision.SetAddress(addrs.VisionAddress())
+	s.gc.SetAddress(addrs.GCAddress())
+	s.vision.SetInterfaces(ifaces)
+	s.gc.SetInterfaces(ifaces)
+
+	s.mu.Lock()
+	s.auto, s.ifaces = auto, ifaces
+	s.mu.Unlock()
+}
+
+// currentNetwork is the store's network block and its interface selection
+// applied to this machine's interfaces.
+func currentNetwork(store *config.Store) (config.Network, bool, []multicast.Interface) {
+	doc, _ := store.Working()
+
+	auto, skip := doc.InterfaceSelection()
+	ifaces, _ := multicast.Select(multicast.ListInterfaces(), auto, skip)
+
+	return hostNetwork(doc), auto, ifaces
+}
+
+// warnLoopbackMulticast logs once at startup if the loopback interface has
+// multicast off, as Ubuntu ships it. The fix needs root, so it's only
+// suggested.
+func warnLoopbackMulticast() {
+	if name, enabled, ok := multicast.LoopbackMulticast(); ok && !enabled {
+		slog.Warn("multicast is off on the loopback interface", "interface", name, "enable with", "sudo ip link set "+name+" multicast on")
+	}
+}
+
+// networkStateTopic carries each socket's address and what it has heard, plus
+// the host facts the Network page's presets and notes need.
+const networkStateTopic = "network.state"
+
+func publishNetworkState(wsHub *hub.Hub, sockets *networkSockets) {
+	now := time.Now()
+
+	sockets.mu.Lock()
+	auto, ifaces := sockets.auto, sockets.ifaces
+	sockets.mu.Unlock()
+
+	loopback, loopbackMulticast, _ := multicast.LoopbackMulticast()
+
+	data, err := json.Marshal(struct {
+		Vision                multicast.Status      `json:"vision"`
+		GC                    multicast.Status      `json:"gc"`
+		AutoInterfaces        bool                  `json:"autoInterfaces"`
+		Interfaces            []multicast.Interface `json:"interfaces"`
+		Loopback              string                `json:"loopback"`
+		LoopbackMulticast     bool                  `json:"loopbackMulticast"`
+		UnprivilegedPortStart int                   `json:"unprivilegedPortStart"`
+		Root                  bool                  `json:"root"`
+	}{
+		Vision:                sockets.vision.Status(now),
+		GC:                    sockets.gc.Status(now),
+		AutoInterfaces:        auto,
+		Interfaces:            ifaces,
+		Loopback:              loopback,
+		LoopbackMulticast:     loopbackMulticast,
+		UnprivilegedPortStart: multicast.UnprivilegedPortStart(),
+		Root:                  os.Geteuid() == 0,
+	})
+	if err != nil {
+		slog.Error("marshalling network state", "err", err)
+
+		return
+	}
+
+	wsHub.Publish(networkStateTopic, data)
+}
+
+// hostNetwork is doc's network block. The store only holds validated
+// documents, so the fallback is for a bug, not a user error.
+func hostNetwork(doc config.Document) config.Network {
+	n, err := doc.Network()
+	if err != nil {
+		slog.Error("reading network config, keeping defaults", "err", err)
+
+		n, _ = config.Document{}.Network()
+	}
+
+	return n
+}
+
+func withSend(opts multicast.Options) multicast.Options {
+	opts.Send = true
+
+	return opts
+}
+
 // wrapperPacketTopic is the hub topic name the frontend already subscribes to
 // (see gui/frontend/src/App.svelte).
 const wrapperPacketTopic = "wrapper_packet.out"
@@ -277,16 +405,6 @@ func runBackground(wg *sync.WaitGroup, name string, task func() error) {
 	}()
 }
 
-// splitInterfaces turns the comma separated flag value into a slice, or nil
-// when the flag is unset -- an unset flag must not become []string{""}.
-func splitInterfaces(flagValue string) []string {
-	if flagValue == "" {
-		return nil
-	}
-
-	return strings.Split(flagValue, ",")
-}
-
 // formattedAddress turns -address into a URL a person can actually open. A
 // bind-all host (empty, "0.0.0.0", "::") isn't itself reachable -- printing
 // the LAN-facing IP instead of "localhost" is what makes this useful to
diff --git a/gui/frontend/src/lib/NoteTip.svelte b/gui/frontend/src/lib/NoteTip.svelte
new file mode 100644
index 0000000..b06a202
--- /dev/null
+++ b/gui/frontend/src/lib/NoteTip.svelte
@@ -0,0 +1,48 @@
+<script lang="ts">
+  import { Tooltip } from "flowbite-svelte";
+  import { preferences } from "./preferences.svelte";
+
+  // An info icon with a tooltip of succinct notes, behind the "Show extra
+  // tooltips" preference. The slot is kept when there's nothing to show, so
+  // whatever sits beside it doesn't shift.
+  interface Props {
+    id: string;
+    notes: string[];
+  }
+
+  let { id, notes }: Props = $props();
+</script>
+
+{#if preferences.tooltipsEnabled && notes.length > 0}
+  <button type="button" {id} class="info" aria-label={notes.join(" ")}>ⓘ</button
+  >
+  <Tooltip triggeredBy={`#${id}`} placement="right" class="max-w-xs">
+    {#each notes as note (note)}
+      <p>{note}</p>
+    {/each}
+  </Tooltip>
+{:else}
+  <span class="slot"></span>
+{/if}
+
+<style>
+  .info,
+  .slot {
+    width: 1.25rem;
+    height: 1.25rem;
+  }
+
+  .info {
+    padding: 0;
+    border: none;
+    background: none;
+    color: #1a56db;
+    font-size: 0.95rem;
+    line-height: 1;
+    cursor: help;
+  }
+
+  .info:hover:not(:disabled) {
+    background: none;
+  }
+</style>
diff --git a/gui/frontend/src/lib/config.svelte.ts b/gui/frontend/src/lib/config.svelte.ts
index 0b9e9a7..b9b3111 100644
--- a/gui/frontend/src/lib/config.svelte.ts
+++ b/gui/frontend/src/lib/config.svelte.ts
@@ -11,7 +11,7 @@ import {
   type OptionalFieldLines,
 } from "./geometry.svelte";
 
-export type Section = "field" | "geometry" | "color" | "other";
+export type Section = "field" | "geometry" | "color" | "network" | "other";
 
 // Mirrors gui/internal/config's Change: one leaf difference between two
 // documents, keyed by its vision.yml path.
@@ -76,6 +76,10 @@ export interface ConfigDocument {
   models?: Record<string, unknown>;
   defaults?: Record<string, unknown>;
   cameras: CameraDoc[];
+  // Settings for the GUI host alone; see gui/internal/config's Host.
+  host?: {
+    interfaces?: { auto?: boolean; skip?: string[] };
+  };
 }
 
 interface ConfigResponse {
@@ -358,5 +362,6 @@ export const SECTION_LABELS: Record<Section, string> = {
   field: "Virtual Field",
   geometry: "Geometry",
   color: "Color",
+  network: "Network",
   other: "Other settings",
 };
diff --git a/gui/frontend/src/lib/config/HostInterfaces.svelte b/gui/frontend/src/lib/config/HostInterfaces.svelte
new file mode 100644
index 0000000..044dc0f
--- /dev/null
+++ b/gui/frontend/src/lib/config/HostInterfaces.svelte
@@ -0,0 +1,206 @@
+<script lang="ts">
+  import {
+    network,
+    interfaceSelection,
+    writeInterfaces,
+    type HostInterface,
+  } from "../network.svelte";
+
+  // Which interfaces the GUI host's own sockets use. Host only: interface
+  // names mean nothing on another machine, and vision_processor always uses
+  // the system's default route.
+  let selection = $derived(interfaceSelection());
+  let ifaces = $derived(network.state?.interfaces ?? []);
+
+  interface Row {
+    name: string;
+    detail: string;
+    checked: boolean;
+    disabled: boolean;
+  }
+
+  let rows = $derived.by((): Row[] => {
+    const present = ifaces.map((i): Row => {
+      if (selection.auto) {
+        return {
+          name: i.name,
+          detail: detail(i.address, i.autoReason),
+          checked: i.autoUse,
+          disabled: true,
+        };
+      }
+
+      return {
+        name: i.name,
+        detail: detail(i.address, i.usable ? undefined : unusableReason(i)),
+        checked: i.usable && !selection.skip.includes(i.name),
+        disabled: !i.usable,
+      };
+    });
+
+    // A skipped interface that isn't here right now (unplugged adapter, a
+    // stopped container's bridge) stays listed so it can be un-skipped.
+    const missing = selection.auto
+      ? []
+      : selection.skip
+          .filter((name) => !ifaces.some((i) => i.name === name))
+          .map(
+            (name): Row => ({
+              name,
+              detail: detail(undefined, "not present"),
+              checked: false,
+              disabled: false,
+            }),
+          );
+
+    return [...present, ...missing];
+  });
+
+  // "(192.168.1.5, no carrier)", "(down)", or nothing.
+  function detail(address?: string, reason?: string): string {
+    const parts = [address, reason].filter(Boolean);
+
+    return parts.length > 0 ? ` (${parts.join(", ")})` : "";
+  }
+
+  function unusableReason(i: HostInterface): string {
+    return i.autoReason === "no carrier" || i.autoReason === "virtual"
+      ? "unusable"
+      : (i.autoReason ?? "unusable");
+  }
+
+  function setAuto(auto: boolean): void {
+    // Going manual for the first time starts from what auto had picked, so
+    // the switch itself changes nothing.
+    const skip =
+      !auto && selection.skip.length === 0
+        ? ifaces.filter((i) => i.usable && !i.autoUse).map((i) => i.name)
+        : selection.skip;
+
+    writeInterfaces(auto, skip);
+  }
+
+  function toggle(name: string, use: boolean): void {
+    const skip = selection.skip.filter((n) => n !== name);
+    if (!use) skip.push(name);
+
+    writeInterfaces(false, skip);
+  }
+
+  let loopbackOff = $derived(
+    network.state !== null && !network.state.loopbackMulticast,
+  );
+</script>
+
+<fieldset>
+  <legend>Host interfaces</legend>
+
+  <label class="auto">
+    <input
+      type="checkbox"
+      checked={selection.auto}
+      onchange={(e) => {
+        setAuto(e.currentTarget.checked);
+      }}
+    />
+    Auto
+    <span class="hint"
+      >(skips loopback, disconnected, and virtual interfaces)</span
+    >
+  </label>
+
+  <ul class:muted={selection.auto}>
+    {#each rows as row (row.name)}
+      <li>
+        <label>
+          <input
+            type="checkbox"
+            checked={row.checked}
+            disabled={row.disabled}
+            onchange={(e) => {
+              toggle(row.name, e.currentTarget.checked);
+            }}
+          />
+          <span
+            ><span class="name">{row.name}</span><span class="detail"
+              >{row.detail}</span
+            ></span
+          >
+        </label>
+      </li>
+    {:else}
+      <li class="hint">Waiting for the host…</li>
+    {/each}
+  </ul>
+
+  <p class="hint">
+    Only this host's sockets; vision_processors use their system's default
+    route. Broadcast receiving listens on every interface.
+  </p>
+
+  {#if loopbackOff && network.state}
+    <div class="warning">
+      Multicast is off on <code>{network.state.loopback}</code>. Programs on
+      this machine that multicast over loopback won't hear each other. To enable
+      it until reboot:
+      <pre>sudo ip link set {network.state.loopback} multicast on</pre>
+    </div>
+  {/if}
+</fieldset>
+
+<style>
+  fieldset {
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    margin-bottom: 1rem;
+  }
+
+  label {
+    display: flex;
+    align-items: center;
+    gap: 0.4rem;
+    margin: 0.3rem 0;
+    font-size: 0.85rem;
+  }
+
+  ul {
+    margin: 0.25rem 0 0.5rem 1.2rem;
+    padding: 0;
+    list-style: none;
+  }
+
+  ul.muted {
+    color: #999;
+  }
+
+  .name {
+    font-family: monospace;
+  }
+
+  .detail,
+  .hint {
+    color: #666;
+    font-size: 0.8rem;
+  }
+
+  ul.muted .detail {
+    color: #aaa;
+  }
+
+  .warning {
+    padding: 0.4rem 0.6rem;
+    border-radius: 4px;
+    background: #fff6e5;
+    color: #7a4a00;
+    font-size: 0.85rem;
+  }
+
+  pre {
+    margin: 0.4rem 0 0;
+    padding: 0.3rem 0.5rem;
+    border-radius: 4px;
+    background: #fff;
+    font-size: 0.8rem;
+    user-select: all;
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/NetworkPanel.svelte b/gui/frontend/src/lib/config/NetworkPanel.svelte
new file mode 100644
index 0000000..220f6f1
--- /dev/null
+++ b/gui/frontend/src/lib/config/NetworkPanel.svelte
@@ -0,0 +1,337 @@
+<script lang="ts">
+  import { untrack } from "svelte";
+  import { config } from "../config.svelte";
+  import NoteTip from "../NoteTip.svelte";
+  import HostInterfaces from "./HostInterfaces.svelte";
+  import {
+    network,
+    networkFromDoc,
+    writeNetwork,
+    ipv4Error,
+    portError,
+    addressPresets,
+    portPresets,
+    addressAdvice,
+    portAdvice,
+    type Kind,
+    type NetworkConfig,
+    type SocketStatus,
+  } from "../network.svelte";
+
+  let current = $derived(networkFromDoc());
+
+  // What's in the inputs. Committed to the document on change (blur, Enter,
+  // or picking a preset) only once valid, so a half-typed address never
+  // reaches the host, which would reopen its sockets on it.
+  let draft = $state<NetworkConfig>(untrack(() => ({ ...current })));
+
+  // An edit from elsewhere (another tab, the file on disk) replaces the draft.
+  // Compared by value: a refetched document with the same addresses mustn't
+  // wipe what's being typed.
+  let synced = untrack(() => JSON.stringify(current));
+
+  $effect(() => {
+    const json = JSON.stringify(current);
+    if (json === synced) return;
+
+    synced = json;
+    draft = JSON.parse(json) as NetworkConfig;
+  });
+
+  let errors = $derived({
+    vision_ip: ipv4Error(draft.vision_ip),
+    vision_port: portError(draft.vision_port),
+    gc_ip: ipv4Error(draft.gc_ip),
+    gc_port: portError(draft.gc_port),
+  });
+
+  let sharedError = $derived(
+    !errors.vision_ip &&
+      !errors.gc_ip &&
+      draft.vision_ip === draft.gc_ip &&
+      draft.vision_port === draft.gc_port
+      ? "Vision and game controller can't use the same address and port."
+      : null,
+  );
+
+  function commit(key: keyof NetworkConfig): void {
+    if (errors[key] || sharedError || draft[key] === current[key]) return;
+
+    writeNetwork(key, draft[key]);
+  }
+
+  // Cameras whose own config overrides the shared block: their
+  // vision_processor uses different groups than the host.
+  let overriding = $derived(
+    (config.doc?.cameras ?? [])
+      .filter((c) => c.config?.["network"] !== undefined)
+      .map((c) => c.cameraId),
+  );
+
+  const GROUPS = [
+    {
+      id: "vision",
+      title: "Vision",
+      ipKey: "vision_ip",
+      portKey: "vision_port",
+      what: "detection packets",
+    },
+    {
+      id: "gc",
+      title: "Game controller",
+      ipKey: "gc_ip",
+      portKey: "gc_port",
+      what: "referee messages",
+    },
+  ] as const;
+
+  let groups = $derived(
+    GROUPS.map((g) => {
+      const kind: Kind = g.id;
+      const ip = draft[g.ipKey];
+      const port = draft[g.portKey];
+      const addresses = addressPresets(kind, network.state?.interfaces ?? []);
+      const ports = portPresets(kind);
+
+      return {
+        ...g,
+        status: kind === "vision" ? network.state?.vision : network.state?.gc,
+        addresses,
+        ports,
+        addressIndex: addresses.findIndex((p) => p.value === ip),
+        portIndex: ports.findIndex((p) => p.value === port),
+        addressAdvice: addressAdvice(ip, kind, network.state),
+        portAdvice: portAdvice(port, kind, network.state),
+      };
+    }),
+  );
+
+  function pickAddress(g: (typeof groups)[number], index: number): void {
+    const preset = g.addresses[index];
+    if (!preset) return;
+
+    draft[g.ipKey] = preset.value;
+    commit(g.ipKey);
+  }
+
+  function pickPort(g: (typeof groups)[number], index: number): void {
+    const preset = g.ports[index];
+    if (!preset) return;
+
+    draft[g.portKey] = preset.value;
+    commit(g.portKey);
+  }
+
+  function describe(status: SocketStatus | undefined, what: string): string {
+    if (!status) return "Waiting for the host…";
+
+    const via = status.mode === "port" ? " (listening on the port)" : "";
+
+    if (!status.lastHeard) return `No ${what} heard on this address yet${via}.`;
+
+    const age = Math.max(
+      0,
+      (Date.now() - new Date(status.lastHeard).getTime()) / 1000,
+    );
+    const from = status.source ? ` from ${status.source}` : "";
+
+    return status.receiving
+      ? `Receiving: ${String(status.heard)} ${what}, latest${from}${via}.`
+      : `Silent for ${age.toFixed(0)} s (last${from})${via}.`;
+  }
+</script>
+
+<div class="network-panel">
+  <h2>Network</h2>
+  <p class="hint">
+    Shared by the host and every vision_processor (vision.yml's
+    <code>defaults.network</code>). The host reopens its sockets as soon as a
+    change applies. vision_processors read these only at startup, so restart
+    them after a change.
+  </p>
+
+  {#if overriding.length > 0}
+    <p class="warning">
+      Camera{overriding.length === 1 ? "" : "s"}
+      {overriding.join(", ")} override{overriding.length === 1 ? "s" : ""} these in
+      their own config, so their vision_processor uses different groups than the host.
+    </p>
+  {/if}
+
+  {#if sharedError}
+    <p class="error">{sharedError}</p>
+  {/if}
+
+  {#each groups as g (g.id)}
+    <fieldset>
+      <legend>
+        <span
+          class="dot"
+          class:receiving={g.status?.receiving}
+          title={g.status?.receiving ? "Receiving" : "Not receiving"}
+        ></span>
+        {g.title}
+      </legend>
+
+      <div class="row">
+        <label for={`${g.id}-ip`}>Address</label>
+        <select
+          aria-label={`${g.title} address preset`}
+          value={g.addressIndex}
+          onchange={(e) => {
+            pickAddress(g, Number(e.currentTarget.value));
+          }}
+        >
+          {#each g.addresses as preset, i (preset.value)}
+            <option value={i}>{preset.label}</option>
+          {/each}
+          <option value={-1} disabled>Custom</option>
+        </select>
+        <input
+          id={`${g.id}-ip`}
+          type="text"
+          spellcheck="false"
+          class:invalid={errors[g.ipKey]}
+          bind:value={draft[g.ipKey]}
+          onchange={() => {
+            commit(g.ipKey);
+          }}
+        />
+        <NoteTip id={`${g.id}-ip-notes`} notes={g.addressAdvice.notes} />
+      </div>
+      {#if errors[g.ipKey]}<p class="error">{errors[g.ipKey]}</p>{/if}
+      {#each g.addressAdvice.warnings as warning (warning)}
+        <p class="field-warning">{warning}</p>
+      {/each}
+
+      <div class="row">
+        <label for={`${g.id}-port`}>Port</label>
+        <select
+          aria-label={`${g.title} port preset`}
+          value={g.portIndex}
+          onchange={(e) => {
+            pickPort(g, Number(e.currentTarget.value));
+          }}
+        >
+          {#each g.ports as preset, i (preset.value)}
+            <option value={i}>{preset.label} ({preset.value})</option>
+          {/each}
+          <option value={-1} disabled>Custom</option>
+        </select>
+        <input
+          id={`${g.id}-port`}
+          type="number"
+          min="1"
+          max="65535"
+          class:invalid={errors[g.portKey]}
+          bind:value={draft[g.portKey]}
+          onchange={() => {
+            commit(g.portKey);
+          }}
+        />
+        <NoteTip id={`${g.id}-port-notes`} notes={g.portAdvice.notes} />
+      </div>
+      {#if errors[g.portKey]}<p class="error">{errors[g.portKey]}</p>{/if}
+      {#each g.portAdvice.warnings as warning (warning)}
+        <p class="field-warning">{warning}</p>
+      {/each}
+
+      <p class="status">
+        {#if g.status && g.status.address !== `${current[g.ipKey]}:${String(current[g.portKey])}`}
+          Reopening on {current[g.ipKey]}:{current[g.portKey]}…
+        {:else}
+          {describe(g.status, g.what)}
+        {/if}
+      </p>
+    </fieldset>
+  {/each}
+
+  <HostInterfaces />
+</div>
+
+<style>
+  .network-panel {
+    max-width: 560px;
+  }
+
+  h2 {
+    margin: 0 0 0.5rem;
+  }
+
+  fieldset {
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    margin-bottom: 1rem;
+  }
+
+  legend {
+    display: flex;
+    align-items: center;
+    gap: 0.4rem;
+  }
+
+  .row {
+    display: grid;
+    grid-template-columns: 4rem 1fr 9.5rem 1.25rem;
+    align-items: center;
+    gap: 0.5rem;
+    margin: 0.4rem 0;
+    font-size: 0.85rem;
+  }
+
+  select,
+  input {
+    font-size: 0.85rem;
+  }
+
+  input {
+    font-family: monospace;
+  }
+
+  input.invalid {
+    border-color: #c81e1e;
+  }
+
+  .dot {
+    width: 0.55rem;
+    height: 0.55rem;
+    border-radius: 50%;
+    background: #bbb;
+  }
+
+  .dot.receiving {
+    background: #2e7d32;
+  }
+
+  .hint,
+  .status {
+    color: #666;
+    font-size: 0.8rem;
+  }
+
+  .status {
+    margin: 0.5rem 0 0;
+  }
+
+  .error,
+  .field-warning {
+    margin: 0 0 0.4rem;
+    font-size: 0.8rem;
+  }
+
+  .error {
+    color: #c81e1e;
+  }
+
+  .field-warning {
+    color: #7a4a00;
+  }
+
+  .warning {
+    padding: 0.4rem 0.6rem;
+    border-radius: 4px;
+    background: #fff6e5;
+    color: #7a4a00;
+    font-size: 0.85rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/ChangeList.svelte b/gui/frontend/src/lib/layout/ChangeList.svelte
index a93c33d..1d1cea5 100644
--- a/gui/frontend/src/lib/layout/ChangeList.svelte
+++ b/gui/frontend/src/lib/layout/ChangeList.svelte
@@ -12,7 +12,13 @@
 
   let { changes }: Props = $props();
 
-  const SECTION_ORDER: Section[] = ["field", "geometry", "color", "other"];
+  const SECTION_ORDER: Section[] = [
+    "field",
+    "geometry",
+    "color",
+    "network",
+    "other",
+  ];
 
   // Grouped by tab, then camera, so the list reads the way the UI is laid out.
   let groups = $derived(
diff --git a/gui/frontend/src/lib/layout/ConfigNav.svelte b/gui/frontend/src/lib/layout/ConfigNav.svelte
index 96b2dea..8cead0d 100644
--- a/gui/frontend/src/lib/layout/ConfigNav.svelte
+++ b/gui/frontend/src/lib/layout/ConfigNav.svelte
@@ -1,5 +1,5 @@
 <script lang="ts">
-  import { nav, selectedInstance } from "./nav.svelte";
+  import { nav, selectedInstance, isCategoryDirty } from "./nav.svelte";
   import { CONFIG_CATEGORIES } from "./configCategories";
 
   let sharedCategories = $derived(
@@ -27,7 +27,7 @@
             nav.selectedCategoryId = category.id;
           }}
         >
-          {category.label}
+          {category.label}{isCategoryDirty(category.id) ? "*" : ""}
         </button>
       </li>
     {/each}
@@ -51,7 +51,7 @@
             nav.selectedCategoryId = category.id;
           }}
         >
-          {category.label}
+          {category.label}{isCategoryDirty(category.id) ? "*" : ""}
         </button>
       </li>
     {/each}
diff --git a/gui/frontend/src/lib/layout/MainContent.svelte b/gui/frontend/src/lib/layout/MainContent.svelte
index 8c5dfdc..9113067 100644
--- a/gui/frontend/src/lib/layout/MainContent.svelte
+++ b/gui/frontend/src/lib/layout/MainContent.svelte
@@ -4,6 +4,7 @@
   import FieldEditor from "../FieldEditor.svelte";
   import GeometryPanel from "../config/GeometryPanel.svelte";
   import ColorPanel from "../config/ColorPanel.svelte";
+  import NetworkPanel from "../config/NetworkPanel.svelte";
   import ConfigCategoryPlaceholder from "../config/ConfigCategoryPlaceholder.svelte";
 
   let category = $derived(selectedCategory());
@@ -19,6 +20,8 @@
     <GeometryPanel {category} {instance} />
   {:else if nav.selectedCategoryId === "color"}
     <ColorPanel {instance} />
+  {:else if nav.selectedCategoryId === "network"}
+    <NetworkPanel />
   {:else}
     <ConfigCategoryPlaceholder {category} {instance} />
   {/if}
diff --git a/gui/frontend/src/lib/layout/Shell.svelte b/gui/frontend/src/lib/layout/Shell.svelte
index 9320c51..fb78d6c 100644
--- a/gui/frontend/src/lib/layout/Shell.svelte
+++ b/gui/frontend/src/lib/layout/Shell.svelte
@@ -15,6 +15,8 @@
   import { config, reloadFromDisk } from "../config.svelte";
   import { fileDialogs } from "./fileDialogs.svelte";
   import ConfigDialogs from "./ConfigDialogs.svelte";
+  import { nav } from "./nav.svelte";
+  import { network, networkFromDoc } from "../network.svelte";
 
   // `below` is where App.svelte puts the existing snapshot grid / WS dev
   // panel for now, until they become the mockup's real Video + Debug Console
@@ -37,6 +39,23 @@
 
   let unsaved = $derived(config.state?.changes.length ?? 0);
 
+  // Multicast badges: the address each host socket is open on, green while
+  // packets arrive there. Until the first network.state lands, the configured
+  // address stands in.
+  let configured = $derived(networkFromDoc());
+  let sockets = $derived([
+    {
+      label: "Vision",
+      status: network.state?.vision,
+      fallback: `${configured.vision_ip}:${String(configured.vision_port)}`,
+    },
+    {
+      label: "GC",
+      status: network.state?.gc,
+      fallback: `${configured.gc_ip}:${String(configured.gc_port)}`,
+    },
+  ]);
+
   // Clears app.css's base-layer button chrome and matches the preference
   // checkboxes below: same text, same left inset as their p-3 group.
   const ITEM_CLASS =
@@ -66,6 +85,22 @@
 <div class="shell">
   <header>
     <h1>vision-processor</h1>
+    {#each sockets as socket (socket.label)}
+      <button
+        type="button"
+        class="badge socket"
+        data-state={socket.status?.receiving ? "open" : "silent"}
+        title={socket.status?.receiving
+          ? `Receiving on ${socket.status.address}. Click to configure.`
+          : "Nothing heard on this address. Click to configure."}
+        onclick={() => {
+          nav.selectedCategoryId = "network";
+        }}
+      >
+        {socket.label}
+        {socket.status?.address ?? socket.fallback}
+      </button>
+    {/each}
     <span class="badge" data-state={$connectionState}>
       {$connectionState.toUpperCase()} ({location.host})
     </span>
@@ -186,6 +221,20 @@
     color: #333;
   }
 
+  .socket {
+    border: none;
+    cursor: pointer;
+  }
+
+  .socket:hover {
+    filter: brightness(0.95);
+  }
+
+  .badge[data-state="silent"] {
+    background: #eee;
+    color: #666;
+  }
+
   .badge[data-state="open"] {
     background: #c8e6c9;
     color: #1b5e20;
diff --git a/gui/frontend/src/lib/layout/TabBar.svelte b/gui/frontend/src/lib/layout/TabBar.svelte
index a78b529..a8f5570 100644
--- a/gui/frontend/src/lib/layout/TabBar.svelte
+++ b/gui/frontend/src/lib/layout/TabBar.svelte
@@ -1,26 +1,6 @@
 <script lang="ts">
-  import { nav, selectedInstance } from "./nav.svelte";
+  import { nav, isCategoryDirty } from "./nav.svelte";
   import { CONFIG_CATEGORIES, TAB_CATEGORY_IDS } from "./configCategories";
-  import { changesFor, type Section } from "../config.svelte";
-
-  // Tab id -> which section of unsaved changes marks it dirty. Shared
-  // sections (the field) count regardless of camera; per-camera ones only for
-  // the selected camera.
-  const TAB_SECTIONS: Record<string, Section> = {
-    field: "field",
-    geometry: "geometry",
-    color: "color",
-  };
-
-  function isDirty(tabId: string): boolean {
-    const section = TAB_SECTIONS[tabId];
-    if (!section) return false;
-
-    const cameraId =
-      section === "field" ? undefined : selectedInstance()?.cameraId;
-
-    return changesFor(section, cameraId).length > 0;
-  }
 
   // Same source data as the sidebar (CONFIG_CATEGORIES), just a curated
   // subset in a fixed order -- both bind to nav.selectedCategoryId, so
@@ -45,7 +25,7 @@
         nav.selectedCategoryId = tab.id;
       }}
     >
-      {tab.label}{isDirty(tab.id) ? "*" : ""}
+      {tab.label}{isCategoryDirty(tab.id) ? "*" : ""}
     </button>
   {/each}
 </div>
diff --git a/gui/frontend/src/lib/layout/configCategories.ts b/gui/frontend/src/lib/layout/configCategories.ts
index 9afc2af..85c0d90 100644
--- a/gui/frontend/src/lib/layout/configCategories.ts
+++ b/gui/frontend/src/lib/layout/configCategories.ts
@@ -5,7 +5,7 @@
 // out a real form for a category, not invented.
 //
 // scope: "shared" categories are one thing for the whole deployment
-// (geometry.yml, edited by FieldEditor already). "per-instance" categories
+// (vision.yml's field, and its defaults.network addresses). "per-instance" categories
 // are a single vision processor's own config.yml, which this host does not
 // yet read, write, or push to any instance -- see gui/CLAUDE.md's "Not yet
 // built". Their panels are placeholders until that exists.
@@ -112,7 +112,9 @@ export const CONFIG_CATEGORIES: ConfigCategory[] = [
   {
     id: "network",
     label: "Network",
-    scope: "per-instance",
+    // vision.yml's defaults.network: one pair of groups for the host and
+    // every vision_processor. Edited by config/NetworkPanel.svelte.
+    scope: "shared",
     yamlKey: "network",
     fields: [
       { name: "gc_ip / gc_port", comment: "game controller multicast" },
diff --git a/gui/frontend/src/lib/layout/nav.svelte.ts b/gui/frontend/src/lib/layout/nav.svelte.ts
index 90283bd..c9fa0aa 100644
--- a/gui/frontend/src/lib/layout/nav.svelte.ts
+++ b/gui/frontend/src/lib/layout/nav.svelte.ts
@@ -2,7 +2,7 @@
 // instance and which config category are selected. A module-level $state
 // object, per the project convention (see CLAUDE.md).
 import { CONFIG_CATEGORIES, type ConfigCategory } from "./configCategories";
-import { config } from "../config.svelte";
+import { config, changesFor, type Section } from "../config.svelte";
 
 // One row in the instance list: a single camera role, keyed by camera_id (its
 // position on the field) -- a host running all 4 cameras of a quad setup
@@ -48,3 +48,25 @@ export function selectedCategory(): ConfigCategory {
 
   throw new Error("CONFIG_CATEGORIES is missing the 'field' category");
 }
+
+// Category id -> the section of unsaved changes that marks it dirty (an
+// asterisk in the tab bar and sidebar). Shared categories count changes for
+// any camera; per-camera ones only the selected camera's.
+const CATEGORY_SECTIONS: Record<string, Section> = {
+  field: "field",
+  geometry: "geometry",
+  color: "color",
+  network: "network",
+};
+
+export function isCategoryDirty(id: string): boolean {
+  const section = CATEGORY_SECTIONS[id];
+  if (!section) return false;
+
+  const shared = CONFIG_CATEGORIES.find((c) => c.id === id)?.scope === "shared";
+
+  return (
+    changesFor(section, shared ? undefined : selectedInstance()?.cameraId)
+      .length > 0
+  );
+}
diff --git a/gui/frontend/src/lib/network.svelte.ts b/gui/frontend/src/lib/network.svelte.ts
new file mode 100644
index 0000000..94f5eef
--- /dev/null
+++ b/gui/frontend/src/lib/network.svelte.ts
@@ -0,0 +1,338 @@
+// The vision and game controller addresses. They live in
+// vision.yml's defaults.network (the same block every vision_processor reads
+// from its generated config.yml), so editing them goes through config.doc like
+// any other setting; the host reopens its sockets as soon as the edit lands.
+// Socket status arrives separately, once a second, on the network.state topic.
+import { config } from "./config.svelte";
+import { topic } from "./wrapper-bus";
+
+// Mirrors gui/internal/multicast's Status.
+export interface SocketStatus {
+  address: string;
+  heard: number;
+  lastHeard?: string;
+  source?: string;
+  receiving: boolean;
+  // "port": no group to join, listening on the port (broadcast or unicast).
+  mode: "multicast" | "port";
+}
+
+// A local network interface, from gui/internal/multicast's Interface.
+export interface HostInterface {
+  name: string;
+  address?: string;
+  broadcast?: string;
+  // Up, multicast capable, with an IPv4 address.
+  usable: boolean;
+  // Automatic selection's verdict, and why not.
+  autoUse: boolean;
+  autoReason?: string;
+  // Used by the host's sockets right now.
+  used: boolean;
+}
+
+export interface NetworkState {
+  vision: SocketStatus;
+  gc: SocketStatus;
+  autoInterfaces: boolean;
+  interfaces: HostInterface[] | null;
+  // The loopback interface, and whether multicast is enabled on it.
+  loopback: string;
+  loopbackMulticast: boolean;
+  // Lowest port an unprivileged process may bind on the host.
+  unprivilegedPortStart: number;
+  root: boolean;
+}
+
+export interface NetworkConfig {
+  vision_ip: string;
+  vision_port: number;
+  gc_ip: string;
+  gc_port: number;
+}
+
+export type NetworkKey = keyof NetworkConfig;
+
+// vision_processor's fallbacks (Resources.cpp) for keys the block leaves out.
+export const NETWORK_DEFAULTS: NetworkConfig = {
+  vision_ip: "224.5.23.2",
+  vision_port: 10006,
+  gc_ip: "224.5.23.1",
+  gc_port: 10003,
+};
+
+export const network = $state<{ state: NetworkState | null }>({
+  state: null,
+});
+
+$effect.root(() => {
+  $effect(() => {
+    return topic<NetworkState>("network.state").subscribe((state) => {
+      if (state) network.state = state;
+    });
+  });
+});
+
+function block(): Record<string, unknown> | undefined {
+  return config.doc?.defaults?.["network"] as
+    | Record<string, unknown>
+    | undefined;
+}
+
+// The shared network block with fallbacks applied.
+export function networkFromDoc(): NetworkConfig {
+  const b = block() ?? {};
+  const str = (key: NetworkKey): string =>
+    typeof b[key] === "string" ? b[key] : String(NETWORK_DEFAULTS[key]);
+  const num = (key: NetworkKey): number =>
+    typeof b[key] === "number" ? b[key] : Number(NETWORK_DEFAULTS[key]);
+
+  return {
+    vision_ip: str("vision_ip"),
+    vision_port: num("vision_port"),
+    gc_ip: str("gc_ip"),
+    gc_port: num("gc_port"),
+  };
+}
+
+export function writeNetwork<K extends NetworkKey>(
+  key: K,
+  value: NetworkConfig[K],
+): void {
+  const doc = config.doc;
+  if (!doc) return;
+
+  doc.defaults ??= {};
+  doc.defaults["network"] = { ...(block() ?? {}), [key]: value };
+}
+
+// host.interfaces: automatic (the default) or a skip list.
+export function interfaceSelection(): { auto: boolean; skip: string[] } {
+  const i = config.doc?.host?.interfaces;
+
+  return { auto: i?.auto ?? true, skip: i?.skip ?? [] };
+}
+
+export function writeInterfaces(auto: boolean, skip: string[]): void {
+  const doc = config.doc;
+  if (!doc) return;
+
+  doc.host = {
+    ...doc.host,
+    interfaces: { auto, ...(skip.length > 0 ? { skip } : {}) },
+  };
+}
+
+// Format checks only, the same as gui/internal/config's Network.Validate.
+// Whether the address is a sensible choice is advice's job, below.
+export function ipv4Error(ip: string): string | null {
+  const octets = parseIPv4(ip);
+  if (!octets) return "Not an IPv4 address.";
+  if (octets.every((o) => o === 0)) return "0.0.0.0 isn't a destination.";
+
+  return null;
+}
+
+export function portError(port: number): string | null {
+  return Number.isInteger(port) && port >= 1 && port <= 65535
+    ? null
+    : "Must be 1 to 65535.";
+}
+
+function parseIPv4(ip: string): number[] | null {
+  const parts = ip.split(".");
+  if (parts.length !== 4 || parts.some((p) => !/^\d{1,3}$/.test(p))) {
+    return null;
+  }
+
+  const octets = parts.map(Number);
+
+  return octets.some((o) => o > 255) ? null : octets;
+}
+
+export type Kind = "vision" | "gc";
+
+const KIND_LABEL: Record<Kind, string> = {
+  vision: "vision",
+  gc: "game controller",
+};
+
+// The league's standard groups; a redundant second system adds 10 to the port.
+export const STANDARD: Record<Kind, { ip: string; port: number }> = {
+  vision: { ip: "224.5.23.2", port: 10006 },
+  gc: { ip: "224.5.23.1", port: 10003 },
+};
+
+const BACKUP_OFFSET = 10;
+
+// Carries RoboCup2014Legacy.Wrapper packets: same detection field, different
+// geometry message.
+const LEGACY_VISION_PORT = 10005;
+
+// Other well known SSL UDP ports, for "normally used by" notes.
+const KNOWN_PORTS: Record<number, string> = {
+  10003: "the game controller",
+  10013: "the backup game controller",
+  10005: "legacy vision",
+  10006: "vision",
+  10016: "backup vision",
+  10010: "the tracker",
+};
+
+export interface Preset<T> {
+  label: string;
+  value: T;
+}
+
+export function addressPresets(
+  kind: Kind,
+  interfaces: HostInterface[],
+): Preset<string>[] {
+  return [
+    { label: "Standard multicast", value: STANDARD[kind].ip },
+    { label: "Broadcast, all interfaces", value: "255.255.255.255" },
+    ...interfaces.flatMap((i) =>
+      i.used && i.broadcast
+        ? [
+            {
+              label: `Broadcast, ${i.name} (${i.address ?? ""})`,
+              value: i.broadcast,
+            },
+          ]
+        : [],
+    ),
+  ].filter((p, i, all) => all.findIndex((q) => q.value === p.value) === i);
+}
+
+export function portPresets(kind: Kind): Preset<number>[] {
+  const standard = STANDARD[kind].port;
+  const presets = [
+    { label: "Standard", value: standard },
+    { label: "Backup", value: standard + BACKUP_OFFSET },
+  ];
+
+  if (kind === "vision") {
+    presets.push({ label: "Legacy", value: LEGACY_VISION_PORT });
+  }
+
+  return presets;
+}
+
+// Warnings are shown always; notes only with extra tooltips turned on.
+export interface Advice {
+  warnings: string[];
+  notes: string[];
+}
+
+// Ethernet multicast MACs carry only the low 23 bits of the group, so groups
+// that differ only above them share a MAC and switches can't separate them.
+function low23(octets: number[]): number {
+  const [, b = 0, c = 0, d = 0] = octets;
+
+  return ((b & 0x7f) << 16) | (c << 8) | d;
+}
+
+export function addressAdvice(
+  ip: string,
+  kind: Kind,
+  state: NetworkState | null,
+): Advice {
+  const advice: Advice = { warnings: [], notes: [] };
+  const octets = parseIPv4(ip);
+  if (!octets) return advice;
+
+  const [a = 0, b = 0, c = 0, d = 0] = octets;
+  const other: Kind = kind === "vision" ? "gc" : "vision";
+
+  if (a === 127) {
+    advice.warnings.push("Loopback: only reaches this machine.");
+  } else if (a >= 224 && a <= 239) {
+    if (a === 224 && b === 0 && c === 0) {
+      advice.warnings.push(
+        "224.0.0.x is reserved for routing protocols. Pick another group.",
+      );
+    } else if (a === 232) {
+      advice.warnings.push(
+        "232.x is source-specific multicast: plain joins may receive nothing.",
+      );
+    }
+
+    if (ip === STANDARD[other].ip) {
+      advice.notes.push(
+        `Standard ${KIND_LABEL[other]} group. Works on a different port.`,
+      );
+    } else if (ip !== STANDARD[kind].ip) {
+      advice.notes.push(
+        "Non-standard group. Every SSL tool on the field must use it too.",
+      );
+    }
+
+    for (const std of [STANDARD.vision.ip, STANDARD.gc.ip]) {
+      const stdOctets = parseIPv4(std);
+      if (ip !== std && stdOctets && low23(octets) === low23(stdOctets)) {
+        advice.notes.push(
+          `Same Ethernet MAC as ${std}: switches can't filter them apart.`,
+        );
+      }
+    }
+  } else {
+    const iface = state?.interfaces?.find((i) => i.broadcast === ip);
+
+    if (ip === "255.255.255.255") {
+      advice.notes.push(
+        "Broadcast: floods the subnet. vision_processor sends it out its default route only.",
+      );
+    } else if (iface) {
+      advice.notes.push(
+        `Subnet broadcast on ${iface.name}: floods the subnet.`,
+      );
+    } else if (d === 255) {
+      advice.warnings.push(
+        "Not multicast. Looks like a subnet broadcast, but no interface on this host has it.",
+      );
+    } else {
+      advice.warnings.push(
+        "Not multicast or broadcast: only the machine at this IP receives.",
+      );
+    }
+  }
+
+  return advice;
+}
+
+export function portAdvice(
+  port: number,
+  kind: Kind,
+  state: NetworkState | null,
+): Advice {
+  const advice: Advice = { warnings: [], notes: [] };
+  if (portError(port)) return advice;
+
+  const start = state?.unprivilegedPortStart ?? 1024;
+  if (port < start) {
+    advice.notes.push(
+      `Below ${String(start)}: binding needs root or CAP_NET_BIND_SERVICE, here and on every vision_processor${state?.root ? " (this host runs as root)" : ""}.`,
+    );
+  }
+
+  const standard = STANDARD[kind].port;
+  const known = KNOWN_PORTS[port];
+
+  if (port === standard) return advice;
+
+  if (kind === "vision" && port === LEGACY_VISION_PORT) {
+    advice.notes.push(
+      "Legacy 2014 format port: old clients get detections but not this geometry.",
+    );
+  } else if (port === standard + BACKUP_OFFSET) {
+    advice.notes.push("Backup (+10) port, for a redundant second system.");
+  } else if (known) {
+    advice.notes.push(`Normally ${known}'s port.`);
+  } else {
+    advice.notes.push(
+      "Non-standard port. Every SSL tool on the field must use it too.",
+    );
+  }
+
+  return advice;
+}
diff --git a/gui/internal/config/diff.go b/gui/internal/config/diff.go
index 49d02f1..7a1e1f0 100644
--- a/gui/internal/config/diff.go
+++ b/gui/internal/config/diff.go
@@ -12,6 +12,7 @@ const (
 	SectionField    = "field"
 	SectionGeometry = "geometry"
 	SectionColor    = "color"
+	SectionNetwork  = "network"
 	SectionOther    = "other"
 )
 
@@ -119,9 +120,14 @@ func classify(path []string) (string, *int) {
 	switch first := path[0]; {
 	case first == "field" || first == "optional_field_lines" || first == "models":
 		return SectionField, nil
+	case first == "host":
+		return SectionNetwork, nil
 	case first == "defaults":
-		if segment(1) == "color" {
+		switch segment(1) {
+		case "color":
 			return SectionColor, nil
+		case "network":
+			return SectionNetwork, nil
 		}
 
 		return SectionOther, nil
@@ -136,6 +142,8 @@ func classify(path []string) (string, *int) {
 			switch segment(2) {
 			case "color":
 				return SectionColor, &id
+			case "network":
+				return SectionNetwork, &id
 			case "camera", "geometry", "":
 				return SectionGeometry, &id
 			default:
diff --git a/gui/internal/config/document.go b/gui/internal/config/document.go
index ce2e106..296e52f 100644
--- a/gui/internal/config/document.go
+++ b/gui/internal/config/document.go
@@ -40,6 +40,35 @@ type Document struct {
 	// geometry:, color:, thresholds:, ...) and applies to every camera.
 	Defaults map[string]any `yaml:"defaults,omitempty" json:"defaults,omitempty"`
 	Cameras  []Camera       `yaml:"cameras" json:"cameras"`
+	// Host is settings for this GUI host alone; no vision_processor reads it.
+	Host *Host `yaml:"host,omitempty" json:"host,omitempty"`
+}
+
+// Host is settings that only mean something on the machine running the GUI
+// host, such as its network interface names.
+type Host struct {
+	Interfaces *Interfaces `yaml:"interfaces,omitempty" json:"interfaces,omitempty"`
+}
+
+// Interfaces chooses which network interfaces the host's sockets use.
+type Interfaces struct {
+	// Auto (the default when unset) lets the host pick. Skip is then kept
+	// only so switching back to manual restores it.
+	Auto *bool `yaml:"auto,omitempty" json:"auto,omitempty"`
+	// Skip names interfaces not to use when choosing manually.
+	Skip []string `yaml:"skip,omitempty" json:"skip,omitempty"`
+}
+
+// InterfaceSelection is whether the host picks interfaces itself, and which
+// ones to skip when it doesn't.
+func (d Document) InterfaceSelection() (auto bool, skip []string) {
+	if d.Host == nil || d.Host.Interfaces == nil {
+		return true, nil
+	}
+
+	i := d.Host.Interfaces
+
+	return i.Auto == nil || *i.Auto, i.Skip
 }
 
 // Camera is one vision_processor instance, keyed by camera_id (its position
@@ -156,6 +185,12 @@ func (d Document) Validate() error {
 		add(err)
 	}
 
+	if n, err := d.Network(); err != nil {
+		add(fmt.Errorf("defaults: %w", err))
+	} else if err := n.Validate(); err != nil {
+		add(fmt.Errorf("defaults: %w", err))
+	}
+
 	seen := map[int]bool{}
 
 	for _, c := range d.Cameras {
@@ -185,6 +220,16 @@ func (d Document) Validate() error {
 			}
 		}
 
+		// The shared block is checked above; only a camera's own override can
+		// add a new problem here.
+		if c.Config["network"] != nil {
+			if n, err := networkFromBlock(d.Effective(c)["network"]); err != nil {
+				add(fmt.Errorf("%s: %w", prefix, err))
+			} else if err := n.Validate(); err != nil {
+				add(fmt.Errorf("%s: %w", prefix, err))
+			}
+		}
+
 		color, err := colorFromBlock(d.Effective(c)["color"])
 		if err != nil {
 			add(fmt.Errorf("%s: %w", prefix, err))
diff --git a/gui/internal/config/document_test.go b/gui/internal/config/document_test.go
index 0d27d46..ad4b2b4 100644
--- a/gui/internal/config/document_test.go
+++ b/gui/internal/config/document_test.go
@@ -207,6 +207,7 @@ func TestDiffClassifiesSections(t *testing.T) {
 	after.Defaults["color"].(map[string]any)["reference_force"] = 0.2
 	after.Defaults["thresholds"].(map[string]any)["min_confidence"] = 0.4
 	after.Cameras[0].Calibration.Camera["tz"] = 4100
+	after.Defaults["network"] = map[string]any{"vision_port": 10010}
 
 	want := map[string]struct {
 		section string
@@ -218,6 +219,7 @@ func TestDiffClassifiesSections(t *testing.T) {
 		"defaults.color.reference_force":     {SectionColor, -1},
 		"defaults.thresholds.min_confidence": {SectionOther, -1},
 		"cameras[0].calibration.camera.tz":   {SectionGeometry, 0},
+		"defaults.network":                   {SectionNetwork, -1},
 	}
 
 	changes := Diff(before, after)
diff --git a/gui/internal/config/network.go b/gui/internal/config/network.go
new file mode 100644
index 0000000..ed3b1bf
--- /dev/null
+++ b/gui/internal/config/network.go
@@ -0,0 +1,131 @@
+package config
+
+import (
+	"errors"
+	"fmt"
+	"net"
+	"net/netip"
+	"strconv"
+
+	"gopkg.in/yaml.v3"
+)
+
+// Network is the vision and game controller multicast addresses, from the
+// config.yml-layout network: block. vision_processor reads the same block at
+// startup, and the host uses it for its own sockets, so both always agree.
+type Network struct {
+	VisionIP   string
+	VisionPort int
+	GCIP       string
+	GCPort     int
+}
+
+// The vision_processor's own fallbacks (Resources.cpp) for keys the network
+// block leaves out.
+var defaultNetwork = Network{
+	VisionIP:   "224.5.23.2",
+	VisionPort: 10006,
+	GCIP:       "224.5.23.1",
+	GCPort:     10003,
+}
+
+// networkBlock is the YAML shape of a network: block. Pointers tell a missing
+// key (use the fallback) from a zero one (invalid).
+type networkBlock struct {
+	VisionIP   *string `yaml:"vision_ip"`
+	VisionPort *int    `yaml:"vision_port"`
+	GCIP       *string `yaml:"gc_ip"`
+	GCPort     *int    `yaml:"gc_port"`
+}
+
+// Network is the shared network block (defaults.network) with fallbacks
+// applied: what the host listens on, and what every camera gets unless it
+// overrides it.
+func (d Document) Network() (Network, error) {
+	return networkFromBlock(d.Defaults["network"])
+}
+
+// VisionAddress is the vision group as host:port.
+func (n Network) VisionAddress() string {
+	return net.JoinHostPort(n.VisionIP, strconv.Itoa(n.VisionPort))
+}
+
+// GCAddress is the game controller group as host:port.
+func (n Network) GCAddress() string {
+	return net.JoinHostPort(n.GCIP, strconv.Itoa(n.GCPort))
+}
+
+func networkFromBlock(block any) (Network, error) {
+	var parsed networkBlock
+
+	if block != nil {
+		data, err := yaml.Marshal(block)
+		if err != nil {
+			return Network{}, err
+		}
+
+		if err := yaml.Unmarshal(data, &parsed); err != nil {
+			return Network{}, &ValidationError{fmt.Errorf("network: %w", err)}
+		}
+	}
+
+	n := defaultNetwork
+
+	if parsed.VisionIP != nil {
+		n.VisionIP = *parsed.VisionIP
+	}
+
+	if parsed.VisionPort != nil {
+		n.VisionPort = *parsed.VisionPort
+	}
+
+	if parsed.GCIP != nil {
+		n.GCIP = *parsed.GCIP
+	}
+
+	if parsed.GCPort != nil {
+		n.GCPort = *parsed.GCPort
+	}
+
+	return n, nil
+}
+
+// Validate reports every problem at once. Any IPv4 address is accepted:
+// multicast is the norm, broadcast works around switches whose IGMP snooping
+// drops multicast, and the GUI warns about anything else rather than refusing
+// it.
+func (n Network) Validate() error {
+	var errs error
+
+	errs = errors.Join(errs, validateGroup("vision_ip", n.VisionIP))
+	errs = errors.Join(errs, validatePort("vision_port", n.VisionPort))
+	errs = errors.Join(errs, validateGroup("gc_ip", n.GCIP))
+	errs = errors.Join(errs, validatePort("gc_port", n.GCPort))
+
+	if n.VisionAddress() == n.GCAddress() {
+		errs = errors.Join(errs, fmt.Errorf("network: vision and game controller can't share %s", n.VisionAddress()))
+	}
+
+	return errs
+}
+
+func validateGroup(key, ip string) error {
+	addr, err := netip.ParseAddr(ip)
+	if err != nil || !addr.Is4() {
+		return fmt.Errorf("network.%s: want an IPv4 address, got %q", key, ip)
+	}
+
+	if addr.IsUnspecified() {
+		return fmt.Errorf("network.%s: 0.0.0.0 isn't a destination", key)
+	}
+
+	return nil
+}
+
+func validatePort(key string, port int) error {
+	if port < 1 || port > 65535 {
+		return fmt.Errorf("network.%s: want 1 to 65535, got %d", key, port)
+	}
+
+	return nil
+}
diff --git a/gui/internal/config/network_test.go b/gui/internal/config/network_test.go
new file mode 100644
index 0000000..d894aa3
--- /dev/null
+++ b/gui/internal/config/network_test.go
@@ -0,0 +1,124 @@
+package config
+
+import (
+	"strings"
+	"testing"
+)
+
+func TestNetworkFallsBackToVisionProcessorDefaults(t *testing.T) {
+	doc := loadFixture(t)
+	delete(doc.Defaults, "network")
+
+	n, err := doc.Network()
+	if err != nil {
+		t.Fatalf("Network: %v", err)
+	}
+
+	if n.VisionAddress() != "224.5.23.2:10006" || n.GCAddress() != "224.5.23.1:10003" {
+		t.Fatalf("addresses = %s / %s, want the vision_processor defaults", n.VisionAddress(), n.GCAddress())
+	}
+}
+
+func TestNetworkReadsPartialOverrides(t *testing.T) {
+	doc := loadFixture(t)
+	doc.Defaults["network"] = map[string]any{"vision_ip": "224.5.23.9", "gc_port": 11003}
+
+	n, err := doc.Network()
+	if err != nil {
+		t.Fatalf("Network: %v", err)
+	}
+
+	if n.VisionAddress() != "224.5.23.9:10006" || n.GCAddress() != "224.5.23.1:11003" {
+		t.Fatalf("addresses = %s / %s, want overrides merged over defaults", n.VisionAddress(), n.GCAddress())
+	}
+}
+
+func TestValidateRejectsBadNetwork(t *testing.T) {
+	cases := map[string]struct {
+		block map[string]any
+		want  string
+	}{
+		"unspecified": {map[string]any{"vision_ip": "0.0.0.0"}, "network.vision_ip"},
+		"not an ip":   {map[string]any{"gc_ip": "224.5.23"}, "network.gc_ip"},
+		"ipv6":        {map[string]any{"gc_ip": "ff02::1"}, "network.gc_ip"},
+		"port range":  {map[string]any{"vision_port": 70000}, "network.vision_port"},
+		"zero port":   {map[string]any{"gc_port": 0}, "network.gc_port"},
+		"shared":      {map[string]any{"gc_ip": "224.5.23.2", "gc_port": 10006}, "can't share"},
+		"wrong type":  {map[string]any{"vision_port": "ten"}, "network"},
+	}
+
+	for name, tc := range cases {
+		t.Run(name, func(t *testing.T) {
+			doc := loadFixture(t)
+			doc.Defaults["network"] = tc.block
+
+			err := doc.Validate()
+			if err == nil || !IsValidation(err) || !strings.Contains(err.Error(), tc.want) {
+				t.Fatalf("Validate = %v, want a validation error mentioning %q", err, tc.want)
+			}
+		})
+	}
+}
+
+func TestValidateChecksACameraNetworkOverride(t *testing.T) {
+	doc := loadFixture(t)
+	doc.Cameras[0].Config["network"] = map[string]any{"vision_port": -1}
+
+	err := doc.Validate()
+	if err == nil || !strings.Contains(err.Error(), "cameras[0]: network.vision_port") {
+		t.Fatalf("Validate = %v, want the camera's network override rejected", err)
+	}
+}
+
+func TestValidateAcceptsBroadcastAndUnicast(t *testing.T) {
+	for _, ip := range []string{"255.255.255.255", "192.168.30.255", "10.0.0.5"} {
+		doc := loadFixture(t)
+		doc.Defaults["network"] = map[string]any{"vision_ip": ip}
+
+		if err := doc.Validate(); err != nil {
+			t.Errorf("%s: Validate = %v, want it accepted (the GUI warns instead)", ip, err)
+		}
+	}
+}
+
+func TestInterfaceSelectionDefaultsToAuto(t *testing.T) {
+	doc := loadFixture(t)
+
+	if auto, skip := doc.InterfaceSelection(); !auto || skip != nil {
+		t.Fatalf("selection = %v %v, want auto with no skip list", auto, skip)
+	}
+
+	manual := false
+	doc.Host = &Host{Interfaces: &Interfaces{Auto: &manual, Skip: []string{"docker0"}}}
+
+	if auto, skip := doc.InterfaceSelection(); auto || len(skip) != 1 || skip[0] != "docker0" {
+		t.Fatalf("selection = %v %v, want manual skipping docker0", auto, skip)
+	}
+}
+
+func TestHostRoundTripsAndDiffsAsNetwork(t *testing.T) {
+	before := loadFixture(t)
+	after := before.clone()
+
+	manual := false
+	after.Host = &Host{Interfaces: &Interfaces{Auto: &manual, Skip: []string{"docker0"}}}
+
+	data, err := Marshal(after)
+	if err != nil {
+		t.Fatalf("Marshal: %v", err)
+	}
+
+	parsed, err := Parse(data)
+	if err != nil {
+		t.Fatalf("Parse: %v", err)
+	}
+
+	if auto, skip := parsed.InterfaceSelection(); auto || len(skip) != 1 {
+		t.Fatalf("round trip lost the selection: %v %v", auto, skip)
+	}
+
+	changes := Diff(before, after)
+	if len(changes) != 1 || changes[0].Section != SectionNetwork {
+		t.Fatalf("changes = %+v, want one network change", changes)
+	}
+}
diff --git a/gui/internal/multicast/bridge.go b/gui/internal/multicast/bridge.go
deleted file mode 100644
index 0c7a1da..0000000
--- a/gui/internal/multicast/bridge.go
+++ /dev/null
@@ -1,70 +0,0 @@
-// Package multicast wires the SSL vision multicast group to the geometry
-// service: inbound SSL_WrapperPacket.geometry is handed to an absorb callback,
-// and outbound bytes are sent back onto the same group.
-package multicast
-
-import (
-	"context"
-	"log/slog"
-	"net"
-
-	"github.com/RoboCup-SSL/ssl-go-tools/pkg/sslnet"
-	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
-	"google.golang.org/protobuf/proto"
-)
-
-// Bridge pairs a receiver and a sender on one multicast address. Our own
-// outbound packets loop back to the receiver (multicast loopback is on by
-// default); Absorb is idempotent, so this is harmless rather than special-cased.
-type Bridge struct {
-	server *sslnet.MulticastServer
-	client *sslnet.UdpClient
-}
-
-// New prepares a bridge on address (e.g. "224.5.23.2:10006"). skipInterfaces
-// excludes named network interfaces from both receive and send.
-func New(address string, skipInterfaces []string, verbose bool) *Bridge {
-	server := sslnet.NewMulticastServer(address)
-	server.SkipInterfaces = skipInterfaces
-	server.Verbose = verbose
-
-	client := sslnet.NewUdpClient(address, "")
-
-	return &Bridge{server: server, client: client}
-}
-
-// Run starts receiving until ctx is cancelled, calling absorb with the
-// geometry from every wrapper packet that carries one.
-func (b *Bridge) Run(ctx context.Context, absorb func(*vision.SSL_GeometryData)) error {
-	b.server.Consumer = func(data []byte, _ *net.UDPAddr) {
-		b.handleDatagram(data, absorb)
-	}
-
-	b.server.Start()
-	b.client.Start()
-
-	<-ctx.Done()
-
-	b.server.Stop()
-	b.client.Stop()
-
-	return ctx.Err()
-}
-
-// handleDatagram parses one datagram and, if it carries geometry, calls absorb.
-func (b *Bridge) handleDatagram(data []byte, absorb func(*vision.SSL_GeometryData)) {
-	var packet vision.SSL_WrapperPacket
-	if err := proto.Unmarshal(data, &packet); err != nil {
-		slog.Warn("dropping malformed wrapper packet", "err", err)
-		return
-	}
-
-	if geometry := packet.GetGeometry(); geometry != nil {
-		absorb(geometry)
-	}
-}
-
-// Send publishes data onto the multicast group.
-func (b *Bridge) Send(data []byte) {
-	b.client.Send(data)
-}
diff --git a/gui/internal/multicast/bridge_test.go b/gui/internal/multicast/bridge_test.go
deleted file mode 100644
index 8b7be4d..0000000
--- a/gui/internal/multicast/bridge_test.go
+++ /dev/null
@@ -1,70 +0,0 @@
-package multicast
-
-import (
-	"testing"
-
-	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
-	"google.golang.org/protobuf/proto"
-)
-
-// handleDatagram is exercised directly rather than through Run/Start, so these
-// tests need no real socket -- useful in sandboxes where multicast join may be
-// blocked.
-
-func TestHandleDatagramCallsAbsorbForGeometry(t *testing.T) {
-	b := New("224.5.23.2:10006", nil, false)
-
-	// SSL_GeometryData.field is a required proto2 field, so Marshal needs a
-	// complete SSL_GeometryFieldSize even though calib is what this test cares
-	// about; calib itself has 12 required fields per entry and is left empty.
-	packet := &vision.SSL_WrapperPacket{
-		Geometry: &vision.SSL_GeometryData{
-			Field: &vision.SSL_GeometryFieldSize{
-				FieldLength:   proto.Int32(9000),
-				FieldWidth:    proto.Int32(6000),
-				GoalWidth:     proto.Int32(1000),
-				GoalDepth:     proto.Int32(180),
-				BoundaryWidth: proto.Int32(300),
-			},
-		},
-	}
-
-	data, err := proto.Marshal(packet)
-	if err != nil {
-		t.Fatalf("Marshal: %v", err)
-	}
-
-	var got *vision.SSL_GeometryData
-	b.handleDatagram(data, func(g *vision.SSL_GeometryData) { got = g })
-
-	if got == nil || got.GetField().GetFieldLength() != 9000 {
-		t.Fatalf("absorb called with %v, want field_length 9000", got)
-	}
-}
-
-func TestHandleDatagramIgnoresPacketWithoutGeometry(t *testing.T) {
-	b := New("224.5.23.2:10006", nil, false)
-
-	data, err := proto.Marshal(&vision.SSL_WrapperPacket{})
-	if err != nil {
-		t.Fatalf("Marshal: %v", err)
-	}
-
-	called := false
-	b.handleDatagram(data, func(*vision.SSL_GeometryData) { called = true })
-
-	if called {
-		t.Fatal("absorb called for a packet with no geometry")
-	}
-}
-
-func TestHandleDatagramDropsMalformedData(t *testing.T) {
-	b := New("224.5.23.2:10006", nil, false)
-
-	called := false
-	b.handleDatagram([]byte("not a protobuf message"), func(*vision.SSL_GeometryData) { called = true })
-
-	if called {
-		t.Fatal("absorb called for malformed data")
-	}
-}
diff --git a/gui/internal/multicast/consumers.go b/gui/internal/multicast/consumers.go
new file mode 100644
index 0000000..f3cedd7
--- /dev/null
+++ b/gui/internal/multicast/consumers.go
@@ -0,0 +1,42 @@
+package multicast
+
+import (
+	"log/slog"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/proto"
+)
+
+// VisionConsumer hands the geometry from every wrapper packet to absorb. Only
+// packets carrying a detection frame count as heard: those come from vision
+// processors, while geometry-only packets include the host's own, looped back
+// (multicast loopback is on by default; absorb is idempotent, so that's
+// harmless rather than special-cased).
+func VisionConsumer(absorb func(*vision.SSL_GeometryData)) Consumer {
+	return func(data []byte) bool {
+		var packet vision.SSL_WrapperPacket
+		if err := proto.Unmarshal(data, &packet); err != nil {
+			slog.Warn("dropping malformed wrapper packet", "err", err)
+
+			return false
+		}
+
+		if geometry := packet.GetGeometry(); geometry != nil {
+			absorb(geometry)
+		}
+
+		return packet.GetDetection() != nil
+	}
+}
+
+// RefereeConsumer counts valid referee messages. The host doesn't use their
+// contents yet; hearing them is what shows the game controller address is
+// right.
+func RefereeConsumer() Consumer {
+	return func(data []byte) bool {
+		var referee gamecontroller.Referee
+
+		return proto.Unmarshal(data, &referee) == nil
+	}
+}
diff --git a/gui/internal/multicast/endpoint.go b/gui/internal/multicast/endpoint.go
new file mode 100644
index 0000000..1073527
--- /dev/null
+++ b/gui/internal/multicast/endpoint.go
@@ -0,0 +1,326 @@
+// Package multicast holds the host's SSL network sockets: the vision group
+// (geometry in and out) and the game controller group (referee in). Each is an
+// Endpoint whose address can change while running; the old sockets are torn
+// down and new ones opened on the new address. A multicast address joins the
+// group; anything else (normally a broadcast address, for switches whose IGMP
+// snooping drops multicast) listens on the port instead.
+package multicast
+
+import (
+	"context"
+	"log/slog"
+	"net"
+	"slices"
+	"sync"
+	"time"
+
+	"github.com/RoboCup-SSL/ssl-go-tools/pkg/sslnet"
+)
+
+// ReceivingWindow is how recently a packet must have been heard for an
+// endpoint to count as receiving.
+const ReceivingWindow = 2 * time.Second
+
+// Options configures an Endpoint's sockets.
+type Options struct {
+	Verbose bool
+	// Send also opens a sender on the group, for Endpoint.Send.
+	Send bool
+}
+
+// Consumer handles one datagram and reports whether it counts as heard: a
+// valid packet from someone else, not noise or our own looped-back sends.
+type Consumer func(data []byte) bool
+
+// opener opens sockets on address over the interfaces marked Used,
+// delivering datagrams to receive. It returns how to send (nil when not
+// sending) and how to close everything. Swapped out in tests, which can't
+// rely on joining a real multicast group.
+type opener func(address string, ifaces []Interface, opts Options, receive func([]byte, *net.UDPAddr)) (send func([]byte), stop func())
+
+// Endpoint is one multicast group the host listens on, and optionally sends to.
+type Endpoint struct {
+	name    string
+	opts    Options
+	consume Consumer
+	open    opener
+
+	// poke wakes Run after SetAddress or SetInterfaces. Size 1: several
+	// changes before Run gets to it collapse into one reopen.
+	poke chan struct{}
+
+	mu        sync.Mutex
+	address   string
+	ifaces    []Interface
+	send      func([]byte)
+	heard     uint64
+	lastHeard time.Time
+	source    string
+}
+
+// Status is an endpoint's address and what it has heard there.
+type Status struct {
+	Address string `json:"address"`
+	// Mode is how the receiver was opened: "multicast" joined the group,
+	// "port" listens on the port for anything sent there (broadcast, or
+	// unicast to this host).
+	Mode      string     `json:"mode"`
+	Heard     uint64     `json:"heard"`
+	LastHeard *time.Time `json:"lastHeard,omitempty"`
+	Source    string     `json:"source,omitempty"`
+	Receiving bool       `json:"receiving"`
+}
+
+// NewEndpoint prepares an endpoint on address (e.g. "224.5.23.2:10006")
+// over ifaces (see Select). Nothing is opened until Run.
+func NewEndpoint(name, address string, ifaces []Interface, opts Options, consume Consumer) *Endpoint {
+	return &Endpoint{
+		name:    name,
+		opts:    opts,
+		consume: consume,
+		open:    openSSLNet,
+		poke:    make(chan struct{}, 1),
+		address: address,
+		ifaces:  ifaces,
+	}
+}
+
+// Address is the address the endpoint is (or is about to be) open on.
+func (e *Endpoint) Address() string {
+	e.mu.Lock()
+	defer e.mu.Unlock()
+
+	return e.address
+}
+
+// SetAddress moves the endpoint to address: Run closes the current sockets
+// and opens new ones. Counters restart, since they describe the old group.
+// A no-op when address is unchanged.
+func (e *Endpoint) SetAddress(address string) {
+	e.mu.Lock()
+
+	if address == e.address {
+		e.mu.Unlock()
+
+		return
+	}
+
+	e.address = address
+	e.heard = 0
+	e.lastHeard = time.Time{}
+	e.source = ""
+	e.mu.Unlock()
+
+	e.reopen()
+}
+
+// SetInterfaces moves the endpoint onto a new interface selection (see
+// Select). A no-op unless the used interfaces or their addresses changed,
+// since the host re-evaluates automatic selection every second.
+func (e *Endpoint) SetInterfaces(ifaces []Interface) {
+	e.mu.Lock()
+
+	if slices.Equal(usedKey(ifaces), usedKey(e.ifaces)) {
+		e.mu.Unlock()
+
+		return
+	}
+
+	e.ifaces = ifaces
+	e.mu.Unlock()
+
+	e.reopen()
+}
+
+// usedKey is the part of a selection the sockets depend on.
+func usedKey(ifaces []Interface) []string {
+	var key []string
+
+	for _, i := range ifaces {
+		if i.Used {
+			key = append(key, i.Name+"="+i.Address)
+		}
+	}
+
+	return key
+}
+
+func (e *Endpoint) reopen() {
+	select {
+	case e.poke <- struct{}{}:
+	default:
+	}
+}
+
+// Run keeps the endpoint open on its current address until ctx is cancelled,
+// reopening whenever SetAddress or SetInterfaces changes it.
+func (e *Endpoint) Run(ctx context.Context) error {
+	for {
+		e.mu.Lock()
+		address, ifaces := e.address, e.ifaces
+		e.mu.Unlock()
+
+		stop := e.start(address, ifaces)
+
+		select {
+		case <-ctx.Done():
+			stop()
+
+			return ctx.Err()
+		case <-e.poke:
+		}
+
+		stop()
+		slog.Info("reopening socket", "endpoint", e.name, "from", address, "to", e.Address(), "interfaces", usedKey(e.interfaces()))
+	}
+}
+
+func (e *Endpoint) interfaces() []Interface {
+	e.mu.Lock()
+	defer e.mu.Unlock()
+
+	return e.ifaces
+}
+
+func (e *Endpoint) start(address string, ifaces []Interface) func() {
+	send, stop := e.open(address, ifaces, e.opts, func(data []byte, from *net.UDPAddr) {
+		e.receive(address, data, from)
+	})
+
+	e.mu.Lock()
+	e.send = send
+	e.mu.Unlock()
+
+	slog.Info("socket open", "endpoint", e.name, "address", address)
+
+	return func() {
+		e.mu.Lock()
+		e.send = nil
+		e.mu.Unlock()
+
+		stop()
+	}
+}
+
+// receive handles a datagram that arrived on address. A closing socket can
+// still deliver one after a move; it's dropped rather than counted against
+// the new address.
+func (e *Endpoint) receive(address string, data []byte, from *net.UDPAddr) {
+	if !e.consume(data) {
+		return
+	}
+
+	e.mu.Lock()
+	defer e.mu.Unlock()
+
+	if address != e.address {
+		return
+	}
+
+	e.heard++
+	e.lastHeard = time.Now()
+
+	if from != nil {
+		e.source = from.IP.String()
+	}
+}
+
+// Send publishes data onto the group. Dropped while the endpoint is between
+// sockets, or if it wasn't opened with Options.Send.
+func (e *Endpoint) Send(data []byte) {
+	e.mu.Lock()
+	send := e.send
+	e.mu.Unlock()
+
+	if send != nil {
+		send(data)
+	}
+}
+
+// Status reports the endpoint as of now.
+func (e *Endpoint) Status(now time.Time) Status {
+	e.mu.Lock()
+	defer e.mu.Unlock()
+
+	s := Status{
+		Address: e.address,
+		Mode:    modeOf(e.address),
+		Heard:   e.heard,
+		Source:  e.source,
+	}
+
+	if !e.lastHeard.IsZero() {
+		last := e.lastHeard
+		s.LastHeard = &last
+		s.Receiving = now.Sub(last) <= ReceivingWindow
+	}
+
+	return s
+}
+
+// modeOf says how address is received: by joining it as a multicast group, or
+// by listening on its port for anything sent there (broadcast, or unicast to
+// this host).
+func modeOf(address string) string {
+	host, _, err := net.SplitHostPort(address)
+	if err != nil {
+		return "multicast"
+	}
+
+	if ip := net.ParseIP(host); ip != nil && !ip.IsMulticast() {
+		return "port"
+	}
+
+	return "multicast"
+}
+
+// receiver is what sslnet's MulticastServer and BroadcastServer have in common.
+type receiver interface {
+	Start()
+	Stop()
+}
+
+func openSSLNet(address string, ifaces []Interface, opts Options, receive func([]byte, *net.UDPAddr)) (func([]byte), func()) {
+	var server receiver
+
+	if modeOf(address) == "port" {
+		// Binds 0.0.0.0, so it hears every interface whatever the selection;
+		// only sending follows it.
+		s := sslnet.NewBroadcastServer(address)
+		s.Verbose = opts.Verbose
+		s.Consumer = receive
+		server = s
+	} else {
+		s := sslnet.NewMulticastServer(address)
+		s.SkipInterfaces = skipped(ifaces)
+		s.Verbose = opts.Verbose
+		s.Consumer = receive
+		server = s
+	}
+
+	server.Start()
+
+	if !opts.Send {
+		return nil, server.Stop
+	}
+
+	out := openSender(address, ifaces)
+
+	return out.send, func() {
+		server.Stop()
+		out.close()
+	}
+}
+
+// skipped names the interfaces a selection doesn't use.
+func skipped(ifaces []Interface) []string {
+	var names []string
+
+	for _, i := range ifaces {
+		if !i.Used {
+			names = append(names, i.Name)
+		}
+	}
+
+	return names
+}
diff --git a/gui/internal/multicast/endpoint_test.go b/gui/internal/multicast/endpoint_test.go
new file mode 100644
index 0000000..e747d40
--- /dev/null
+++ b/gui/internal/multicast/endpoint_test.go
@@ -0,0 +1,319 @@
+package multicast
+
+import (
+	"context"
+	"net"
+	"sync"
+	"testing"
+	"time"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
+	"google.golang.org/protobuf/proto"
+)
+
+// These tests swap Endpoint.open for a fake rather than joining a real
+// multicast group, which sandboxes often block.
+
+// fakeNet records what an Endpoint opened and lets the test deliver datagrams
+// to whichever socket is current.
+type fakeNet struct {
+	mu      sync.Mutex
+	opened  []string
+	stopped []string
+	receive func([]byte, *net.UDPAddr)
+	sent    [][]byte
+	open    chan string
+}
+
+func newFakeNet() *fakeNet {
+	return &fakeNet{open: make(chan string, 8)}
+}
+
+func (f *fakeNet) opener(address string, _ []Interface, opts Options, receive func([]byte, *net.UDPAddr)) (func([]byte), func()) {
+	f.mu.Lock()
+	f.opened = append(f.opened, address)
+	f.receive = receive
+	f.mu.Unlock()
+
+	f.open <- address
+
+	var send func([]byte)
+	if opts.Send {
+		send = func(data []byte) {
+			f.mu.Lock()
+			defer f.mu.Unlock()
+
+			f.sent = append(f.sent, data)
+		}
+	}
+
+	return send, func() {
+		f.mu.Lock()
+		defer f.mu.Unlock()
+
+		f.stopped = append(f.stopped, address)
+	}
+}
+
+func (f *fakeNet) deliver(data []byte) {
+	f.mu.Lock()
+	receive := f.receive
+	f.mu.Unlock()
+
+	receive(data, &net.UDPAddr{IP: net.IPv4(10, 0, 0, 7), Port: 10006})
+}
+
+func (f *fakeNet) waitOpen(t *testing.T, want string) {
+	t.Helper()
+
+	select {
+	case got := <-f.open:
+		if got != want {
+			t.Fatalf("opened %s, want %s", got, want)
+		}
+	case <-time.After(2 * time.Second):
+		t.Fatalf("timed out waiting for %s to open", want)
+	}
+}
+
+func startEndpoint(t *testing.T, address string, opts Options, consume Consumer) (*Endpoint, *fakeNet, func()) {
+	t.Helper()
+
+	f := newFakeNet()
+	e := NewEndpoint("test", address, []Interface{{Name: "eth0", Address: "10.0.0.2", Used: true}}, opts, consume)
+	e.open = f.opener
+
+	ctx, cancel := context.WithCancel(context.Background())
+	done := make(chan error, 1)
+
+	go func() { done <- e.Run(ctx) }()
+
+	f.waitOpen(t, address)
+
+	return e, f, func() {
+		cancel()
+
+		if err := <-done; err != context.Canceled {
+			t.Errorf("Run returned %v, want context.Canceled", err)
+		}
+	}
+}
+
+func countAll(data []byte) bool { return true }
+
+func TestEndpointReopensOnNewAddress(t *testing.T) {
+	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{}, countAll)
+
+	e.SetAddress("224.5.23.9:10010")
+	f.waitOpen(t, "224.5.23.9:10010")
+	stop()
+
+	f.mu.Lock()
+	defer f.mu.Unlock()
+
+	wantStopped := []string{"224.5.23.2:10006", "224.5.23.9:10010"}
+	if len(f.stopped) != 2 || f.stopped[0] != wantStopped[0] || f.stopped[1] != wantStopped[1] {
+		t.Fatalf("stopped %v, want %v", f.stopped, wantStopped)
+	}
+}
+
+func TestEndpointSameAddressIsNoop(t *testing.T) {
+	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{}, countAll)
+
+	e.SetAddress("224.5.23.2:10006")
+
+	select {
+	case got := <-f.open:
+		t.Fatalf("reopened on %s for an unchanged address", got)
+	case <-time.After(100 * time.Millisecond):
+	}
+
+	stop()
+}
+
+func TestEndpointStatusCountsHeardAndResetsOnMove(t *testing.T) {
+	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{}, func(data []byte) bool {
+		return string(data) == "valid"
+	})
+	defer stop()
+
+	f.deliver([]byte("valid"))
+	f.deliver([]byte("noise"))
+
+	s := e.Status(time.Now())
+	if s.Heard != 1 || !s.Receiving || s.Source != "10.0.0.7" || s.Address != "224.5.23.2:10006" {
+		t.Fatalf("status = %+v, want 1 heard from 10.0.0.7, receiving", s)
+	}
+
+	if e.Status(time.Now().Add(ReceivingWindow + time.Second)).Receiving {
+		t.Fatal("still receiving after the window passed")
+	}
+
+	e.SetAddress("224.5.23.9:10010")
+
+	if s := e.Status(time.Now()); s.Heard != 0 || s.LastHeard != nil || s.Address != "224.5.23.9:10010" {
+		t.Fatalf("status after move = %+v, want reset counters on the new address", s)
+	}
+}
+
+func TestEndpointDropsLatePacketFromOldSocket(t *testing.T) {
+	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{}, countAll)
+	defer stop()
+
+	f.mu.Lock()
+	oldReceive := f.receive
+	f.mu.Unlock()
+
+	e.SetAddress("224.5.23.9:10010")
+	f.waitOpen(t, "224.5.23.9:10010")
+
+	oldReceive([]byte("late"), nil)
+
+	if s := e.Status(time.Now()); s.Heard != 0 {
+		t.Fatalf("late packet from the old socket counted: %+v", s)
+	}
+}
+
+func TestEndpointSendGoesToCurrentSocket(t *testing.T) {
+	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{Send: true}, countAll)
+	defer stop()
+
+	e.Send([]byte("geometry"))
+
+	f.mu.Lock()
+	defer f.mu.Unlock()
+
+	if len(f.sent) != 1 || string(f.sent[0]) != "geometry" {
+		t.Fatalf("sent %q, want one geometry packet", f.sent)
+	}
+}
+
+func marshal(t *testing.T, m proto.Message) []byte {
+	t.Helper()
+
+	data, err := proto.Marshal(m)
+	if err != nil {
+		t.Fatalf("Marshal: %v", err)
+	}
+
+	return data
+}
+
+func TestVisionConsumerAbsorbsGeometryButCountsOnlyDetections(t *testing.T) {
+	var got *vision.SSL_GeometryData
+
+	consume := VisionConsumer(func(g *vision.SSL_GeometryData) { got = g })
+
+	// SSL_GeometryData.field is a required proto2 field, so Marshal needs a
+	// complete SSL_GeometryFieldSize.
+	geometry := &vision.SSL_WrapperPacket{
+		Geometry: &vision.SSL_GeometryData{
+			Field: &vision.SSL_GeometryFieldSize{
+				FieldLength:   proto.Int32(9000),
+				FieldWidth:    proto.Int32(6000),
+				GoalWidth:     proto.Int32(1000),
+				GoalDepth:     proto.Int32(180),
+				BoundaryWidth: proto.Int32(300),
+			},
+		},
+	}
+
+	if consume(marshal(t, geometry)) {
+		t.Fatal("geometry-only packet counted as heard")
+	}
+
+	if got.GetField().GetFieldLength() != 9000 {
+		t.Fatalf("absorb called with %v, want field_length 9000", got)
+	}
+
+	detection := &vision.SSL_WrapperPacket{
+		Detection: &vision.SSL_DetectionFrame{
+			FrameNumber: proto.Uint32(1),
+			TCapture:    proto.Float64(1),
+			TSent:       proto.Float64(1),
+			CameraId:    proto.Uint32(0),
+		},
+	}
+
+	if !consume(marshal(t, detection)) {
+		t.Fatal("detection packet not counted as heard")
+	}
+
+	if consume([]byte("not a protobuf message")) {
+		t.Fatal("malformed data counted as heard")
+	}
+}
+
+func TestRefereeConsumer(t *testing.T) {
+	consume := RefereeConsumer()
+
+	team := func() *gamecontroller.Referee_TeamInfo {
+		return &gamecontroller.Referee_TeamInfo{
+			Name:        proto.String("t"),
+			Score:       proto.Uint32(0),
+			RedCards:    proto.Uint32(0),
+			YellowCards: proto.Uint32(0),
+			Timeouts:    proto.Uint32(4),
+			TimeoutTime: proto.Uint32(300),
+			Goalkeeper:  proto.Uint32(0),
+		}
+	}
+
+	referee := &gamecontroller.Referee{
+		PacketTimestamp:  proto.Uint64(1),
+		Stage:            gamecontroller.Referee_NORMAL_FIRST_HALF.Enum(),
+		Command:          gamecontroller.Referee_HALT.Enum(),
+		CommandCounter:   proto.Uint32(1),
+		CommandTimestamp: proto.Uint64(1),
+		Yellow:           team(),
+		Blue:             team(),
+	}
+
+	if !consume(marshal(t, referee)) {
+		t.Fatal("referee message not counted")
+	}
+
+	if consume(marshal(t, &vision.SSL_WrapperPacket{})) {
+		t.Fatal("wrapper packet counted as a referee message")
+	}
+}
+
+func TestModeOf(t *testing.T) {
+	cases := map[string]string{
+		"224.5.23.2:10006":      "multicast",
+		"239.1.2.3:10006":       "multicast",
+		"255.255.255.255:10006": "port",
+		"192.168.30.255:10003":  "port",
+		"10.0.0.5:10006":        "port",
+	}
+
+	for address, want := range cases {
+		if got := modeOf(address); got != want {
+			t.Errorf("modeOf(%s) = %s, want %s", address, got, want)
+		}
+	}
+}
+
+func TestEndpointReopensOnlyWhenUsedInterfacesChange(t *testing.T) {
+	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{}, countAll)
+	defer stop()
+
+	// Same used set, different unused details: no reopen.
+	e.SetInterfaces([]Interface{
+		{Name: "eth0", Address: "10.0.0.2", Used: true},
+		{Name: "docker0", Address: "172.17.0.1"},
+	})
+
+	select {
+	case got := <-f.open:
+		t.Fatalf("reopened on %s for an unchanged selection", got)
+	case <-time.After(100 * time.Millisecond):
+	}
+
+	e.SetInterfaces([]Interface{
+		{Name: "eth0", Address: "10.0.0.2", Used: true},
+		{Name: "docker0", Address: "172.17.0.1", Used: true},
+	})
+	f.waitOpen(t, "224.5.23.2:10006")
+}
diff --git a/gui/internal/multicast/host.go b/gui/internal/multicast/host.go
new file mode 100644
index 0000000..5b1be7a
--- /dev/null
+++ b/gui/internal/multicast/host.go
@@ -0,0 +1,178 @@
+package multicast
+
+import (
+	"net"
+	"os"
+	"slices"
+	"strconv"
+	"strings"
+)
+
+// Interface is one local network interface as the Network page shows it.
+type Interface struct {
+	Name string `json:"name"`
+	// Address is its first IPv4 address, if any; Broadcast that subnet's
+	// broadcast address.
+	Address   string `json:"address,omitempty"`
+	Broadcast string `json:"broadcast,omitempty"`
+	// Usable means up, multicast capable, and with an IPv4 address: the
+	// least a socket needs to use it at all.
+	Usable bool `json:"usable"`
+	// AutoUse is what automatic selection decides; AutoReason why it
+	// doesn't use the interface.
+	AutoUse    bool   `json:"autoUse"`
+	AutoReason string `json:"autoReason,omitempty"`
+	// Used is whether the host's sockets use it under the current selection.
+	Used bool `json:"used"`
+}
+
+// virtualPrefixes are interface names automatic selection leaves out:
+// container and VM bridges and VPN tunnels, which never carry field traffic
+// but would each take a turn in sslnet's one-interface-at-a-time receiver.
+var virtualPrefixes = []string{
+	"docker", "br-", "veth", "virbr", "vmnet", "vboxnet", "lxc", "lxd", "cni",
+	"flannel", "cali", "tun", "tap", "wg", "tailscale", "zt", "utun",
+}
+
+// ifaceFacts is what ListInterfaces reads from the OS, split out so the
+// decisions made from it can be tested.
+type ifaceFacts struct {
+	name  string
+	flags net.Flags
+	ip    net.IP
+	mask  net.IPMask
+}
+
+// ListInterfaces describes every local interface, with Used left false.
+// Select fills it in.
+func ListInterfaces() []Interface {
+	ifis, err := net.Interfaces()
+	if err != nil {
+		return nil
+	}
+
+	out := make([]Interface, 0, len(ifis))
+
+	for _, ifi := range ifis {
+		f := ifaceFacts{name: ifi.Name, flags: ifi.Flags}
+
+		if addrs, err := ifi.Addrs(); err == nil {
+			for _, addr := range addrs {
+				if ipNet, ok := addr.(*net.IPNet); ok && ipNet.IP.To4() != nil && len(ipNet.Mask) == net.IPv4len {
+					f.ip, f.mask = ipNet.IP.To4(), ipNet.Mask
+
+					break
+				}
+			}
+		}
+
+		out = append(out, describe(f))
+	}
+
+	return out
+}
+
+func describe(f ifaceFacts) Interface {
+	i := Interface{Name: f.name}
+
+	if f.ip != nil {
+		i.Address = f.ip.String()
+
+		if f.flags&net.FlagBroadcast != 0 {
+			broadcast := make(net.IP, net.IPv4len)
+			for b := range broadcast {
+				broadcast[b] = f.ip[b] | ^f.mask[b]
+			}
+
+			i.Broadcast = broadcast.String()
+		}
+	}
+
+	up := f.flags&net.FlagUp != 0
+	multicast := f.flags&net.FlagMulticast != 0
+	i.Usable = up && multicast && f.ip != nil
+
+	switch {
+	case f.flags&net.FlagLoopback != 0:
+		i.AutoReason = "loopback"
+	case !up:
+		i.AutoReason = "down"
+	case f.flags&net.FlagRunning == 0:
+		i.AutoReason = "no carrier"
+	case !multicast:
+		i.AutoReason = "no multicast"
+	case f.ip == nil:
+		i.AutoReason = "no IPv4 address"
+	case isVirtual(f.name):
+		i.AutoReason = "virtual"
+	default:
+		i.AutoUse = true
+	}
+
+	return i
+}
+
+func isVirtual(name string) bool {
+	return slices.ContainsFunc(virtualPrefixes, func(p string) bool {
+		return strings.HasPrefix(name, p)
+	})
+}
+
+// Select marks which interfaces the host uses, automatically or by skipping
+// the named ones, and returns the names of all the others: the skip list for
+// the sockets.
+func Select(ifaces []Interface, auto bool, skip []string) ([]Interface, []string) {
+	out := slices.Clone(ifaces)
+
+	var skipped []string
+
+	for i := range out {
+		if auto {
+			out[i].Used = out[i].AutoUse
+		} else {
+			out[i].Used = out[i].Usable && !slices.Contains(skip, out[i].Name)
+		}
+
+		if !out[i].Used {
+			skipped = append(skipped, out[i].Name)
+		}
+	}
+
+	return out, skipped
+}
+
+// LoopbackMulticast reports the loopback interface's name and whether it has
+// multicast enabled. Ubuntu leaves it off, so programs on this machine that
+// talk multicast over loopback (typical when no network is connected) don't
+// hear each other. ok is false if there's no loopback interface.
+func LoopbackMulticast() (name string, enabled, ok bool) {
+	ifis, err := net.Interfaces()
+	if err != nil {
+		return "", false, false
+	}
+
+	for _, ifi := range ifis {
+		if ifi.Flags&net.FlagLoopback != 0 {
+			return ifi.Name, ifi.Flags&net.FlagMulticast != 0, true
+		}
+	}
+
+	return "", false, false
+}
+
+// UnprivilegedPortStart is the lowest port an unprivileged process may bind
+// on this host (Linux's net.ipv4.ip_unprivileged_port_start), or 1024, the
+// traditional limit, where that can't be read.
+func UnprivilegedPortStart() int {
+	data, err := os.ReadFile("/proc/sys/net/ipv4/ip_unprivileged_port_start")
+	if err != nil {
+		return 1024
+	}
+
+	n, err := strconv.Atoi(strings.TrimSpace(string(data)))
+	if err != nil {
+		return 1024
+	}
+
+	return n
+}
diff --git a/gui/internal/multicast/host_test.go b/gui/internal/multicast/host_test.go
new file mode 100644
index 0000000..8b16fcf
--- /dev/null
+++ b/gui/internal/multicast/host_test.go
@@ -0,0 +1,67 @@
+package multicast
+
+import (
+	"net"
+	"slices"
+	"testing"
+)
+
+func facts(name string, flags net.Flags, ip string) ifaceFacts {
+	f := ifaceFacts{name: name, flags: flags}
+	if ip != "" {
+		f.ip = net.ParseIP(ip).To4()
+		f.mask = net.CIDRMask(24, 32)
+	}
+
+	return f
+}
+
+const physical = net.FlagUp | net.FlagRunning | net.FlagBroadcast | net.FlagMulticast
+
+func TestDescribeAutoSelection(t *testing.T) {
+	cases := []struct {
+		f      ifaceFacts
+		use    bool
+		reason string
+	}{
+		{facts("enp10s0", physical, "192.168.30.231"), true, ""},
+		{facts("lo", net.FlagUp|net.FlagRunning|net.FlagLoopback, "127.0.0.1"), false, "loopback"},
+		{facts("wlp9s0", net.FlagBroadcast|net.FlagMulticast, ""), false, "down"},
+		{facts("eth1", physical&^net.FlagRunning, "10.0.0.2"), false, "no carrier"},
+		{facts("eth2", physical&^net.FlagMulticast, "10.0.1.2"), false, "no multicast"},
+		{facts("eth3", physical, ""), false, "no IPv4 address"},
+		{facts("docker0", physical, "172.17.0.1"), false, "virtual"},
+		{facts("tailscale0", physical, "100.64.0.1"), false, "virtual"},
+	}
+
+	for _, tc := range cases {
+		got := describe(tc.f)
+		if got.AutoUse != tc.use || got.AutoReason != tc.reason {
+			t.Errorf("%s: autoUse=%v reason=%q, want %v %q", tc.f.name, got.AutoUse, got.AutoReason, tc.use, tc.reason)
+		}
+	}
+
+	if got := describe(facts("enp10s0", physical, "192.168.30.231")); got.Broadcast != "192.168.30.255" {
+		t.Errorf("broadcast = %s, want 192.168.30.255", got.Broadcast)
+	}
+}
+
+func TestSelectAutoAndManual(t *testing.T) {
+	ifaces := []Interface{
+		describe(facts("enp10s0", physical, "192.168.30.231")),
+		describe(facts("docker0", physical, "172.17.0.1")),
+		describe(facts("eth1", physical&^net.FlagRunning, "10.0.0.2")),
+	}
+
+	_, skipped := Select(ifaces, true, []string{"enp10s0"})
+	if !slices.Equal(skipped, []string{"docker0", "eth1"}) {
+		t.Errorf("auto skipped %v, want docker0 and eth1 (the skip list is ignored)", skipped)
+	}
+
+	// Manual: everything usable except what's skipped, so a virtual
+	// interface can be opted back in.
+	marked, skipped := Select(ifaces, false, []string{"enp10s0"})
+	if !slices.Equal(skipped, []string{"enp10s0"}) || !marked[1].Used || !marked[2].Used {
+		t.Errorf("manual skipped %v, marked %+v, want only enp10s0 skipped", skipped, marked)
+	}
+}
diff --git a/gui/internal/multicast/sender.go b/gui/internal/multicast/sender.go
new file mode 100644
index 0000000..a8ac723
--- /dev/null
+++ b/gui/internal/multicast/sender.go
@@ -0,0 +1,102 @@
+package multicast
+
+import (
+	"log/slog"
+	"net"
+	"slices"
+	"sync"
+)
+
+// sender writes datagrams to one address from every interface the host uses.
+// It replaces sslnet's UdpClient, which sends from every interface regardless
+// of the skip list.
+type sender struct {
+	mu    sync.Mutex
+	conns []*net.UDPConn
+}
+
+// openSender dials address from each used interface it makes sense to send
+// from: all of them for a multicast group or the limited broadcast address,
+// only the matching one for a subnet broadcast, and the kernel's choice for
+// anything else (unicast).
+func openSender(address string, ifaces []Interface) *sender {
+	s := &sender{}
+
+	raddr, err := net.ResolveUDPAddr("udp4", address)
+	if err != nil {
+		slog.Warn("can't send", "address", address, "err", err)
+
+		return s
+	}
+
+	used := slices.DeleteFunc(slices.Clone(ifaces), func(i Interface) bool {
+		return !i.Used || i.Address == ""
+	})
+
+	var from []string
+
+	switch {
+	case raddr.IP.IsMulticast() || raddr.IP.Equal(net.IPv4bcast):
+		for _, i := range used {
+			from = append(from, i.Address)
+		}
+	default:
+		for _, i := range used {
+			if i.Broadcast == raddr.IP.String() {
+				from = append(from, i.Address)
+			}
+		}
+	}
+
+	if len(from) == 0 {
+		s.dial(nil, raddr)
+
+		return s
+	}
+
+	for _, ip := range from {
+		s.dial(&net.UDPAddr{IP: net.ParseIP(ip)}, raddr)
+	}
+
+	return s
+}
+
+func (s *sender) dial(laddr, raddr *net.UDPAddr) {
+	conn, err := net.DialUDP("udp4", laddr, raddr)
+	if err != nil {
+		slog.Warn("can't send", "to", raddr, "from", laddr, "err", err)
+
+		return
+	}
+
+	s.conns = append(s.conns, conn)
+}
+
+// send writes data on every connection, dropping any that fail (an interface
+// that went away) until the next reopen.
+func (s *sender) send(data []byte) {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	s.conns = slices.DeleteFunc(s.conns, func(conn *net.UDPConn) bool {
+		if _, err := conn.Write(data); err != nil {
+			slog.Warn("send failed, dropping this interface until reopened", "from", conn.LocalAddr(), "to", conn.RemoteAddr(), "err", err)
+			_ = conn.Close()
+
+			return true
+		}
+
+		return false
+	})
+}
+
+func (s *sender) close() {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	for _, conn := range s.conns {
+		_ = conn.Close()
+	}
+
+	s.conns = nil
+}

From a4963a6c32aac5336bd432d5682e93d5fea24f7a Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Sat, 3 Oct 2026 23:06:10 -0400
Subject: [PATCH 18/23] initial live video working, test data

---
 config.yml                                    |   4 -
 flake.nix                                     |  30 +-
 gui/ARCHITECTURE.md                           |  27 +-
 gui/CLAUDE.md                                 |  17 +-
 gui/README.md                                 |  10 +-
 gui/cmd/ssl-vision-processor-gui/main.go      |  38 +-
 gui/cmd/ssl-vision-processor-gui/routes.go    |   2 +
 gui/cmd/ssl-vision-processor-gui/server.go    |   6 +-
 .../ssl-vision-processor-gui/server_test.go   |   3 +-
 .../src/lib/config/StreamPanel.svelte         |  44 ++
 .../src/lib/layout/MainContent.svelte         |   3 +
 gui/frontend/src/lib/video/VideoPlayer.svelte | 131 +++++
 gui/frontend/src/lib/video/videoStream.ts     | 289 +++++++++++
 gui/go.mod                                    |  16 +-
 gui/go.sum                                    |  42 +-
 gui/internal/config/network_test.go           |  23 +
 gui/internal/config/stream.go                 |  67 +++
 gui/internal/multicast/endpoint.go            |  11 +-
 gui/internal/multicast/socket.go              | 118 +++++
 gui/internal/video/assembler.go               | 162 ++++++
 gui/internal/video/manager.go                 |  77 +++
 gui/internal/video/muxer.go                   | 189 +++++++
 gui/internal/video/source.go                  | 379 ++++++++++++++
 gui/internal/video/testdata/160x120.h264      | Bin 0 -> 7498 bytes
 gui/internal/video/testdata/320x240.h264      | Bin 0 -> 22831 bytes
 gui/internal/video/video_test.go              | 475 ++++++++++++++++++
 gui/internal/video/websocket.go               | 117 +++++
 27 files changed, 2245 insertions(+), 35 deletions(-)
 create mode 100644 gui/frontend/src/lib/config/StreamPanel.svelte
 create mode 100644 gui/frontend/src/lib/video/VideoPlayer.svelte
 create mode 100644 gui/frontend/src/lib/video/videoStream.ts
 create mode 100644 gui/internal/config/stream.go
 create mode 100644 gui/internal/multicast/socket.go
 create mode 100644 gui/internal/video/assembler.go
 create mode 100644 gui/internal/video/manager.go
 create mode 100644 gui/internal/video/muxer.go
 create mode 100644 gui/internal/video/source.go
 create mode 100644 gui/internal/video/testdata/160x120.h264
 create mode 100644 gui/internal/video/testdata/320x240.h264
 create mode 100644 gui/internal/video/video_test.go
 create mode 100644 gui/internal/video/websocket.go

diff --git a/config.yml b/config.yml
index fda0cd8..93ee732 100644
--- a/config.yml
+++ b/config.yml
@@ -8,7 +8,3 @@ geometry:
     - [2520, 151]
     - [3012, 1471]
     - [2256, 1885]
-network:
-  gc_ip: 255.255.255.255
-  vision_ip: 224.5.23.2
-  vision_port: 10006
diff --git a/flake.nix b/flake.nix
index b3243d2..0bda4dc 100644
--- a/flake.nix
+++ b/flake.nix
@@ -29,9 +29,26 @@
           # self-contained and testable without a GPU driver; a real GPU ICD on
           # the host is picked up instead when OCL_ICD_VENDORS points at it.
           openclRuntime = pkgs.pocl;
-        in
-        {
-          default = pkgs.mkShell {
+
+          # AMD GPUs through ROCm, for `nix develop .#amd`. Kept out of the
+          # default shell because ROCm is a multi-gigabyte download nobody
+          # without an AMD card needs. The host's own /etc/OpenCL/vendors can't
+          # be used instead: those drivers link against the distro's libraries,
+          # not nixpkgs'. vision_processor takes the first GPU it finds; ROCm
+          # lists integrated GPUs too (Ryzen 9000's gfx1036 shows up after a
+          # discrete gfx1201), so if the "Using device" log line names the
+          # wrong one, ROCR_VISIBLE_DEVICES=0 (or the right index, from
+          # `clinfo -l`) hides the rest. pocl stays as the fallback for a
+          # machine where ROCm finds no device.
+          amdOpenCL = pkgs.symlinkJoin {
+            name = "opencl-vendors-amd";
+            paths = [
+              pkgs.pocl
+              pkgs.rocmPackages.clr.icd
+            ];
+          };
+
+          shell = pkgs.mkShell {
             nativeBuildInputs = with pkgs; [
               cmake
               pkg-config
@@ -97,6 +114,13 @@
               echo "packaged here; the OpenCV backend is available."
             '';
           };
+        in
+        {
+          default = shell;
+
+          amd = shell.overrideAttrs {
+            OCL_ICD_VENDORS = "${amdOpenCL}/etc/OpenCL/vendors";
+          };
         }
       );
     };
diff --git a/gui/ARCHITECTURE.md b/gui/ARCHITECTURE.md
index b28c544..ce933c7 100644
--- a/gui/ARCHITECTURE.md
+++ b/gui/ARCHITECTURE.md
@@ -86,6 +86,7 @@ before returning.
 | `internal/multicast`   | The vision and game controller multicast sockets, reopened when their address changes. |
 | `internal/hub`         | In-process topic pub/sub and the `/ws` WebSocket handler.                     |
 | `internal/snapshot`    | Debug image listing and serving.                                              |
+| `internal/video`       | Live video: each camera's H.264 RTP stream relayed to browsers as fragmented MP4. |
 | `internal/logging`     | slog setup: a coloured console handler and a rotating file handler.           |
 | `internal/vision`, `internal/gamecontroller` | Generated protobuf bindings. Not committed, see Build-time codegen below. |
 | `frontend`             | Svelte 5 and TypeScript, embedded into the binary via `//go:embed`.           |
@@ -191,6 +192,7 @@ All routes are registered in `cmd/ssl-vision-processor-gui/routes.go`.
 | GET    | `/api/snapshots`               | List of debug images currently on disk.                            |
 | GET    | `/api/snapshot/{camID}/{view}` | One debug image.                                                    |
 | GET    | `/ws`                          | WebSocket, see below.                                               |
+| GET    | `/ws/video/{id}?mode=full\|keyframes` | One camera's live video, see Live video below.                |
 
 An unrouted `/api/*` path returns 404 rather than falling through to the frontend, so a typo'd endpoint fails
 with a clear status instead of returning HTML to a caller expecting JSON. Every other path serves the embedded
@@ -220,6 +222,26 @@ Every channel in this path, from a topic's own subscriber channel to a connectio
 size limited and drops the oldest queued value in favor of the newest one. A slow client sees only the latest
 value once it catches up, never a growing backlog of stale ones.
 
+## Live video
+
+Each vision_processor multicasts H.264 over RTP (`src/rtpstreamer.cpp`) to `ip_base_prefix + (ip_base_end +
+cam_id):port` from its `stream` settings, 224.5.23.100+id:10100 by default. `internal/video` relays it without
+re-encoding. A camera's socket opens on its first viewer and closes 5 s after its last. It binds the group address
+with a large receive buffer, joined on every selected interface, rather than using sslnet's receiver, whose 8 KB
+buffer drops most of a keyframe's burst and whose `0.0.0.0` bind would mix cameras that share a port.
+
+Packets are reassembled into frames (RFC 6184 single units, STAP-A, FU-A; there is no SDP, so payload type and
+packetization mode 1 are assumed). After a lost packet, frames are dropped until the next keyframe, since the ones
+in between can't decode. A new SSRC means the encoder restarted, which it does whenever the streamed view changes
+size; the parameter sets that come with the next keyframe start a new init segment. Frames are muxed as fragmented
+MP4, one per segment, timed by arrival rather than the encoder's nominal 30 fps.
+
+`/ws/video/{id}` sends JSON `status` (once a second) and `format` (codec string and size) messages, and binary
+segments. `full` is every frame; `keyframes` is about one a second, for grids. A new viewer gets the frames since
+the last keyframe, so the picture appears at once. A viewer whose queue fills skips to the next keyframe. The
+browser appends in sequence mode, jumps forward when it falls behind, and disconnects while its tab is hidden.
+The host's cost is about 1% of a core per watched stream; the browser's H.264 decode is the real cost.
+
 ## Build-time codegen
 
 `internal/vision`, `internal/gamecontroller`, and `frontend/src/proto` are `buf generate` output and are not
@@ -234,5 +256,6 @@ regenerates them as an ordinary build prerequisite. See `gui/README.md` for the
 - **Host owned config push.** Diffing an instance's announced config against a desired one and pushing the
   difference, rather than regenerating a local `config.yml` as the host does today. This also needs a way to ask
   a running instance to recalibrate.
-- **Remote video.** `internal/snapshot` assumes the gui host and the vision_processor instance share a
-  filesystem. This does not hold once instances run on other hosts.
+- **Remote snapshots.** `internal/snapshot` assumes the gui host and the vision_processor instance share a
+  filesystem. Live video (above) works remotely, but the full-resolution snapshots the corner picker needs do not.
+- **A video grid.** `keyframes` mode exists for it; only the single camera view is built.
diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
index c204bd8..63985fa 100644
--- a/gui/CLAUDE.md
+++ b/gui/CLAUDE.md
@@ -42,9 +42,11 @@ internal/
   config/      vision.yml store: working/disk copies, save/load, locked
                calibrations, disk watcher, generated config.yml files
   geometry/    live field template + published calibrations + 1Hz publish loop
-  multicast/   bridge to the SSL vision multicast group
+  multicast/   vision + game controller sockets, interface selection,
+               reopened on address/interface changes
   hub/         topic pub/sub + the /ws handler
   snapshot/    debug image listing/serving
+  video/       live video: RTP H.264 -> fMP4 over /ws/video/{id} for MSE
   logging/     slog setup: tint console + lumberjack file
   vision/      generated Go protobuf, not committed -- run `make proto` (DO NOT EDIT)
   gamecontroller/  generated Go protobuf, not committed
@@ -234,8 +236,11 @@ Not automated -- there is no CI hardware to run it on.
 - **Announce contents/cadence** -- whether the announce echoes the VP's full
   current `SSL_VPConfig` (needed for diff-based reprovision to work at all) or
   just identity, and how often.
-- **The imagery/video path for remote instances.** `internal/snapshot`'s
-  local-filesystem assumption is a known, explicitly accepted limitation, not
-  a solution. `src/rtpstreamer.cpp` already emits H.264 RTP with
-  per-instance `stream_ip`/`stream_port`; bridging that to WebRTC/WHEP in Go is
-  the likely direction but is undecided and unbuilt.
+- **Snapshots for remote instances.** `internal/snapshot`'s local-filesystem
+  assumption is a known, explicitly accepted limitation. Live video is
+  solved (`internal/video` relays the RTP stream as fMP4 over a WebSocket to
+  MSE, chosen over WebRTC because latency doesn't matter for setup and it
+  avoids Firefox's Constrained-Baseline-only WebRTC H.264), but the corner
+  picker needs full-resolution stills, which the stream isn't.
+- **A video grid.** The backend's `keyframes` mode is built for it; the
+  Svelte side has only the single camera Stream panel.
diff --git a/gui/README.md b/gui/README.md
index 9d2d2e4..dc4ae8c 100644
--- a/gui/README.md
+++ b/gui/README.md
@@ -72,9 +72,10 @@ internal/
   config/      vision.yml: working document, save and load, locked calibrations, disk watcher,
                generated config.yml files
   geometry/    live field template, published calibrations, the 1Hz publish loop
-  multicast/   bridge to the SSL vision multicast group
+  multicast/   vision and game controller sockets, interface selection
   hub/         topic pub/sub and the /ws handler
   snapshot/    debug image listing and serving
+  video/       live video, relayed to the browser
   logging/     slog setup
   vision/      generated protobuf bindings, not committed
   gamecontroller/  generated protobuf bindings, not committed
@@ -90,3 +91,10 @@ copy their fixture into `t.TempDir()` first and never operate on the checked in
 
 `go test ./...` from `gui/` will try to compile stray Go source inside `frontend/node_modules`. Use
 `go test ./cmd/... ./internal/... ./frontend`, which is what `Makefile` and CI both do.
+
+## Live video
+
+The Stream page shows the selected camera's live video. The host relays the vision_processor's H.264 stream to
+the browser without re-encoding, and only while someone watches. The browser needs H.264 support: Google Chrome
+bundles it, while Chromium and Firefox on Linux use the system's FFmpeg libraries. The stream cycles through the
+vision_processor's views unless its `stream.raw_feed` is set.
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
index cf9e299..3aab268 100644
--- a/gui/cmd/ssl-vision-processor-gui/main.go
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -20,6 +20,7 @@ import (
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/logging"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/multicast"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/video"
 	"google.golang.org/protobuf/encoding/protojson"
 )
 
@@ -94,14 +95,16 @@ func run() int {
 
 	warnLoopbackMulticast()
 
-	addrs, auto, ifaces := currentNetwork(store)
+	_, addrs, auto, ifaces := currentNetwork(store)
 	opts := multicast.Options{Verbose: level == slog.LevelDebug}
 	sockets := &networkSockets{
 		vision: multicast.NewEndpoint("vision", addrs.VisionAddress(), ifaces, withSend(opts), multicast.VisionConsumer(geom.Absorb)),
 		gc:     multicast.NewEndpoint("game controller", addrs.GCAddress(), ifaces, opts, multicast.RefereeConsumer()),
+		video:  video.NewManager(level == slog.LevelDebug),
 		auto:   auto,
 		ifaces: ifaces,
 	}
+	sockets.apply(store)
 	wsHub := hub.New()
 
 	store.OnChange(func() {
@@ -135,7 +138,7 @@ func run() int {
 
 	srv := &http.Server{
 		Addr:              *address,
-		Handler:           NewVisionServer(geom, store, wsHub, *imgDir),
+		Handler:           NewVisionServer(geom, store, wsHub, sockets.video, *imgDir),
 		ReadHeaderTimeout: 10 * time.Second,
 	}
 
@@ -272,6 +275,8 @@ func publishConfigState(wsHub *hub.Hub, store *config.Store) {
 type networkSockets struct {
 	vision *multicast.Endpoint
 	gc     *multicast.Endpoint
+	// video opens each camera's stream only while someone watches it.
+	video *video.Manager
 
 	mu     sync.Mutex
 	auto   bool
@@ -281,27 +286,46 @@ type networkSockets struct {
 // apply moves both endpoints to the store's current addresses and interface
 // selection. Each endpoint reopens only if something it uses changed.
 func (s *networkSockets) apply(store *config.Store) {
-	addrs, auto, ifaces := currentNetwork(store)
+	doc, addrs, auto, ifaces := currentNetwork(store)
 
 	s.vision.SetAddress(addrs.VisionAddress())
 	s.gc.SetAddress(addrs.GCAddress())
 	s.vision.SetInterfaces(ifaces)
 	s.gc.SetInterfaces(ifaces)
+	s.video.Configure(cameraStreams(doc), ifaces)
 
 	s.mu.Lock()
 	s.auto, s.ifaces = auto, ifaces
 	s.mu.Unlock()
 }
 
-// currentNetwork is the store's network block and its interface selection
-// applied to this machine's interfaces.
-func currentNetwork(store *config.Store) (config.Network, bool, []multicast.Interface) {
+// currentNetwork is the store's working document, its network block, and its
+// interface selection applied to this machine's interfaces.
+func currentNetwork(store *config.Store) (config.Document, config.Network, bool, []multicast.Interface) {
 	doc, _ := store.Working()
 
 	auto, skip := doc.InterfaceSelection()
 	ifaces, _ := multicast.Select(multicast.ListInterfaces(), auto, skip)
 
-	return hostNetwork(doc), auto, ifaces
+	return doc, hostNetwork(doc), auto, ifaces
+}
+
+// cameraStreams is every camera's live video stream settings.
+func cameraStreams(doc config.Document) map[int]video.Stream {
+	streams := make(map[int]video.Stream, len(doc.Cameras))
+
+	for _, c := range doc.Cameras {
+		s, ok, err := doc.Stream(c.CameraID)
+		if err != nil || !ok {
+			slog.Warn("reading camera stream settings", "camera", c.CameraID, "err", err)
+
+			continue
+		}
+
+		streams[c.CameraID] = video.Stream{Active: s.Active, Address: s.Address}
+	}
+
+	return streams
 }
 
 // warnLoopbackMulticast logs once at startup if the loopback interface has
diff --git a/gui/cmd/ssl-vision-processor-gui/routes.go b/gui/cmd/ssl-vision-processor-gui/routes.go
index ceb1201..e8bab9d 100644
--- a/gui/cmd/ssl-vision-processor-gui/routes.go
+++ b/gui/cmd/ssl-vision-processor-gui/routes.go
@@ -6,6 +6,7 @@ import (
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/frontend"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/snapshot"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/video"
 )
 
 func (s *VisionServer) addRoutes(mux *http.ServeMux) {
@@ -25,6 +26,7 @@ func (s *VisionServer) addRoutes(mux *http.ServeMux) {
 	mux.Handle("/api/", http.NotFoundHandler())
 
 	mux.Handle("/ws", hub.HandleWebSocket(s.hub))
+	mux.Handle("GET /ws/video/{id}", video.HandleWebSocket(s.video))
 
 	mux.Handle("/", frontend.HandleFrontend())
 }
diff --git a/gui/cmd/ssl-vision-processor-gui/server.go b/gui/cmd/ssl-vision-processor-gui/server.go
index 6ab0140..26b40e0 100644
--- a/gui/cmd/ssl-vision-processor-gui/server.go
+++ b/gui/cmd/ssl-vision-processor-gui/server.go
@@ -10,6 +10,7 @@ import (
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/config"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/video"
 	"google.golang.org/protobuf/encoding/protojson"
 )
 
@@ -17,11 +18,12 @@ type VisionServer struct {
 	geometry *geometry.Geometry
 	store    *config.Store
 	hub      *hub.Hub
+	video    *video.Manager
 	imgDir   string
 }
 
-func NewVisionServer(geom *geometry.Geometry, store *config.Store, wsHub *hub.Hub, imgDir string) http.Handler {
-	s := &VisionServer{geometry: geom, store: store, hub: wsHub, imgDir: imgDir}
+func NewVisionServer(geom *geometry.Geometry, store *config.Store, wsHub *hub.Hub, videos *video.Manager, imgDir string) http.Handler {
+	s := &VisionServer{geometry: geom, store: store, hub: wsHub, video: videos, imgDir: imgDir}
 
 	mux := http.NewServeMux()
 	s.addRoutes(mux)
diff --git a/gui/cmd/ssl-vision-processor-gui/server_test.go b/gui/cmd/ssl-vision-processor-gui/server_test.go
index e9c3362..9dd2a4a 100644
--- a/gui/cmd/ssl-vision-processor-gui/server_test.go
+++ b/gui/cmd/ssl-vision-processor-gui/server_test.go
@@ -12,6 +12,7 @@ import (
 
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/config"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/video"
 )
 
 // testServer serves a *copy* of testdata/vision.yml -- saves write back to
@@ -34,7 +35,7 @@ func testServer(t *testing.T) (http.Handler, string) {
 		t.Fatalf("openConfig: %v", err)
 	}
 
-	return NewVisionServer(geom, store, hub.New(), t.TempDir()), path
+	return NewVisionServer(geom, store, hub.New(), video.NewManager(false), t.TempDir()), path
 }
 
 func do(t *testing.T, h http.Handler, method, target string, body any) *httptest.ResponseRecorder {
diff --git a/gui/frontend/src/lib/config/StreamPanel.svelte b/gui/frontend/src/lib/config/StreamPanel.svelte
new file mode 100644
index 0000000..3ca6f85
--- /dev/null
+++ b/gui/frontend/src/lib/config/StreamPanel.svelte
@@ -0,0 +1,44 @@
+<script lang="ts">
+  import type { VisionInstance } from "../layout/nav.svelte";
+  import VideoPlayer from "../video/VideoPlayer.svelte";
+
+  interface Props {
+    instance: VisionInstance | undefined;
+  }
+
+  let { instance }: Props = $props();
+</script>
+
+<section class="stream-panel">
+  <h2>Live video</h2>
+
+  {#if instance}
+    <p class="hint">
+      {instance.host} / cam {instance.cameraId}'s H.264 stream, relayed by the
+      host without re-encoding. vision_processor cycles through its views (raw,
+      then processed) unless <code>stream.raw_feed</code> is set. For exact pixels,
+      such as picking corners, use the snapshots on the Geometry tab.
+    </p>
+
+    {#key instance.cameraId}
+      <VideoPlayer cameraId={instance.cameraId} />
+    {/key}
+  {:else}
+    <p class="hint">Select a vision processor on the left first.</p>
+  {/if}
+</section>
+
+<style>
+  .stream-panel {
+    max-width: 960px;
+  }
+
+  h2 {
+    margin: 0 0 0.5rem;
+  }
+
+  .hint {
+    color: #666;
+    font-size: 0.85rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/MainContent.svelte b/gui/frontend/src/lib/layout/MainContent.svelte
index 9113067..4472913 100644
--- a/gui/frontend/src/lib/layout/MainContent.svelte
+++ b/gui/frontend/src/lib/layout/MainContent.svelte
@@ -5,6 +5,7 @@
   import GeometryPanel from "../config/GeometryPanel.svelte";
   import ColorPanel from "../config/ColorPanel.svelte";
   import NetworkPanel from "../config/NetworkPanel.svelte";
+  import StreamPanel from "../config/StreamPanel.svelte";
   import ConfigCategoryPlaceholder from "../config/ConfigCategoryPlaceholder.svelte";
 
   let category = $derived(selectedCategory());
@@ -22,6 +23,8 @@
     <ColorPanel {instance} />
   {:else if nav.selectedCategoryId === "network"}
     <NetworkPanel />
+  {:else if nav.selectedCategoryId === "stream"}
+    <StreamPanel {instance} />
   {:else}
     <ConfigCategoryPlaceholder {category} {instance} />
   {/if}
diff --git a/gui/frontend/src/lib/video/VideoPlayer.svelte b/gui/frontend/src/lib/video/VideoPlayer.svelte
new file mode 100644
index 0000000..4e841cf
--- /dev/null
+++ b/gui/frontend/src/lib/video/VideoPlayer.svelte
@@ -0,0 +1,131 @@
+<script lang="ts">
+  import {
+    VideoStream,
+    type Mode,
+    type StreamFormat,
+    type StreamStatus,
+  } from "./videoStream";
+
+  // One camera's live stream. Built to be reused by a grid later: each
+  // player owns its own connection, and "keyframes" mode costs a fraction of
+  // the bandwidth and decode work.
+  interface Props {
+    cameraId: number;
+    mode?: Mode;
+  }
+
+  let { cameraId, mode = "full" }: Props = $props();
+
+  let video: HTMLVideoElement | undefined = $state();
+  let status = $state<StreamStatus | null>(null);
+  let format = $state<StreamFormat | null>(null);
+  let error = $state<string | null>(null);
+
+  // A hidden tab (or one navigated away from) disconnects: no bandwidth or
+  // decode work for video nobody can see, and the host closes the camera's
+  // socket once no one is watching.
+  let visible = $state(document.visibilityState === "visible");
+
+  $effect(() => {
+    const update = (): void => {
+      visible = document.visibilityState === "visible";
+    };
+
+    document.addEventListener("visibilitychange", update);
+
+    return () => {
+      document.removeEventListener("visibilitychange", update);
+    };
+  });
+
+  $effect(() => {
+    if (!video || !visible) return;
+
+    status = null;
+
+    const stream = new VideoStream(video, cameraId, mode, {
+      status: (s) => {
+        status = s;
+      },
+      format: (f) => {
+        format = f;
+      },
+      error: (message) => {
+        error = message;
+      },
+    });
+
+    stream.start();
+
+    return () => {
+      stream.stop();
+    };
+  });
+
+  let overlay = $derived.by((): string | null => {
+    if (error) return error;
+    if (!status) return "Connecting…";
+    if (!status.active)
+      return `Streaming is off for this camera (stream.active). Nothing to show.`;
+    if (!status.receiving)
+      return `Waiting for video on ${status.address}. Is the vision_processor running?`;
+    if (!format) return "Waiting for a keyframe…";
+
+    return null;
+  });
+</script>
+
+<div class="player">
+  <video bind:this={video} muted autoplay playsinline></video>
+
+  {#if overlay}
+    <div class="overlay">{overlay}</div>
+  {/if}
+</div>
+
+<p class="meta">
+  {#if format}
+    {format.width}×{format.height}, {format.codec}
+  {/if}
+  {#if status}
+    · {status.address}{status.source ? ` from ${status.source}` : ""}
+  {/if}
+  {#if mode === "keyframes"}
+    · keyframes only
+  {/if}
+</p>
+
+<style>
+  .player {
+    position: relative;
+    width: 100%;
+    aspect-ratio: 16 / 9;
+    border-radius: 4px;
+    background: #111;
+    overflow: hidden;
+  }
+
+  video {
+    width: 100%;
+    height: 100%;
+    object-fit: contain;
+  }
+
+  .overlay {
+    position: absolute;
+    inset: 0;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    padding: 1rem;
+    color: #ddd;
+    font-size: 0.9rem;
+    text-align: center;
+  }
+
+  .meta {
+    margin: 0.3rem 0 0;
+    color: #666;
+    font-size: 0.8rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/video/videoStream.ts b/gui/frontend/src/lib/video/videoStream.ts
new file mode 100644
index 0000000..c50d721
--- /dev/null
+++ b/gui/frontend/src/lib/video/videoStream.ts
@@ -0,0 +1,289 @@
+// Plays one camera's live stream from /ws/video/{id} through Media Source
+// Extensions. The host sends JSON "status" and "format" messages and binary
+// fragmented MP4 (an init segment, then one segment per frame), which are
+// appended to a SourceBuffer in sequence mode: only durations matter, so the
+// host's arrival-time estimates are fine.
+//
+// MSE buffers, so the player drifts behind live; it jumps forward whenever it
+// falls more than maxLag behind the newest frame, and trims what's been
+// watched so memory stays bounded.
+
+export type Mode = "full" | "keyframes";
+
+// Mirrors gui/internal/video's Status.
+export interface StreamStatus {
+  camera: number;
+  address: string;
+  active: boolean;
+  receiving: boolean;
+  packets: number;
+  source?: string;
+}
+
+// Mirrors gui/internal/video's Format.
+export interface StreamFormat {
+  codec: string;
+  width: number;
+  height: number;
+}
+
+export interface StreamEvents {
+  status: (status: StreamStatus) => void;
+  format: (format: StreamFormat) => void;
+  // null clears a previous error.
+  error: (message: string | null) => void;
+}
+
+type Op =
+  | { kind: "append"; data: ArrayBuffer }
+  | { kind: "type"; mime: string }
+  | { kind: "remove"; start: number; end: number };
+
+// Seconds behind the newest frame before jumping to it. Keyframes mode has a
+// frame a second, so it needs more slack.
+const MAX_LAG: Record<Mode, number> = { full: 1, keyframes: 3 };
+// Seconds of already watched video kept buffered.
+const KEEP_BEHIND = 5;
+const RECONNECT_MS = [500, 1000, 2000, 5000];
+
+export class VideoStream {
+  private ws: WebSocket | null = null;
+  private source: MediaSource | null = null;
+  private buffer: SourceBuffer | null = null;
+  private objectURL: string | null = null;
+  private mime: string | null = null;
+  private queue: Op[] = [];
+  private unsupported = false;
+  private stopped = false;
+  private attempts = 0;
+  private timer: ReturnType<typeof setTimeout> | null = null;
+
+  constructor(
+    private readonly video: HTMLVideoElement,
+    private readonly cameraId: number,
+    private readonly mode: Mode,
+    private readonly events: StreamEvents,
+  ) {}
+
+  start(): void {
+    if (typeof MediaSource === "undefined") {
+      this.events.error(
+        "This browser doesn't support Media Source Extensions.",
+      );
+
+      return;
+    }
+
+    this.video.addEventListener("error", this.onVideoError);
+    this.connect();
+  }
+
+  stop(): void {
+    this.stopped = true;
+
+    if (this.timer !== null) clearTimeout(this.timer);
+
+    this.ws?.close();
+    this.ws = null;
+    this.video.removeEventListener("error", this.onVideoError);
+    this.resetMedia();
+  }
+
+  private connect(): void {
+    const scheme = location.protocol === "https:" ? "wss" : "ws";
+    const ws = new WebSocket(
+      `${scheme}://${location.host}/ws/video/${String(this.cameraId)}?mode=${this.mode}`,
+    );
+
+    ws.binaryType = "arraybuffer";
+    ws.onopen = () => {
+      this.attempts = 0;
+    };
+    ws.onmessage = (e: MessageEvent<string | ArrayBuffer>) => {
+      this.onMessage(e.data);
+    };
+    ws.onclose = () => {
+      if (this.stopped || this.ws !== ws) return;
+
+      this.ws = null;
+      this.events.error("Lost the connection to the host. Reconnecting…");
+
+      const delay =
+        RECONNECT_MS[Math.min(this.attempts, RECONNECT_MS.length - 1)] ?? 5000;
+      this.attempts++;
+      this.timer = setTimeout(() => {
+        this.timer = null;
+        this.connect();
+      }, delay);
+    };
+
+    this.ws = ws;
+  }
+
+  private onMessage(data: string | ArrayBuffer): void {
+    if (typeof data !== "string") {
+      if (!this.unsupported) this.enqueue({ kind: "append", data });
+
+      return;
+    }
+
+    const message = JSON.parse(data) as { type: string };
+
+    if (message.type === "status") {
+      this.events.status(message as unknown as StreamStatus);
+    } else if (message.type === "format") {
+      this.onFormat(message as unknown as StreamFormat);
+    }
+  }
+
+  private onFormat(format: StreamFormat): void {
+    this.events.format(format);
+
+    const mime = `video/mp4; codecs="${format.codec}"`;
+
+    if (!MediaSource.isTypeSupported(mime)) {
+      this.unsupported = true;
+      this.events.error(
+        `This browser can't play ${format.codec} (H.264). On Linux, Chromium and Firefox need the system's FFmpeg libraries; Google Chrome bundles its own.`,
+      );
+
+      return;
+    }
+
+    this.unsupported = false;
+    this.events.error(null);
+
+    if (!this.source) {
+      this.openMedia(mime);
+    } else if (mime !== this.mime) {
+      this.enqueue({ kind: "type", mime });
+    }
+
+    this.mime = mime;
+  }
+
+  private openMedia(mime: string): void {
+    const source = new MediaSource();
+    this.source = source;
+    this.objectURL = URL.createObjectURL(source);
+    this.video.src = this.objectURL;
+
+    source.addEventListener(
+      "sourceopen",
+      () => {
+        if (this.source !== source) return;
+
+        const buffer = source.addSourceBuffer(mime);
+        buffer.mode = "sequence";
+        buffer.addEventListener("updateend", () => {
+          this.followLive();
+          this.pump();
+        });
+
+        this.buffer = buffer;
+        this.pump();
+      },
+      { once: true },
+    );
+  }
+
+  private resetMedia(): void {
+    this.queue = [];
+    this.buffer = null;
+    this.source = null;
+    this.mime = null;
+
+    if (this.objectURL) {
+      URL.revokeObjectURL(this.objectURL);
+      this.objectURL = null;
+    }
+
+    this.video.removeAttribute("src");
+    this.video.load();
+  }
+
+  // A decode error kills the media element for good; start over, which
+  // makes the host resend the format and a keyframe.
+  private readonly onVideoError = (): void => {
+    if (this.stopped || !this.video.error) return;
+
+    this.events.error(`Video decode error: ${this.video.error.message}`);
+    this.resetMedia();
+    this.ws?.close();
+  };
+
+  private enqueue(op: Op): void {
+    this.queue.push(op);
+    this.pump();
+  }
+
+  private pump(): void {
+    const buffer = this.buffer;
+    if (!buffer || buffer.updating) return;
+
+    const op = this.queue.shift();
+    if (!op) return;
+
+    try {
+      switch (op.kind) {
+        case "append":
+          buffer.appendBuffer(op.data);
+          break;
+        case "type":
+          buffer.changeType(op.mime);
+          this.pump();
+          break;
+        case "remove":
+          buffer.remove(op.start, op.end);
+          break;
+      }
+    } catch (err) {
+      if (err instanceof DOMException && err.name === "QuotaExceededError") {
+        // Full: drop what's been watched and try this one again after.
+        this.queue.unshift(op);
+        this.trim(0);
+      } else {
+        this.events.error(`Playback failed: ${String(err)}`);
+        this.resetMedia();
+        this.ws?.close();
+      }
+    }
+  }
+
+  // Jumps to near the newest frame if playback fell behind, and trims what's
+  // already been watched.
+  private followLive(): void {
+    const ranges = this.video.buffered;
+    if (ranges.length === 0) return;
+
+    const end = ranges.end(ranges.length - 1);
+
+    if (end - this.video.currentTime > MAX_LAG[this.mode]) {
+      this.video.currentTime = Math.max(
+        ranges.start(ranges.length - 1),
+        end - 0.1,
+      );
+    }
+
+    if (this.video.paused) {
+      this.video.play().catch(() => {
+        // Autoplay can refuse until the user interacts; the muted video
+        // normally doesn't.
+      });
+    }
+
+    this.trim(KEEP_BEHIND);
+  }
+
+  private trim(keep: number): void {
+    const ranges = this.video.buffered;
+    if (ranges.length === 0) return;
+
+    const start = ranges.start(0);
+    const until = this.video.currentTime - keep;
+
+    if (until - start > 1 && !this.queue.some((op) => op.kind === "remove")) {
+      this.queue.push({ kind: "remove", start, end: until });
+    }
+  }
+}
diff --git a/gui/go.mod b/gui/go.mod
index 3b78cb2..753cc56 100644
--- a/gui/go.mod
+++ b/gui/go.mod
@@ -10,12 +10,22 @@ require (
 
 require gopkg.in/yaml.v3 v3.0.1
 
-require github.com/gorilla/websocket v1.5.3
+require (
+	github.com/bluenviron/mediacommon/v2 v2.9.5
+	github.com/gorilla/websocket v1.5.3
+	github.com/pion/rtp v1.10.5
+)
+
+require (
+	github.com/abema/go-mp4 v1.7.3 // indirect
+	github.com/google/uuid v1.3.0 // indirect
+	github.com/pion/randutil v0.1.0 // indirect
+)
 
 require (
 	github.com/RoboCup-SSL/ssl-go-tools v1.12.0
-	github.com/libp2p/go-reuseport v0.4.0 // indirect
-	golang.org/x/net v0.55.0 // indirect
+	github.com/libp2p/go-reuseport v0.4.0
+	golang.org/x/net v0.55.0
 	golang.org/x/sys v0.45.0 // indirect
 )
 
diff --git a/gui/go.sum b/gui/go.sum
index 861e898..c338116 100644
--- a/gui/go.sum
+++ b/gui/go.sum
@@ -1,28 +1,60 @@
 github.com/RoboCup-SSL/ssl-go-tools v1.12.0 h1:sXN+VSlMSOtNdLD0MPCaig3vSlj3ZTz/KIi9uJR/dy0=
 github.com/RoboCup-SSL/ssl-go-tools v1.12.0/go.mod h1:Gqrqs0LAcXmCQD3Z+IPXxrqxS9xc9sWJolYQyi3AHbw=
-github.com/davecgh/go-spew v1.1.0 h1:ZDRjVQ15GmhC3fiQ8ni8+OwkZQO4DARzQgrnXU1Liz8=
+github.com/abema/go-mp4 v1.7.3 h1:Aap+2vZl5KQrSGD9quYhLu4pWGXelFVUeFCa8IJaRXY=
+github.com/abema/go-mp4 v1.7.3/go.mod h1:vPl9t5ZK7K0x68jh12/+ECWBCXoWuIDtNgPtU2f04ws=
+github.com/bluenviron/mediacommon/v2 v2.9.5 h1:6r1vq9qFH5AUUjPOPxRd00BhBNAg1EcmYNvwmpzAibo=
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 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
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 github.com/google/go-cmp v0.7.0 h1:wk8382ETsv4JYUZwIsn6YpYiWiBsYLSJiTsyBybVuN8=
 github.com/google/go-cmp v0.7.0/go.mod h1:pXiqmnSA92OHEEa9HXL2W4E7lf9JzCmGVUdgjX3N/iU=
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 github.com/gorilla/websocket v1.5.3 h1:saDtZ6Pbx/0u+bgYQ3q96pZgCzfhKXGPqt7kZ72aNNg=
 github.com/gorilla/websocket v1.5.3/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
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 github.com/libp2p/go-reuseport v0.4.0 h1:nR5KU7hD0WxXCJbmw7r2rhRYruNRl2koHw8fQscQm2s=
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 github.com/lmittmann/tint v1.2.0 h1:AogHRHy8HUJUnNJBHJlYa+fR4YY8mko2cnCp67xn9JY=
 github.com/lmittmann/tint v1.2.0/go.mod h1:HIS3gSy7qNwGCj+5oRjAutErFBl4BzdQP6cJZ0NfMwE=
-github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
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-github.com/stretchr/testify v1.7.0 h1:nwc3DEeHmmLAfoZucVR881uASk0Mfjw8xYJ99tb5CcY=
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+go.yaml.in/yaml/v3 v3.0.5 h1:N6y/pJk8buWs9NY5ERU2HSMfm+IuD/OtfdAnq6kESPw=
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 golang.org/x/net v0.55.0 h1:bcvxaJn3e1U6InsFWt1JUq1aSjnRxLzT2rtD2KfkDF8=
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 golang.org/x/sys v0.45.0 h1:dO4czNzziLiiXplLQgBCEpCvXQ3dnkn0SdaZSYdQ+FY=
 golang.org/x/sys v0.45.0/go.mod h1:4GL1E5IUh+htKOUEOaiffhrAeqysfVGipDYzABqnCmw=
+golang.org/x/term v0.0.0-20210927222741-03fcf44c2211/go.mod h1:jbD1KX2456YbFQfuXm/mYQcufACuNUgVhRMnK/tPxf8=
 google.golang.org/protobuf v1.36.12 h1:pJOKDDOyeXErUroCihFAd5LQuwXBSpVnKGrj5o/fwxc=
 google.golang.org/protobuf v1.36.12/go.mod h1:HTf+CrKn2C3g5S8VImy6tdcUvCska2kB7j23XfzDpco=
-gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
+gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127 h1:qIbj1fsPNlZgppZ+VLlY7N33q108Sa+fhmuc+sWQYwY=
+gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/natefinch/lumberjack.v2 v2.2.1 h1:bBRl1b0OH9s/DuPhuXpNl+VtCaJXFZ5/uEFST95x9zc=
 gopkg.in/natefinch/lumberjack.v2 v2.2.1/go.mod h1:YD8tP3GAjkrDg1eZH7EGmyESg/lsYskCTPBJVb9jqSc=
+gopkg.in/src-d/go-billy.v4 v4.3.2 h1:0SQA1pRztfTFx2miS8sA97XvooFeNOmvUenF4o0EcVg=
+gopkg.in/src-d/go-billy.v4 v4.3.2/go.mod h1:nDjArDMp+XMs1aFAESLRjfGSgfvoYN0hDfzEk0GjC98=
+gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
+gopkg.in/yaml.v2 v2.2.8/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
 gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA=
 gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
diff --git a/gui/internal/config/network_test.go b/gui/internal/config/network_test.go
index d894aa3..e0cfdd0 100644
--- a/gui/internal/config/network_test.go
+++ b/gui/internal/config/network_test.go
@@ -122,3 +122,26 @@ func TestHostRoundTripsAndDiffsAsNetwork(t *testing.T) {
 		t.Fatalf("changes = %+v, want one network change", changes)
 	}
 }
+
+func TestStreamAddressMatchesVisionProcessor(t *testing.T) {
+	doc := loadFixture(t)
+
+	s, ok, err := doc.Stream(1)
+	if err != nil || !ok {
+		t.Fatalf("Stream(1) = %v %v", ok, err)
+	}
+
+	if !s.Active || s.Address != "224.5.23.101:10100" {
+		t.Fatalf("stream = %+v, want active on 224.5.23.101:10100", s)
+	}
+
+	doc.Defaults["stream"] = map[string]any{"active": false, "ip_base_prefix": "239.1.1.", "ip_base_end": 10, "port": 20000}
+
+	if s, _, _ := doc.Stream(1); s.Active || s.Address != "239.1.1.11:20000" {
+		t.Fatalf("stream = %+v, want inactive on 239.1.1.11:20000", s)
+	}
+
+	if _, ok, _ := doc.Stream(99); ok {
+		t.Fatal("Stream(99) found a camera that doesn't exist")
+	}
+}
diff --git a/gui/internal/config/stream.go b/gui/internal/config/stream.go
new file mode 100644
index 0000000..1cf22b0
--- /dev/null
+++ b/gui/internal/config/stream.go
@@ -0,0 +1,67 @@
+package config
+
+import (
+	"fmt"
+	"net"
+	"strconv"
+
+	"gopkg.in/yaml.v3"
+)
+
+// Stream is where a camera's vision_processor sends its live H.264 video, from
+// its config.yml-layout stream: block. vision_processor builds the address
+// as ip_base_prefix + (ip_base_end + cam_id) : port (src/Resources.cpp).
+type Stream struct {
+	Active  bool
+	Address string
+}
+
+// streamBlock is the YAML shape of a stream: block. Pointers tell a missing
+// key (use vision_processor's fallback) from a zero one.
+type streamBlock struct {
+	Active       *bool   `yaml:"active"`
+	IPBasePrefix *string `yaml:"ip_base_prefix"`
+	IPBaseEnd    *int    `yaml:"ip_base_end"`
+	Port         *int    `yaml:"port"`
+}
+
+// Stream is the camera with id's stream, from its effective config. ok is
+// false if there's no such camera.
+func (d Document) Stream(id int) (s Stream, ok bool, err error) {
+	c := d.camera(id)
+	if c == nil {
+		return Stream{}, false, nil
+	}
+
+	var parsed streamBlock
+
+	if block := d.Effective(*c)["stream"]; block != nil {
+		data, err := yaml.Marshal(block)
+		if err != nil {
+			return Stream{}, true, err
+		}
+
+		if err := yaml.Unmarshal(data, &parsed); err != nil {
+			return Stream{}, true, &ValidationError{fmt.Errorf("cameras[%d].stream: %w", id, err)}
+		}
+	}
+
+	prefix, end, port := "224.5.23.", 100, 10100
+
+	if parsed.IPBasePrefix != nil {
+		prefix = *parsed.IPBasePrefix
+	}
+
+	if parsed.IPBaseEnd != nil {
+		end = *parsed.IPBaseEnd
+	}
+
+	if parsed.Port != nil {
+		port = *parsed.Port
+	}
+
+	return Stream{
+		Active:  parsed.Active == nil || *parsed.Active,
+		Address: net.JoinHostPort(prefix+strconv.Itoa(end+id), strconv.Itoa(port)),
+	}, true, nil
+}
diff --git a/gui/internal/multicast/endpoint.go b/gui/internal/multicast/endpoint.go
index 1073527..992d272 100644
--- a/gui/internal/multicast/endpoint.go
+++ b/gui/internal/multicast/endpoint.go
@@ -26,6 +26,10 @@ type Options struct {
 	Verbose bool
 	// Send also opens a sender on the group, for Endpoint.Send.
 	Send bool
+	// ReadBuffer, when set, receives on a plain socket with this kernel
+	// receive buffer instead of sslnet's receiver (see openSocket). For
+	// high-rate streams; such an endpoint can't send.
+	ReadBuffer int
 }
 
 // Consumer handles one datagram and reports whether it counts as heard: a
@@ -74,11 +78,16 @@ type Status struct {
 // NewEndpoint prepares an endpoint on address (e.g. "224.5.23.2:10006")
 // over ifaces (see Select). Nothing is opened until Run.
 func NewEndpoint(name, address string, ifaces []Interface, opts Options, consume Consumer) *Endpoint {
+	open := openSSLNet
+	if opts.ReadBuffer > 0 {
+		open = openSocket
+	}
+
 	return &Endpoint{
 		name:    name,
 		opts:    opts,
 		consume: consume,
-		open:    openSSLNet,
+		open:    open,
 		poke:    make(chan struct{}, 1),
 		address: address,
 		ifaces:  ifaces,
diff --git a/gui/internal/multicast/socket.go b/gui/internal/multicast/socket.go
new file mode 100644
index 0000000..278d426
--- /dev/null
+++ b/gui/internal/multicast/socket.go
@@ -0,0 +1,118 @@
+package multicast
+
+import (
+	"log/slog"
+	"net"
+	"strconv"
+	"sync"
+
+	"github.com/libp2p/go-reuseport"
+	"golang.org/x/net/ipv4"
+)
+
+// openSocket receives on one plain UDP socket, the alternative to sslnet's
+// receiver for high-rate streams such as video (Options.ReadBuffer):
+//
+//   - it binds the group address itself, not 0.0.0.0, so cameras sharing a
+//     port each get only their own group (Linux otherwise delivers every
+//     joined group on the port to every socket bound to it);
+//   - it joins the group on every used interface at once, rather than
+//     listening on one at a time;
+//   - its kernel receive buffer is large enough for a keyframe's burst of
+//     packets (sslnet sets 8 KB). The kernel caps it at net.core.rmem_max.
+//
+// A non-multicast address binds 0.0.0.0 on the port, as the broadcast
+// receiver does. It never sends.
+func openSocket(address string, ifaces []Interface, opts Options, receive func([]byte, *net.UDPAddr)) (func([]byte), func()) {
+	noop := func() {}
+
+	addr, err := net.ResolveUDPAddr("udp4", address)
+	if err != nil {
+		slog.Warn("can't listen", "address", address, "err", err)
+
+		return nil, noop
+	}
+
+	bind := addr.IP
+	if !bind.IsMulticast() {
+		bind = net.IPv4zero
+	}
+
+	pc, err := reuseport.ListenPacket("udp4", net.JoinHostPort(bind.String(), strconv.Itoa(addr.Port)))
+	if err != nil {
+		slog.Warn("can't listen", "address", address, "err", err)
+
+		return nil, noop
+	}
+
+	conn, ok := pc.(*net.UDPConn)
+	if !ok {
+		_ = pc.Close()
+
+		return nil, noop
+	}
+
+	if err := conn.SetReadBuffer(opts.ReadBuffer); err != nil {
+		slog.Warn("can't set receive buffer", "address", address, "err", err)
+	}
+
+	if addr.IP.IsMulticast() {
+		join(ipv4.NewPacketConn(conn), addr, ifaces)
+	}
+
+	var done sync.WaitGroup
+
+	done.Add(1)
+
+	go func() {
+		defer done.Done()
+
+		buf := make([]byte, 65536)
+
+		for {
+			n, from, err := conn.ReadFromUDP(buf)
+			if err != nil {
+				return // closed by stop
+			}
+
+			receive(buf[:n], from)
+		}
+	}()
+
+	return nil, func() {
+		_ = conn.Close()
+		done.Wait()
+	}
+}
+
+// join joins addr's group on every used interface, or on the kernel's
+// default one if none is used or found.
+func join(pc *ipv4.PacketConn, addr *net.UDPAddr, ifaces []Interface) {
+	group := &net.UDPAddr{IP: addr.IP}
+	joined := 0
+
+	for _, i := range ifaces {
+		if !i.Used {
+			continue
+		}
+
+		ifi, err := net.InterfaceByName(i.Name)
+		if err != nil {
+			continue
+		}
+
+		if err := pc.JoinGroup(ifi, group); err != nil {
+			slog.Warn("can't join group", "group", addr.IP, "interface", i.Name, "err", err)
+
+			continue
+		}
+
+		joined++
+	}
+
+	if joined == 0 {
+		if err := pc.JoinGroup(nil, group); err != nil {
+			slog.Warn("can't join group", "group", addr.IP, "err", err)
+		}
+	}
+}
diff --git a/gui/internal/video/assembler.go b/gui/internal/video/assembler.go
new file mode 100644
index 0000000..07155c8
--- /dev/null
+++ b/gui/internal/video/assembler.go
@@ -0,0 +1,162 @@
+// Package video bridges a vision_processor's H.264 RTP stream to browsers:
+// it reassembles frames from the multicast RTP packets, repackages them as
+// fragmented MP4 without transcoding, and fans the result out to WebSocket
+// viewers, who play it through Media Source Extensions.
+package video
+
+import (
+	"encoding/binary"
+
+	"github.com/bluenviron/mediacommon/v2/pkg/codecs/h264"
+	"github.com/pion/rtp"
+)
+
+// RFC 6184 packet types beyond single NAL units (1-23).
+const (
+	naluSTAPA = 24
+	naluFUA   = 28
+)
+
+// assembler turns RTP H.264 packets (RFC 6184 single NAL units, STAP-A, and
+// FU-A) into access units: the NAL units of one frame. There's no SDP to say
+// otherwise, so it assumes packetization mode 1, FFmpeg's default.
+//
+// A lost packet ruins the frame it belongs to, and every frame after it until
+// the next keyframe, since they're predicted from it. So on a sequence gap it
+// drops frames until a keyframe arrives rather than passing on a corrupt
+// picture. A new SSRC means the encoder restarted (vision_processor does this
+// whenever the streamed view changes size), which starts over the same way.
+type assembler struct {
+	started   bool
+	ssrc      uint32
+	seq       uint16
+	timestamp uint32
+
+	nalus    [][]byte
+	size     int    // bytes in nalus and fragment
+	fragment []byte // an FU-A NAL unit in progress, nil if none
+	broken   bool   // this frame lost a packet
+	needKey  bool   // dropping until a keyframe
+}
+
+// push takes one packet and returns any frames it completed: the previous
+// frame when this packet starts a new one, and this one if it carries the
+// marker bit. Payload bytes are copied; pkt may reuse its buffer.
+func (a *assembler) push(pkt *rtp.Packet) [][][]byte {
+	var out [][][]byte
+
+	if !a.started || pkt.SSRC != a.ssrc {
+		*a = assembler{started: true, ssrc: pkt.SSRC, timestamp: pkt.Timestamp, needKey: true}
+	} else {
+		gap := pkt.SequenceNumber != a.seq+1
+		if gap {
+			a.broken = true
+			a.needKey = true
+		}
+
+		if pkt.Timestamp != a.timestamp {
+			// The marker of the previous frame never came; it ended anyway.
+			out = a.finish(out)
+			a.timestamp = pkt.Timestamp
+
+			// The lost packets may have been this frame's first ones rather
+			// than the last frame's tail; there's no telling which.
+			a.broken = gap
+		}
+	}
+
+	a.seq = pkt.SequenceNumber
+
+	a.size += len(pkt.Payload)
+
+	if a.size > h264.MaxAccessUnitSize || !a.depacketize(pkt.Payload) {
+		a.broken = true
+		a.needKey = true
+	}
+
+	if pkt.Marker {
+		out = a.finish(out)
+	}
+
+	return out
+}
+
+// depacketize appends pkt's NAL units to the current frame. false means the
+// payload was malformed or out of place.
+func (a *assembler) depacketize(payload []byte) bool {
+	if len(payload) == 0 {
+		return false
+	}
+
+	switch typ := payload[0] & 0x1f; {
+	case typ >= 1 && typ <= 23:
+		a.nalus = append(a.nalus, clone(payload))
+
+	case typ == naluSTAPA:
+		for rest := payload[1:]; len(rest) > 0; {
+			if len(rest) < 2 {
+				return false
+			}
+
+			size := int(binary.BigEndian.Uint16(rest))
+			if len(rest) < 2+size {
+				return false
+			}
+
+			a.nalus = append(a.nalus, clone(rest[2:2+size]))
+			rest = rest[2+size:]
+		}
+
+	case typ == naluFUA:
+		if len(payload) < 2 {
+			return false
+		}
+
+		start, end := payload[1]&0x80 != 0, payload[1]&0x40 != 0
+
+		if start {
+			// The reconstructed header: the indicator's NRI bits, the
+			// fragmented unit's own type.
+			a.fragment = append(a.fragment[:0], payload[0]&0xe0|payload[1]&0x1f)
+		} else if a.fragment == nil {
+			return false // the start fragment was lost
+		}
+
+		a.fragment = append(a.fragment, payload[2:]...)
+
+		if end {
+			a.nalus = append(a.nalus, a.fragment)
+			a.fragment = nil
+		}
+
+	default:
+		return false
+	}
+
+	return true
+}
+
+// finish ends the current frame, appending it to out unless it's broken or
+// still waiting for a keyframe.
+func (a *assembler) finish(out [][][]byte) [][][]byte {
+	au, ok := a.nalus, !a.broken && a.fragment == nil && len(a.nalus) > 0
+	a.nalus, a.fragment, a.broken, a.size = nil, nil, false, 0
+
+	if !ok {
+		return out
+	}
+
+	if a.needKey {
+		if !h264.IsRandomAccess(au) {
+			return out
+		}
+
+		a.needKey = false
+	}
+
+	return append(out, au)
+}
+
+func clone(b []byte) []byte {
+	return append([]byte(nil), b...)
+}
diff --git a/gui/internal/video/manager.go b/gui/internal/video/manager.go
new file mode 100644
index 0000000..4c8b1b4
--- /dev/null
+++ b/gui/internal/video/manager.go
@@ -0,0 +1,77 @@
+package video
+
+import (
+	"errors"
+	"sync"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/multicast"
+)
+
+// ErrUnknownCamera is returned for a camera vision.yml doesn't have.
+var ErrUnknownCamera = errors.New("unknown camera")
+
+// Stream is one camera's stream settings, from config.Document.Stream.
+type Stream struct {
+	Active  bool
+	Address string
+}
+
+// Manager owns one source per camera that has ever been watched.
+type Manager struct {
+	verbose bool
+
+	mu      sync.Mutex
+	streams map[int]Stream
+	ifaces  []multicast.Interface
+	sources map[int]*source
+}
+
+// NewManager returns a Manager with no cameras until Configure.
+func NewManager(verbose bool) *Manager {
+	return &Manager{verbose: verbose, sources: map[int]*source{}}
+}
+
+// Configure applies the cameras' current stream settings and the host's
+// interface selection. Called on every config change and once a second, like
+// the host's other sockets; a source's socket only moves if something it
+// uses changed.
+func (m *Manager) Configure(streams map[int]Stream, ifaces []multicast.Interface) {
+	m.mu.Lock()
+	defer m.mu.Unlock()
+
+	m.streams, m.ifaces = streams, ifaces
+
+	for id, src := range m.sources {
+		if st, ok := streams[id]; ok {
+			src.configure(st.Active, st.Address, ifaces)
+		}
+	}
+}
+
+// Subscribe starts a viewer of camera id's stream. Call the returned
+// function exactly once when done; the channel closes then.
+func (m *Manager) Subscribe(id int, mode Mode) (<-chan Message, func(), error) {
+	m.mu.Lock()
+
+	st, ok := m.streams[id]
+	if !ok {
+		m.mu.Unlock()
+
+		return nil, nil, ErrUnknownCamera
+	}
+
+	src := m.sources[id]
+	if src == nil {
+		src = newSource(id, m.verbose)
+		m.sources[id] = src
+	}
+
+	ifaces := m.ifaces
+	m.mu.Unlock()
+
+	src.configure(st.Active, st.Address, ifaces)
+
+	ch, unsubscribe := src.subscribe(mode)
+
+	return ch, unsubscribe, nil
+}
diff --git a/gui/internal/video/muxer.go b/gui/internal/video/muxer.go
new file mode 100644
index 0000000..c1d9e27
--- /dev/null
+++ b/gui/internal/video/muxer.go
@@ -0,0 +1,189 @@
+package video
+
+import (
+	"bytes"
+	"fmt"
+	"time"
+
+	"github.com/bluenviron/mediacommon/v2/pkg/codecs/h264"
+	"github.com/bluenviron/mediacommon/v2/pkg/formats/fmp4"
+	"github.com/bluenviron/mediacommon/v2/pkg/formats/fmp4/seekablebuffer"
+	mp4codecs "github.com/bluenviron/mediacommon/v2/pkg/formats/mp4/codecs"
+)
+
+// timeScale is the fMP4 track's clock rate, the usual one for video.
+const timeScale = 90000
+
+// Format describes the stream an init segment starts: what a browser needs
+// to check it can play it before trying.
+type Format struct {
+	// Codec is the RFC 6381 codec string, e.g. "avc1.4d4028", for
+	// MediaSource.isTypeSupported.
+	Codec  string `json:"codec"`
+	Width  int    `json:"width"`
+	Height int    `json:"height"`
+}
+
+// output is what one frame produces: a new init segment if the stream's
+// parameters changed, the frame as a media segment for full rate viewers,
+// and, for a keyframe, a second media segment for keyframes-only viewers.
+// Each timeline needs its own segment, since durations and sequence numbers
+// differ.
+type output struct {
+	init     []byte
+	format   Format
+	full     []byte
+	keyframe []byte
+}
+
+// muxer packages frames as fragmented MP4, one frame per segment, so a
+// segment is ready the moment its frame is. vision_processor stamps frames
+// at a nominal 30 fps whatever rate it really runs at, so timing comes from
+// arrival time instead.
+type muxer struct {
+	sps, pps []byte
+
+	full     timeline
+	keyframe timeline
+}
+
+// timeline is one output's clock. Durations are estimates, the gap before
+// the previous frame, so a frame isn't held back waiting for the next one;
+// the browser appends in sequence mode, where only durations matter.
+type timeline struct {
+	seq     uint32
+	base    uint64
+	last    time.Time
+	minimum uint64
+	initial uint64
+	maximum uint64
+}
+
+func newMuxer() *muxer {
+	return &muxer{
+		full:     timeline{minimum: timeScale / 200, initial: timeScale / 30, maximum: timeScale},
+		keyframe: timeline{minimum: timeScale / 30, initial: timeScale, maximum: 5 * timeScale},
+	}
+}
+
+// push packages one frame (from assembler) that arrived at now.
+func (m *muxer) push(au [][]byte, now time.Time) (output, error) {
+	var out output
+
+	sps, pps := m.sps, m.pps
+
+	var frame [][]byte
+
+	for _, nalu := range au {
+		switch h264.NALUType(nalu[0] & 0x1f) {
+		case h264.NALUTypeSPS:
+			sps = nalu
+		case h264.NALUTypePPS:
+			pps = nalu
+		case h264.NALUTypeAccessUnitDelimiter:
+		default:
+			// Parameter sets live in the init segment; delimiters are noise.
+			frame = append(frame, nalu)
+		}
+	}
+
+	if sps == nil || pps == nil {
+		return out, fmt.Errorf("no SPS/PPS yet")
+	}
+
+	if !bytes.Equal(sps, m.sps) || !bytes.Equal(pps, m.pps) {
+		init, format, err := initSegment(sps, pps)
+		if err != nil {
+			return out, err
+		}
+
+		m.sps, m.pps = sps, pps
+		out.init, out.format = init, format
+	}
+
+	if len(frame) == 0 {
+		return out, nil
+	}
+
+	payload, err := h264.AVCC(frame).Marshal()
+	if err != nil {
+		return out, err
+	}
+
+	key := h264.IsRandomAccess(au)
+
+	if out.full, err = m.full.segment(payload, key, now); err != nil {
+		return out, err
+	}
+
+	if key {
+		if out.keyframe, err = m.keyframe.segment(payload, true, now); err != nil {
+			return out, err
+		}
+	}
+
+	return out, nil
+}
+
+func (t *timeline) segment(payload []byte, key bool, now time.Time) ([]byte, error) {
+	duration := t.initial
+	if !t.last.IsZero() {
+		duration = uint64(now.Sub(t.last).Seconds() * timeScale)
+		duration = min(max(duration, t.minimum), t.maximum)
+	}
+
+	t.last = now
+	t.seq++
+
+	part := fmp4.Part{
+		SequenceNumber: t.seq,
+		Tracks: []*fmp4.PartTrack{{
+			ID:       1,
+			BaseTime: t.base,
+			Samples: []*fmp4.Sample{{
+				Duration:        uint32(duration),
+				IsNonSyncSample: !key,
+				Payload:         payload,
+			}},
+		}},
+	}
+
+	t.base += duration
+
+	var buf seekablebuffer.Buffer
+	if err := part.Marshal(&buf); err != nil {
+		return nil, err
+	}
+
+	return buf.Bytes(), nil
+}
+
+func initSegment(sps, pps []byte) ([]byte, Format, error) {
+	var parsed h264.SPS
+	if err := parsed.Unmarshal(sps); err != nil {
+		return nil, Format{}, fmt.Errorf("parsing SPS: %w", err)
+	}
+
+	if len(sps) < 4 {
+		return nil, Format{}, fmt.Errorf("SPS too short")
+	}
+
+	init := fmp4.Init{
+		Tracks: []*fmp4.InitTrack{{
+			ID:        1,
+			TimeScale: timeScale,
+			Codec:     &mp4codecs.H264{SPS: sps, PPS: pps},
+		}},
+	}
+
+	var buf seekablebuffer.Buffer
+	if err := init.Marshal(&buf); err != nil {
+		return nil, Format{}, err
+	}
+
+	return buf.Bytes(), Format{
+		Codec:  fmt.Sprintf("avc1.%02x%02x%02x", sps[1], sps[2], sps[3]),
+		Width:  parsed.Width(),
+		Height: parsed.Height(),
+	}, nil
+}
diff --git a/gui/internal/video/source.go b/gui/internal/video/source.go
new file mode 100644
index 0000000..d732095
--- /dev/null
+++ b/gui/internal/video/source.go
@@ -0,0 +1,379 @@
+package video
+
+import (
+	"context"
+	"encoding/json"
+	"log/slog"
+	"sync"
+	"time"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/multicast"
+	"github.com/pion/rtp"
+)
+
+// Mode is what a viewer receives.
+type Mode string
+
+const (
+	// ModeFull is every frame.
+	ModeFull Mode = "full"
+	// ModeKeyframes is keyframes only, about one a second: a fraction of the
+	// bandwidth and decode work, for grids of many cameras.
+	ModeKeyframes Mode = "keyframes"
+)
+
+// Message is one WebSocket message to a viewer: JSON (a format or status
+// message) or a binary fMP4 segment.
+type Message struct {
+	Binary bool
+	Data   []byte
+}
+
+const (
+	// queueSize bounds each viewer's backlog, about 3 s at full rate.
+	queueSize = 90
+	// idleGrace keeps a source's socket open briefly after its last viewer
+	// leaves, so switching views or reloading the page doesn't pay for a
+	// fresh join and the wait for a keyframe.
+	idleGrace = 5 * time.Second
+	// maxGOP bounds the cache of frames since the last keyframe, in case a
+	// stream stops sending keyframes.
+	maxGOP = 300
+	// readBuffer is the kernel receive buffer per stream: room for a
+	// keyframe's burst of packets.
+	readBuffer = 4 << 20
+	// statusInterval is how often viewers get a status message.
+	statusInterval = time.Second
+)
+
+// endpoint is the part of multicast.Endpoint a source uses, swapped out in
+// tests.
+type endpoint interface {
+	Run(ctx context.Context) error
+	SetAddress(address string)
+	SetInterfaces(ifaces []multicast.Interface)
+	Status(now time.Time) multicast.Status
+}
+
+type viewer struct {
+	mode    Mode
+	ch      chan Message
+	lagging bool
+}
+
+// source is one camera's stream: its socket, open while anyone watches, and
+// everything between packets and viewers.
+type source struct {
+	id          int
+	newEndpoint func(address string, ifaces []multicast.Interface, consume multicast.Consumer) endpoint
+
+	mu      sync.Mutex
+	active  bool
+	address string
+	ifaces  []multicast.Interface
+
+	viewers  map[*viewer]struct{}
+	endpoint endpoint           // nil while stopped
+	cancel   context.CancelFunc // stops endpoint
+	idle     *time.Timer
+
+	asm      assembler
+	mux      *muxer
+	format   *Format
+	init     []byte
+	gop      [][]byte // full rate segments since the last keyframe
+	keyframe []byte   // the latest keyframes-only segment
+	warned   bool
+}
+
+func newSource(id int, verbose bool) *source {
+	return &source{
+		id:      id,
+		viewers: map[*viewer]struct{}{},
+		mux:     newMuxer(),
+		newEndpoint: func(address string, ifaces []multicast.Interface, consume multicast.Consumer) endpoint {
+			opts := multicast.Options{Verbose: verbose, ReadBuffer: readBuffer}
+
+			return multicast.NewEndpoint("video", address, ifaces, opts, consume)
+		},
+	}
+}
+
+// configure applies the camera's current stream settings and the host's
+// interface selection. A running socket moves if either changed.
+func (s *source) configure(active bool, address string, ifaces []multicast.Interface) {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	s.active, s.address, s.ifaces = active, address, ifaces
+
+	if s.endpoint != nil {
+		s.endpoint.SetAddress(address)
+		s.endpoint.SetInterfaces(ifaces)
+	}
+}
+
+// subscribe adds a viewer and opens the socket if it's the first. The viewer
+// starts with the current format and, so the picture appears at once rather
+// than at the next keyframe, the cached frames since the last one.
+func (s *source) subscribe(mode Mode) (<-chan Message, func()) {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	v := &viewer{mode: mode, ch: make(chan Message, queueSize)}
+	s.viewers[v] = struct{}{}
+
+	if s.idle != nil {
+		s.idle.Stop()
+		s.idle = nil
+	}
+
+	if s.endpoint == nil {
+		s.start()
+	}
+
+	s.sendStatus(v)
+
+	if s.init != nil {
+		cached := s.gop
+		if mode == ModeKeyframes {
+			cached = nil
+			if s.keyframe != nil {
+				cached = [][]byte{s.keyframe}
+			}
+		}
+
+		if len(cached) > 0 && free(v) >= len(cached)+2 {
+			s.sendFormat(v)
+
+			for _, seg := range cached {
+				v.ch <- Message{Binary: true, Data: seg}
+			}
+		} else {
+			v.lagging = true
+		}
+	} else {
+		v.lagging = true
+	}
+
+	var once sync.Once
+
+	return v.ch, func() { once.Do(func() { s.unsubscribe(v) }) }
+}
+
+func (s *source) unsubscribe(v *viewer) {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	delete(s.viewers, v)
+	close(v.ch)
+
+	if len(s.viewers) == 0 && s.endpoint != nil {
+		s.idle = time.AfterFunc(idleGrace, s.stopIfIdle)
+	}
+}
+
+// start opens the socket. Called with mu held.
+func (s *source) start() {
+	ctx, cancel := context.WithCancel(context.Background())
+
+	ep := s.newEndpoint(s.address, s.ifaces, s.handle)
+	s.endpoint, s.cancel = ep, cancel
+
+	go func() {
+		if err := ep.Run(ctx); err != nil && ctx.Err() == nil {
+			slog.Error("video stream stopped", "camera", s.id, "err", err)
+		}
+	}()
+
+	go s.statusLoop(ctx)
+
+	slog.Info("video stream opened", "camera", s.id, "address", s.address)
+}
+
+func (s *source) stopIfIdle() {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	if len(s.viewers) > 0 || s.endpoint == nil {
+		return
+	}
+
+	s.cancel()
+	s.endpoint, s.cancel, s.idle = nil, nil, nil
+
+	// The next viewer waits for a fresh keyframe rather than seeing a stale
+	// cache.
+	s.asm = assembler{}
+	s.mux = newMuxer()
+	s.format, s.init, s.gop, s.keyframe = nil, nil, nil, nil
+
+	slog.Info("video stream closed, no viewers", "camera", s.id)
+}
+
+// handle is the socket's consumer: one RTP packet in, any finished frames
+// out to viewers. It reports whether the datagram was RTP, which is what the
+// endpoint's status counts.
+func (s *source) handle(data []byte) bool {
+	var pkt rtp.Packet
+	if err := pkt.Unmarshal(data); err != nil || pkt.Version != 2 {
+		return false
+	}
+
+	now := time.Now()
+
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	if s.endpoint == nil {
+		return true // a straggler from a socket being closed
+	}
+
+	for _, au := range s.asm.push(&pkt) {
+		out, err := s.mux.push(au, now)
+		if err != nil {
+			if !s.warned {
+				slog.Warn("dropping video frame", "camera", s.id, "err", err)
+				s.warned = true
+			}
+
+			continue
+		}
+
+		s.publish(out)
+	}
+
+	return true
+}
+
+// publish caches a frame's output and delivers it. Called with mu held.
+func (s *source) publish(out output) {
+	if out.init != nil {
+		s.init, s.format = out.init, &out.format
+		s.gop = nil
+
+		slog.Info("video format", "camera", s.id, "codec", out.format.Codec, "width", out.format.Width, "height", out.format.Height)
+	}
+
+	if out.full != nil {
+		if out.keyframe != nil || len(s.gop) >= maxGOP {
+			s.gop = nil
+		}
+
+		s.gop = append(s.gop, out.full)
+	}
+
+	if out.keyframe != nil {
+		s.keyframe = out.keyframe
+	}
+
+	for v := range s.viewers {
+		if out.init != nil && !v.lagging {
+			if !s.sendFormat(v) {
+				v.lagging = true
+			}
+		}
+
+		seg := out.full
+		if v.mode == ModeKeyframes {
+			seg = out.keyframe
+		}
+
+		if seg != nil {
+			s.deliver(v, seg, out.keyframe != nil)
+		}
+	}
+}
+
+// deliver sends one segment. A viewer that falls behind (a full queue) skips
+// frames until the next keyframe, since a frame decoded without the ones
+// before it is garbage, then resumes with the format and that keyframe.
+func (s *source) deliver(v *viewer, seg []byte, key bool) {
+	if v.lagging {
+		if !key || free(v) < 3 {
+			return
+		}
+
+		s.sendFormat(v)
+		v.lagging = false
+	}
+
+	if !trySend(v, Message{Binary: true, Data: seg}) {
+		v.lagging = true
+	}
+}
+
+// sendFormat sends the format message and init segment.
+func (s *source) sendFormat(v *viewer) bool {
+	if s.format == nil || free(v) < 2 {
+		return false
+	}
+
+	data, _ := json.Marshal(struct {
+		Type string `json:"type"`
+		Format
+	}{"format", *s.format})
+
+	v.ch <- Message{Data: data}
+	v.ch <- Message{Binary: true, Data: s.init}
+
+	return true
+}
+
+// statusLoop tells every viewer about the stream once a second, so "waiting
+// for the stream" can be told from "the stream isn't arriving".
+func (s *source) statusLoop(ctx context.Context) {
+	ticker := time.NewTicker(statusInterval)
+	defer ticker.Stop()
+
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		case <-ticker.C:
+			s.mu.Lock()
+			for v := range s.viewers {
+				s.sendStatus(v)
+			}
+			s.mu.Unlock()
+		}
+	}
+}
+
+// Status is what a viewer is told about its stream.
+type Status struct {
+	Type      string `json:"type"`
+	Camera    int    `json:"camera"`
+	Address   string `json:"address"`
+	Active    bool   `json:"active"`
+	Receiving bool   `json:"receiving"`
+	Packets   uint64 `json:"packets"`
+	Source    string `json:"source,omitempty"`
+}
+
+// sendStatus is best effort: a full queue just misses one. Called with mu
+// held.
+func (s *source) sendStatus(v *viewer) {
+	status := Status{Type: "status", Camera: s.id, Address: s.address, Active: s.active}
+
+	if s.endpoint != nil {
+		ep := s.endpoint.Status(time.Now())
+		status.Receiving, status.Packets, status.Source = ep.Receiving, ep.Heard, ep.Source
+	}
+
+	data, _ := json.Marshal(status)
+	trySend(v, Message{Data: data})
+}
+
+func trySend(v *viewer, m Message) bool {
+	select {
+	case v.ch <- m:
+		return true
+	default:
+		return false
+	}
+}
+
+func free(v *viewer) int {
+	return cap(v.ch) - len(v.ch)
+}
diff --git a/gui/internal/video/testdata/160x120.h264 b/gui/internal/video/testdata/160x120.h264
new file mode 100644
index 0000000000000000000000000000000000000000..95394f1f507bc394979586e228621a93df7e10a5
GIT binary patch
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zRIn1ND5zLau@SJB#o&sfBK#(}yWfA__wvcyx#!NDne)tZo|y{(09ofDlzAvk|H`EU
zfCq@Aa4u6c;RE<C?#6<Ccq0+#=KLRfzq#~s#ILQ=>;XEWH}QdIZD)&`qtVGJ9Mo#Q
z>SqB>mP?m=`<mOL?yEfEyBJP1Y~z{C%}C(HrlHmhhK;#3!}=F!j7v-7I$2t#r>9$N
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diff --git a/gui/internal/video/testdata/320x240.h264 b/gui/internal/video/testdata/320x240.h264
new file mode 100644
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diff --git a/gui/internal/video/video_test.go b/gui/internal/video/video_test.go
new file mode 100644
index 0000000..02e49a8
--- /dev/null
+++ b/gui/internal/video/video_test.go
@@ -0,0 +1,475 @@
+package video
+
+import (
+	"bytes"
+	"context"
+	"encoding/json"
+	"net/http"
+	"net/http/httptest"
+	"os"
+	"testing"
+	"time"
+
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/multicast"
+	"github.com/bluenviron/mediacommon/v2/pkg/codecs/h264"
+	"github.com/bluenviron/mediacommon/v2/pkg/formats/fmp4"
+	"github.com/pion/rtp"
+)
+
+// The clips are x264 output from ffmpeg's test pattern: 320x240 has 20
+// frames with a keyframe every 10, 160x120 has 10 with one keyframe.
+
+// loadClip splits an Annex B file into access units: a new one starts at a
+// parameter set or delimiter after a slice, or at a slice whose first
+// macroblock is 0 when the current unit already has one.
+func loadClip(t *testing.T, name string) [][][]byte {
+	t.Helper()
+
+	data, err := os.ReadFile("testdata/" + name)
+	if err != nil {
+		t.Fatal(err)
+	}
+
+	nalus := splitAnnexB(data)
+
+	var aus [][][]byte
+
+	var cur [][]byte
+
+	hasSlice := false
+
+	for _, n := range nalus {
+		typ := n[0] & 0x1f
+		slice := typ == 1 || typ == 5
+		firstMB := slice && len(n) > 1 && n[1]&0x80 != 0
+
+		if hasSlice && (!slice || firstMB) {
+			aus = append(aus, cur)
+			cur, hasSlice = nil, false
+		}
+
+		cur = append(cur, n)
+		hasSlice = hasSlice || slice
+	}
+
+	return append(aus, cur)
+}
+
+// splitAnnexB splits a whole Annex B file at its start codes. (h264.AnnexB
+// is meant for one frame and caps the NAL unit count.)
+func splitAnnexB(data []byte) [][]byte {
+	var nalus [][]byte
+
+	start := -1
+
+	for i := 0; i+3 <= len(data); i++ {
+		if data[i] != 0 || data[i+1] != 0 || data[i+2] != 1 {
+			continue
+		}
+
+		if start >= 0 {
+			nalus = append(nalus, bytes.TrimRight(data[start:i], "\x00"))
+		}
+
+		start = i + 3
+		i += 2
+	}
+
+	return append(nalus, data[start:])
+}
+
+// packetizer is the sending side of RFC 6184, enough to drive the assembler:
+// parameter sets go in one STAP-A, small units alone, big ones as FU-A.
+type packetizer struct {
+	ssrc      uint32
+	seq       uint16
+	timestamp uint32
+}
+
+const mtu = 1000
+
+func (p *packetizer) packets(au [][]byte) []*rtp.Packet {
+	var payloads [][]byte
+
+	var params [][]byte
+
+	for _, n := range au {
+		if typ := n[0] & 0x1f; typ == 7 || typ == 8 {
+			params = append(params, n)
+
+			continue
+		}
+
+		if len(params) > 0 {
+			stap := []byte{24}
+			for _, ps := range params {
+				stap = append(stap, byte(len(ps)>>8), byte(len(ps)))
+				stap = append(stap, ps...)
+			}
+
+			payloads = append(payloads, stap)
+			params = nil
+		}
+
+		if len(n) <= mtu {
+			payloads = append(payloads, n)
+
+			continue
+		}
+
+		header, body := n[0], n[1:]
+		for i := 0; i < len(body); i += mtu {
+			end := min(i+mtu, len(body))
+
+			fu := []byte{header&0xe0 | 28, header & 0x1f}
+			if i == 0 {
+				fu[1] |= 0x80
+			}
+
+			if end == len(body) {
+				fu[1] |= 0x40
+			}
+
+			payloads = append(payloads, append(fu, body[i:end]...))
+		}
+	}
+
+	pkts := make([]*rtp.Packet, len(payloads))
+	for i, payload := range payloads {
+		p.seq++
+		pkts[i] = &rtp.Packet{
+			Header: rtp.Header{
+				Version:        2,
+				PayloadType:    96,
+				SequenceNumber: p.seq,
+				Timestamp:      p.timestamp,
+				SSRC:           p.ssrc,
+				Marker:         i == len(payloads)-1,
+			},
+			Payload: payload,
+		}
+	}
+
+	p.timestamp += 3000
+
+	return pkts
+}
+
+func assemble(a *assembler, pkts []*rtp.Packet) [][][]byte {
+	var out [][][]byte
+	for _, pkt := range pkts {
+		out = append(out, a.push(pkt)...)
+	}
+
+	return out
+}
+
+func TestAssemblerRoundTrip(t *testing.T) {
+	clip := loadClip(t, "320x240.h264")
+	if len(clip) != 20 {
+		t.Fatalf("clip has %d access units, want 20", len(clip))
+	}
+
+	p := &packetizer{ssrc: 1}
+
+	var a assembler
+
+	var got [][][]byte
+	for _, au := range clip {
+		got = append(got, assemble(&a, p.packets(au))...)
+	}
+
+	if len(got) != len(clip) {
+		t.Fatalf("assembled %d frames, want %d", len(got), len(clip))
+	}
+
+	for i := range clip {
+		if len(got[i]) != len(clip[i]) {
+			t.Fatalf("frame %d: %d NAL units, want %d", i, len(got[i]), len(clip[i]))
+		}
+
+		for j := range clip[i] {
+			if !bytes.Equal(got[i][j], clip[i][j]) {
+				t.Fatalf("frame %d NAL %d differs", i, j)
+			}
+		}
+	}
+}
+
+func TestAssemblerDropsUntilKeyframeAfterLoss(t *testing.T) {
+	clip := loadClip(t, "320x240.h264")
+	p := &packetizer{ssrc: 1}
+
+	var a assembler
+
+	var got [][][]byte
+
+	for i, au := range clip {
+		pkts := p.packets(au)
+		if i == 3 {
+			pkts = pkts[1:] // lose the first packet of frame 3
+		}
+
+		got = append(got, assemble(&a, pkts)...)
+	}
+
+	// Frames 0-2 survive; 3-9 are lost or depend on 3; 10 is the next
+	// keyframe and everything after it is fine.
+	if len(got) != 3+10 {
+		t.Fatalf("got %d frames, want 13", len(got))
+	}
+
+	if !h264.IsRandomAccess(got[3]) {
+		t.Fatal("first frame after the loss isn't a keyframe")
+	}
+}
+
+func TestAssemblerRestartsOnNewSSRC(t *testing.T) {
+	small := loadClip(t, "160x120.h264")
+	big := loadClip(t, "320x240.h264")
+
+	var a assembler
+
+	p := &packetizer{ssrc: 1}
+	for _, au := range big[:5] {
+		assemble(&a, p.packets(au))
+	}
+
+	// The encoder restarted: new SSRC, unrelated sequence numbers.
+	p = &packetizer{ssrc: 2, seq: 40000}
+
+	got := assemble(&a, p.packets(small[0]))
+	if len(got) != 1 || !h264.IsRandomAccess(got[0]) {
+		t.Fatalf("got %d frames after the restart, want the new keyframe", len(got))
+	}
+}
+
+func TestMuxerFormatsAndKeyframes(t *testing.T) {
+	m := newMuxer()
+	now := time.Now()
+
+	var inits []Format
+
+	keyframes, full := 0, 0
+
+	for _, clip := range []string{"320x240.h264", "160x120.h264"} {
+		for _, au := range loadClip(t, clip) {
+			now = now.Add(33 * time.Millisecond)
+
+			out, err := m.push(au, now)
+			if err != nil {
+				t.Fatal(err)
+			}
+
+			if out.init != nil {
+				var init fmp4.Init
+				if err := init.Unmarshal(bytes.NewReader(out.init)); err != nil {
+					t.Fatalf("init segment doesn't parse: %v", err)
+				}
+
+				inits = append(inits, out.format)
+			}
+
+			if out.full != nil {
+				full++
+
+				var parts fmp4.Parts
+				if err := parts.Unmarshal(out.full); err != nil {
+					t.Fatalf("media segment doesn't parse: %v", err)
+				}
+
+				sample := parts[0].Tracks[0].Samples[0]
+				if sample.IsNonSyncSample == (out.keyframe != nil) {
+					t.Fatal("sync flag doesn't match the keyframe output")
+				}
+			}
+
+			if out.keyframe != nil {
+				keyframes++
+			}
+		}
+	}
+
+	if len(inits) != 2 || inits[0].Width != 320 || inits[0].Height != 240 || inits[1].Width != 160 {
+		t.Fatalf("formats = %+v, want 320x240 then 160x120", inits)
+	}
+
+	if inits[0].Codec[:5] != "avc1." || len(inits[0].Codec) != 11 {
+		t.Errorf("codec = %q, want avc1.PPCCLL", inits[0].Codec)
+	}
+
+	if full != 30 || keyframes != 3 {
+		t.Fatalf("full=%d keyframes=%d, want 30 and 3", full, keyframes)
+	}
+}
+
+// fakeEndpoint stands in for the multicast socket.
+type fakeEndpoint struct{ address string }
+
+func (f *fakeEndpoint) Run(ctx context.Context) error {
+	<-ctx.Done()
+
+	return ctx.Err()
+}
+func (f *fakeEndpoint) SetAddress(address string)                  { f.address = address }
+func (f *fakeEndpoint) SetInterfaces(ifaces []multicast.Interface) {}
+func (f *fakeEndpoint) Status(now time.Time) multicast.Status {
+	return multicast.Status{Address: f.address, Receiving: true, Heard: 7}
+}
+
+func testSource() *source {
+	s := newSource(0, false)
+	s.newEndpoint = func(address string, _ []multicast.Interface, _ multicast.Consumer) endpoint {
+		return &fakeEndpoint{address: address}
+	}
+	s.configure(true, "224.5.23.100:10100", nil)
+
+	return s
+}
+
+// feed sends a clip through the source as raw datagrams.
+func feed(t *testing.T, s *source, p *packetizer, clip [][][]byte) {
+	t.Helper()
+
+	for _, au := range clip {
+		for _, pkt := range p.packets(au) {
+			data, err := pkt.Marshal()
+			if err != nil {
+				t.Fatal(err)
+			}
+
+			if !s.handle(data) {
+				t.Fatal("source rejected an RTP packet")
+			}
+		}
+	}
+}
+
+// drain reads what's queued: the JSON message types and the binary count.
+func drain(ch <-chan Message) (types []string, binaries int) {
+	for {
+		select {
+		case m := <-ch:
+			if m.Binary {
+				binaries++
+
+				continue
+			}
+
+			var head struct{ Type string }
+			_ = json.Unmarshal(m.Data, &head)
+			types = append(types, head.Type)
+		default:
+			return types, binaries
+		}
+	}
+}
+
+func TestSourceFansOutByMode(t *testing.T) {
+	s := testSource()
+	clip := loadClip(t, "320x240.h264")
+
+	full, stopFull := s.subscribe(ModeFull)
+	defer stopFull()
+
+	keys, stopKeys := s.subscribe(ModeKeyframes)
+	defer stopKeys()
+
+	feed(t, s, &packetizer{ssrc: 1}, clip)
+
+	types, n := drain(full)
+	if len(types) != 2 || types[0] != "status" || types[1] != "format" || n != 1+20 {
+		t.Fatalf("full viewer got %v and %d binaries, want status, format, init + 20 frames", types, n)
+	}
+
+	types, n = drain(keys)
+	if len(types) != 2 || types[1] != "format" || n != 1+2 {
+		t.Fatalf("keyframes viewer got %v and %d binaries, want format, init + 2 keyframes", types, n)
+	}
+}
+
+func TestSourceLateViewerGetsCachedGOP(t *testing.T) {
+	s := testSource()
+	clip := loadClip(t, "320x240.h264")
+
+	first, stop := s.subscribe(ModeFull)
+	defer stop()
+
+	feed(t, s, &packetizer{ssrc: 1}, clip[:14]) // keyframe at 10, then 11-13
+	drain(first)
+
+	late, stopLate := s.subscribe(ModeFull)
+	defer stopLate()
+
+	types, n := drain(late)
+	if len(types) != 2 || types[1] != "format" || n != 1+4 {
+		t.Fatalf("late viewer got %v and %d binaries, want format, init + frames 10-13", types, n)
+	}
+}
+
+func TestSourceSlowViewerResumesAtKeyframe(t *testing.T) {
+	s := testSource()
+	clip := loadClip(t, "320x240.h264")
+	p := &packetizer{ssrc: 1}
+
+	ch, stop := s.subscribe(ModeFull)
+	defer stop()
+
+	// 100 frames without reading overflows the queue.
+	for range 5 {
+		feed(t, s, p, clip)
+	}
+
+	drain(ch)
+
+	// The next frames are mid-GOP: still skipped until a keyframe, which
+	// comes with a fresh format.
+	feed(t, s, p, clip)
+
+	types, n := drain(ch)
+	if len(types) != 1 || types[0] != "format" || n != 1+20 {
+		t.Fatalf("after catching up got %v and %d binaries, want format, init + 20 frames", types, n)
+	}
+}
+
+func TestSourceStopsWhenIdleAndForgetsCache(t *testing.T) {
+	s := testSource()
+
+	_, stop := s.subscribe(ModeFull)
+	feed(t, s, &packetizer{ssrc: 1}, loadClip(t, "320x240.h264"))
+	stop()
+
+	s.stopIfIdle()
+
+	if s.endpoint != nil || s.init != nil || s.gop != nil {
+		t.Fatal("idle source kept its socket or cache")
+	}
+}
+
+func TestHandleWebSocketRejectsBadRequests(t *testing.T) {
+	m := NewManager(false)
+	m.Configure(map[int]Stream{0: {Active: true, Address: "224.5.23.100:10100"}}, nil)
+
+	mux := http.NewServeMux()
+	mux.Handle("GET /ws/video/{id}", HandleWebSocket(m))
+
+	srv := httptest.NewServer(mux)
+	defer srv.Close()
+
+	for path, want := range map[string]int{
+		"/ws/video/7":               http.StatusNotFound,
+		"/ws/video/x":               http.StatusBadRequest,
+		"/ws/video/0?mode=sideways": http.StatusBadRequest,
+	} {
+		resp, err := http.Get(srv.URL + path)
+		if err != nil {
+			t.Fatal(err)
+		}
+
+		_ = resp.Body.Close()
+
+		if resp.StatusCode != want {
+			t.Errorf("%s: status %d, want %d", path, resp.StatusCode, want)
+		}
+	}
+}
diff --git a/gui/internal/video/websocket.go b/gui/internal/video/websocket.go
new file mode 100644
index 0000000..d3b9867
--- /dev/null
+++ b/gui/internal/video/websocket.go
@@ -0,0 +1,117 @@
+package video
+
+import (
+	"errors"
+	"log/slog"
+	"net/http"
+	"strconv"
+	"time"
+
+	"github.com/gorilla/websocket"
+)
+
+const (
+	pongWait   = 60 * time.Second
+	pingPeriod = (pongWait * 9) / 10
+	writeWait  = 10 * time.Second
+)
+
+var upgrader = websocket.Upgrader{}
+
+// HandleWebSocket serves GET /ws/video/{id}?mode=full|keyframes: one camera's
+// stream as JSON format and status messages and binary fMP4 segments, ready
+// for a MediaSource SourceBuffer in sequence mode.
+func HandleWebSocket(m *Manager) http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		id, err := strconv.Atoi(r.PathValue("id"))
+		if err != nil {
+			http.Error(w, "camera id must be a number", http.StatusBadRequest)
+
+			return
+		}
+
+		mode := Mode(r.URL.Query().Get("mode"))
+		if mode == "" {
+			mode = ModeFull
+		}
+
+		if mode != ModeFull && mode != ModeKeyframes {
+			http.Error(w, `mode must be "full" or "keyframes"`, http.StatusBadRequest)
+
+			return
+		}
+
+		// Subscribed before upgrading, so an unknown camera is a plain 404.
+		ch, unsubscribe, err := m.Subscribe(id, mode)
+		if errors.Is(err, ErrUnknownCamera) {
+			http.Error(w, err.Error(), http.StatusNotFound)
+
+			return
+		}
+
+		defer unsubscribe()
+
+		conn, err := upgrader.Upgrade(w, r, nil)
+		if err != nil {
+			slog.Warn("video websocket upgrade failed", "err", err)
+
+			return
+		}
+		defer conn.Close()
+
+		serve(conn, ch)
+	}
+}
+
+// serve writes ch to conn until either ends. The only reads are for close
+// frames and pongs; a viewer that vanished without closing is caught by the
+// ping deadline.
+func serve(conn *websocket.Conn, ch <-chan Message) {
+	gone := make(chan struct{})
+
+	go func() {
+		defer close(gone)
+
+		_ = conn.SetReadDeadline(time.Now().Add(pongWait))
+		conn.SetPongHandler(func(string) error {
+			return conn.SetReadDeadline(time.Now().Add(pongWait))
+		})
+
+		for {
+			if _, _, err := conn.ReadMessage(); err != nil {
+				return
+			}
+		}
+	}()
+
+	ticker := time.NewTicker(pingPeriod)
+	defer ticker.Stop()
+
+	for {
+		select {
+		case <-gone:
+			return
+		case msg, ok := <-ch:
+			if !ok {
+				return
+			}
+
+			kind := websocket.TextMessage
+			if msg.Binary {
+				kind = websocket.BinaryMessage
+			}
+
+			_ = conn.SetWriteDeadline(time.Now().Add(writeWait))
+
+			if err := conn.WriteMessage(kind, msg.Data); err != nil {
+				return
+			}
+		case <-ticker.C:
+			_ = conn.SetWriteDeadline(time.Now().Add(writeWait))
+
+			if err := conn.WriteMessage(websocket.PingMessage, nil); err != nil {
+				return
+			}
+		}
+	}
+}

From 0b07a6995fe73d3f74b923e6fa8c3b75577ad2ac Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Sun, 4 Oct 2026 14:28:00 -0400
Subject: [PATCH 19/23] camera config windows, driver selection

---
 config.yml                                    |   2 +
 gui/ARCHITECTURE.md                           |  31 +-
 gui/CLAUDE.md                                 |  11 +-
 gui/README.md                                 |   5 +-
 gui/cmd/ssl-vision-processor-gui/main.go      |  35 +-
 gui/cmd/ssl-vision-processor-gui/routes.go    |   1 +
 gui/cmd/ssl-vision-processor-gui/server.go    |  14 +
 gui/frontend/src/lib/cameraRanges.ts          | 131 ++++
 gui/frontend/src/lib/cameraSettings.svelte.ts | 165 +++++
 gui/frontend/src/lib/config.svelte.ts         |   9 +-
 .../src/lib/config/CameraPanel.svelte         | 648 ++++++++++++++++++
 .../src/lib/config/NetworkPanel.svelte        |   2 +
 .../src/lib/config/SliderField.svelte         | 147 ++++
 gui/frontend/src/lib/layout/ChangeList.svelte |   1 +
 .../src/lib/layout/MainContent.svelte         |   3 +
 gui/frontend/src/lib/layout/Shell.svelte      |   8 +-
 .../src/lib/layout/configCategories.ts        |   4 +-
 gui/frontend/src/lib/layout/nav.svelte.ts     |   1 +
 gui/frontend/src/lib/network.svelte.ts        |   3 +
 gui/frontend/src/lib/video/VideoPlayer.svelte |   2 +
 gui/frontend/src/lib/video/videoStream.ts     |   2 +
 gui/go.mod                                    |   3 +-
 gui/go.sum                                    |   2 -
 gui/internal/config/camera.go                 | 106 +++
 gui/internal/config/camera_test.go            |  39 ++
 gui/internal/config/diff.go                   |   7 +-
 gui/internal/config/document.go               |   4 +
 gui/internal/config/document_test.go          |   2 +
 gui/internal/multicast/endpoint.go            | 222 +++---
 gui/internal/multicast/endpoint_test.go       | 104 ++-
 gui/internal/multicast/host.go                |   3 +-
 gui/internal/multicast/sender.go              |  41 +-
 gui/internal/multicast/socket.go              |  84 ++-
 gui/internal/multicast/suspend.go             |  41 ++
 gui/internal/multicast/suspend_linux.go       |  20 +
 gui/internal/multicast/suspend_other.go       |  17 +
 gui/internal/multicast/suspend_test.go        |  38 +
 gui/internal/v4l/v4l.go                       |  96 +++
 gui/internal/v4l/v4l_test.go                  |  74 ++
 gui/internal/video/manager.go                 |  14 +
 gui/internal/video/source.go                  |  15 +-
 gui/internal/video/video_test.go              |   1 +
 42 files changed, 2004 insertions(+), 154 deletions(-)
 create mode 100644 gui/frontend/src/lib/cameraRanges.ts
 create mode 100644 gui/frontend/src/lib/cameraSettings.svelte.ts
 create mode 100644 gui/frontend/src/lib/config/CameraPanel.svelte
 create mode 100644 gui/frontend/src/lib/config/SliderField.svelte
 create mode 100644 gui/internal/config/camera.go
 create mode 100644 gui/internal/config/camera_test.go
 create mode 100644 gui/internal/multicast/suspend.go
 create mode 100644 gui/internal/multicast/suspend_linux.go
 create mode 100644 gui/internal/multicast/suspend_other.go
 create mode 100644 gui/internal/multicast/suspend_test.go
 create mode 100644 gui/internal/v4l/v4l.go
 create mode 100644 gui/internal/v4l/v4l_test.go

diff --git a/config.yml b/config.yml
index 93ee732..5bfc067 100644
--- a/config.yml
+++ b/config.yml
@@ -1,6 +1,8 @@
 # Generated by vision-processor-gui from vision.yml.
 # Edit that file (or use the GUI) instead; changes here are overwritten.
 cam_id: 0
+camera:
+  driver: OPENCV
 geometry:
   camera_amount: 1
   line_corners:
diff --git a/gui/ARCHITECTURE.md b/gui/ARCHITECTURE.md
index ce933c7..d8c43e5 100644
--- a/gui/ARCHITECTURE.md
+++ b/gui/ARCHITECTURE.md
@@ -83,10 +83,11 @@ before returning.
 | `cmd/ssl-vision-processor-gui` | Flags, wiring, HTTP handlers and routes.                                |
 | `internal/config`      | `vision.yml`: the working document, save and load, locked calibrations, the disk watcher, and generated `config.yml` files. |
 | `internal/geometry`    | The live field template, published calibrations, and the 1Hz publish loop. Holds no file state. |
-| `internal/multicast`   | The vision and game controller multicast sockets, reopened when their address changes. |
+| `internal/multicast`   | The vision, game controller, and video sockets: interface selection, reopening on changes, retrying while unhealthy, suspend detection. |
 | `internal/hub`         | In-process topic pub/sub and the `/ws` WebSocket handler.                     |
 | `internal/snapshot`    | Debug image listing and serving.                                              |
 | `internal/video`       | Live video: each camera's H.264 RTP stream relayed to browsers as fragmented MP4. |
+| `internal/v4l`         | Lists this host's Video4Linux capture devices for the camera path picker.     |
 | `internal/logging`     | slog setup: a coloured console handler and a rotating file handler.           |
 | `internal/vision`, `internal/gamecontroller` | Generated protobuf bindings. Not committed, see Build-time codegen below. |
 | `frontend`             | Svelte 5 and TypeScript, embedded into the binary via `//go:embed`.           |
@@ -163,10 +164,23 @@ at startup.
 Which interfaces the host's own sockets use is `host.interfaces`, a section no vision_processor reads, since
 interface names only mean something on one machine. `auto` (the default) uses interfaces that are up, have
 carrier, support multicast, and have an IPv4 address, and skips loopback and virtual ones (Docker and VM bridges,
-VPN tunnels); it is re-evaluated every second. Otherwise `skip` is a blacklist. The selection matters because
-sslnet's multicast receiver listens on one interface at a time, so an idle bridge costs real packets. The host
-sends through its own sender rather than sslnet's `UdpClient`, which ignores the skip list. At startup the host
-warns if the loopback interface has multicast off, as Ubuntu ships it, and suggests the command that enables it.
+VPN tunnels); it is re-evaluated every second. Otherwise `skip` is a blacklist. At startup the host warns if the
+loopback interface has multicast off, as Ubuntu ships it, and suggests the command that enables it.
+
+Every endpoint receives on one plain socket bound to its group address (as vision_processor binds), joined on
+all used interfaces at once, and sends from each used interface. Endpoints heal themselves: if a socket can't be
+fully set up (no usable interface, a failed join, a send socket lost when an interface went away), the endpoint
+reports the problem in its status, shown on the Network page and the badges, and retries every 5 s, logging only
+when the problem changes. The host also notices a suspend: each second it compares `CLOCK_BOOTTIME`, which keeps
+counting while suspended, with `CLOCK_MONOTONIC`, which doesn't. Neither jumps for NTP or clock changes, so a gap
+means the machine slept, and every socket is reopened.
+
+The Camera Settings tab edits each camera's `camera:` block, shown with vision_processor's own fallbacks applied
+(`src/driver/cameradriver.cpp`; an unset driver means SPINNAKER). Controls follow the driver: an index for
+SPINNAKER and MVIMPACT, a path for OPENCV, gamma hidden for MVIMPACT, and the OUTDOOR and INDOOR auto white
+balance profiles only for SPINNAKER. vision_processor reads `camera:` only at startup. Validation rejects what it
+would misread instead of refusing: an unknown driver (fatal at startup) and any white balance string other than
+OUTDOOR or INDOOR (it treats every other string as INDOOR).
 
 Every number in the free form blocks is normalized to an int or a float64. The browser sends every number as a
 JSON float and YAML decodes integers as ints, so without this every edit would show spurious changes such as
@@ -189,6 +203,7 @@ All routes are registered in `cmd/ssl-vision-processor-gui/routes.go`.
 | POST   | `/api/config/reload`           | Accept the file as it is on disk, discarding unsaved changes.       |
 | POST   | `/api/config/cameras/{id}/calibration` | Lock the camera's latest live calibration.                  |
 | DELETE | `/api/config/cameras/{id}/calibration` | Unlock it and stop publishing any calibration for the camera. |
+| GET    | `/api/camera/devices`          | This host's capture devices: stable by-id and by-path links, then raw nodes. |
 | GET    | `/api/snapshots`               | List of debug images currently on disk.                            |
 | GET    | `/api/snapshot/{camID}/{view}` | One debug image.                                                    |
 | GET    | `/ws`                          | WebSocket, see below.                                               |
@@ -226,9 +241,9 @@ value once it catches up, never a growing backlog of stale ones.
 
 Each vision_processor multicasts H.264 over RTP (`src/rtpstreamer.cpp`) to `ip_base_prefix + (ip_base_end +
 cam_id):port` from its `stream` settings, 224.5.23.100+id:10100 by default. `internal/video` relays it without
-re-encoding. A camera's socket opens on its first viewer and closes 5 s after its last. It binds the group address
-with a large receive buffer, joined on every selected interface, rather than using sslnet's receiver, whose 8 KB
-buffer drops most of a keyframe's burst and whose `0.0.0.0` bind would mix cameras that share a port.
+re-encoding. A camera's socket opens on its first viewer and closes 5 s after its last. Like every endpoint it
+binds its group address, so cameras sharing port 10100 don't mix, with a 4 MB receive buffer for a keyframe's
+burst of packets.
 
 Packets are reassembled into frames (RFC 6184 single units, STAP-A, FU-A; there is no SDP, so payload type and
 packetization mode 1 are assumed). After a lost packet, frames are dropped until the next keyframe, since the ones
diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
index 63985fa..45ad2d8 100644
--- a/gui/CLAUDE.md
+++ b/gui/CLAUDE.md
@@ -47,6 +47,7 @@ internal/
   hub/         topic pub/sub + the /ws handler
   snapshot/    debug image listing/serving
   video/       live video: RTP H.264 -> fMP4 over /ws/video/{id} for MSE
+  v4l/         this host's capture devices, for the camera path picker
   logging/     slog setup: tint console + lumberjack file
   vision/      generated Go protobuf, not committed -- run `make proto` (DO NOT EDIT)
   gamecontroller/  generated Go protobuf, not committed
@@ -64,9 +65,13 @@ buf.gen.yaml   generates both internal/{vision,gamecontroller} and
   `r.PathValue(...)` reads them.
 - **`gorilla/websocket`** for `/ws`. Not stdlib; there is no other serious
   option (`golang.org/x/net/websocket` is legacy/incomplete).
-- **`ssl-go-tools/pkg/sslnet`** for multicast (`MulticastServer`, `UdpClient`)
-  rather than hand-rolled sockets, to match how the rest of the league already
-  handles multi-interface venue boxes.
+- **Plain sockets for multicast** (`internal/multicast`: `go-reuseport` plus
+  `x/net/ipv4`), not `ssl-go-tools/pkg/sslnet`, which the rest of the league
+  uses. sslnet's `MulticastServer.Stop` dereferences a nil connection if it
+  never connected, which crashed the host whenever no interface was usable
+  (a suspend, an unplugged cable); its receiver also listens on one interface
+  at a time, binds `0.0.0.0` (mixing groups that share a port), and uses an
+  8 KB receive buffer.
 - **`google.golang.org/protobuf` + `protojson`**, never `encoding/json` on a
   generated message (see Gotchas).
 - **Svelte 5 runes only**, no stores added beyond what predates this work
diff --git a/gui/README.md b/gui/README.md
index dc4ae8c..3d53697 100644
--- a/gui/README.md
+++ b/gui/README.md
@@ -76,6 +76,7 @@ internal/
   hub/         topic pub/sub and the /ws handler
   snapshot/    debug image listing and serving
   video/       live video, relayed to the browser
+  v4l/         this host's capture devices
   logging/     slog setup
   vision/      generated protobuf bindings, not committed
   gamecontroller/  generated protobuf bindings, not committed
@@ -94,7 +95,9 @@ copy their fixture into `t.TempDir()` first and never operate on the checked in
 
 ## Live video
 
-The Stream page shows the selected camera's live video. The host relays the vision_processor's H.264 stream to
+The Camera Settings tab shows the selected camera's live video beside its `camera:` settings (driver, device,
+resolution, exposure, gain, gamma, white balance). Those settings apply when the camera's vision_processor
+restarts. The Stream page also shows the selected camera's live video. The host relays the vision_processor's H.264 stream to
 the browser without re-encoding, and only while someone watches. The browser needs H.264 support: Google Chrome
 bundles it, while Chromium and Firefox on Linux use the system's FFmpeg libraries. The stream cycles through the
 vision_processor's views unless its `stream.raw_feed` is set.
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
index 3aab268..05e05b8 100644
--- a/gui/cmd/ssl-vision-processor-gui/main.go
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -120,6 +120,8 @@ func run() int {
 
 	runBackground(&wg, "vision multicast", func() error { return sockets.vision.Run(ctx) })
 	runBackground(&wg, "game controller multicast", func() error { return sockets.gc.Run(ctx) })
+	suspend := multicast.NewSuspendDetector()
+
 	runBackground(&wg, "geometry publish loop", func() error {
 		return geom.Run(ctx, func(encoded []byte) {
 			sockets.vision.Send(encoded)
@@ -128,6 +130,12 @@ func run() int {
 			// store, so they're refreshed on this tick rather than only on
 			// store changes.
 			publishConfigState(wsHub, store)
+			// After a suspend every socket is reopened: the network may have
+			// gone away and come back while nothing ran to notice.
+			if slept := suspend.Check(); slept > 0 {
+				slog.Info("resumed after suspend", "duration", slept.Round(time.Second))
+				sockets.reopen()
+			}
 			// Re-evaluated every tick so automatic interface selection
 			// follows cables, Wi-Fi, and containers coming and going.
 			sockets.apply(store)
@@ -281,6 +289,16 @@ type networkSockets struct {
 	mu     sync.Mutex
 	auto   bool
 	ifaces []multicast.Interface
+	// used is the previous apply's used interfaces, nil before the first,
+	// so a network going away or coming back is logged once.
+	used []string
+}
+
+// reopen forces every socket to reopen, after a suspend.
+func (s *networkSockets) reopen() {
+	s.vision.Reopen()
+	s.gc.Reopen()
+	s.video.Reopen()
 }
 
 // apply moves both endpoints to the store's current addresses and interface
@@ -294,9 +312,24 @@ func (s *networkSockets) apply(store *config.Store) {
 	s.gc.SetInterfaces(ifaces)
 	s.video.Configure(cameraStreams(doc), ifaces)
 
+	used := []string{}
+	for _, i := range ifaces {
+		if i.Used {
+			used = append(used, i.Name)
+		}
+	}
+
 	s.mu.Lock()
-	s.auto, s.ifaces = auto, ifaces
+	previous := s.used
+	s.auto, s.ifaces, s.used = auto, ifaces, used
 	s.mu.Unlock()
+
+	switch {
+	case len(used) == 0 && (previous == nil || len(previous) > 0):
+		slog.Warn("no usable network interface; waiting for network", "auto", auto)
+	case len(used) > 0 && previous != nil && len(previous) == 0:
+		slog.Info("network back", "interfaces", used)
+	}
 }
 
 // currentNetwork is the store's working document, its network block, and its
diff --git a/gui/cmd/ssl-vision-processor-gui/routes.go b/gui/cmd/ssl-vision-processor-gui/routes.go
index e8bab9d..29fbd4d 100644
--- a/gui/cmd/ssl-vision-processor-gui/routes.go
+++ b/gui/cmd/ssl-vision-processor-gui/routes.go
@@ -21,6 +21,7 @@ func (s *VisionServer) addRoutes(mux *http.ServeMux) {
 	mux.Handle("POST /api/config/reload", s.handleReload())
 	mux.Handle("POST /api/config/cameras/{id}/calibration", s.handleLockCalibration())
 	mux.Handle("DELETE /api/config/cameras/{id}/calibration", s.handleUnlockCalibration())
+	mux.Handle("GET /api/camera/devices", s.handleCameraDevices())
 	mux.Handle("GET /api/snapshots", snapshot.HandleList(s.imgDir))
 	mux.Handle("GET /api/snapshot/{camID}/{view}", snapshot.HandleGet(s.imgDir))
 	mux.Handle("/api/", http.NotFoundHandler())
diff --git a/gui/cmd/ssl-vision-processor-gui/server.go b/gui/cmd/ssl-vision-processor-gui/server.go
index 26b40e0..2b41165 100644
--- a/gui/cmd/ssl-vision-processor-gui/server.go
+++ b/gui/cmd/ssl-vision-processor-gui/server.go
@@ -10,6 +10,7 @@ import (
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/config"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/v4l"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/video"
 	"google.golang.org/protobuf/encoding/protojson"
 )
@@ -31,6 +32,19 @@ func NewVisionServer(geom *geometry.Geometry, store *config.Store, wsHub *hub.Hu
 	return mux
 }
 
+// handleCameraDevices lists this host's capture devices for the camera path
+// picker. Empty, not an error, on a machine without Video4Linux.
+func (s *VisionServer) handleCameraDevices() http.HandlerFunc {
+	return func(w http.ResponseWriter, r *http.Request) {
+		devices := v4l.List(v4l.System)
+		if devices == nil {
+			devices = []v4l.Device{}
+		}
+
+		writeJSON(w, devices)
+	}
+}
+
 func (s *VisionServer) handleHealth() http.HandlerFunc {
 	return func(w http.ResponseWriter, r *http.Request) {
 		writeJSON(w, map[string]string{"status": "ok"})
diff --git a/gui/frontend/src/lib/cameraRanges.ts b/gui/frontend/src/lib/cameraRanges.ts
new file mode 100644
index 0000000..e1f173b
--- /dev/null
+++ b/gui/frontend/src/lib/cameraRanges.ts
@@ -0,0 +1,131 @@
+// Slider ranges for the Camera Settings tab.
+//
+// PLACEHOLDERS. A camera's real limits are only known to whoever can talk to
+// it: the vision_processor, through its SDK or V4L2. Once it reports them
+// over the network (SSL_VPConfig), these become fallbacks. The number box next
+// to each slider takes any value, so a range here never limits a setting.
+//
+// OPENCV uses the team's UC70 dev webcam (v4l2-ctl --list-ctrls), expressed in
+// the units vision_processor's OpenCV driver actually sends, which aren't the
+// ones config.yml documents (src/driver/opencvdriver.cpp):
+//   - exposure: the file's value × 1000 becomes V4L2 exposure_time_absolute,
+//     in 100 µs steps. The UC70 takes 3-2047 (0.3-204.7 ms).
+//   - gain: sent as is. The UC70 takes 0-8.
+//   - gamma: sent as is, where V4L2 means gamma × 100. The UC70 takes
+//     100-300.
+// SPINNAKER and MVIMPACT use typical machine-vision ranges.
+import type { Driver } from "./cameraSettings.svelte";
+
+export interface Range {
+  // In display units: what the slider and number box show.
+  min: number;
+  max: number;
+  step: number;
+  unit: string;
+  // File value = display value × scale.
+  scale: number;
+  // Display value to start from when switching off Auto.
+  fallback: number;
+}
+
+export interface CameraRanges {
+  exposure: Range;
+  gain: Range;
+  gamma: Range;
+  whiteBalance: Range;
+}
+
+export const CAMERA_RANGES: Record<Driver, CameraRanges> = {
+  SPINNAKER: {
+    exposure: {
+      min: 0.01,
+      max: 30,
+      step: 0.01,
+      unit: "ms",
+      scale: 1,
+      fallback: 5,
+    },
+    gain: { min: 0.1, max: 48, step: 0.1, unit: "dB", scale: 1, fallback: 5 },
+    gamma: { min: 0.25, max: 4, step: 0.05, unit: "", scale: 1, fallback: 1.5 },
+    whiteBalance: {
+      min: 0.25,
+      max: 4,
+      step: 0.01,
+      unit: "",
+      scale: 1,
+      fallback: 1,
+    },
+  },
+  MVIMPACT: {
+    exposure: {
+      min: 0.01,
+      max: 30,
+      step: 0.01,
+      unit: "ms",
+      scale: 1,
+      fallback: 5,
+    },
+    gain: { min: 0.1, max: 24, step: 0.1, unit: "dB", scale: 1, fallback: 5 },
+    // mvIMPACT ignores gamma; the panel hides it.
+    gamma: { min: 0.25, max: 4, step: 0.05, unit: "", scale: 1, fallback: 1.5 },
+    whiteBalance: {
+      min: 0.1,
+      max: 4,
+      step: 0.01,
+      unit: "",
+      scale: 1,
+      fallback: 1,
+    },
+  },
+  OPENCV: {
+    exposure: {
+      min: 3,
+      max: 2047,
+      step: 1,
+      unit: "× 100 µs",
+      scale: 0.001,
+      fallback: 166,
+    },
+    // 0 means automatic in the file, so manual starts at 1.
+    gain: {
+      min: 1,
+      max: 8,
+      step: 1,
+      unit: "camera units",
+      scale: 1,
+      fallback: 4,
+    },
+    gamma: {
+      min: 100,
+      max: 300,
+      step: 1,
+      unit: "× 0.01",
+      scale: 1,
+      fallback: 110,
+    },
+    // The UC70 has no red/blue balance controls; a generic 8-bit range.
+    whiteBalance: {
+      min: 0,
+      max: 255,
+      step: 1,
+      unit: "camera units",
+      scale: 1,
+      fallback: 128,
+    },
+  },
+};
+
+// File value → display value.
+export function toDisplay(range: Range, value: number): number {
+  return round(value / range.scale);
+}
+
+// Display value → file value, rounded so 166 × 0.001 is 0.166, not
+// 0.16600000000000001.
+export function toFile(range: Range, value: number): number {
+  return round(value * range.scale);
+}
+
+function round(value: number): number {
+  return Math.round(value * 1e6) / 1e6;
+}
diff --git a/gui/frontend/src/lib/cameraSettings.svelte.ts b/gui/frontend/src/lib/cameraSettings.svelte.ts
new file mode 100644
index 0000000..51851c2
--- /dev/null
+++ b/gui/frontend/src/lib/cameraSettings.svelte.ts
@@ -0,0 +1,165 @@
+// A camera's camera: block (vision_processor's src/driver/cameradriver.cpp),
+// as the Camera Settings tab edits it. Values shown are effective ones: the
+// C++ fallbacks, then vision.yml's defaults.camera, then the camera's own
+// config.camera. Edits go into the camera's own block, like the color panel:
+// a key is written when it differs from what the camera would inherit, and
+// removed when it's set back.
+//
+// vision_processor reads camera: only at startup, so nothing here takes
+// effect until it restarts.
+import { config, cameraDoc } from "./config.svelte";
+
+export type Driver = "SPINNAKER" | "MVIMPACT" | "OPENCV";
+
+export type WhiteBalance = "OUTDOOR" | "INDOOR" | { red: number; blue: number };
+
+export interface CameraSettings {
+  driver: Driver;
+  id: number;
+  // Unset means /dev/video{id}.
+  path?: string;
+  width: number;
+  height: number;
+  exposure: number;
+  gain: number;
+  gamma: number;
+  white_balance: WhiteBalance;
+}
+
+export type CameraKey = keyof CameraSettings;
+
+// What each driver does with the block (src/driver/*.cpp).
+export interface DriverInfo {
+  label: string;
+  // Selected by index in the SDK's camera list, or (OpenCV) by path.
+  selectsBy: "id" | "path";
+  gamma: boolean;
+  // Separate OUTDOOR and INDOOR auto white balance profiles.
+  wbProfiles: boolean;
+}
+
+export const DRIVERS: Record<Driver, DriverInfo> = {
+  SPINNAKER: {
+    label: "Spinnaker (FLIR)",
+    selectsBy: "id",
+    gamma: true,
+    wbProfiles: true,
+  },
+  MVIMPACT: {
+    label: "mvIMPACT (Bluefox3)",
+    selectsBy: "id",
+    gamma: false,
+    wbProfiles: false,
+  },
+  OPENCV: {
+    label: "OpenCV (V4L2 cameras, files)",
+    selectsBy: "path",
+    // Documented as supported, though see the gamma warning in the panel.
+    gamma: true,
+    wbProfiles: false,
+  },
+};
+
+// cameradriver.cpp's fallbacks for keys the block leaves out.
+const CPP_DEFAULTS: CameraSettings = {
+  driver: "SPINNAKER",
+  id: 0,
+  width: 0,
+  height: 0,
+  exposure: 0,
+  gain: 0,
+  gamma: 1,
+  white_balance: "OUTDOOR",
+};
+
+type Block = Record<string, unknown>;
+
+function asBlock(value: unknown): Block {
+  return value && typeof value === "object" && !Array.isArray(value)
+    ? (value as Block)
+    : {};
+}
+
+function inheritedBlock(): Block {
+  return asBlock(config.doc?.defaults?.["camera"]);
+}
+
+function ownBlock(cameraId: number): Block {
+  return asBlock(asBlock(cameraDoc(cameraId)?.config)["camera"]);
+}
+
+function inheritedValue(key: CameraKey): unknown {
+  const block = inheritedBlock();
+
+  return key in block ? block[key] : CPP_DEFAULTS[key];
+}
+
+export function cameraSettings(cameraId: number): CameraSettings {
+  return {
+    ...CPP_DEFAULTS,
+    ...inheritedBlock(),
+    ...ownBlock(cameraId),
+  };
+}
+
+// Sets one key for the camera. undefined removes the camera's override, so
+// it inherits again.
+export function setCameraKey<K extends CameraKey>(
+  cameraId: number,
+  key: K,
+  value: CameraSettings[K] | undefined,
+): void {
+  const camera = cameraDoc(cameraId);
+  if (!camera) return;
+
+  const own = ownBlock(cameraId);
+  const same = JSON.stringify(value) === JSON.stringify(inheritedValue(key));
+
+  // Back to what it would inherit anyway: drop the override, so undoing an
+  // edit leaves the file as it was.
+  if (value === undefined || same) {
+    if (!(key in own)) return;
+
+    writeBlock(
+      cameraId,
+      Object.fromEntries(Object.entries(own).filter(([k]) => k !== key)),
+    );
+
+    return;
+  }
+
+  if (JSON.stringify(own[key]) === JSON.stringify(value)) return;
+
+  writeBlock(cameraId, { ...own, [key]: value });
+}
+
+function writeBlock(cameraId: number, block: Block): void {
+  const camera = cameraDoc(cameraId);
+  if (!camera) return;
+
+  camera.config ??= {};
+
+  if (Object.keys(block).length === 0) {
+    delete camera.config["camera"];
+  } else {
+    camera.config["camera"] = block;
+  }
+}
+
+// A capture device on the host, from GET /api/camera/devices.
+export interface VideoDevice {
+  path: string;
+  node: string;
+  name: string;
+  kind: "by-id" | "by-path" | "node";
+}
+
+export async function loadVideoDevices(): Promise<VideoDevice[]> {
+  try {
+    const response = await fetch("/api/camera/devices");
+
+    return response.ok ? ((await response.json()) as VideoDevice[]) : [];
+  } catch {
+    return [];
+  }
+}
diff --git a/gui/frontend/src/lib/config.svelte.ts b/gui/frontend/src/lib/config.svelte.ts
index b9b3111..a947d9c 100644
--- a/gui/frontend/src/lib/config.svelte.ts
+++ b/gui/frontend/src/lib/config.svelte.ts
@@ -11,7 +11,13 @@ import {
   type OptionalFieldLines,
 } from "./geometry.svelte";
 
-export type Section = "field" | "geometry" | "color" | "network" | "other";
+export type Section =
+  | "field"
+  | "camera"
+  | "geometry"
+  | "color"
+  | "network"
+  | "other";
 
 // Mirrors gui/internal/config's Change: one leaf difference between two
 // documents, keyed by its vision.yml path.
@@ -360,6 +366,7 @@ export function formatValue(value: unknown): string {
 
 export const SECTION_LABELS: Record<Section, string> = {
   field: "Virtual Field",
+  camera: "Camera Settings",
   geometry: "Geometry",
   color: "Color",
   network: "Network",
diff --git a/gui/frontend/src/lib/config/CameraPanel.svelte b/gui/frontend/src/lib/config/CameraPanel.svelte
new file mode 100644
index 0000000..814206f
--- /dev/null
+++ b/gui/frontend/src/lib/config/CameraPanel.svelte
@@ -0,0 +1,648 @@
+<script lang="ts">
+  import { onMount } from "svelte";
+  import type { VisionInstance } from "../layout/nav.svelte";
+  import { cameraDoc } from "../config.svelte";
+  import {
+    DRIVERS,
+    cameraSettings,
+    setCameraKey,
+    loadVideoDevices,
+    type Driver,
+    type VideoDevice,
+    type WhiteBalance,
+  } from "../cameraSettings.svelte";
+  import { CAMERA_RANGES, toDisplay, toFile } from "../cameraRanges";
+  import VideoPlayer from "../video/VideoPlayer.svelte";
+  import NoteTip from "../NoteTip.svelte";
+  import SliderField from "./SliderField.svelte";
+
+  interface Props {
+    instance: VisionInstance | undefined;
+  }
+
+  let { instance }: Props = $props();
+
+  let cameraId = $derived(instance?.cameraId ?? 0);
+  let settings = $derived(cameraSettings(cameraId));
+  let driver = $derived(DRIVERS[settings.driver]);
+  // Placeholder slider ranges; see cameraRanges.ts.
+  let ranges = $derived(CAMERA_RANGES[settings.driver]);
+  let configPath = $derived(cameraDoc(cameraId)?.configPath);
+
+  let devices = $state<VideoDevice[]>([]);
+
+  onMount(() => {
+    void loadVideoDevices().then((d) => {
+      devices = d;
+    });
+  });
+
+  function set<K extends keyof typeof settings>(
+    key: K,
+    value: (typeof settings)[K] | undefined,
+  ): void {
+    setCameraKey(cameraId, key, value);
+  }
+
+  // Device
+
+  let effectivePath = $derived(
+    settings.path ?? `/dev/video${String(settings.id)}`,
+  );
+
+  const KIND_LABEL: Record<VideoDevice["kind"], string> = {
+    "by-id": "this camera, any port",
+    "by-path": "this USB port",
+    node: "may change",
+  };
+
+  let pathNotes = $derived.by((): string[] => {
+    const notes = [
+      "Device, image, or video file. Unset means /dev/video{id}.",
+      "The list shows cameras on the host running this GUI.",
+    ];
+    const device = devices.find((d) => d.path === effectivePath);
+
+    if (device?.kind === "by-id")
+      notes.push("Follows this camera to any USB port.");
+    if (device?.kind === "by-path")
+      notes.push("Follows the USB port, whichever camera is in it.");
+    if (!device && devices.length > 0 && effectivePath.startsWith("/dev/"))
+      notes.push("Not on this host; fine if the camera is on another machine.");
+
+    return notes;
+  });
+
+  let pathWarnings = $derived(
+    /^\/dev\/video\d+$/.test(effectivePath)
+      ? [
+          "/dev/videoN can change when devices re-enumerate. A /dev/v4l/by-id path follows the camera.",
+        ]
+      : [],
+  );
+
+  // Resolution
+
+  const RESOLUTIONS: [number, number][] = [
+    [0, 0],
+    [3840, 2160],
+    [2560, 1440],
+    [1920, 1080],
+    [1280, 720],
+    [640, 480],
+  ];
+
+  let resolutionIndex = $derived(
+    RESOLUTIONS.findIndex(
+      ([w, h]) => w === settings.width && h === settings.height,
+    ),
+  );
+
+  let draftSize = $state<[number, number]>([0, 0]);
+  let sizeError = $state<string | null>(null);
+
+  $effect(() => {
+    draftSize = [settings.width, settings.height];
+    sizeError = null;
+  });
+
+  function setSize(width: number, height: number): void {
+    if (
+      !Number.isInteger(width) ||
+      !Number.isInteger(height) ||
+      width < 0 ||
+      height < 0
+    ) {
+      sizeError = "Width and height must be whole numbers.";
+
+      return;
+    }
+
+    if ((width === 0) !== (height === 0)) {
+      sizeError = "Set both, or 0 for both (the camera's maximum).";
+
+      return;
+    }
+
+    sizeError = null;
+    set("width", width);
+    set("height", height);
+  }
+
+  let resolutionNotes = $derived(
+    settings.driver === "OPENCV"
+      ? [
+          "0 asks for the largest the camera offers.",
+          "Check the size under the video: OpenCV doesn't always get what it asks for.",
+        ]
+      : [
+          "0 is the sensor's maximum.",
+          "Bayer cameras are processed at half this internally.",
+        ],
+  );
+
+  // Exposure, gain, gamma
+
+  let exposureNotes = $derived([
+    "Longer is brighter but blurs motion.",
+    "At or above the frame time (33 ms at 30 fps) the frame rate drops.",
+    ...(settings.driver === "OPENCV"
+      ? [
+          "Shown in the camera's 100 µs steps: vision_processor sends the file's value × 1000, so 166 here is 16.6 ms and the file stores 0.166.",
+          "Placeholder range: the UC70 dev camera's 3-2047.",
+        ]
+      : ["Placeholder range until vision_processor reports the camera's."]),
+  ]);
+
+  let exposureWarnings = $derived(
+    settings.driver === "OPENCV" && settings.exposure === 0
+      ? [
+          "vision_processor's OpenCV driver sends auto_exposure = 1 for Auto, which V4L2 cameras read as Manual: the camera keeps its last exposure.",
+        ]
+      : [],
+  );
+
+  let gainNotes = $derived([
+    "Brighter but noisier. Noise means more false blobs and more processing time.",
+    "Robot ids or team colors flickering means the image is too bright.",
+    "0 means automatic, so a manual gain of exactly 0 isn't possible.",
+    ...(settings.driver === "OPENCV"
+      ? [
+          "Auto leaves the camera's own setting: OpenCV doesn't turn auto gain on.",
+          "Placeholder range: the UC70 dev camera's 0-8.",
+        ]
+      : ["Placeholder range until vision_processor reports the camera's."]),
+  ]);
+
+  let gammaNotes = $derived([
+    "Below 1 evens out bright and dark areas; above 1 adds color contrast.",
+    ...(settings.driver === "OPENCV"
+      ? [
+          "V4L2 counts gamma × 100 and vision_processor sends the file's value unscaled, so 100 here is a gamma of 1.0.",
+          "Placeholder range: the UC70 dev camera's 100-300.",
+        ]
+      : ["Placeholder range until vision_processor reports the camera's."]),
+  ]);
+
+  let gammaWarnings = $derived(
+    settings.driver === "OPENCV" && settings.gamma !== 1
+      ? [
+          "vision_processor's OpenCV driver currently ignores gamma other than 1.0 (opencvdriver.cpp:43 checks the wrong way round).",
+        ]
+      : [],
+  );
+
+  // White balance
+
+  type WBMode = "OUTDOOR" | "INDOOR" | "auto" | "manual";
+
+  let wbMode = $derived.by((): WBMode => {
+    const wb = settings.white_balance;
+    if (typeof wb === "object") return "manual";
+
+    return driver.wbProfiles ? wb : "auto";
+  });
+
+  let manualWB = $derived(
+    typeof settings.white_balance === "object"
+      ? settings.white_balance
+      : {
+          red: toFile(ranges.whiteBalance, ranges.whiteBalance.fallback),
+          blue: toFile(ranges.whiteBalance, ranges.whiteBalance.fallback),
+        },
+  );
+
+  function setWBMode(mode: WBMode): void {
+    const value: WhiteBalance =
+      mode === "manual" ? { ...manualWB } : mode === "auto" ? "OUTDOOR" : mode;
+
+    set("white_balance", value);
+  }
+
+  let wbNotes = $derived.by((): string[] => {
+    if (driver.wbProfiles)
+      return [
+        "Outdoor and indoor are Spinnaker's two auto profiles, for green and gray carpet.",
+      ];
+
+    if (settings.driver === "MVIMPACT")
+      return ["Automatic calibrates once, from the first frame after start."];
+
+    return ["Automatic turns on the camera's own auto white balance."];
+  });
+
+  let wbChannelNotes = $derived(
+    settings.driver === "OPENCV"
+      ? [
+          "Sent as V4L2 red/blue balance in camera units. Many UVC webcams only have a color temperature control, so this may do nothing; the UC70 dev camera has no red/blue controls at all.",
+          "Placeholder range: generic 8-bit.",
+        ]
+      : [
+          settings.driver === "SPINNAKER"
+            ? "Balance ratio relative to green; 1.0 is neutral."
+            : "Gain relative to green; 1.0 is neutral.",
+          "Placeholder range until vision_processor reports the camera's.",
+        ],
+  );
+</script>
+
+<section class="camera-panel">
+  <h2>Camera settings</h2>
+
+  {#if instance}
+    <p class="banner">
+      These apply when cam {instance.cameraId}'s vision_processor restarts: it
+      reads <code>camera:</code> only at startup.
+      {#if configPath}
+        The host writes them to <code>{configPath}</code>.
+      {:else}
+        This camera has no <code>config_path</code>, so the host doesn't write
+        its config file; copy these to it by hand.
+      {/if}
+    </p>
+
+    <div class="layout">
+      <!-- Left: the picture, with the settings that only change what is
+           captured. Right: the ones you tune by eye, next to the picture,
+           so they can give live feedback once vision_processor applies
+           camera settings without a restart. -->
+      <div class="main">
+        <div class="video">
+          {#key instance.cameraId}
+            <VideoPlayer cameraId={instance.cameraId} />
+          {/key}
+        </div>
+
+        <div class="capture">
+          <fieldset>
+            <legend>Device</legend>
+
+            <div class="row">
+              <label for="cam-driver">Driver</label>
+              <select
+                id="cam-driver"
+                value={settings.driver}
+                onchange={(e) => {
+                  set("driver", e.currentTarget.value as Driver);
+                }}
+              >
+                {#each Object.entries(DRIVERS) as [key, info] (key)}
+                  <option value={key}>{info.label}</option>
+                {/each}
+              </select>
+              <NoteTip
+                id="cam-driver-notes"
+                notes={[
+                  "SPINNAKER and MVIMPACT need vision_processor built with their SDKs.",
+                  "Unset means SPINNAKER.",
+                ]}
+              />
+            </div>
+
+            {#if driver.selectsBy === "id"}
+              <div class="row">
+                <label for="cam-id">Camera index</label>
+                <input
+                  id="cam-id"
+                  type="number"
+                  min="0"
+                  step="1"
+                  value={settings.id}
+                  onchange={(e) => {
+                    const v = e.currentTarget.valueAsNumber;
+                    if (Number.isInteger(v) && v >= 0) set("id", v);
+                  }}
+                />
+                <NoteTip
+                  id="cam-id-notes"
+                  notes={[
+                    "Position in the SDK's camera list, in detection order.",
+                  ]}
+                />
+              </div>
+            {:else}
+              <div class="row">
+                <label for="cam-path">Path</label>
+                <div class="stack">
+                  <select
+                    aria-label="Cameras on this host"
+                    value={devices.findIndex((d) => d.path === effectivePath)}
+                    onchange={(e) => {
+                      const device = devices[Number(e.currentTarget.value)];
+                      if (device) set("path", device.path);
+                    }}
+                  >
+                    {#each devices as device, i (device.path)}
+                      <option value={i}>
+                        {device.name} ({KIND_LABEL[device.kind]}) {device.path}
+                      </option>
+                    {/each}
+                    <option value={-1} disabled>
+                      {devices.length === 0
+                        ? "No cameras on this host"
+                        : "Other"}
+                    </option>
+                  </select>
+                  <input
+                    id="cam-path"
+                    type="text"
+                    spellcheck="false"
+                    value={settings.path ?? ""}
+                    placeholder={`/dev/video${String(settings.id)}`}
+                    onchange={(e) => {
+                      const v = e.currentTarget.value.trim();
+                      set("path", v === "" ? undefined : v);
+                    }}
+                  />
+                </div>
+                <NoteTip id="cam-path-notes" notes={pathNotes} />
+              </div>
+              {#each pathWarnings as warning (warning)}
+                <p class="warning">{warning}</p>
+              {/each}
+            {/if}
+          </fieldset>
+
+          <fieldset>
+            <legend>Resolution</legend>
+
+            <div class="row">
+              <label for="cam-resolution">Size</label>
+              <div class="stack">
+                <select
+                  id="cam-resolution"
+                  value={resolutionIndex}
+                  onchange={(e) => {
+                    const choice = RESOLUTIONS[Number(e.currentTarget.value)];
+                    if (choice) setSize(choice[0], choice[1]);
+                  }}
+                >
+                  {#each RESOLUTIONS as [w, h], i (i)}
+                    <option value={i}>
+                      {w === 0
+                        ? "Camera maximum"
+                        : `${String(w)} × ${String(h)}`}
+                    </option>
+                  {/each}
+                  <option value={-1} disabled>Custom</option>
+                </select>
+                <div class="size">
+                  <input
+                    type="number"
+                    aria-label="Width"
+                    min="0"
+                    step="1"
+                    bind:value={draftSize[0]}
+                    onchange={() => {
+                      setSize(draftSize[0], draftSize[1]);
+                    }}
+                  />
+                  ×
+                  <input
+                    type="number"
+                    aria-label="Height"
+                    min="0"
+                    step="1"
+                    bind:value={draftSize[1]}
+                    onchange={() => {
+                      setSize(draftSize[0], draftSize[1]);
+                    }}
+                  />
+                </div>
+              </div>
+              <NoteTip id="cam-resolution-notes" notes={resolutionNotes} />
+            </div>
+            {#if sizeError}<p class="error">{sizeError}</p>{/if}
+          </fieldset>
+        </div>
+      </div>
+
+      <div class="tuning">
+        <fieldset>
+          <legend>Brightness</legend>
+
+          <SliderField
+            id="cam-exposure"
+            label="Exposure"
+            value={toDisplay(ranges.exposure, settings.exposure)}
+            min={ranges.exposure.min}
+            max={ranges.exposure.max}
+            step={ranges.exposure.step}
+            unit={ranges.exposure.unit}
+            auto={{ value: 0, fallback: ranges.exposure.fallback }}
+            notes={exposureNotes}
+            warnings={exposureWarnings}
+            onchange={(v: number) => {
+              set("exposure", toFile(ranges.exposure, v));
+            }}
+          />
+
+          <SliderField
+            id="cam-gain"
+            label="Gain"
+            value={toDisplay(ranges.gain, settings.gain)}
+            min={ranges.gain.min}
+            max={ranges.gain.max}
+            step={ranges.gain.step}
+            unit={ranges.gain.unit}
+            auto={{ value: 0, fallback: ranges.gain.fallback }}
+            notes={gainNotes}
+            onchange={(v: number) => {
+              set("gain", toFile(ranges.gain, v));
+            }}
+          />
+
+          {#if driver.gamma}
+            <SliderField
+              id="cam-gamma"
+              label="Gamma"
+              value={toDisplay(ranges.gamma, settings.gamma)}
+              min={ranges.gamma.min}
+              max={ranges.gamma.max}
+              step={ranges.gamma.step}
+              unit={ranges.gamma.unit}
+              auto={{ value: 1, fallback: ranges.gamma.fallback, label: "Off" }}
+              notes={gammaNotes}
+              warnings={gammaWarnings}
+              onchange={(v: number) => {
+                set("gamma", toFile(ranges.gamma, v));
+              }}
+            />
+          {/if}
+        </fieldset>
+
+        <fieldset>
+          <legend>White balance</legend>
+
+          <div class="row">
+            <label for="cam-wb">Mode</label>
+            <select
+              id="cam-wb"
+              value={wbMode}
+              onchange={(e) => {
+                setWBMode(e.currentTarget.value as WBMode);
+              }}
+            >
+              {#if driver.wbProfiles}
+                <option value="OUTDOOR"
+                  >Automatic, outdoor (green carpet)</option
+                >
+                <option value="INDOOR">Automatic, indoor (gray carpet)</option>
+              {:else}
+                <option value="auto">Automatic</option>
+              {/if}
+              <option value="manual">Manual red / blue</option>
+            </select>
+            <NoteTip id="cam-wb-notes" notes={wbNotes} />
+          </div>
+
+          {#if wbMode === "manual"}
+            <SliderField
+              id="cam-wb-red"
+              label="Red"
+              value={toDisplay(ranges.whiteBalance, manualWB.red)}
+              min={ranges.whiteBalance.min}
+              max={ranges.whiteBalance.max}
+              step={ranges.whiteBalance.step}
+              unit={ranges.whiteBalance.unit}
+              notes={wbChannelNotes}
+              onchange={(v: number) => {
+                set("white_balance", {
+                  ...manualWB,
+                  red: toFile(ranges.whiteBalance, v),
+                });
+              }}
+            />
+            <SliderField
+              id="cam-wb-blue"
+              label="Blue"
+              value={toDisplay(ranges.whiteBalance, manualWB.blue)}
+              min={ranges.whiteBalance.min}
+              max={ranges.whiteBalance.max}
+              step={ranges.whiteBalance.step}
+              unit={ranges.whiteBalance.unit}
+              notes={wbChannelNotes}
+              onchange={(v: number) => {
+                set("white_balance", {
+                  ...manualWB,
+                  blue: toFile(ranges.whiteBalance, v),
+                });
+              }}
+            />
+          {/if}
+        </fieldset>
+      </div>
+    </div>
+  {:else}
+    <p class="hint">Select a vision processor on the left first.</p>
+  {/if}
+</section>
+
+<style>
+  .camera-panel {
+    max-width: 1600px;
+  }
+
+  h2 {
+    margin: 0 0 0.5rem;
+  }
+
+  .banner {
+    padding: 0.4rem 0.6rem;
+    border-radius: 4px;
+    background: #eef4ff;
+    color: #1e3a8a;
+    font-size: 0.85rem;
+  }
+
+  .layout {
+    display: grid;
+    grid-template-columns: minmax(0, 3fr) minmax(360px, 2fr);
+    gap: 1.5rem;
+    align-items: start;
+  }
+
+  .main {
+    display: flex;
+    flex-direction: column;
+    gap: 1rem;
+    min-width: 0;
+  }
+
+  .capture {
+    display: grid;
+    grid-template-columns: repeat(auto-fit, minmax(340px, 1fr));
+    gap: 1rem;
+    align-items: start;
+  }
+
+  .capture fieldset {
+    margin-bottom: 0;
+  }
+
+  @media (max-width: 1100px) {
+    .layout {
+      grid-template-columns: minmax(0, 1fr);
+    }
+  }
+
+  fieldset {
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    margin-bottom: 1rem;
+  }
+
+  .row {
+    display: grid;
+    grid-template-columns: 7rem 1fr 1.25rem;
+    align-items: center;
+    gap: 0.5rem;
+    margin: 0.45rem 0;
+    font-size: 0.85rem;
+  }
+
+  .stack {
+    display: flex;
+    flex-direction: column;
+    gap: 0.35rem;
+    min-width: 0;
+  }
+
+  .size {
+    display: flex;
+    align-items: center;
+    gap: 0.35rem;
+  }
+
+  .size input {
+    width: 6rem;
+  }
+
+  select,
+  input {
+    font-size: 0.85rem;
+  }
+
+  input[type="text"] {
+    font-family: monospace;
+  }
+
+  .warning,
+  .error {
+    margin: 0 0 0.4rem 7.5rem;
+    font-size: 0.8rem;
+  }
+
+  .warning {
+    color: #7a4a00;
+  }
+
+  .error {
+    color: #c81e1e;
+  }
+
+  .hint {
+    color: #666;
+    font-size: 0.85rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/NetworkPanel.svelte b/gui/frontend/src/lib/config/NetworkPanel.svelte
index 220f6f1..7ef5c5c 100644
--- a/gui/frontend/src/lib/config/NetworkPanel.svelte
+++ b/gui/frontend/src/lib/config/NetworkPanel.svelte
@@ -125,6 +125,8 @@
   function describe(status: SocketStatus | undefined, what: string): string {
     if (!status) return "Waiting for the host…";
 
+    if (status.problem) return `Not open: ${status.problem}. Retrying…`;
+
     const via = status.mode === "port" ? " (listening on the port)" : "";
 
     if (!status.lastHeard) return `No ${what} heard on this address yet${via}.`;
diff --git a/gui/frontend/src/lib/config/SliderField.svelte b/gui/frontend/src/lib/config/SliderField.svelte
new file mode 100644
index 0000000..e85f35f
--- /dev/null
+++ b/gui/frontend/src/lib/config/SliderField.svelte
@@ -0,0 +1,147 @@
+<script lang="ts">
+  import { untrack } from "svelte";
+  import NoteTip from "../NoteTip.svelte";
+
+  // One numeric setting: a slider for the usual range and a number box for
+  // anything outside it. With `auto`, a checkbox switches to the value that
+  // means automatic (vision_processor's 0 for exposure and gain), and
+  // remembers the manual value for switching back.
+  interface Props {
+    id: string;
+    label: string;
+    value: number;
+    min: number;
+    max: number;
+    step: number;
+    unit?: string;
+    // label defaults to "Auto"; gamma's sentinel (1.0) reads "Off".
+    auto?: { value: number; fallback: number; label?: string };
+    notes?: string[];
+    warnings?: string[];
+    onchange: (value: number) => void;
+  }
+
+  let {
+    id,
+    label,
+    value,
+    min,
+    max,
+    step,
+    unit = "",
+    auto,
+    notes = [],
+    warnings = [],
+    onchange,
+  }: Props = $props();
+
+  let isAuto = $derived(auto?.value === value);
+
+  let lastManual = $state(
+    untrack(() => (auto?.value === value ? auto.fallback : value)),
+  );
+
+  $effect(() => {
+    if (!isAuto) lastManual = value;
+  });
+
+  function set(raw: number): void {
+    if (Number.isFinite(raw)) onchange(raw);
+  }
+</script>
+
+<div class="row">
+  <label for={id}>{label}</label>
+
+  <div class="controls">
+    {#if auto}
+      <label class="auto">
+        <input
+          type="checkbox"
+          checked={isAuto}
+          onchange={(e) => {
+            set(e.currentTarget.checked ? auto.value : lastManual);
+          }}
+        />
+        {auto.label ?? "Auto"}
+      </label>
+    {/if}
+
+    <input
+      type="range"
+      {min}
+      {max}
+      {step}
+      value={isAuto ? lastManual : value}
+      disabled={isAuto}
+      oninput={(e) => {
+        set(e.currentTarget.valueAsNumber);
+      }}
+    />
+    <input
+      {id}
+      type="number"
+      class="number"
+      {step}
+      value={isAuto ? "" : value}
+      placeholder={isAuto ? (auto?.label ?? "Auto").toLowerCase() : ""}
+      disabled={isAuto}
+      onchange={(e) => {
+        set(e.currentTarget.valueAsNumber);
+      }}
+    />
+    <span class="unit">{unit}</span>
+  </div>
+
+  <NoteTip id={`${id}-notes`} {notes} />
+</div>
+
+{#each warnings as warning (warning)}
+  <p class="warning">{warning}</p>
+{/each}
+
+<style>
+  .row {
+    display: grid;
+    grid-template-columns: 7rem 1fr 1.25rem;
+    align-items: center;
+    gap: 0.5rem;
+    margin: 0.45rem 0;
+    font-size: 0.85rem;
+  }
+
+  .controls {
+    display: flex;
+    align-items: center;
+    gap: 0.5rem;
+  }
+
+  .auto {
+    display: flex;
+    align-items: center;
+    gap: 0.25rem;
+    font-size: 0.8rem;
+  }
+
+  input[type="range"] {
+    flex: 1;
+    min-width: 6rem;
+  }
+
+  .number {
+    width: 5.5rem;
+    font-size: 0.85rem;
+  }
+
+  .unit {
+    width: 5.5rem;
+    color: #666;
+    font-size: 0.8rem;
+  }
+
+  .warning {
+    margin: 0 0 0.4rem 7.5rem;
+    color: #7a4a00;
+    font-size: 0.8rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/layout/ChangeList.svelte b/gui/frontend/src/lib/layout/ChangeList.svelte
index 1d1cea5..2d8cede 100644
--- a/gui/frontend/src/lib/layout/ChangeList.svelte
+++ b/gui/frontend/src/lib/layout/ChangeList.svelte
@@ -14,6 +14,7 @@
 
   const SECTION_ORDER: Section[] = [
     "field",
+    "camera",
     "geometry",
     "color",
     "network",
diff --git a/gui/frontend/src/lib/layout/MainContent.svelte b/gui/frontend/src/lib/layout/MainContent.svelte
index 4472913..06e8e97 100644
--- a/gui/frontend/src/lib/layout/MainContent.svelte
+++ b/gui/frontend/src/lib/layout/MainContent.svelte
@@ -6,6 +6,7 @@
   import ColorPanel from "../config/ColorPanel.svelte";
   import NetworkPanel from "../config/NetworkPanel.svelte";
   import StreamPanel from "../config/StreamPanel.svelte";
+  import CameraPanel from "../config/CameraPanel.svelte";
   import ConfigCategoryPlaceholder from "../config/ConfigCategoryPlaceholder.svelte";
 
   let category = $derived(selectedCategory());
@@ -17,6 +18,8 @@
 
   {#if nav.selectedCategoryId === "field"}
     <FieldEditor />
+  {:else if nav.selectedCategoryId === "camera"}
+    <CameraPanel {instance} />
   {:else if nav.selectedCategoryId === "geometry"}
     <GeometryPanel {category} {instance} />
   {:else if nav.selectedCategoryId === "color"}
diff --git a/gui/frontend/src/lib/layout/Shell.svelte b/gui/frontend/src/lib/layout/Shell.svelte
index fb78d6c..35d249b 100644
--- a/gui/frontend/src/lib/layout/Shell.svelte
+++ b/gui/frontend/src/lib/layout/Shell.svelte
@@ -90,9 +90,11 @@
         type="button"
         class="badge socket"
         data-state={socket.status?.receiving ? "open" : "silent"}
-        title={socket.status?.receiving
-          ? `Receiving on ${socket.status.address}. Click to configure.`
-          : "Nothing heard on this address. Click to configure."}
+        title={socket.status?.problem
+          ? `Not open: ${socket.status.problem}. Retrying. Click to configure.`
+          : socket.status?.receiving
+            ? `Receiving on ${socket.status.address}. Click to configure.`
+            : "Nothing heard on this address. Click to configure."}
         onclick={() => {
           nav.selectedCategoryId = "network";
         }}
diff --git a/gui/frontend/src/lib/layout/configCategories.ts b/gui/frontend/src/lib/layout/configCategories.ts
index 85c0d90..6509f8f 100644
--- a/gui/frontend/src/lib/layout/configCategories.ts
+++ b/gui/frontend/src/lib/layout/configCategories.ts
@@ -35,7 +35,7 @@ export const CONFIG_CATEGORIES: ConfigCategory[] = [
   },
   {
     id: "camera",
-    label: "Camera",
+    label: "Camera Settings",
     scope: "per-instance",
     yamlKey: "camera",
     fields: [
@@ -157,4 +157,4 @@ export const CONFIG_CATEGORIES: ConfigCategory[] = [
 // used constantly while working on one camera, separate from the sidebar's
 // full list of all nine. Start small and add to this as more categories earn
 // a spot -- it's deliberately a subset, not a duplicate of CONFIG_CATEGORIES.
-export const TAB_CATEGORY_IDS = ["field", "geometry", "color"];
+export const TAB_CATEGORY_IDS = ["field", "camera", "geometry", "color"];
diff --git a/gui/frontend/src/lib/layout/nav.svelte.ts b/gui/frontend/src/lib/layout/nav.svelte.ts
index c9fa0aa..9a15b93 100644
--- a/gui/frontend/src/lib/layout/nav.svelte.ts
+++ b/gui/frontend/src/lib/layout/nav.svelte.ts
@@ -54,6 +54,7 @@ export function selectedCategory(): ConfigCategory {
 // any camera; per-camera ones only the selected camera's.
 const CATEGORY_SECTIONS: Record<string, Section> = {
   field: "field",
+  camera: "camera",
   geometry: "geometry",
   color: "color",
   network: "network",
diff --git a/gui/frontend/src/lib/network.svelte.ts b/gui/frontend/src/lib/network.svelte.ts
index 94f5eef..fac68ea 100644
--- a/gui/frontend/src/lib/network.svelte.ts
+++ b/gui/frontend/src/lib/network.svelte.ts
@@ -13,6 +13,9 @@ export interface SocketStatus {
   lastHeard?: string;
   source?: string;
   receiving: boolean;
+  // Why the socket isn't fully open (e.g. "no usable network interface");
+  // the host retries until it is.
+  problem?: string;
   // "port": no group to join, listening on the port (broadcast or unicast).
   mode: "multicast" | "port";
 }
diff --git a/gui/frontend/src/lib/video/VideoPlayer.svelte b/gui/frontend/src/lib/video/VideoPlayer.svelte
index 4e841cf..0592893 100644
--- a/gui/frontend/src/lib/video/VideoPlayer.svelte
+++ b/gui/frontend/src/lib/video/VideoPlayer.svelte
@@ -67,6 +67,8 @@
     if (!status) return "Connecting…";
     if (!status.active)
       return `Streaming is off for this camera (stream.active). Nothing to show.`;
+    if (status.problem)
+      return `Can't listen for video on ${status.address}: ${status.problem}. Retrying…`;
     if (!status.receiving)
       return `Waiting for video on ${status.address}. Is the vision_processor running?`;
     if (!format) return "Waiting for a keyframe…";
diff --git a/gui/frontend/src/lib/video/videoStream.ts b/gui/frontend/src/lib/video/videoStream.ts
index c50d721..9f1ae41 100644
--- a/gui/frontend/src/lib/video/videoStream.ts
+++ b/gui/frontend/src/lib/video/videoStream.ts
@@ -18,6 +18,8 @@ export interface StreamStatus {
   receiving: boolean;
   packets: number;
   source?: string;
+  // Why the host's socket isn't fully open; it retries until it is.
+  problem?: string;
 }
 
 // Mirrors gui/internal/video's Format.
diff --git a/gui/go.mod b/gui/go.mod
index 753cc56..b6da386 100644
--- a/gui/go.mod
+++ b/gui/go.mod
@@ -23,10 +23,9 @@ require (
 )
 
 require (
-	github.com/RoboCup-SSL/ssl-go-tools v1.12.0
 	github.com/libp2p/go-reuseport v0.4.0
 	golang.org/x/net v0.55.0
-	golang.org/x/sys v0.45.0 // indirect
+	golang.org/x/sys v0.45.0
 )
 
 tool google.golang.org/protobuf/cmd/protoc-gen-go
diff --git a/gui/go.sum b/gui/go.sum
index c338116..e5f0bba 100644
--- a/gui/go.sum
+++ b/gui/go.sum
@@ -1,5 +1,3 @@
-github.com/RoboCup-SSL/ssl-go-tools v1.12.0 h1:sXN+VSlMSOtNdLD0MPCaig3vSlj3ZTz/KIi9uJR/dy0=
-github.com/RoboCup-SSL/ssl-go-tools v1.12.0/go.mod h1:Gqrqs0LAcXmCQD3Z+IPXxrqxS9xc9sWJolYQyi3AHbw=
 github.com/abema/go-mp4 v1.7.3 h1:Aap+2vZl5KQrSGD9quYhLu4pWGXelFVUeFCa8IJaRXY=
 github.com/abema/go-mp4 v1.7.3/go.mod h1:vPl9t5ZK7K0x68jh12/+ECWBCXoWuIDtNgPtU2f04ws=
 github.com/bluenviron/mediacommon/v2 v2.9.5 h1:6r1vq9qFH5AUUjPOPxRd00BhBNAg1EcmYNvwmpzAibo=
diff --git a/gui/internal/config/camera.go b/gui/internal/config/camera.go
new file mode 100644
index 0000000..7cc7a16
--- /dev/null
+++ b/gui/internal/config/camera.go
@@ -0,0 +1,106 @@
+package config
+
+import (
+	"errors"
+	"fmt"
+	"slices"
+
+	"gopkg.in/yaml.v3"
+)
+
+// CameraDrivers are vision_processor's camera drivers (src/driver). Which
+// ones a given build has depends on the SDKs it was compiled against.
+var CameraDrivers = []string{"SPINNAKER", "MVIMPACT", "OPENCV"}
+
+// cameraBlock is the YAML shape of a camera: block, as
+// src/driver/cameradriver.cpp reads it.
+type cameraBlock struct {
+	Driver       *string   `yaml:"driver"`
+	ID           *int      `yaml:"id"`
+	Path         *string   `yaml:"path"`
+	Width        *int      `yaml:"width"`
+	Height       *int      `yaml:"height"`
+	Exposure     *float64  `yaml:"exposure"`
+	Gain         *float64  `yaml:"gain"`
+	Gamma        *float64  `yaml:"gamma"`
+	WhiteBalance yaml.Node `yaml:"white_balance"`
+}
+
+// validateCamera checks a camera block for what vision_processor would
+// misread rather than reject: an unknown driver is fatal at startup, and any
+// white_balance string other than OUTDOOR silently means INDOOR.
+func validateCamera(block any) error {
+	if block == nil {
+		return nil
+	}
+
+	data, err := yaml.Marshal(block)
+	if err != nil {
+		return err
+	}
+
+	var c cameraBlock
+	if err := yaml.Unmarshal(data, &c); err != nil {
+		return fmt.Errorf("camera: %w", err)
+	}
+
+	var errs error
+
+	add := func(format string, args ...any) { errs = errors.Join(errs, fmt.Errorf(format, args...)) }
+
+	if c.Driver != nil && !slices.Contains(CameraDrivers, *c.Driver) {
+		add("camera.driver: want one of %v, got %q", CameraDrivers, *c.Driver)
+	}
+
+	if c.ID != nil && *c.ID < 0 {
+		add("camera.id: must not be negative")
+	}
+
+	width, height := 0, 0
+	if c.Width != nil {
+		width = *c.Width
+	}
+
+	if c.Height != nil {
+		height = *c.Height
+	}
+
+	if width < 0 || height < 0 {
+		add("camera.width/height: must not be negative")
+	} else if (width == 0) != (height == 0) {
+		add("camera.width/height: set both, or neither for the camera's maximum")
+	}
+
+	for name, v := range map[string]*float64{"exposure": c.Exposure, "gain": c.Gain} {
+		if v != nil && *v < 0 {
+			add("camera.%s: must not be negative (0 is automatic)", name)
+		}
+	}
+
+	if c.Gamma != nil && *c.Gamma <= 0 {
+		add("camera.gamma: must be positive (1.0 is off)")
+	}
+
+	switch wb := c.WhiteBalance; wb.Kind {
+	case 0: // unset: OUTDOOR
+	case yaml.ScalarNode:
+		if wb.Value != "OUTDOOR" && wb.Value != "INDOOR" {
+			add("camera.white_balance: want OUTDOOR, INDOOR, or {red, blue}, got %q", wb.Value)
+		}
+	case yaml.MappingNode:
+		var manual struct {
+			Red  *float64 `yaml:"red"`
+			Blue *float64 `yaml:"blue"`
+		}
+
+		if err := wb.Decode(&manual); err != nil {
+			add("camera.white_balance: %v", err)
+		} else if (manual.Red != nil && *manual.Red < 0) || (manual.Blue != nil && *manual.Blue < 0) {
+			add("camera.white_balance: red and blue must not be negative")
+		}
+	default:
+		add("camera.white_balance: want OUTDOOR, INDOOR, or {red, blue}")
+	}
+
+	return errs
+}
diff --git a/gui/internal/config/camera_test.go b/gui/internal/config/camera_test.go
new file mode 100644
index 0000000..8e56939
--- /dev/null
+++ b/gui/internal/config/camera_test.go
@@ -0,0 +1,39 @@
+package config
+
+import (
+	"strings"
+	"testing"
+)
+
+func TestValidateCamera(t *testing.T) {
+	cases := map[string]struct {
+		block map[string]any
+		want  string // "" for valid
+	}{
+		"fixture":         {map[string]any{"driver": "OPENCV", "path": "/dev/video0"}, ""},
+		"manual wb":       {map[string]any{"white_balance": map[string]any{"red": 1.2, "blue": 0.9}}, ""},
+		"indoor":          {map[string]any{"white_balance": "INDOOR"}, ""},
+		"unknown driver":  {map[string]any{"driver": "opencv"}, "camera.driver"},
+		"lowercase wb":    {map[string]any{"white_balance": "outdoor"}, "camera.white_balance"},
+		"negative wb":     {map[string]any{"white_balance": map[string]any{"red": -1.0}}, "camera.white_balance"},
+		"half resolution": {map[string]any{"width": 1920}, "camera.width/height"},
+		"negative gain":   {map[string]any{"gain": -2.0}, "camera.gain"},
+		"zero gamma":      {map[string]any{"gamma": 0.0}, "camera.gamma"},
+	}
+
+	for name, tc := range cases {
+		t.Run(name, func(t *testing.T) {
+			doc := loadFixture(t)
+			doc.Cameras[1].Config = map[string]any{"camera": tc.block}
+
+			err := doc.Validate()
+
+			switch {
+			case tc.want == "" && err != nil:
+				t.Fatalf("Validate = %v, want valid", err)
+			case tc.want != "" && (err == nil || !strings.Contains(err.Error(), "cameras[1]: "+tc.want)):
+				t.Fatalf("Validate = %v, want an error about %s", err, tc.want)
+			}
+		})
+	}
+}
diff --git a/gui/internal/config/diff.go b/gui/internal/config/diff.go
index 7a1e1f0..052d1d6 100644
--- a/gui/internal/config/diff.go
+++ b/gui/internal/config/diff.go
@@ -13,6 +13,7 @@ const (
 	SectionGeometry = "geometry"
 	SectionColor    = "color"
 	SectionNetwork  = "network"
+	SectionCamera   = "camera"
 	SectionOther    = "other"
 )
 
@@ -128,6 +129,8 @@ func classify(path []string) (string, *int) {
 			return SectionColor, nil
 		case "network":
 			return SectionNetwork, nil
+		case "camera":
+			return SectionCamera, nil
 		}
 
 		return SectionOther, nil
@@ -144,7 +147,9 @@ func classify(path []string) (string, *int) {
 				return SectionColor, &id
 			case "network":
 				return SectionNetwork, &id
-			case "camera", "geometry", "":
+			case "camera":
+				return SectionCamera, &id
+			case "geometry", "":
 				return SectionGeometry, &id
 			default:
 				return SectionOther, &id
diff --git a/gui/internal/config/document.go b/gui/internal/config/document.go
index 296e52f..7a8c910 100644
--- a/gui/internal/config/document.go
+++ b/gui/internal/config/document.go
@@ -230,6 +230,10 @@ func (d Document) Validate() error {
 			}
 		}
 
+		if err := validateCamera(d.Effective(c)["camera"]); err != nil {
+			add(fmt.Errorf("%s: %w", prefix, err))
+		}
+
 		color, err := colorFromBlock(d.Effective(c)["color"])
 		if err != nil {
 			add(fmt.Errorf("%s: %w", prefix, err))
diff --git a/gui/internal/config/document_test.go b/gui/internal/config/document_test.go
index ad4b2b4..d08a42f 100644
--- a/gui/internal/config/document_test.go
+++ b/gui/internal/config/document_test.go
@@ -208,6 +208,7 @@ func TestDiffClassifiesSections(t *testing.T) {
 	after.Defaults["thresholds"].(map[string]any)["min_confidence"] = 0.4
 	after.Cameras[0].Calibration.Camera["tz"] = 4100
 	after.Defaults["network"] = map[string]any{"vision_port": 10010}
+	after.Cameras[0].Config["camera"].(map[string]any)["gain"] = 4.0
 
 	want := map[string]struct {
 		section string
@@ -220,6 +221,7 @@ func TestDiffClassifiesSections(t *testing.T) {
 		"defaults.thresholds.min_confidence": {SectionOther, -1},
 		"cameras[0].calibration.camera.tz":   {SectionGeometry, 0},
 		"defaults.network":                   {SectionNetwork, -1},
+		"cameras[0].config.camera.gain":      {SectionCamera, 0},
 	}
 
 	changes := Diff(before, after)
diff --git a/gui/internal/multicast/endpoint.go b/gui/internal/multicast/endpoint.go
index 992d272..5aa9bf9 100644
--- a/gui/internal/multicast/endpoint.go
+++ b/gui/internal/multicast/endpoint.go
@@ -1,9 +1,14 @@
 // Package multicast holds the host's SSL network sockets: the vision group
-// (geometry in and out) and the game controller group (referee in). Each is an
-// Endpoint whose address can change while running; the old sockets are torn
-// down and new ones opened on the new address. A multicast address joins the
-// group; anything else (normally a broadcast address, for switches whose IGMP
-// snooping drops multicast) listens on the port instead.
+// (geometry in and out), the game controller group (referee in), and each
+// camera's video stream. Each is an Endpoint whose address can change while
+// running; the old sockets are torn down and new ones opened on the new
+// address. A multicast address joins the group; anything else (normally a
+// broadcast address, for switches whose IGMP snooping drops multicast)
+// listens on the port instead.
+//
+// Endpoints heal themselves: while a socket couldn't be set up (no usable
+// interface during a suspend, a cable pulled), they retry every
+// RetryInterval, logging only when the problem changes.
 package multicast
 
 import (
@@ -13,22 +18,27 @@ import (
 	"slices"
 	"sync"
 	"time"
-
-	"github.com/RoboCup-SSL/ssl-go-tools/pkg/sslnet"
 )
 
 // ReceivingWindow is how recently a packet must have been heard for an
 // endpoint to count as receiving.
 const ReceivingWindow = 2 * time.Second
 
+// RetryInterval is how often an endpoint whose sockets aren't fully set up
+// tries again.
+const RetryInterval = 5 * time.Second
+
+// defaultReadBuffer is the kernel receive buffer for endpoints that don't
+// ask for one: plenty for the vision and game controller groups' rates.
+const defaultReadBuffer = 1 << 20
+
 // Options configures an Endpoint's sockets.
 type Options struct {
 	Verbose bool
 	// Send also opens a sender on the group, for Endpoint.Send.
 	Send bool
-	// ReadBuffer, when set, receives on a plain socket with this kernel
-	// receive buffer instead of sslnet's receiver (see openSocket). For
-	// high-rate streams; such an endpoint can't send.
+	// ReadBuffer is the kernel receive buffer; 0 means defaultReadBuffer.
+	// Video sets more, for a keyframe's burst of packets.
 	ReadBuffer int
 }
 
@@ -36,11 +46,21 @@ type Options struct {
 // valid packet from someone else, not noise or our own looped-back sends.
 type Consumer func(data []byte) bool
 
+// sockets is what an opener hands back.
+type sockets struct {
+	// send is nil when not sending.
+	send func([]byte)
+	stop func()
+	// health is "" while everything that should be open is, else what's
+	// wrong ("no usable network interface", a join error, a send socket
+	// lost to an interface going away). Checked every RetryInterval.
+	health func() string
+}
+
 // opener opens sockets on address over the interfaces marked Used,
-// delivering datagrams to receive. It returns how to send (nil when not
-// sending) and how to close everything. Swapped out in tests, which can't
-// rely on joining a real multicast group.
-type opener func(address string, ifaces []Interface, opts Options, receive func([]byte, *net.UDPAddr)) (send func([]byte), stop func())
+// delivering datagrams to receive. Swapped out in tests, which can't rely on
+// joining a real multicast group.
+type opener func(address string, ifaces []Interface, opts Options, receive func([]byte, *net.UDPAddr)) sockets
 
 // Endpoint is one multicast group the host listens on, and optionally sends to.
 type Endpoint struct {
@@ -48,15 +68,18 @@ type Endpoint struct {
 	opts    Options
 	consume Consumer
 	open    opener
+	retry   time.Duration
 
-	// poke wakes Run after SetAddress or SetInterfaces. Size 1: several
-	// changes before Run gets to it collapse into one reopen.
+	// poke wakes Run after SetAddress, SetInterfaces, or Reopen. Size 1:
+	// several before Run gets to it collapse into one reopen.
 	poke chan struct{}
 
 	mu        sync.Mutex
 	address   string
 	ifaces    []Interface
 	send      func([]byte)
+	health    func() string
+	problem   string // last reported, so it's logged when it changes
 	heard     uint64
 	lastHeard time.Time
 	source    string
@@ -73,21 +96,23 @@ type Status struct {
 	LastHeard *time.Time `json:"lastHeard,omitempty"`
 	Source    string     `json:"source,omitempty"`
 	Receiving bool       `json:"receiving"`
+	// Problem is why the sockets aren't fully open, if they aren't.
+	Problem string `json:"problem,omitempty"`
 }
 
 // NewEndpoint prepares an endpoint on address (e.g. "224.5.23.2:10006")
 // over ifaces (see Select). Nothing is opened until Run.
 func NewEndpoint(name, address string, ifaces []Interface, opts Options, consume Consumer) *Endpoint {
-	open := openSSLNet
-	if opts.ReadBuffer > 0 {
-		open = openSocket
+	if opts.ReadBuffer == 0 {
+		opts.ReadBuffer = defaultReadBuffer
 	}
 
 	return &Endpoint{
 		name:    name,
 		opts:    opts,
 		consume: consume,
-		open:    open,
+		open:    openSockets,
+		retry:   RetryInterval,
 		poke:    make(chan struct{}, 1),
 		address: address,
 		ifaces:  ifaces,
@@ -154,6 +179,12 @@ func usedKey(ifaces []Interface) []string {
 	return key
 }
 
+// Reopen closes and reopens the sockets even though nothing changed: after a
+// suspend, the old ones may be bound to state the network no longer has.
+func (e *Endpoint) Reopen() {
+	e.reopen()
+}
+
 func (e *Endpoint) reopen() {
 	select {
 	case e.poke <- struct{}{}:
@@ -162,25 +193,74 @@ func (e *Endpoint) reopen() {
 }
 
 // Run keeps the endpoint open on its current address until ctx is cancelled,
-// reopening whenever SetAddress or SetInterfaces changes it.
+// reopening whenever SetAddress, SetInterfaces, or Reopen asks, and every
+// RetryInterval while the sockets aren't fully set up.
 func (e *Endpoint) Run(ctx context.Context) error {
+	retrying := false
+
 	for {
 		e.mu.Lock()
 		address, ifaces := e.address, e.ifaces
 		e.mu.Unlock()
 
-		stop := e.start(address, ifaces)
+		s := e.start(address, ifaces, retrying)
+
+		var err error
+
+		retrying, err = e.wait(ctx, s.health)
+
+		s.stop()
+
+		e.mu.Lock()
+		e.send, e.health = nil, nil
+		e.mu.Unlock()
+
+		if err != nil {
+			return err
+		}
 
+		if !retrying {
+			slog.Info("reopening socket", "endpoint", e.name, "from", address, "to", e.Address(), "interfaces", usedKey(e.interfaces()))
+		}
+	}
+}
+
+// wait returns when the sockets should be reopened: retrying is true when
+// it's because they're unhealthy rather than because something changed.
+func (e *Endpoint) wait(ctx context.Context, health func() string) (retrying bool, err error) {
+	ticker := time.NewTicker(e.retry)
+	defer ticker.Stop()
+
+	for {
 		select {
 		case <-ctx.Done():
-			stop()
-
-			return ctx.Err()
+			return false, ctx.Err()
 		case <-e.poke:
+			return false, nil
+		case <-ticker.C:
+			if problem := health(); problem != "" {
+				e.report(problem)
+
+				return true, nil
+			}
 		}
+	}
+}
+
+// report logs a change in what's wrong, so a socket retrying all night
+// doesn't fill the log.
+func (e *Endpoint) report(problem string) {
+	e.mu.Lock()
+	previous := e.problem
+	e.problem = problem
+	e.mu.Unlock()
 
-		stop()
-		slog.Info("reopening socket", "endpoint", e.name, "from", address, "to", e.Address(), "interfaces", usedKey(e.interfaces()))
+	switch {
+	case problem == previous:
+	case problem == "":
+		slog.Info("socket healthy again", "endpoint", e.name, "address", e.Address())
+	default:
+		slog.Warn("socket not fully open, retrying", "endpoint", e.name, "address", e.Address(), "problem", problem, "every", e.retry)
 	}
 }
 
@@ -191,24 +271,28 @@ func (e *Endpoint) interfaces() []Interface {
 	return e.ifaces
 }
 
-func (e *Endpoint) start(address string, ifaces []Interface) func() {
-	send, stop := e.open(address, ifaces, e.opts, func(data []byte, from *net.UDPAddr) {
+func (e *Endpoint) start(address string, ifaces []Interface, retrying bool) sockets {
+	s := e.open(address, ifaces, e.opts, func(data []byte, from *net.UDPAddr) {
 		e.receive(address, data, from)
 	})
 
 	e.mu.Lock()
-	e.send = send
+	e.send, e.health = s.send, s.health
 	e.mu.Unlock()
 
-	slog.Info("socket open", "endpoint", e.name, "address", address)
+	problem := s.health()
 
-	return func() {
-		e.mu.Lock()
-		e.send = nil
-		e.mu.Unlock()
-
-		stop()
+	// A retry that's still failing stays quiet; report says what's wrong
+	// when that changes.
+	if retrying && problem != "" {
+		slog.Debug("socket retry", "endpoint", e.name, "address", address, "problem", problem)
+	} else {
+		slog.Info("socket open", "endpoint", e.name, "address", address, "interfaces", usedKey(ifaces))
 	}
+
+	e.report(problem)
+
+	return s
 }
 
 // receive handles a datagram that arrived on address. A closing socket can
@@ -256,6 +340,7 @@ func (e *Endpoint) Status(now time.Time) Status {
 		Mode:    modeOf(e.address),
 		Heard:   e.heard,
 		Source:  e.source,
+		Problem: e.problem,
 	}
 
 	if !e.lastHeard.IsZero() {
@@ -283,53 +368,32 @@ func modeOf(address string) string {
 	return "multicast"
 }
 
-// receiver is what sslnet's MulticastServer and BroadcastServer have in common.
-type receiver interface {
-	Start()
-	Stop()
-}
-
-func openSSLNet(address string, ifaces []Interface, opts Options, receive func([]byte, *net.UDPAddr)) (func([]byte), func()) {
-	var server receiver
-
-	if modeOf(address) == "port" {
-		// Binds 0.0.0.0, so it hears every interface whatever the selection;
-		// only sending follows it.
-		s := sslnet.NewBroadcastServer(address)
-		s.Verbose = opts.Verbose
-		s.Consumer = receive
-		server = s
-	} else {
-		s := sslnet.NewMulticastServer(address)
-		s.SkipInterfaces = skipped(ifaces)
-		s.Verbose = opts.Verbose
-		s.Consumer = receive
-		server = s
-	}
-
-	server.Start()
+// openSockets is the real opener: a plain receiving socket (openSocket) and,
+// for Options.Send, a sender on every used interface (openSender).
+func openSockets(address string, ifaces []Interface, opts Options, receive func([]byte, *net.UDPAddr)) sockets {
+	stopReceiver, receiverProblem := openSocket(address, ifaces, opts, receive)
 
 	if !opts.Send {
-		return nil, server.Stop
+		return sockets{
+			stop:   stopReceiver,
+			health: func() string { return receiverProblem },
+		}
 	}
 
 	out := openSender(address, ifaces)
 
-	return out.send, func() {
-		server.Stop()
-		out.close()
+	return sockets{
+		send: out.send,
+		stop: func() {
+			stopReceiver()
+			out.close()
+		},
+		health: func() string {
+			if receiverProblem != "" {
+				return receiverProblem
+			}
+
+			return out.health()
+		},
 	}
 }
-
-// skipped names the interfaces a selection doesn't use.
-func skipped(ifaces []Interface) []string {
-	var names []string
-
-	for _, i := range ifaces {
-		if !i.Used {
-			names = append(names, i.Name)
-		}
-	}
-
-	return names
-}
diff --git a/gui/internal/multicast/endpoint_test.go b/gui/internal/multicast/endpoint_test.go
index e747d40..40fe295 100644
--- a/gui/internal/multicast/endpoint_test.go
+++ b/gui/internal/multicast/endpoint_test.go
@@ -24,16 +24,24 @@ type fakeNet struct {
 	receive func([]byte, *net.UDPAddr)
 	sent    [][]byte
 	open    chan string
+	// problems is what each successive open reports as unhealthy; opens
+	// past the end are healthy.
+	problems []string
 }
 
 func newFakeNet() *fakeNet {
 	return &fakeNet{open: make(chan string, 8)}
 }
 
-func (f *fakeNet) opener(address string, _ []Interface, opts Options, receive func([]byte, *net.UDPAddr)) (func([]byte), func()) {
+func (f *fakeNet) opener(address string, _ []Interface, opts Options, receive func([]byte, *net.UDPAddr)) sockets {
 	f.mu.Lock()
 	f.opened = append(f.opened, address)
 	f.receive = receive
+
+	problem := ""
+	if len(f.problems) > 0 {
+		problem, f.problems = f.problems[0], f.problems[1:]
+	}
 	f.mu.Unlock()
 
 	f.open <- address
@@ -48,11 +56,15 @@ func (f *fakeNet) opener(address string, _ []Interface, opts Options, receive fu
 		}
 	}
 
-	return send, func() {
-		f.mu.Lock()
-		defer f.mu.Unlock()
+	return sockets{
+		send: send,
+		stop: func() {
+			f.mu.Lock()
+			defer f.mu.Unlock()
 
-		f.stopped = append(f.stopped, address)
+			f.stopped = append(f.stopped, address)
+		},
+		health: func() string { return problem },
 	}
 }
 
@@ -77,12 +89,14 @@ func (f *fakeNet) waitOpen(t *testing.T, want string) {
 	}
 }
 
-func startEndpoint(t *testing.T, address string, opts Options, consume Consumer) (*Endpoint, *fakeNet, func()) {
+func startEndpoint(t *testing.T, address string, opts Options, consume Consumer, problems ...string) (*Endpoint, *fakeNet, func()) {
 	t.Helper()
 
 	f := newFakeNet()
+	f.problems = problems
 	e := NewEndpoint("test", address, []Interface{{Name: "eth0", Address: "10.0.0.2", Used: true}}, opts, consume)
 	e.open = f.opener
+	e.retry = 20 * time.Millisecond
 
 	ctx, cancel := context.WithCancel(context.Background())
 	done := make(chan error, 1)
@@ -317,3 +331,81 @@ func TestEndpointReopensOnlyWhenUsedInterfacesChange(t *testing.T) {
 	})
 	f.waitOpen(t, "224.5.23.2:10006")
 }
+
+func TestEndpointRetriesUntilHealthy(t *testing.T) {
+	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{}, countAll,
+		"no usable network interface", "no usable network interface")
+	defer stop()
+
+	// The fake signals the open before the endpoint has checked its health.
+	waitFor(t, "the problem to be reported", func() bool {
+		return e.Status(time.Now()).Problem == "no usable network interface"
+	})
+
+	// Two failing opens, then a healthy one: the endpoint retries on its own
+	// though nothing about the address or interfaces changed.
+	f.waitOpen(t, "224.5.23.2:10006")
+	f.waitOpen(t, "224.5.23.2:10006")
+
+	waitFor(t, "the problem to clear after a healthy open", func() bool {
+		return e.Status(time.Now()).Problem == ""
+	})
+
+	select {
+	case got := <-f.open:
+		t.Fatalf("reopened %s after becoming healthy", got)
+	case <-time.After(100 * time.Millisecond):
+	}
+}
+
+func TestEndpointReopenForcesNewSockets(t *testing.T) {
+	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{}, countAll)
+	defer stop()
+
+	e.Reopen()
+	f.waitOpen(t, "224.5.23.2:10006")
+}
+
+// The overnight crash: sockets opened with no usable interface (a suspend
+// in progress), then reopened when the interface came back. With real
+// sockets, not the fake: it was the stop of a receiver that never joined.
+func TestEndpointSurvivesLosingEveryInterface(t *testing.T) {
+	e := NewEndpoint("test", "224.5.23.250:19950", nil, Options{Send: true}, countAll)
+	e.retry = 20 * time.Millisecond
+
+	ctx, cancel := context.WithCancel(context.Background())
+	done := make(chan error, 1)
+
+	go func() { done <- e.Run(ctx) }()
+
+	time.Sleep(60 * time.Millisecond) // a few retries with nothing usable
+
+	if p := e.Status(time.Now()).Problem; p == "" {
+		t.Error("no problem reported with no usable interface")
+	}
+
+	back, _ := Select(ListInterfaces(), true, nil)
+	e.SetInterfaces(back) // whatever this machine has; it must not panic
+	time.Sleep(60 * time.Millisecond)
+	e.SetInterfaces(nil)
+	time.Sleep(60 * time.Millisecond)
+
+	cancel()
+
+	if err := <-done; err != context.Canceled {
+		t.Fatalf("Run returned %v", err)
+	}
+}
+
+func waitFor(t *testing.T, what string, cond func() bool) {
+	t.Helper()
+
+	deadline := time.Now().Add(2 * time.Second)
+	for !cond() {
+		if time.Now().After(deadline) {
+			t.Fatalf("timed out waiting for %s", what)
+		}
+
+		time.Sleep(5 * time.Millisecond)
+	}
+}
diff --git a/gui/internal/multicast/host.go b/gui/internal/multicast/host.go
index 5b1be7a..ae9e72c 100644
--- a/gui/internal/multicast/host.go
+++ b/gui/internal/multicast/host.go
@@ -27,8 +27,7 @@ type Interface struct {
 }
 
 // virtualPrefixes are interface names automatic selection leaves out:
-// container and VM bridges and VPN tunnels, which never carry field traffic
-// but would each take a turn in sslnet's one-interface-at-a-time receiver.
+// container and VM bridges and VPN tunnels, which never carry field traffic.
 var virtualPrefixes = []string{
 	"docker", "br-", "veth", "virbr", "vmnet", "vboxnet", "lxc", "lxd", "cni",
 	"flannel", "cali", "tun", "tap", "wg", "tailscale", "zt", "utun",
diff --git a/gui/internal/multicast/sender.go b/gui/internal/multicast/sender.go
index a8ac723..2d00498 100644
--- a/gui/internal/multicast/sender.go
+++ b/gui/internal/multicast/sender.go
@@ -1,6 +1,8 @@
 package multicast
 
 import (
+	"errors"
+	"fmt"
 	"log/slog"
 	"net"
 	"slices"
@@ -8,23 +10,27 @@ import (
 )
 
 // sender writes datagrams to one address from every interface the host uses.
-// It replaces sslnet's UdpClient, which sends from every interface regardless
-// of the skip list.
 type sender struct {
 	mu    sync.Mutex
 	conns []*net.UDPConn
+	// problem is why some send socket is missing: one couldn't be opened,
+	// or one failed and was dropped (an interface going away). The endpoint
+	// sees it through health and reopens.
+	problem error
 }
 
 // openSender dials address from each used interface it makes sense to send
 // from: all of them for a multicast group or the limited broadcast address,
 // only the matching one for a subnet broadcast, and the kernel's choice for
-// anything else (unicast).
+// anything else (unicast). A multicast group with no used interface gets no
+// socket at all rather than the kernel's choice, which is what "skip every
+// interface" means, and which would fail anyway while the network is down.
 func openSender(address string, ifaces []Interface) *sender {
 	s := &sender{}
 
 	raddr, err := net.ResolveUDPAddr("udp4", address)
 	if err != nil {
-		slog.Warn("can't send", "address", address, "err", err)
+		s.problem = err
 
 		return s
 	}
@@ -40,6 +46,12 @@ func openSender(address string, ifaces []Interface) *sender {
 		for _, i := range used {
 			from = append(from, i.Address)
 		}
+
+		if len(from) == 0 {
+			s.problem = errNoInterface
+
+			return s
+		}
 	default:
 		for _, i := range used {
 			if i.Broadcast == raddr.IP.String() {
@@ -64,7 +76,7 @@ func openSender(address string, ifaces []Interface) *sender {
 func (s *sender) dial(laddr, raddr *net.UDPAddr) {
 	conn, err := net.DialUDP("udp4", laddr, raddr)
 	if err != nil {
-		slog.Warn("can't send", "to", raddr, "from", laddr, "err", err)
+		s.problem = errors.Join(s.problem, fmt.Errorf("can't send from %v: %w", laddr, err))
 
 		return
 	}
@@ -72,15 +84,16 @@ func (s *sender) dial(laddr, raddr *net.UDPAddr) {
 	s.conns = append(s.conns, conn)
 }
 
-// send writes data on every connection, dropping any that fail (an interface
-// that went away) until the next reopen.
+// send writes data on every connection, dropping any that fail until the
+// endpoint reopens (it notices through health).
 func (s *sender) send(data []byte) {
 	s.mu.Lock()
 	defer s.mu.Unlock()
 
 	s.conns = slices.DeleteFunc(s.conns, func(conn *net.UDPConn) bool {
 		if _, err := conn.Write(data); err != nil {
-			slog.Warn("send failed, dropping this interface until reopened", "from", conn.LocalAddr(), "to", conn.RemoteAddr(), "err", err)
+			slog.Debug("send failed, dropping this socket until reopened", "from", conn.LocalAddr(), "to", conn.RemoteAddr(), "err", err)
+			s.problem = errors.Join(s.problem, fmt.Errorf("lost send socket %v: %w", conn.LocalAddr(), err))
 			_ = conn.Close()
 
 			return true
@@ -90,6 +103,18 @@ func (s *sender) send(data []byte) {
 	})
 }
 
+// health is "" while every send socket that should be open is.
+func (s *sender) health() string {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	if s.problem == nil {
+		return ""
+	}
+
+	return s.problem.Error()
+}
+
 func (s *sender) close() {
 	s.mu.Lock()
 	defer s.mu.Unlock()
diff --git a/gui/internal/multicast/socket.go b/gui/internal/multicast/socket.go
index 278d426..d378408 100644
--- a/gui/internal/multicast/socket.go
+++ b/gui/internal/multicast/socket.go
@@ -1,6 +1,8 @@
 package multicast
 
 import (
+	"errors"
+	"fmt"
 	"log/slog"
 	"net"
 	"strconv"
@@ -10,27 +12,29 @@ import (
 	"golang.org/x/net/ipv4"
 )
 
-// openSocket receives on one plain UDP socket, the alternative to sslnet's
-// receiver for high-rate streams such as video (Options.ReadBuffer):
+// errNoInterface is the problem an endpoint reports while no network
+// interface is usable: suspended, unplugged, or everything skipped.
+var errNoInterface = errors.New("no usable network interface")
+
+// openSocket receives on one plain UDP socket:
 //
-//   - it binds the group address itself, not 0.0.0.0, so cameras sharing a
-//     port each get only their own group (Linux otherwise delivers every
-//     joined group on the port to every socket bound to it);
-//   - it joins the group on every used interface at once, rather than
-//     listening on one at a time;
-//   - its kernel receive buffer is large enough for a keyframe's burst of
-//     packets (sslnet sets 8 KB). The kernel caps it at net.core.rmem_max.
+//   - it binds the group address itself, not 0.0.0.0, as vision_processor
+//     does, so groups sharing a port (every camera's video uses 10100) each
+//     get only their own traffic;
+//   - it joins the group on every used interface at once;
+//   - its kernel receive buffer is opts.ReadBuffer, room for a video
+//     keyframe's burst of packets. The kernel caps it at net.core.rmem_max.
 //
-// A non-multicast address binds 0.0.0.0 on the port, as the broadcast
-// receiver does. It never sends.
-func openSocket(address string, ifaces []Interface, opts Options, receive func([]byte, *net.UDPAddr)) (func([]byte), func()) {
+// A non-multicast address binds 0.0.0.0 on the port instead, hearing
+// broadcast (or unicast to this host) on every interface. The returned
+// problem is "" if the socket is fully set up. Even with a problem, stop is
+// safe to call.
+func openSocket(address string, ifaces []Interface, opts Options, receive func([]byte, *net.UDPAddr)) (stop func(), problem string) {
 	noop := func() {}
 
 	addr, err := net.ResolveUDPAddr("udp4", address)
 	if err != nil {
-		slog.Warn("can't listen", "address", address, "err", err)
-
-		return nil, noop
+		return noop, err.Error()
 	}
 
 	bind := addr.IP
@@ -40,24 +44,24 @@ func openSocket(address string, ifaces []Interface, opts Options, receive func([
 
 	pc, err := reuseport.ListenPacket("udp4", net.JoinHostPort(bind.String(), strconv.Itoa(addr.Port)))
 	if err != nil {
-		slog.Warn("can't listen", "address", address, "err", err)
-
-		return nil, noop
+		return noop, fmt.Sprintf("can't listen: %v", err)
 	}
 
 	conn, ok := pc.(*net.UDPConn)
 	if !ok {
 		_ = pc.Close()
 
-		return nil, noop
+		return noop, fmt.Sprintf("unexpected socket type %T", pc)
 	}
 
 	if err := conn.SetReadBuffer(opts.ReadBuffer); err != nil {
-		slog.Warn("can't set receive buffer", "address", address, "err", err)
+		slog.Debug("can't set receive buffer", "address", address, "err", err)
 	}
 
 	if addr.IP.IsMulticast() {
-		join(ipv4.NewPacketConn(conn), addr, ifaces)
+		if err := join(ipv4.NewPacketConn(conn), addr, ifaces); err != nil {
+			problem = err.Error()
+		}
 	}
 
 	var done sync.WaitGroup
@@ -79,17 +83,22 @@ func openSocket(address string, ifaces []Interface, opts Options, receive func([
 		}
 	}()
 
-	return nil, func() {
+	return func() {
 		_ = conn.Close()
 		done.Wait()
-	}
+	}, problem
 }
 
-// join joins addr's group on every used interface, or on the kernel's
-// default one if none is used or found.
-func join(pc *ipv4.PacketConn, addr *net.UDPAddr, ifaces []Interface) {
+// join joins addr's group on every used interface. It fails only if it
+// joined none: some interfaces refusing (one without multicast, say) is fine
+// as long as another works.
+func join(pc *ipv4.PacketConn, addr *net.UDPAddr, ifaces []Interface) error {
 	group := &net.UDPAddr{IP: addr.IP}
-	joined := 0
+
+	var (
+		joined int
+		errs   error
+	)
 
 	for _, i := range ifaces {
 		if !i.Used {
@@ -97,12 +106,12 @@ func join(pc *ipv4.PacketConn, addr *net.UDPAddr, ifaces []Interface) {
 		}
 
 		ifi, err := net.InterfaceByName(i.Name)
-		if err != nil {
-			continue
+		if err == nil {
+			err = pc.JoinGroup(ifi, group)
 		}
 
-		if err := pc.JoinGroup(ifi, group); err != nil {
-			slog.Warn("can't join group", "group", addr.IP, "interface", i.Name, "err", err)
+		if err != nil {
+			errs = errors.Join(errs, fmt.Errorf("%s: %w", i.Name, err))
 
 			continue
 		}
@@ -110,9 +119,16 @@ func join(pc *ipv4.PacketConn, addr *net.UDPAddr, ifaces []Interface) {
 		joined++
 	}
 
-	if joined == 0 {
-		if err := pc.JoinGroup(nil, group); err != nil {
-			slog.Warn("can't join group", "group", addr.IP, "err", err)
+	switch {
+	case joined > 0:
+		if errs != nil {
+			slog.Debug("joined the group on some interfaces only", "group", addr.IP, "err", errs)
 		}
+
+		return nil
+	case errs == nil:
+		return errNoInterface
+	default:
+		return fmt.Errorf("can't join %s: %w", addr.IP, errs)
 	}
 }
diff --git a/gui/internal/multicast/suspend.go b/gui/internal/multicast/suspend.go
new file mode 100644
index 0000000..654f64d
--- /dev/null
+++ b/gui/internal/multicast/suspend.go
@@ -0,0 +1,41 @@
+package multicast
+
+import "time"
+
+// suspendThreshold is how much unaccounted time counts as a suspend rather
+// than scheduling jitter.
+const suspendThreshold = 2 * time.Second
+
+// SuspendDetector notices that the machine was suspended between two checks.
+// It compares a clock that keeps counting through suspend with one that
+// doesn't (on Linux, CLOCK_BOOTTIME and CLOCK_MONOTONIC): neither jumps for
+// NTP or manual clock changes, so their difference grows by exactly the time
+// spent asleep and never otherwise.
+type SuspendDetector struct {
+	// offset reads the suspend-counting clock minus the one that isn't.
+	offset func() time.Duration
+	last   time.Duration
+}
+
+// NewSuspendDetector starts watching from now.
+func NewSuspendDetector() *SuspendDetector {
+	return newSuspendDetector(suspendOffset)
+}
+
+func newSuspendDetector(offset func() time.Duration) *SuspendDetector {
+	return &SuspendDetector{offset: offset, last: offset()}
+}
+
+// Check reports how long the machine was suspended since the last check, or
+// 0 if it wasn't.
+func (d *SuspendDetector) Check() time.Duration {
+	now := d.offset()
+	slept := now - d.last
+	d.last = now
+
+	if slept < suspendThreshold {
+		return 0
+	}
+
+	return slept
+}
diff --git a/gui/internal/multicast/suspend_linux.go b/gui/internal/multicast/suspend_linux.go
new file mode 100644
index 0000000..3fbf7c8
--- /dev/null
+++ b/gui/internal/multicast/suspend_linux.go
@@ -0,0 +1,20 @@
+package multicast
+
+import (
+	"time"
+
+	"golang.org/x/sys/unix"
+)
+
+// suspendOffset is CLOCK_BOOTTIME (counts suspend) minus CLOCK_MONOTONIC
+// (doesn't). Go's own monotonic clock is CLOCK_MONOTONIC, so time.Since
+// alone can't see a suspend.
+func suspendOffset() time.Duration {
+	var boot, mono unix.Timespec
+
+	if unix.ClockGettime(unix.CLOCK_BOOTTIME, &boot) != nil || unix.ClockGettime(unix.CLOCK_MONOTONIC, &mono) != nil {
+		return 0
+	}
+
+	return time.Duration(boot.Nano() - mono.Nano())
+}
diff --git a/gui/internal/multicast/suspend_other.go b/gui/internal/multicast/suspend_other.go
new file mode 100644
index 0000000..53bf55f
--- /dev/null
+++ b/gui/internal/multicast/suspend_other.go
@@ -0,0 +1,17 @@
+//go:build !linux
+
+package multicast
+
+import "time"
+
+var start = time.Now()
+
+// suspendOffset falls back to the wall clock (counts suspend) minus Go's
+// monotonic clock. Unlike CLOCK_BOOTTIME, the wall clock can jump for a
+// manual clock change or an NTP step, which then reads as a suspend; the
+// only effect is a harmless reopen.
+func suspendOffset() time.Duration {
+	now := time.Now()
+
+	return now.Round(0).Sub(start.Round(0)) - now.Sub(start)
+}
diff --git a/gui/internal/multicast/suspend_test.go b/gui/internal/multicast/suspend_test.go
new file mode 100644
index 0000000..5c1bf4e
--- /dev/null
+++ b/gui/internal/multicast/suspend_test.go
@@ -0,0 +1,38 @@
+package multicast
+
+import (
+	"testing"
+	"time"
+)
+
+func TestSuspendDetector(t *testing.T) {
+	offset := time.Duration(0)
+	d := newSuspendDetector(func() time.Duration { return offset })
+
+	if slept := d.Check(); slept != 0 {
+		t.Fatalf("no time passed, got %v", slept)
+	}
+
+	offset += 300 * time.Millisecond // jitter, not a suspend
+	if slept := d.Check(); slept != 0 {
+		t.Fatalf("jitter reported as a %v suspend", slept)
+	}
+
+	offset += 13*time.Hour + 44*time.Minute
+	if slept := d.Check(); slept != 13*time.Hour+44*time.Minute {
+		t.Fatalf("slept = %v, want 13h44m", slept)
+	}
+
+	if slept := d.Check(); slept != 0 {
+		t.Fatalf("the same suspend reported twice: %v", slept)
+	}
+}
+
+func TestSuspendOffsetIsStableWhileAwake(t *testing.T) {
+	d := NewSuspendDetector()
+	time.Sleep(50 * time.Millisecond)
+
+	if slept := d.Check(); slept != 0 {
+		t.Fatalf("reported a %v suspend while awake", slept)
+	}
+}
diff --git a/gui/internal/v4l/v4l.go b/gui/internal/v4l/v4l.go
new file mode 100644
index 0000000..f556d6b
--- /dev/null
+++ b/gui/internal/v4l/v4l.go
@@ -0,0 +1,96 @@
+// Package v4l lists this host's Video4Linux capture devices, for choosing an
+// OpenCV camera path. It only sees cameras plugged into the machine running
+// the GUI host.
+package v4l
+
+import (
+	"os"
+	"path/filepath"
+	"slices"
+	"strings"
+)
+
+// Device is one way to name a capture device.
+type Device struct {
+	// Path is what goes in camera.path.
+	Path string `json:"path"`
+	// Node is the /dev/videoN it currently points at.
+	Node string `json:"node"`
+	// Name is the driver's name for the device, e.g. "UC70: UC70".
+	Name string `json:"name"`
+	// Kind is "by-id" (follows the camera), "by-path" (follows the USB
+	// port), or "node" (/dev/videoN, which can change when devices
+	// re-enumerate).
+	Kind string `json:"kind"`
+}
+
+// Roots are where List looks; tests point them at a fake tree.
+type Roots struct {
+	Dev   string // usually /dev
+	Sysfs string // usually /sys/class/video4linux
+}
+
+// System is the real machine.
+var System = Roots{Dev: "/dev", Sysfs: "/sys/class/video4linux"}
+
+// List returns the capture nodes (V4L2 index 0; cameras often add a
+// metadata-only node at index 1) under every stable name udev gives them,
+// stable names first.
+func List(r Roots) []Device {
+	capture := map[string]string{} // videoN -> name
+
+	entries, _ := os.ReadDir(r.Sysfs)
+	for _, e := range entries {
+		index, err := os.ReadFile(filepath.Join(r.Sysfs, e.Name(), "index"))
+		if err != nil || strings.TrimSpace(string(index)) != "0" {
+			continue
+		}
+
+		name, _ := os.ReadFile(filepath.Join(r.Sysfs, e.Name(), "name"))
+		capture[e.Name()] = strings.TrimSpace(string(name))
+	}
+
+	var out []Device
+
+	for _, kind := range []string{"by-id", "by-path"} {
+		dir := filepath.Join(r.Dev, "v4l", kind)
+
+		links, _ := os.ReadDir(dir)
+		for _, l := range links {
+			// by-path lists every USB device twice; the usbv2 form is a
+			// newer alias of the same port.
+			if strings.Contains(l.Name(), "-usbv2-") {
+				continue
+			}
+
+			target, err := os.Readlink(filepath.Join(dir, l.Name()))
+			if err != nil {
+				continue
+			}
+
+			node := filepath.Base(target)
+			if name, ok := capture[node]; ok {
+				out = append(out, Device{
+					Path: filepath.Join(dir, l.Name()),
+					Node: filepath.Join(r.Dev, node),
+					Name: name,
+					Kind: kind,
+				})
+			}
+		}
+	}
+
+	nodes := make([]string, 0, len(capture))
+	for node := range capture {
+		nodes = append(nodes, node)
+	}
+
+	slices.Sort(nodes)
+
+	for _, node := range nodes {
+		path := filepath.Join(r.Dev, node)
+		out = append(out, Device{Path: path, Node: path, Name: capture[node], Kind: "node"})
+	}
+
+	return out
+}
diff --git a/gui/internal/v4l/v4l_test.go b/gui/internal/v4l/v4l_test.go
new file mode 100644
index 0000000..ed926a0
--- /dev/null
+++ b/gui/internal/v4l/v4l_test.go
@@ -0,0 +1,74 @@
+package v4l
+
+import (
+	"os"
+	"path/filepath"
+	"testing"
+)
+
+// fakeTree builds a camera with a capture node (video1) and a metadata node
+// (video2), as a UVC webcam does.
+func fakeTree(t *testing.T) Roots {
+	t.Helper()
+
+	root := t.TempDir()
+	r := Roots{Dev: filepath.Join(root, "dev"), Sysfs: filepath.Join(root, "sys")}
+
+	for node, index := range map[string]string{"video1": "0", "video2": "1"} {
+		dir := filepath.Join(r.Sysfs, node)
+		must(t, os.MkdirAll(dir, 0o755))
+		must(t, os.WriteFile(filepath.Join(dir, "index"), []byte(index+"\n"), 0o644))
+		must(t, os.WriteFile(filepath.Join(dir, "name"), []byte("UC70: UC70\n"), 0o644))
+	}
+
+	links := map[string]string{
+		"by-id/usb-Cam_SN1-video-index0":                      "../../video1",
+		"by-id/usb-Cam_SN1-video-index1":                      "../../video2",
+		"by-path/pci-0000:10:00.0-usb-0:4:1.0-video-index0":   "../../video1",
+		"by-path/pci-0000:10:00.0-usbv2-0:4:1.0-video-index0": "../../video1",
+	}
+
+	for name, target := range links {
+		path := filepath.Join(r.Dev, "v4l", name)
+		must(t, os.MkdirAll(filepath.Dir(path), 0o755))
+		must(t, os.Symlink(target, path))
+	}
+
+	return r
+}
+
+func must(t *testing.T, err error) {
+	t.Helper()
+
+	if err != nil {
+		t.Fatal(err)
+	}
+}
+
+func TestListCaptureNodesStableNamesFirst(t *testing.T) {
+	r := fakeTree(t)
+
+	got := List(r)
+
+	want := []Device{
+		{Path: filepath.Join(r.Dev, "v4l/by-id/usb-Cam_SN1-video-index0"), Node: filepath.Join(r.Dev, "video1"), Name: "UC70: UC70", Kind: "by-id"},
+		{Path: filepath.Join(r.Dev, "v4l/by-path/pci-0000:10:00.0-usb-0:4:1.0-video-index0"), Node: filepath.Join(r.Dev, "video1"), Name: "UC70: UC70", Kind: "by-path"},
+		{Path: filepath.Join(r.Dev, "video1"), Node: filepath.Join(r.Dev, "video1"), Name: "UC70: UC70", Kind: "node"},
+	}
+
+	if len(got) != len(want) {
+		t.Fatalf("got %d devices, want %d: %+v", len(got), len(want), got)
+	}
+
+	for i := range want {
+		if got[i] != want[i] {
+			t.Errorf("device %d = %+v, want %+v", i, got[i], want[i])
+		}
+	}
+}
+
+func TestListNoV4L(t *testing.T) {
+	if got := List(Roots{Dev: t.TempDir(), Sysfs: t.TempDir()}); len(got) != 0 {
+		t.Fatalf("got %+v on a machine without cameras", got)
+	}
+}
diff --git a/gui/internal/video/manager.go b/gui/internal/video/manager.go
index 4c8b1b4..6c7e9b7 100644
--- a/gui/internal/video/manager.go
+++ b/gui/internal/video/manager.go
@@ -48,6 +48,20 @@ func (m *Manager) Configure(streams map[int]Stream, ifaces []multicast.Interface
 	}
 }
 
+// Reopen reopens every open stream's socket, after a suspend.
+func (m *Manager) Reopen() {
+	m.mu.Lock()
+	sources := make([]*source, 0, len(m.sources))
+	for _, src := range m.sources {
+		sources = append(sources, src)
+	}
+	m.mu.Unlock()
+
+	for _, src := range sources {
+		src.reopen()
+	}
+}
+
 // Subscribe starts a viewer of camera id's stream. Call the returned
 // function exactly once when done; the channel closes then.
 func (m *Manager) Subscribe(id int, mode Mode) (<-chan Message, func(), error) {
diff --git a/gui/internal/video/source.go b/gui/internal/video/source.go
index d732095..6b4983e 100644
--- a/gui/internal/video/source.go
+++ b/gui/internal/video/source.go
@@ -52,6 +52,7 @@ type endpoint interface {
 	Run(ctx context.Context) error
 	SetAddress(address string)
 	SetInterfaces(ifaces []multicast.Interface)
+	Reopen()
 	Status(now time.Time) multicast.Status
 }
 
@@ -113,6 +114,16 @@ func (s *source) configure(active bool, address string, ifaces []multicast.Inter
 	}
 }
 
+// reopen reopens a running socket, after a suspend.
+func (s *source) reopen() {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	if s.endpoint != nil {
+		s.endpoint.Reopen()
+	}
+}
+
 // subscribe adds a viewer and opens the socket if it's the first. The viewer
 // starts with the current format and, so the picture appears at once rather
 // than at the next keyframe, the cached frames since the last one.
@@ -349,6 +360,8 @@ type Status struct {
 	Receiving bool   `json:"receiving"`
 	Packets   uint64 `json:"packets"`
 	Source    string `json:"source,omitempty"`
+	// Problem is why the socket isn't fully open, if it isn't.
+	Problem string `json:"problem,omitempty"`
 }
 
 // sendStatus is best effort: a full queue just misses one. Called with mu
@@ -358,7 +371,7 @@ func (s *source) sendStatus(v *viewer) {
 
 	if s.endpoint != nil {
 		ep := s.endpoint.Status(time.Now())
-		status.Receiving, status.Packets, status.Source = ep.Receiving, ep.Heard, ep.Source
+		status.Receiving, status.Packets, status.Source, status.Problem = ep.Receiving, ep.Heard, ep.Source, ep.Problem
 	}
 
 	data, _ := json.Marshal(status)
diff --git a/gui/internal/video/video_test.go b/gui/internal/video/video_test.go
index 02e49a8..ff33aa3 100644
--- a/gui/internal/video/video_test.go
+++ b/gui/internal/video/video_test.go
@@ -312,6 +312,7 @@ func (f *fakeEndpoint) Run(ctx context.Context) error {
 	return ctx.Err()
 }
 func (f *fakeEndpoint) SetAddress(address string)                  { f.address = address }
+func (f *fakeEndpoint) Reopen()                                    {}
 func (f *fakeEndpoint) SetInterfaces(ifaces []multicast.Interface) {}
 func (f *fakeEndpoint) Status(now time.Time) multicast.Status {
 	return multicast.Status{Address: f.address, Receiving: true, Heard: 7}

From 9e888dc057ce436921fdfdc295e03637471ebe92 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Sun, 4 Oct 2026 19:56:21 -0400
Subject: [PATCH 20/23] review pass for all flowbite elements, style matching
 with GC

---
 config.yml                                    |   8 +
 gui/CLAUDE.md                                 |  14 +
 gui/frontend/README.md                        |  16 +-
 gui/frontend/src/App.svelte                   |   5 +-
 gui/frontend/src/app.css                      | 134 ++++---
 gui/frontend/src/lib/CornerPicker.svelte      |  59 +--
 gui/frontend/src/lib/FieldEditor.svelte       | 237 ++++++------
 gui/frontend/src/lib/FormRow.svelte           |  85 +++++
 gui/frontend/src/lib/NoteTip.svelte           |   2 +-
 gui/frontend/src/lib/SettingsCard.svelte      |  28 ++
 .../src/lib/config/CalibrationCard.svelte     |  69 ++--
 .../src/lib/config/CameraPanel.svelte         | 357 ++++++++----------
 gui/frontend/src/lib/config/ColorPanel.svelte | 117 +++---
 .../src/lib/config/ColorUpdateEquation.svelte |  12 +-
 .../config/ConfigCategoryPlaceholder.svelte   |  36 +-
 .../src/lib/config/ConfigFieldList.svelte     |   4 +-
 .../src/lib/config/GeometryPanel.svelte       |  22 +-
 .../src/lib/config/HostInterfaces.svelte      |  88 ++---
 .../src/lib/config/NetworkPanel.svelte        | 246 +++++-------
 .../src/lib/config/SliderField.svelte         | 111 ++----
 .../src/lib/config/StreamPanel.svelte         |  20 +-
 .../src/lib/config/WeightTriangle.svelte      |  46 ++-
 .../src/lib/config/YuvPositionPane.svelte     |  71 ++--
 gui/frontend/src/lib/layout/ChangeList.svelte |  45 +--
 .../src/lib/layout/ConfigDialogs.svelte       |  88 ++---
 gui/frontend/src/lib/layout/ConfigNav.svelte  | 119 ++----
 .../src/lib/layout/InstanceList.svelte        | 129 ++-----
 gui/frontend/src/lib/layout/Shell.svelte      | 313 ++++++++-------
 gui/frontend/src/lib/layout/TabBar.svelte     |  94 ++---
 gui/frontend/src/lib/layout/nav.svelte.ts     |  46 +++
 gui/frontend/src/lib/video/VideoPlayer.svelte |  12 +-
 .../lib/wizard/steps/WizardDimensions.svelte  |  66 ++--
 .../src/lib/wizard/steps/WizardFinish.svelte  |  13 +-
 .../src/lib/wizard/steps/WizardLayout.svelte  |  64 ++--
 .../wizard/steps/WizardOptionalLines.svelte   |   9 +-
 35 files changed, 1276 insertions(+), 1509 deletions(-)
 create mode 100644 gui/frontend/src/lib/FormRow.svelte
 create mode 100644 gui/frontend/src/lib/SettingsCard.svelte

diff --git a/config.yml b/config.yml
index 5bfc067..288d52d 100644
--- a/config.yml
+++ b/config.yml
@@ -3,6 +3,14 @@
 cam_id: 0
 camera:
   driver: OPENCV
+color:
+  history_force: 0.7
+  min_reference_force: 0.05
+  orange:
+    - 192
+    - 128
+    - 64
+  reference_force: 0.1
 geometry:
   camera_amount: 1
   line_corners:
diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
index 45ad2d8..b5b21ee 100644
--- a/gui/CLAUDE.md
+++ b/gui/CLAUDE.md
@@ -77,6 +77,20 @@ buf.gen.yaml   generates both internal/{vision,gamecontroller} and
 - **Svelte 5 runes only**, no stores added beyond what predates this work
   (`wrapper-bus.ts` still uses `svelte/store`'s `readable` -- not yet migrated,
   not a blocker).
+- **flowbite-svelte for every UI element**, with the theme tokens in
+  `frontend/src/app.css` for color. New UI uses a Flowbite component where one
+  exists (Button, Input, Select, Toggle, Range, Alert, Helper, Toast, Card,
+  ...) and Tailwind utilities for layout, not hand-written CSS for controls.
+  Settings forms use `FormRow.svelte` (label, control, gated notes, messages)
+  inside `SettingsCard.svelte`. There is no base-layer style for raw
+  `<button>`/`<fieldset>` any more, so a raw one renders unstyled on purpose.
+  Colors come from tokens (`primary-*`/`secondary-*`, matched to the SSL Game
+  Controller; Tailwind's gray/red/green/yellow), never hex in components.
+  Kept custom on purpose: canvas and SVG drawing (YUV plane, weight triangle,
+  corner overlay, field sketches), the vertical YUV brightness slider, the MSE
+  `<video>`, and NoteTip's icon trigger. Two Flowbite quirks: an `Input` keeps
+  its own `w-full`, so size it with a wrapper div, not a width class; and its
+  plugin's form styling needs the semantic color tokens defined in `app.css`.
 
 ## Architectural decisions
 
diff --git a/gui/frontend/README.md b/gui/frontend/README.md
index 47685d3..93c5e7f 100644
--- a/gui/frontend/README.md
+++ b/gui/frontend/README.md
@@ -40,11 +40,17 @@ badge and snapshot grid to show anything.
 
 ## Layout
 
-- `src/lib/layout/` holds the shell: `Shell.svelte` (the two column grid and
-  connection badge), `InstanceList.svelte`, `ConfigNav.svelte`, `TabBar.svelte`,
-  and `MainContent.svelte`, which switches panels on `nav.selectedCategoryId`.
-  `nav.svelte.ts` and `configCategories.ts` hold the shared navigation state
-  and the category list itself.
+- `src/lib/layout/` holds the shell: `Shell.svelte` (a Flowbite Navbar with
+  the status badges and gear menu, over a Sidebar and the main column),
+  `InstanceList.svelte` and `ConfigNav.svelte` (the sidebar's groups),
+  `TabBar.svelte`, and `MainContent.svelte`, which switches panels on
+  `nav.selectedCategoryId`. `nav.svelte.ts` and `configCategories.ts` hold the
+  shared navigation state and the category list itself.
+- Navigation follows the URL hash, `#<camera>/<page>` (e.g. `#0/geometry`):
+  sidebar items, tabs, and the header badges are links, so back/forward and
+  bookmarks work. The tab bar is links styled with Flowbite's tab theme rather
+  than its Tabs component, which can't leave every tab unselected on a page
+  that isn't a tab.
 - `src/lib/FieldEditor.svelte` is the Virtual Field editor, backed by
   `src/lib/geometry.svelte.ts`, a module level `$state` object shared with
   anything else that needs the field config.
diff --git a/gui/frontend/src/App.svelte b/gui/frontend/src/App.svelte
index de75bdc..655f64a 100644
--- a/gui/frontend/src/App.svelte
+++ b/gui/frontend/src/App.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { Button } from "flowbite-svelte";
   import { onMount } from "svelte";
   import { topic } from "./lib/wrapper-bus";
   import Shell from "./lib/layout/Shell.svelte";
@@ -118,9 +119,9 @@
     {/if}
 
     <section>
-      <button onclick={toggleSubscribe}>
+      <Button size="sm" color="alternative" onclick={toggleSubscribe}>
         {subscribed ? "Unsubscribe" : "Subscribe to wrapper_packet.out"}
-      </button>
+      </Button>
 
       {#if subscribed}
         {#if wrapperPacket}
diff --git a/gui/frontend/src/app.css b/gui/frontend/src/app.css
index dc52a50..c30e8ae 100644
--- a/gui/frontend/src/app.css
+++ b/gui/frontend/src/app.css
@@ -19,78 +19,74 @@ Required for flowbite-svelte, confirmed against the library's own app.css
 /*
 Also required, confirmed against flowbite-svelte's own "Colors" doc page
 (flowbite-svelte.com/docs/pages/colors): a default-colored Button (no `color`
-prop, e.g. the wizard's Next/Save buttons) renders `bg-primary-700` etc. with
-no fallback. Without these tokens defined, `--color-primary-700` is an
-undefined custom property, so the background resolves to fully transparent --
-a real, invisible button, confirmed live (white text on a transparent
-background, sitting on the modal's own white body). These are their
-documented default values, not a deliberate brand choice on this project's
-part.
+prop) renders `bg-primary-700` etc. with no fallback, so an undefined
+`--color-primary-*` makes it fully transparent.
+
+The palette matches the SSL Game Controller's (ssl-game-controller,
+frontend/src/assets/main.scss), so the league's tools look like one family:
+primary #0794B9 and its light-mode secondary #545454. Quasar uses single
+colors where Flowbite wants 50-950 scales, so each scale is generated in
+OKLCH around its anchor (same hue, lightness stepping evenly to near-white and
+near-black), with the anchor at 700: the shade Flowbite's default Button
+uses, so buttons are exactly the game controller's color. White on #0794B9 is
+3.5:1, as in the game controller: fine behind button-sized text, not behind
+small body text.
+
+The game controller's positive/negative/warning (#21BA45 / #C10015 /
+#F2C037) are close to Tailwind's stock green/red/yellow, which Flowbite's
+Alert, Badge, and Helper use, so those palettes are left as they are; info
+uses primary. The team colors are its .bg-team-* backgrounds.
 */
 @theme {
-  --color-primary-50: #fff5f2;
-  --color-primary-100: #fff1ee;
-  --color-primary-200: #ffe4de;
-  --color-primary-300: #ffd5cc;
-  --color-primary-400: #ffbcad;
-  --color-primary-500: #fe795d;
-  --color-primary-600: #ef562f;
-  --color-primary-700: #eb4f27;
-  --color-primary-800: #cc4522;
-  --color-primary-900: #a5371b;
+  --color-primary-50: #d8f1fb;
+  --color-primary-100: #c2e6f4;
+  --color-primary-200: #abd9eb;
+  --color-primary-300: #93cce2;
+  --color-primary-400: #7abfd9;
+  --color-primary-500: #5fb1cf;
+  --color-primary-600: #3fa3c4;
+  --color-primary-700: #0794b9;
+  --color-primary-800: #016d89;
+  --color-primary-900: #02485b;
+  --color-primary-950: #002632;
+  --color-secondary-50: #e7e7e7;
+  --color-secondary-100: #d3d3d3;
+  --color-secondary-200: #bfbfbf;
+  --color-secondary-300: #aaaaaa;
+  --color-secondary-400: #949494;
+  --color-secondary-500: #7f7f7f;
+  --color-secondary-600: #696969;
+  --color-secondary-700: #545454;
+  --color-secondary-800: #424242;
+  --color-secondary-900: #323232;
+  --color-secondary-950: #222222;
+  --color-team-yellow: #ced509;
+  --color-team-blue: #134cc4;
 
-  --color-secondary-50: #f0f9ff;
-  --color-secondary-100: #e0f2fe;
-  --color-secondary-200: #bae6fd;
-  --color-secondary-300: #7dd3fc;
-  --color-secondary-400: #38bdf8;
-  --color-secondary-500: #0ea5e9;
-  --color-secondary-600: #0284c7;
-  --color-secondary-700: #0369a1;
-  --color-secondary-800: #075985;
-  --color-secondary-900: #0c4a6e;
+  /*
+  The flowbite plugin's own form styling (range slider thumbs, among others)
+  uses flowbite v4's semantic tokens, which normally come from
+  flowbite/src/themes/default.css. That file also swaps the font to Inter and
+  rescales Tailwind's border radii, rounding every component differently, so
+  only the color tokens the plugin reads are defined here, from its light
+  theme, with brand mapped to our primary. Without them the slider thumb's
+  background is undefined, so it renders invisible.
+  */
+  --color-brand: var(--color-primary-700);
+  --color-fg-brand: var(--color-primary-700);
+  --color-body: var(--color-gray-600);
+  --color-heading: var(--color-gray-900);
+  --color-default: var(--color-gray-200);
+  --color-light: var(--color-gray-100);
+  --color-dark: var(--color-gray-800);
+  --color-neutral-primary: var(--color-white);
+  --color-neutral-primary-medium: var(--color-white);
+  --color-neutral-secondary: var(--color-gray-50);
+  --color-neutral-secondary-soft: var(--color-gray-50);
+  --color-neutral-secondary-medium: var(--color-gray-50);
+  --color-neutral-tertiary: var(--color-gray-100);
+  --color-neutral-tertiary-medium: var(--color-gray-100);
+  --color-neutral-quaternary: var(--color-gray-200);
 }
 
 @source "../node_modules/flowbite-svelte/dist";
-
-/*
-Tailwind's preflight (pulled in by @import "tailwindcss" above) zeroes every
-element's margin/padding/border and strips native button/select chrome
-(background, border) globally -- normal for a project that styles everything
-with utility classes, but this one predates Tailwind: FieldEditor.svelte and
-friends are still plain hand-written <style> blocks that assumed the browser's
-own defaults (a fieldset's padding, a <button>'s background/border) were still
-there. Confirmed live: a plain <button> like FieldEditor's Save/Save As/Load
-rendered with padding:0, border:0, and a transparent background -- effectively
-invisible, not just unstyled.
-
-@layer base, not a bare rule: keeps these behind Tailwind's own utility layer
-in the cascade, so any flowbite-svelte or utility-class-based button/fieldset
-(the wizard's, mainly) still wins regardless of selector specificity.
-*/
-@layer base {
-  button {
-    padding: 0.3rem 0.7rem;
-    border: 1px solid #ccc;
-    border-radius: 4px;
-    background: #f3f4f6;
-    cursor: pointer;
-  }
-
-  button:hover:not(:disabled) {
-    background: #e5e7eb;
-  }
-
-  button:disabled {
-    cursor: not-allowed;
-    opacity: 0.6;
-  }
-
-  fieldset {
-    padding: 0.75rem 1rem;
-  }
-
-  legend {
-    padding: 0 0.4rem;
-  }
-}
diff --git a/gui/frontend/src/lib/CornerPicker.svelte b/gui/frontend/src/lib/CornerPicker.svelte
index c62026a..25e8853 100644
--- a/gui/frontend/src/lib/CornerPicker.svelte
+++ b/gui/frontend/src/lib/CornerPicker.svelte
@@ -1,4 +1,6 @@
 <script lang="ts">
+  import SettingsCard from "./SettingsCard.svelte";
+  import { Button, Alert, P } from "flowbite-svelte";
   import { untrack } from "svelte";
   import { config, cameraDoc } from "./config.svelte";
 
@@ -214,40 +216,44 @@
   let labelStrokeWidth = $derived(handleRadius * 0.3);
 </script>
 
-<section class="corner-picker">
-  <h2>Corner picker</h2>
-  <p class="hint">
+<SettingsCard title="Corner picker" class="max-w-[900px]">
+  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
     Drag the four markers onto the real field corners in the image below, then
     click the number on whichever one sits where the goal line meets the
     touchline nearest this field's (0,0) corner -- that one turns green and
     becomes first in the output. The other three can be in any order; the
     calibration algorithm works that out itself. Changes apply when you let go
     of a marker; Save keeps them.
-  </p>
+  </P>
 
   {#if resolutionStatus === "rescalable" && seed}
-    <div class="banner">
+    <Alert color="yellow" class="my-2 text-sm">
       Corners were picked at {seed.resolution[0]}x{seed.resolution[1]}, but this
       image is {imageWidth}x{imageHeight}. Same aspect ratio, so they can be
       scaled to fit.
-      <button type="button" onclick={rescaleSeed}>
+      <Button size="xs" class="ms-2" onclick={rescaleSeed}>
         Rescale corners to {imageWidth}x{imageHeight}
-      </button>
-    </div>
+      </Button>
+    </Alert>
   {:else if resolutionStatus === "aspect" && seed}
-    <div class="banner">
+    <Alert color="yellow" class="my-2 text-sm">
       Corners were picked at {seed.resolution[0]}x{seed.resolution[1]}, but this
       image is {imageWidth}x{imageHeight} -- a different aspect ratio, so they can't
       be scaled. Re-pick them on this image.
-    </div>
+    </Alert>
   {:else if resolutionStatus === "unknown"}
-    <div class="banner">
+    <Alert color="yellow" class="my-2 text-sm">
       These corners were saved without the resolution they were picked at, so a
       camera resolution change can't be detected. Move any marker to record it.
-    </div>
+    </Alert>
   {/if}
 
-  <button type="button" onclick={refreshFrame}>Refresh frame</button>
+  <Button
+    size="sm"
+    color="alternative"
+    class="self-start"
+    onclick={refreshFrame}>Refresh frame</Button
+  >
 
   <div
     class="overlay-container"
@@ -314,14 +320,9 @@
   </div>
 
   <pre>{yamlSnippet}</pre>
-</section>
+</SettingsCard>
 
 <style>
-  .corner-picker {
-    max-width: 900px;
-    margin-top: 2rem;
-  }
-
   .overlay-container {
     position: relative;
     max-width: 640px;
@@ -377,24 +378,4 @@
     border-radius: 4px;
     font-size: 0.85rem;
   }
-
-  .banner {
-    display: flex;
-    flex-wrap: wrap;
-    align-items: center;
-    gap: 0.5rem;
-    margin: 0.5rem 0;
-    padding: 0.5rem 0.75rem;
-    border: 1px solid #ffe1a8;
-    border-radius: 4px;
-    background: #fff6e5;
-    color: #7a4a00;
-    font-size: 0.85rem;
-  }
-
-  .hint {
-    color: #888;
-    font-size: 0.8rem;
-    font-style: italic;
-  }
 </style>
diff --git a/gui/frontend/src/lib/FieldEditor.svelte b/gui/frontend/src/lib/FieldEditor.svelte
index ce66b29..fc49c0d 100644
--- a/gui/frontend/src/lib/FieldEditor.svelte
+++ b/gui/frontend/src/lib/FieldEditor.svelte
@@ -1,4 +1,16 @@
 <script lang="ts">
+  import SettingsCard from "./SettingsCard.svelte";
+  import FormRow from "./FormRow.svelte";
+  import {
+    Button,
+    Checkbox,
+    Input,
+    Radio,
+    Select,
+    Spinner,
+    Heading,
+    P,
+  } from "flowbite-svelte";
   import { virtualField } from "./geometry.svelte";
   import { config } from "./config.svelte";
   import FieldSketch from "./FieldSketch.svelte";
@@ -56,113 +68,130 @@
       cameraCount = options[0] ?? 1;
     }
   }
+
+  // The form's labels ("Boundary width (goal line)") need more room than
+  // FormRow's default.
+  const LABEL_WIDTH = "12rem";
 </script>
 
 <section class="field-editor">
   <div class="title-row">
-    <h2>Virtual field</h2>
+    <Heading tag="h2" class="mb-2 text-xl font-semibold">Virtual field</Heading>
     <span class="path">{config.state?.path ?? ""}</span>
-    <button type="button" class="wizard-button" onclick={openWizard}>
+    <Button size="xs" outline class="ms-auto" onclick={openWizard}>
       Run setup wizard
-    </button>
+    </Button>
   </div>
 
   {#if config.doc}
     {@const doc = config.doc}
     <div class="layout">
       <form>
-        <fieldset>
-          <legend>Field layout</legend>
-
-          <label class="radio-row">
-            <span>
-              <input
-                type="radio"
-                name="fieldLayout"
-                checked={fieldLayout === "full"}
-                onchange={() => {
-                  setFieldLayout("full");
-                }}
-              />
-              Full field
-            </span>
-            <span>
-              <input
-                type="radio"
-                name="fieldLayout"
-                checked={fieldLayout === "half"}
-                onchange={() => {
-                  setFieldLayout("half");
-                }}
-              />
-              Half field
-            </span>
-          </label>
+        <SettingsCard title="Field layout">
+          <div class="radios">
+            <Radio
+              name="fieldLayout"
+              value="full"
+              group={fieldLayout}
+              onchange={() => {
+                setFieldLayout("full");
+              }}>Full field</Radio
+            >
+            <Radio
+              name="fieldLayout"
+              value="half"
+              group={fieldLayout}
+              onchange={() => {
+                setFieldLayout("half");
+              }}>Half field</Radio
+            >
+          </div>
 
           {#if fieldLayout === "half"}
-            <label>
-              Half length (full: {doc.field.fieldLength ?? 0}mm)
-              <input
+            <FormRow
+              label={`Half length (full: ${String(doc.field.fieldLength ?? 0)}mm)`}
+              for="field-half-length"
+              labelWidth={LABEL_WIDTH}
+            >
+              <Input
+                id="field-half-length"
                 type="number"
+                size="sm"
                 value={halfLength}
-                oninput={(e) => {
-                  setHalfLength(e.currentTarget.valueAsNumber);
+                oninput={(e: Event) => {
+                  setHalfLength(
+                    (e.currentTarget as HTMLInputElement).valueAsNumber,
+                  );
                 }}
               />
-            </label>
+            </FormRow>
           {/if}
 
-          <label>
-            Cameras (camera_amount: {cameraAmount})
-            <select
+          <FormRow
+            label={`Cameras (camera_amount: ${String(cameraAmount)})`}
+            for="field-camera-count"
+            labelWidth={LABEL_WIDTH}
+          >
+            <Select
+              id="field-camera-count"
+              size="sm"
+              placeholder=""
               value={cameraCount}
-              onchange={(e) => {
-                cameraCount = Number(e.currentTarget.value);
+              onchange={(e: Event) => {
+                cameraCount = Number(
+                  (e.currentTarget as HTMLSelectElement).value,
+                );
               }}
             >
               {#each CAMERA_COUNT_OPTIONS[fieldLayout] as count (count)}
                 <option value={count}>{count}</option>
               {/each}
-            </select>
-          </label>
-
-          <label>
-            This camera (camera_id)
-            <select
+            </Select>
+          </FormRow>
+
+          <FormRow
+            label="This camera (camera_id)"
+            for="field-camera-id"
+            labelWidth={LABEL_WIDTH}
+          >
+            <Select
+              id="field-camera-id"
+              size="sm"
+              placeholder=""
               value={clampedCameraId}
-              onchange={(e) => {
-                cameraId = Number(e.currentTarget.value);
+              onchange={(e: Event) => {
+                cameraId = Number((e.currentTarget as HTMLSelectElement).value);
               }}
             >
               {#each Array.from(Array(cameraAmount).keys()) as id (id)}
                 <option value={id}>{id}</option>
               {/each}
-            </select>
-          </label>
-        </fieldset>
+            </Select>
+          </FormRow>
+        </SettingsCard>
 
-        <fieldset>
-          <legend>Dimensions</legend>
+        <SettingsCard title="Dimensions">
           {#each DIMENSION_FIELDS as { key, label } (key)}
-            <label>
-              {label}
-              <input type="number" bind:value={doc.field[key]} />
-            </label>
-          {/each}
-        </fieldset>
-
-        <fieldset>
-          <legend>Markings present on this field</legend>
-          {#each OPTIONAL_LINE_FIELDS as { key, label } (key)}
-            <label class="checkbox">
-              <input
-                type="checkbox"
-                bind:checked={doc.optionalFieldLines[key]}
+            <FormRow {label} for={`field-${key}`} labelWidth={LABEL_WIDTH}>
+              <Input
+                id={`field-${key}`}
+                type="number"
+                size="sm"
+                bind:value={doc.field[key]}
               />
-              {label}
-            </label>
+            </FormRow>
           {/each}
-        </fieldset>
+        </SettingsCard>
+
+        <SettingsCard title="Markings present on this field">
+          <div class="checks">
+            {#each OPTIONAL_LINE_FIELDS as { key, label } (key)}
+              <Checkbox bind:checked={doc.optionalFieldLines[key]}>
+                {label}
+              </Checkbox>
+            {/each}
+          </div>
+        </SettingsCard>
       </form>
 
       <div class="sketch">
@@ -176,7 +205,11 @@
       </div>
     </div>
   {:else}
-    <p class="hint">Loading...</p>
+    <P
+      size="sm"
+      class="mb-2 text-gray-600 dark:text-gray-400 flex items-center gap-2"
+      ><Spinner size="4" /> Loading…</P
+    >
   {/if}
 </section>
 
@@ -192,29 +225,10 @@
     margin-bottom: 0.5rem;
   }
 
-  .wizard-button {
-    margin-left: auto;
-    padding: 0.3rem 0.7rem;
-    border: 1px solid #1a56db;
-    border-radius: 4px;
-    background: none;
-    color: #1a56db;
-    font-size: 0.8rem;
-    cursor: pointer;
-  }
-
-  .wizard-button:hover {
-    background: #eff6ff;
-  }
-
-  .title-row h2 {
-    margin: 0;
-  }
-
   .path {
     font-family: monospace;
     font-size: 0.8rem;
-    color: #666;
+    color: var(--color-gray-600);
   }
 
   .layout {
@@ -224,44 +238,11 @@
     align-items: start;
   }
 
-  fieldset {
-    border: 1px solid #ddd;
-    border-radius: 4px;
-    margin-bottom: 1rem;
-  }
-
-  label {
+  .radios,
+  .checks {
     display: flex;
-    justify-content: space-between;
-    gap: 0.5rem;
-    margin: 0.4rem 0;
-    font-size: 0.85rem;
-  }
-
-  label.checkbox {
-    justify-content: flex-start;
-  }
-
-  label.radio-row {
     flex-direction: column;
-    align-items: flex-start;
-    gap: 0.2rem;
-  }
-
-  label.radio-row span {
-    display: flex;
-    align-items: center;
     gap: 0.4rem;
-    font-weight: normal;
-  }
-
-  input[type="number"] {
-    width: 6rem;
-  }
-
-  .hint {
-    color: #888;
-    font-size: 0.8rem;
-    font-style: italic;
+    margin: 0.4rem 0;
   }
 </style>
diff --git a/gui/frontend/src/lib/FormRow.svelte b/gui/frontend/src/lib/FormRow.svelte
new file mode 100644
index 0000000..8b57707
--- /dev/null
+++ b/gui/frontend/src/lib/FormRow.svelte
@@ -0,0 +1,85 @@
+<script lang="ts">
+  import type { Snippet } from "svelte";
+  import { Helper, Label } from "flowbite-svelte";
+  import NoteTip from "./NoteTip.svelte";
+
+  // One labelled setting in a panel form: label, control, and the optional
+  // notes tooltip (behind "Show extra tooltips") on one line, with any
+  // messages under the control. Every settings form uses it, so they line up
+  // the same way.
+  interface Props {
+    label: string;
+    // The control's id, for the label.
+    for?: string;
+    notes?: string[];
+    // Hints, warnings, and errors under the control, in that order.
+    hints?: string[];
+    warnings?: string[];
+    errors?: string[];
+    // The label column; wider for forms with long labels.
+    labelWidth?: string;
+    children: Snippet;
+  }
+
+  let {
+    label,
+    for: htmlFor,
+    notes = [],
+    hints = [],
+    warnings = [],
+    errors = [],
+    labelWidth = "7rem",
+    children,
+  }: Props = $props();
+
+  let noteId = $derived(`${htmlFor ?? label.replace(/\W+/g, "-")}-notes`);
+</script>
+
+<div class="form-row" style:--label-width={labelWidth}>
+  <Label for={htmlFor} class="text-sm font-normal">{label}</Label>
+
+  <div class="control">
+    {@render children()}
+  </div>
+
+  <NoteTip id={noteId} {notes} />
+
+  {#if hints.length + warnings.length + errors.length > 0}
+    <div class="messages">
+      {#each hints as hint (hint)}
+        <Helper color="gray">{hint}</Helper>
+      {/each}
+      {#each warnings as warning (warning)}
+        <Helper color="yellow">{warning}</Helper>
+      {/each}
+      {#each errors as error (error)}
+        <Helper color="red">{error}</Helper>
+      {/each}
+    </div>
+  {/if}
+</div>
+
+<style>
+  .form-row {
+    display: grid;
+    grid-template-columns: var(--label-width) minmax(0, 1fr) 1.25rem;
+    align-items: center;
+    column-gap: 0.5rem;
+    row-gap: 0.25rem;
+    margin: 0.5rem 0;
+  }
+
+  .control {
+    display: flex;
+    flex-direction: column;
+    gap: 0.35rem;
+    min-width: 0;
+  }
+
+  .messages {
+    grid-column: 2 / 4;
+    display: flex;
+    flex-direction: column;
+    gap: 0.15rem;
+  }
+</style>
diff --git a/gui/frontend/src/lib/NoteTip.svelte b/gui/frontend/src/lib/NoteTip.svelte
index b06a202..37def7b 100644
--- a/gui/frontend/src/lib/NoteTip.svelte
+++ b/gui/frontend/src/lib/NoteTip.svelte
@@ -36,7 +36,7 @@
     padding: 0;
     border: none;
     background: none;
-    color: #1a56db;
+    color: var(--color-primary-700);
     font-size: 0.95rem;
     line-height: 1;
     cursor: help;
diff --git a/gui/frontend/src/lib/SettingsCard.svelte b/gui/frontend/src/lib/SettingsCard.svelte
new file mode 100644
index 0000000..6f15873
--- /dev/null
+++ b/gui/frontend/src/lib/SettingsCard.svelte
@@ -0,0 +1,28 @@
+<script lang="ts">
+  import type { Snippet } from "svelte";
+  import { Card, Heading } from "flowbite-svelte";
+
+  // A titled group of settings in a panel: what each panel's sections (Device,
+  // Brightness, Dimensions, ...) are drawn as, so they look the same
+  // everywhere.
+  interface Props {
+    title: string;
+    // Shown before the title, e.g. a status indicator.
+    status?: Snippet;
+    class?: string;
+    children: Snippet;
+  }
+
+  let { title, status, class: className = "", children }: Props = $props();
+</script>
+
+<Card size="xl" shadow="xs" class={`mb-4 gap-1 p-4 ${className}`}>
+  <Heading
+    tag="h3"
+    class="mb-1 flex items-center gap-2 text-base font-semibold"
+  >
+    {@render status?.()}
+    {title}
+  </Heading>
+  {@render children()}
+</Card>
diff --git a/gui/frontend/src/lib/config/CalibrationCard.svelte b/gui/frontend/src/lib/config/CalibrationCard.svelte
index be0f2de..a852a6c 100644
--- a/gui/frontend/src/lib/config/CalibrationCard.svelte
+++ b/gui/frontend/src/lib/config/CalibrationCard.svelte
@@ -1,4 +1,6 @@
 <script lang="ts">
+  import SettingsCard from "../SettingsCard.svelte";
+  import { Button, Spinner, Alert, P } from "flowbite-svelte";
   import {
     config,
     cameraDoc,
@@ -43,13 +45,15 @@
   }
 </script>
 
-<section class="calibration">
-  <h3>Calibration</h3>
-
+<SettingsCard title="Calibration" class="my-4">
   {#if !status}
-    <p class="hint">Loading...</p>
+    <P
+      size="sm"
+      class="mb-2 text-gray-600 dark:text-gray-400 flex items-center gap-2"
+      ><Spinner size="4" /> Loading…</P
+    >
   {:else}
-    <p class="state">
+    <P size="sm" class="mb-2">
       {#if status.calibration === "locked" && locked}
         <strong>Locked</strong> at {new Date(locked.lockedAt).toLocaleString()}
         ({lockedResolution(locked.camera)}). Published in place of anything the
@@ -62,19 +66,19 @@
       {:else}
         <strong>None.</strong> No calibration received from this camera yet.
       {/if}
-    </p>
+    </P>
 
     {#each status.warnings as warning (warning.code)}
-      <p class="warning">{warning.message}</p>
+      <Alert color="yellow" class="my-1 p-2 text-sm">{warning.message}</Alert>
     {/each}
 
     {#if renderError}
-      <p class="warning">{renderError}</p>
+      <Alert color="red" class="my-1 p-2 text-sm">{renderError}</Alert>
     {/if}
 
     <div class="actions">
-      <button
-        type="button"
+      <Button
+        size="sm"
         disabled={!status.live || config.busy}
         title={status.live
           ? "Store the calibration this camera last sent"
@@ -84,58 +88,29 @@
         {status.calibration === "locked"
           ? "Re-lock latest live calibration"
           : "Lock current calibration"}
-      </button>
-      <button
-        type="button"
+      </Button>
+      <Button
+        size="sm"
+        color="alternative"
         disabled={status.calibration === "none" || config.busy}
         onclick={unlock}
       >
         Unlock (recalibrates on processor restart)
-      </button>
+      </Button>
     </div>
-    <p class="hint">
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
       Locking and unlocking apply immediately; Save writes them to the file.
       There's no way yet to make a running vision_processor recalibrate on
       request -- it needs a restart.
-    </p>
+    </P>
   {/if}
-</section>
+</SettingsCard>
 
 <style>
-  .calibration {
-    margin: 1rem 0;
-    padding: 0.75rem 1rem;
-    border: 1px solid #ddd;
-    border-radius: 4px;
-  }
-
-  h3 {
-    margin: 0 0 0.5rem;
-  }
-
-  .state {
-    margin: 0 0 0.5rem;
-    font-size: 0.9rem;
-  }
-
-  .warning {
-    margin: 0.25rem 0;
-    padding: 0.4rem 0.6rem;
-    border-radius: 4px;
-    background: #fff6e5;
-    color: #7a4a00;
-    font-size: 0.85rem;
-  }
-
   .actions {
     display: flex;
     flex-wrap: wrap;
     gap: 0.5rem;
     margin: 0.5rem 0;
   }
-
-  .hint {
-    color: #666;
-    font-size: 0.8rem;
-  }
 </style>
diff --git a/gui/frontend/src/lib/config/CameraPanel.svelte b/gui/frontend/src/lib/config/CameraPanel.svelte
index 814206f..343802b 100644
--- a/gui/frontend/src/lib/config/CameraPanel.svelte
+++ b/gui/frontend/src/lib/config/CameraPanel.svelte
@@ -1,4 +1,6 @@
 <script lang="ts">
+  import SettingsCard from "../SettingsCard.svelte";
+  import { Input, Select, Alert, Heading, P } from "flowbite-svelte";
   import { onMount } from "svelte";
   import type { VisionInstance } from "../layout/nav.svelte";
   import { cameraDoc } from "../config.svelte";
@@ -13,7 +15,7 @@
   } from "../cameraSettings.svelte";
   import { CAMERA_RANGES, toDisplay, toFile } from "../cameraRanges";
   import VideoPlayer from "../video/VideoPlayer.svelte";
-  import NoteTip from "../NoteTip.svelte";
+  import FormRow from "../FormRow.svelte";
   import SliderField from "./SliderField.svelte";
 
   interface Props {
@@ -247,10 +249,10 @@
 </script>
 
 <section class="camera-panel">
-  <h2>Camera settings</h2>
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">Camera settings</Heading>
 
   {#if instance}
-    <p class="banner">
+    <Alert color="primary" class="mb-3 p-2 text-sm">
       These apply when cam {instance.cameraId}'s vision_processor restarts: it
       reads <code>camera:</code> only at startup.
       {#if configPath}
@@ -259,7 +261,7 @@
         This camera has no <code>config_path</code>, so the host doesn't write
         its config file; copy these to it by hand.
       {/if}
-    </p>
+    </Alert>
 
     <div class="layout">
       <!-- Left: the picture, with the settings that only change what is
@@ -274,153 +276,162 @@
         </div>
 
         <div class="capture">
-          <fieldset>
-            <legend>Device</legend>
-
-            <div class="row">
-              <label for="cam-driver">Driver</label>
-              <select
+          <SettingsCard title="Device" class="mb-0">
+            <FormRow
+              label="Driver"
+              for="cam-driver"
+              notes={[
+                "SPINNAKER and MVIMPACT need vision_processor built with their SDKs.",
+                "Unset means SPINNAKER.",
+              ]}
+            >
+              <Select
                 id="cam-driver"
+                size="sm"
+                placeholder=""
                 value={settings.driver}
-                onchange={(e) => {
-                  set("driver", e.currentTarget.value as Driver);
+                onchange={(e: Event) => {
+                  set(
+                    "driver",
+                    (e.currentTarget as HTMLSelectElement).value as Driver,
+                  );
                 }}
               >
                 {#each Object.entries(DRIVERS) as [key, info] (key)}
                   <option value={key}>{info.label}</option>
                 {/each}
-              </select>
-              <NoteTip
-                id="cam-driver-notes"
-                notes={[
-                  "SPINNAKER and MVIMPACT need vision_processor built with their SDKs.",
-                  "Unset means SPINNAKER.",
-                ]}
-              />
-            </div>
+              </Select>
+            </FormRow>
 
             {#if driver.selectsBy === "id"}
-              <div class="row">
-                <label for="cam-id">Camera index</label>
-                <input
+              <FormRow
+                label="Camera index"
+                for="cam-id"
+                notes={[
+                  "Position in the SDK's camera list, in detection order.",
+                ]}
+              >
+                <Input
                   id="cam-id"
                   type="number"
+                  size="sm"
                   min="0"
                   step="1"
                   value={settings.id}
-                  onchange={(e) => {
-                    const v = e.currentTarget.valueAsNumber;
+                  onchange={(e: Event) => {
+                    const v = (e.currentTarget as HTMLInputElement)
+                      .valueAsNumber;
                     if (Number.isInteger(v) && v >= 0) set("id", v);
                   }}
                 />
-                <NoteTip
-                  id="cam-id-notes"
-                  notes={[
-                    "Position in the SDK's camera list, in detection order.",
-                  ]}
-                />
-              </div>
+              </FormRow>
             {:else}
-              <div class="row">
-                <label for="cam-path">Path</label>
-                <div class="stack">
-                  <select
-                    aria-label="Cameras on this host"
-                    value={devices.findIndex((d) => d.path === effectivePath)}
-                    onchange={(e) => {
-                      const device = devices[Number(e.currentTarget.value)];
-                      if (device) set("path", device.path);
-                    }}
-                  >
-                    {#each devices as device, i (device.path)}
-                      <option value={i}>
-                        {device.name} ({KIND_LABEL[device.kind]}) {device.path}
-                      </option>
-                    {/each}
-                    <option value={-1} disabled>
-                      {devices.length === 0
-                        ? "No cameras on this host"
-                        : "Other"}
-                    </option>
-                  </select>
-                  <input
-                    id="cam-path"
-                    type="text"
-                    spellcheck="false"
-                    value={settings.path ?? ""}
-                    placeholder={`/dev/video${String(settings.id)}`}
-                    onchange={(e) => {
-                      const v = e.currentTarget.value.trim();
-                      set("path", v === "" ? undefined : v);
-                    }}
-                  />
-                </div>
-                <NoteTip id="cam-path-notes" notes={pathNotes} />
-              </div>
-              {#each pathWarnings as warning (warning)}
-                <p class="warning">{warning}</p>
-              {/each}
-            {/if}
-          </fieldset>
-
-          <fieldset>
-            <legend>Resolution</legend>
-
-            <div class="row">
-              <label for="cam-resolution">Size</label>
-              <div class="stack">
-                <select
-                  id="cam-resolution"
-                  value={resolutionIndex}
-                  onchange={(e) => {
-                    const choice = RESOLUTIONS[Number(e.currentTarget.value)];
-                    if (choice) setSize(choice[0], choice[1]);
+              <FormRow
+                label="Path"
+                for="cam-path"
+                notes={pathNotes}
+                warnings={pathWarnings}
+              >
+                <Select
+                  aria-label="Cameras on this host"
+                  size="sm"
+                  placeholder=""
+                  value={devices.findIndex((d) => d.path === effectivePath)}
+                  onchange={(e: Event) => {
+                    const device =
+                      devices[
+                        Number((e.currentTarget as HTMLSelectElement).value)
+                      ];
+                    if (device) set("path", device.path);
                   }}
                 >
-                  {#each RESOLUTIONS as [w, h], i (i)}
+                  {#each devices as device, i (device.path)}
                     <option value={i}>
-                      {w === 0
-                        ? "Camera maximum"
-                        : `${String(w)} × ${String(h)}`}
+                      {device.name} ({KIND_LABEL[device.kind]}) {device.path}
                     </option>
                   {/each}
-                  <option value={-1} disabled>Custom</option>
-                </select>
-                <div class="size">
-                  <input
-                    type="number"
-                    aria-label="Width"
-                    min="0"
-                    step="1"
-                    bind:value={draftSize[0]}
-                    onchange={() => {
-                      setSize(draftSize[0], draftSize[1]);
-                    }}
-                  />
-                  ×
-                  <input
-                    type="number"
-                    aria-label="Height"
-                    min="0"
-                    step="1"
-                    bind:value={draftSize[1]}
-                    onchange={() => {
-                      setSize(draftSize[0], draftSize[1]);
-                    }}
-                  />
-                </div>
+                  <option value={-1} disabled>
+                    {devices.length === 0 ? "No cameras on this host" : "Other"}
+                  </option>
+                </Select>
+                <Input
+                  id="cam-path"
+                  type="text"
+                  size="sm"
+                  class="font-mono"
+                  spellcheck="false"
+                  value={settings.path ?? ""}
+                  placeholder={`/dev/video${String(settings.id)}`}
+                  onchange={(e: Event) => {
+                    const v = (
+                      e.currentTarget as HTMLInputElement
+                    ).value.trim();
+                    set("path", v === "" ? undefined : v);
+                  }}
+                />
+              </FormRow>
+            {/if}
+          </SettingsCard>
+
+          <SettingsCard title="Resolution" class="mb-0">
+            <FormRow
+              label="Size"
+              for="cam-resolution"
+              notes={resolutionNotes}
+              errors={sizeError ? [sizeError] : []}
+            >
+              <Select
+                id="cam-resolution"
+                size="sm"
+                placeholder=""
+                value={resolutionIndex}
+                onchange={(e: Event) => {
+                  const choice =
+                    RESOLUTIONS[
+                      Number((e.currentTarget as HTMLSelectElement).value)
+                    ];
+                  if (choice) setSize(choice[0], choice[1]);
+                }}
+              >
+                {#each RESOLUTIONS as [w, h], i (i)}
+                  <option value={i}>
+                    {w === 0 ? "Camera maximum" : `${String(w)} × ${String(h)}`}
+                  </option>
+                {/each}
+                <option value={-1} disabled>Custom</option>
+              </Select>
+              <div class="size">
+                <Input
+                  type="number"
+                  size="sm"
+                  aria-label="Width"
+                  min="0"
+                  step="1"
+                  bind:value={draftSize[0]}
+                  onchange={() => {
+                    setSize(draftSize[0], draftSize[1]);
+                  }}
+                />
+                ×
+                <Input
+                  type="number"
+                  size="sm"
+                  aria-label="Height"
+                  min="0"
+                  step="1"
+                  bind:value={draftSize[1]}
+                  onchange={() => {
+                    setSize(draftSize[0], draftSize[1]);
+                  }}
+                />
               </div>
-              <NoteTip id="cam-resolution-notes" notes={resolutionNotes} />
-            </div>
-            {#if sizeError}<p class="error">{sizeError}</p>{/if}
-          </fieldset>
+            </FormRow>
+          </SettingsCard>
         </div>
       </div>
 
       <div class="tuning">
-        <fieldset>
-          <legend>Brightness</legend>
-
+        <SettingsCard title="Brightness">
           <SliderField
             id="cam-exposure"
             label="Exposure"
@@ -469,18 +480,19 @@
               }}
             />
           {/if}
-        </fieldset>
-
-        <fieldset>
-          <legend>White balance</legend>
+        </SettingsCard>
 
-          <div class="row">
-            <label for="cam-wb">Mode</label>
-            <select
+        <SettingsCard title="White balance">
+          <FormRow label="Mode" for="cam-wb" notes={wbNotes}>
+            <Select
               id="cam-wb"
+              size="sm"
+              placeholder=""
               value={wbMode}
-              onchange={(e) => {
-                setWBMode(e.currentTarget.value as WBMode);
+              onchange={(e: Event) => {
+                setWBMode(
+                  (e.currentTarget as HTMLSelectElement).value as WBMode,
+                );
               }}
             >
               {#if driver.wbProfiles}
@@ -492,9 +504,8 @@
                 <option value="auto">Automatic</option>
               {/if}
               <option value="manual">Manual red / blue</option>
-            </select>
-            <NoteTip id="cam-wb-notes" notes={wbNotes} />
-          </div>
+            </Select>
+          </FormRow>
 
           {#if wbMode === "manual"}
             <SliderField
@@ -530,11 +541,13 @@
               }}
             />
           {/if}
-        </fieldset>
+        </SettingsCard>
       </div>
     </div>
   {:else}
-    <p class="hint">Select a vision processor on the left first.</p>
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
+      >Select a vision processor on the left first.</P
+    >
   {/if}
 </section>
 
@@ -543,18 +556,6 @@
     max-width: 1600px;
   }
 
-  h2 {
-    margin: 0 0 0.5rem;
-  }
-
-  .banner {
-    padding: 0.4rem 0.6rem;
-    border-radius: 4px;
-    background: #eef4ff;
-    color: #1e3a8a;
-    font-size: 0.85rem;
-  }
-
   .layout {
     display: grid;
     grid-template-columns: minmax(0, 3fr) minmax(360px, 2fr);
@@ -576,73 +577,15 @@
     align-items: start;
   }
 
-  .capture fieldset {
-    margin-bottom: 0;
-  }
-
   @media (max-width: 1100px) {
     .layout {
       grid-template-columns: minmax(0, 1fr);
     }
   }
 
-  fieldset {
-    border: 1px solid #ddd;
-    border-radius: 4px;
-    margin-bottom: 1rem;
-  }
-
-  .row {
-    display: grid;
-    grid-template-columns: 7rem 1fr 1.25rem;
-    align-items: center;
-    gap: 0.5rem;
-    margin: 0.45rem 0;
-    font-size: 0.85rem;
-  }
-
-  .stack {
-    display: flex;
-    flex-direction: column;
-    gap: 0.35rem;
-    min-width: 0;
-  }
-
   .size {
     display: flex;
     align-items: center;
     gap: 0.35rem;
   }
-
-  .size input {
-    width: 6rem;
-  }
-
-  select,
-  input {
-    font-size: 0.85rem;
-  }
-
-  input[type="text"] {
-    font-family: monospace;
-  }
-
-  .warning,
-  .error {
-    margin: 0 0 0.4rem 7.5rem;
-    font-size: 0.8rem;
-  }
-
-  .warning {
-    color: #7a4a00;
-  }
-
-  .error {
-    color: #c81e1e;
-  }
-
-  .hint {
-    color: #666;
-    font-size: 0.85rem;
-  }
 </style>
diff --git a/gui/frontend/src/lib/config/ColorPanel.svelte b/gui/frontend/src/lib/config/ColorPanel.svelte
index c721371..47ddc1e 100644
--- a/gui/frontend/src/lib/config/ColorPanel.svelte
+++ b/gui/frontend/src/lib/config/ColorPanel.svelte
@@ -22,6 +22,11 @@
     TableBody,
     TableBodyRow,
     TableBodyCell,
+    Input,
+    Label,
+    Spinner,
+    Heading,
+    P,
   } from "flowbite-svelte";
 
   // No `category` prop, unlike GeometryPanel/ConfigCategoryPlaceholder:
@@ -85,19 +90,25 @@
 </script>
 
 <section class="color-panel">
-  <h2>Color</h2>
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">Color</Heading>
 
   {#if instance}
-    <p class="hint">
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
       Editing {instance.host} / cam {instance.cameraId}'s
       <code>color:</code> block.
-    </p>
+    </P>
   {:else}
-    <p class="hint">Select a vision processor on the left first.</p>
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
+      >Select a vision processor on the left first.</P
+    >
   {/if}
 
   {#if !config.doc}
-    <p class="hint">Loading...</p>
+    <P
+      size="sm"
+      class="mb-2 text-gray-600 dark:text-gray-400 flex items-center gap-2"
+      ><Spinner size="4" /> Loading…</P
+    >
   {/if}
 
   <YuvPositionPane
@@ -107,33 +118,45 @@
   />
 
   <div class="rgb-editor">
-    <label>
-      R
-      <input
-        type="number"
-        min="0"
-        max="255"
-        bind:value={colorConfig.config[selectedClass].r}
-      />
-    </label>
-    <label>
-      G
-      <input
-        type="number"
-        min="0"
-        max="255"
-        bind:value={colorConfig.config[selectedClass].g}
-      />
-    </label>
-    <label>
-      B
-      <input
-        type="number"
-        min="0"
-        max="255"
-        bind:value={colorConfig.config[selectedClass].b}
-      />
-    </label>
+    <div class="channel">
+      <Label for="rgb-r" class="font-normal">R</Label>
+      <div class="w-20 shrink-0">
+        <Input
+          id="rgb-r"
+          type="number"
+          size="sm"
+          min="0"
+          max="255"
+          bind:value={colorConfig.config[selectedClass].r}
+        />
+      </div>
+    </div>
+    <div class="channel">
+      <Label for="rgb-g" class="font-normal">G</Label>
+      <div class="w-20 shrink-0">
+        <Input
+          id="rgb-g"
+          type="number"
+          size="sm"
+          min="0"
+          max="255"
+          bind:value={colorConfig.config[selectedClass].g}
+        />
+      </div>
+    </div>
+    <div class="channel">
+      <Label for="rgb-b" class="font-normal">B</Label>
+      <div class="w-20 shrink-0">
+        <Input
+          id="rgb-b"
+          type="number"
+          size="sm"
+          min="0"
+          max="255"
+          bind:value={colorConfig.config[selectedClass].b}
+        />
+      </div>
+    </div>
     <span
       class="swatch large"
       style:background={rgbToCss(colorConfig.config[selectedClass])}
@@ -174,13 +197,14 @@
     </TableBody>
   </Table>
 
-  <h3>Update weights</h3>
-  <p class="hint">
+  <Heading tag="h3" class="mb-1 text-base font-semibold">Update weights</Heading
+  >
+  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
     How much each new color leans on its configured reference vs. last frame's
     color vs. what was actually sampled this frame. Drag the marker, or edit the
     minimum reference weight directly -- see src/blobs/colorupdate.cpp's
     updateColor for the exact blend this mirrors.
-  </p>
+  </P>
   <WeightTriangle
     bind:referenceForce={colorConfig.config.referenceForce}
     bind:historyForce={colorConfig.config.historyForce}
@@ -240,21 +264,8 @@
     max-width: 1100px;
   }
 
-  h2 {
-    margin: 0 0 0.5rem;
-  }
-
-  h3 {
-    margin: 1.5rem 0 0.25rem;
-  }
-
-  .hint {
-    color: #666;
-    font-size: 0.85rem;
-  }
-
   code {
-    background: #eee;
+    background: var(--color-gray-100);
     padding: 0.1rem 0.3rem;
     border-radius: 3px;
   }
@@ -286,15 +297,9 @@
     margin-top: 0.5rem;
   }
 
-  .rgb-editor label {
+  .channel {
     display: flex;
     flex-direction: column;
     gap: 0.2rem;
-    font-size: 0.8rem;
-    color: #444;
-  }
-
-  .rgb-editor input {
-    width: 4.5rem;
   }
 </style>
diff --git a/gui/frontend/src/lib/config/ColorUpdateEquation.svelte b/gui/frontend/src/lib/config/ColorUpdateEquation.svelte
index 80c7eaf..e697347 100644
--- a/gui/frontend/src/lib/config/ColorUpdateEquation.svelte
+++ b/gui/frontend/src/lib/config/ColorUpdateEquation.svelte
@@ -64,7 +64,7 @@
   }
 
   .hint {
-    color: #666;
+    color: var(--color-gray-600);
   }
 
   .term {
@@ -74,7 +74,7 @@
   }
 
   .op {
-    color: #888;
+    color: var(--color-gray-500);
   }
 
   .swatch {
@@ -88,10 +88,10 @@
   .swatch.placeholder {
     background: repeating-linear-gradient(
       45deg,
-      #ddd,
-      #ddd 3px,
-      #eee 3px,
-      #eee 6px
+      var(--color-gray-200),
+      var(--color-gray-200) 3px,
+      var(--color-gray-100) 3px,
+      var(--color-gray-100) 6px
     );
   }
 </style>
diff --git a/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte b/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
index 91541f6..c040b6d 100644
--- a/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
+++ b/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { Alert, Heading, P } from "flowbite-svelte";
   import type { ConfigCategory } from "../layout/configCategories";
   import type { VisionInstance } from "../layout/nav.svelte";
   import ConfigFieldList from "./ConfigFieldList.svelte";
@@ -12,24 +13,27 @@
 </script>
 
 <section class="placeholder">
-  <h2>{category.label}</h2>
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">{category.label}</Heading
+  >
 
   {#if instance}
-    <p class="hint">
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
       Editing {instance.host} / cam {instance.cameraId}'s
       <code>{category.yamlKey}:</code>
       block. Not wired to a backend yet -- there is nowhere to read or write a specific
       instance's config.yml over the network. See
       <code>internal/config</code> in gui/CLAUDE.md's "Not yet built".
-    </p>
+    </P>
   {:else}
-    <p class="hint">Select a vision processor on the left first.</p>
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
+      >Select a vision processor on the left first.</P
+    >
   {/if}
 
-  <p class="build-note">
+  <Alert color="gray" class="my-3 p-2 text-sm">
     Contributing this panel? Replace this file with a real form for the fields
     below (see config.yml at the repo root for exact defaults/ranges).
-  </p>
+  </Alert>
 
   <ConfigFieldList fields={category.fields} />
 </section>
@@ -39,26 +43,8 @@
     max-width: 640px;
   }
 
-  h2 {
-    margin: 0 0 0.5rem;
-  }
-
-  .hint {
-    color: #666;
-    font-size: 0.85rem;
-  }
-
-  .build-note {
-    color: #a15c00;
-    background: #fff6e5;
-    border: 1px solid #ffe1a8;
-    border-radius: 4px;
-    padding: 0.5rem 0.75rem;
-    font-size: 0.8rem;
-  }
-
   code {
-    background: #eee;
+    background: var(--color-gray-100);
     padding: 0.1rem 0.3rem;
     border-radius: 3px;
   }
diff --git a/gui/frontend/src/lib/config/ConfigFieldList.svelte b/gui/frontend/src/lib/config/ConfigFieldList.svelte
index 3ef6756..9700122 100644
--- a/gui/frontend/src/lib/config/ConfigFieldList.svelte
+++ b/gui/frontend/src/lib/config/ConfigFieldList.svelte
@@ -26,7 +26,7 @@
     display: flex;
     gap: 1rem;
     padding: 0.35rem 0;
-    border-bottom: 1px solid #eee;
+    border-bottom: 1px solid var(--color-gray-100);
     font-size: 0.85rem;
   }
 
@@ -38,6 +38,6 @@
 
   dd {
     margin: 0;
-    color: #555;
+    color: var(--color-gray-600);
   }
 </style>
diff --git a/gui/frontend/src/lib/config/GeometryPanel.svelte b/gui/frontend/src/lib/config/GeometryPanel.svelte
index bcb5081..0bc0a04 100644
--- a/gui/frontend/src/lib/config/GeometryPanel.svelte
+++ b/gui/frontend/src/lib/config/GeometryPanel.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { Heading, P } from "flowbite-svelte";
   import type { ConfigCategory } from "../layout/configCategories";
   import type { VisionInstance } from "../layout/nav.svelte";
   import CornerPicker from "../CornerPicker.svelte";
@@ -14,16 +15,18 @@
 </script>
 
 <section class="geometry">
-  <h2>Geometry</h2>
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">Geometry</Heading>
 
   {#if instance}
-    <p class="hint">
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
       {instance.host} / cam {instance.cameraId}. The numeric settings below
       (config.yml's <code>geometry:</code> block) aren't editable here yet; the calibration
       and corner picker are, and apply live.
-    </p>
+    </P>
   {:else}
-    <p class="hint">Select a vision processor on the left first.</p>
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
+      >Select a vision processor on the left first.</P
+    >
   {/if}
 
   {#if instance}
@@ -46,17 +49,8 @@
     max-width: 900px;
   }
 
-  h2 {
-    margin: 0 0 0.5rem;
-  }
-
-  .hint {
-    color: #666;
-    font-size: 0.85rem;
-  }
-
   code {
-    background: #eee;
+    background: var(--color-gray-100);
     padding: 0.1rem 0.3rem;
     border-radius: 3px;
   }
diff --git a/gui/frontend/src/lib/config/HostInterfaces.svelte b/gui/frontend/src/lib/config/HostInterfaces.svelte
index 044dc0f..3c6c747 100644
--- a/gui/frontend/src/lib/config/HostInterfaces.svelte
+++ b/gui/frontend/src/lib/config/HostInterfaces.svelte
@@ -1,4 +1,6 @@
 <script lang="ts">
+  import SettingsCard from "../SettingsCard.svelte";
+  import { Checkbox, Toggle, Alert, P } from "flowbite-svelte";
   import {
     network,
     interfaceSelection,
@@ -92,85 +94,69 @@
   );
 </script>
 
-<fieldset>
-  <legend>Host interfaces</legend>
-
-  <label class="auto">
-    <input
-      type="checkbox"
-      checked={selection.auto}
-      onchange={(e) => {
-        setAuto(e.currentTarget.checked);
-      }}
-    />
+<SettingsCard title="Host interfaces">
+  <Toggle
+    size="small"
+    checked={selection.auto}
+    onchange={(e: Event) => {
+      setAuto((e.currentTarget as HTMLInputElement).checked);
+    }}
+  >
     Auto
-    <span class="hint"
+    <span class="hint ms-1"
       >(skips loopback, disconnected, and virtual interfaces)</span
     >
-  </label>
+  </Toggle>
 
   <ul class:muted={selection.auto}>
     {#each rows as row (row.name)}
       <li>
-        <label>
-          <input
-            type="checkbox"
-            checked={row.checked}
-            disabled={row.disabled}
-            onchange={(e) => {
-              toggle(row.name, e.currentTarget.checked);
-            }}
-          />
+        <Checkbox
+          checked={row.checked}
+          disabled={row.disabled}
+          onchange={(e: Event) => {
+            toggle(row.name, (e.currentTarget as HTMLInputElement).checked);
+          }}
+        >
           <span
             ><span class="name">{row.name}</span><span class="detail"
               >{row.detail}</span
             ></span
           >
-        </label>
+        </Checkbox>
       </li>
     {:else}
       <li class="hint">Waiting for the host…</li>
     {/each}
   </ul>
 
-  <p class="hint">
+  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
     Only this host's sockets; vision_processors use their system's default
     route. Broadcast receiving listens on every interface.
-  </p>
+  </P>
 
   {#if loopbackOff && network.state}
-    <div class="warning">
+    <Alert color="yellow" class="mt-2 p-3 text-sm">
       Multicast is off on <code>{network.state.loopback}</code>. Programs on
       this machine that multicast over loopback won't hear each other. To enable
       it until reboot:
       <pre>sudo ip link set {network.state.loopback} multicast on</pre>
-    </div>
+    </Alert>
   {/if}
-</fieldset>
+</SettingsCard>
 
 <style>
-  fieldset {
-    border: 1px solid #ddd;
-    border-radius: 4px;
-    margin-bottom: 1rem;
-  }
-
-  label {
-    display: flex;
-    align-items: center;
-    gap: 0.4rem;
-    margin: 0.3rem 0;
-    font-size: 0.85rem;
-  }
-
   ul {
-    margin: 0.25rem 0 0.5rem 1.2rem;
+    display: flex;
+    flex-direction: column;
+    gap: 0.35rem;
+    margin: 0.5rem 0 0.5rem 1.2rem;
     padding: 0;
     list-style: none;
   }
 
   ul.muted {
-    color: #999;
+    color: var(--color-gray-400);
   }
 
   .name {
@@ -179,27 +165,19 @@
 
   .detail,
   .hint {
-    color: #666;
+    color: var(--color-gray-600);
     font-size: 0.8rem;
   }
 
   ul.muted .detail {
-    color: #aaa;
-  }
-
-  .warning {
-    padding: 0.4rem 0.6rem;
-    border-radius: 4px;
-    background: #fff6e5;
-    color: #7a4a00;
-    font-size: 0.85rem;
+    color: var(--color-gray-400);
   }
 
   pre {
     margin: 0.4rem 0 0;
     padding: 0.3rem 0.5rem;
     border-radius: 4px;
-    background: #fff;
+    background: var(--color-white);
     font-size: 0.8rem;
     user-select: all;
   }
diff --git a/gui/frontend/src/lib/config/NetworkPanel.svelte b/gui/frontend/src/lib/config/NetworkPanel.svelte
index 7ef5c5c..0ecd3f0 100644
--- a/gui/frontend/src/lib/config/NetworkPanel.svelte
+++ b/gui/frontend/src/lib/config/NetworkPanel.svelte
@@ -1,7 +1,9 @@
 <script lang="ts">
+  import SettingsCard from "../SettingsCard.svelte";
+  import { Input, Select, Indicator, Alert, Heading, P } from "flowbite-svelte";
   import { untrack } from "svelte";
   import { config } from "../config.svelte";
-  import NoteTip from "../NoteTip.svelte";
+  import FormRow from "../FormRow.svelte";
   import HostInterfaces from "./HostInterfaces.svelte";
   import {
     network,
@@ -144,99 +146,115 @@
 </script>
 
 <div class="network-panel">
-  <h2>Network</h2>
-  <p class="hint">
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">Network</Heading>
+  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
     Shared by the host and every vision_processor (vision.yml's
     <code>defaults.network</code>). The host reopens its sockets as soon as a
     change applies. vision_processors read these only at startup, so restart
     them after a change.
-  </p>
+  </P>
 
   {#if overriding.length > 0}
-    <p class="warning">
+    <Alert color="yellow" class="mb-3 p-2 text-sm">
       Camera{overriding.length === 1 ? "" : "s"}
       {overriding.join(", ")} override{overriding.length === 1 ? "s" : ""} these in
       their own config, so their vision_processor uses different groups than the host.
-    </p>
+    </Alert>
   {/if}
 
   {#if sharedError}
-    <p class="error">{sharedError}</p>
+    <Alert color="red" class="mb-3 p-2 text-sm">{sharedError}</Alert>
   {/if}
 
   {#each groups as g (g.id)}
-    <fieldset>
-      <legend>
-        <span
-          class="dot"
-          class:receiving={g.status?.receiving}
+    <SettingsCard title={g.title}>
+      {#snippet status()}
+        <Indicator
+          size="sm"
+          color={g.status?.receiving ? "green" : "gray"}
           title={g.status?.receiving ? "Receiving" : "Not receiving"}
-        ></span>
-        {g.title}
-      </legend>
-
-      <div class="row">
-        <label for={`${g.id}-ip`}>Address</label>
-        <select
-          aria-label={`${g.title} address preset`}
-          value={g.addressIndex}
-          onchange={(e) => {
-            pickAddress(g, Number(e.currentTarget.value));
-          }}
-        >
-          {#each g.addresses as preset, i (preset.value)}
-            <option value={i}>{preset.label}</option>
-          {/each}
-          <option value={-1} disabled>Custom</option>
-        </select>
-        <input
-          id={`${g.id}-ip`}
-          type="text"
-          spellcheck="false"
-          class:invalid={errors[g.ipKey]}
-          bind:value={draft[g.ipKey]}
-          onchange={() => {
-            commit(g.ipKey);
-          }}
         />
-        <NoteTip id={`${g.id}-ip-notes`} notes={g.addressAdvice.notes} />
-      </div>
-      {#if errors[g.ipKey]}<p class="error">{errors[g.ipKey]}</p>{/if}
-      {#each g.addressAdvice.warnings as warning (warning)}
-        <p class="field-warning">{warning}</p>
-      {/each}
-
-      <div class="row">
-        <label for={`${g.id}-port`}>Port</label>
-        <select
-          aria-label={`${g.title} port preset`}
-          value={g.portIndex}
-          onchange={(e) => {
-            pickPort(g, Number(e.currentTarget.value));
-          }}
-        >
-          {#each g.ports as preset, i (preset.value)}
-            <option value={i}>{preset.label} ({preset.value})</option>
-          {/each}
-          <option value={-1} disabled>Custom</option>
-        </select>
-        <input
-          id={`${g.id}-port`}
-          type="number"
-          min="1"
-          max="65535"
-          class:invalid={errors[g.portKey]}
-          bind:value={draft[g.portKey]}
-          onchange={() => {
-            commit(g.portKey);
-          }}
-        />
-        <NoteTip id={`${g.id}-port-notes`} notes={g.portAdvice.notes} />
-      </div>
-      {#if errors[g.portKey]}<p class="error">{errors[g.portKey]}</p>{/if}
-      {#each g.portAdvice.warnings as warning (warning)}
-        <p class="field-warning">{warning}</p>
-      {/each}
+      {/snippet}
+
+      <FormRow
+        label="Address"
+        for={`${g.id}-ip`}
+        labelWidth="4rem"
+        notes={g.addressAdvice.notes}
+        warnings={g.addressAdvice.warnings}
+        errors={errors[g.ipKey] ? [errors[g.ipKey] ?? ""] : []}
+      >
+        <div class="pair">
+          <Select
+            aria-label={`${g.title} address preset`}
+            size="sm"
+            placeholder=""
+            value={g.addressIndex}
+            onchange={(e: Event) => {
+              pickAddress(
+                g,
+                Number((e.currentTarget as HTMLSelectElement).value),
+              );
+            }}
+          >
+            {#each g.addresses as preset, i (preset.value)}
+              <option value={i}>{preset.label}</option>
+            {/each}
+            <option value={-1} disabled>Custom</option>
+          </Select>
+          <Input
+            id={`${g.id}-ip`}
+            type="text"
+            size="sm"
+            class="font-mono"
+            spellcheck="false"
+            color={errors[g.ipKey] ? "red" : "default"}
+            bind:value={draft[g.ipKey]}
+            onchange={() => {
+              commit(g.ipKey);
+            }}
+          />
+        </div>
+      </FormRow>
+
+      <FormRow
+        label="Port"
+        for={`${g.id}-port`}
+        labelWidth="4rem"
+        notes={g.portAdvice.notes}
+        warnings={g.portAdvice.warnings}
+        errors={errors[g.portKey] ? [errors[g.portKey] ?? ""] : []}
+      >
+        <div class="pair">
+          <Select
+            aria-label={`${g.title} port preset`}
+            size="sm"
+            placeholder=""
+            value={g.portIndex}
+            onchange={(e: Event) => {
+              pickPort(g, Number((e.currentTarget as HTMLSelectElement).value));
+            }}
+          >
+            {#each g.ports as preset, i (preset.value)}
+              <option value={i}>{preset.label} ({preset.value})</option>
+            {/each}
+            <option value={-1} disabled>Custom</option>
+          </Select>
+          <Input
+            id={`${g.id}-port`}
+            type="number"
+            size="sm"
+            class="font-mono"
+            min="1"
+            max="65535"
+            color={errors[g.portKey] ? "red" : "default"}
+            bind:value={draft[g.portKey]}
+            onchange={() => {
+              commit(g.portKey);
+            }}
+          />
+        </div>
+      </FormRow>
 
       <p class="status">
         {#if g.status && g.status.address !== `${current[g.ipKey]}:${String(current[g.portKey])}`}
@@ -245,7 +263,7 @@
           {describe(g.status, g.what)}
         {/if}
       </p>
-    </fieldset>
+    </SettingsCard>
   {/each}
 
   <HostInterfaces />
@@ -256,84 +274,18 @@
     max-width: 560px;
   }
 
-  h2 {
-    margin: 0 0 0.5rem;
-  }
-
-  fieldset {
-    border: 1px solid #ddd;
-    border-radius: 4px;
-    margin-bottom: 1rem;
-  }
-
-  legend {
-    display: flex;
-    align-items: center;
-    gap: 0.4rem;
-  }
-
-  .row {
+  .pair {
     display: grid;
-    grid-template-columns: 4rem 1fr 9.5rem 1.25rem;
-    align-items: center;
+    grid-template-columns: minmax(0, 1fr) 9.5rem;
     gap: 0.5rem;
-    margin: 0.4rem 0;
-    font-size: 0.85rem;
-  }
-
-  select,
-  input {
-    font-size: 0.85rem;
-  }
-
-  input {
-    font-family: monospace;
-  }
-
-  input.invalid {
-    border-color: #c81e1e;
   }
 
-  .dot {
-    width: 0.55rem;
-    height: 0.55rem;
-    border-radius: 50%;
-    background: #bbb;
-  }
-
-  .dot.receiving {
-    background: #2e7d32;
-  }
-
-  .hint,
   .status {
-    color: #666;
+    color: var(--color-gray-600);
     font-size: 0.8rem;
   }
 
   .status {
     margin: 0.5rem 0 0;
   }
-
-  .error,
-  .field-warning {
-    margin: 0 0 0.4rem;
-    font-size: 0.8rem;
-  }
-
-  .error {
-    color: #c81e1e;
-  }
-
-  .field-warning {
-    color: #7a4a00;
-  }
-
-  .warning {
-    padding: 0.4rem 0.6rem;
-    border-radius: 4px;
-    background: #fff6e5;
-    color: #7a4a00;
-    font-size: 0.85rem;
-  }
 </style>
diff --git a/gui/frontend/src/lib/config/SliderField.svelte b/gui/frontend/src/lib/config/SliderField.svelte
index e85f35f..578278b 100644
--- a/gui/frontend/src/lib/config/SliderField.svelte
+++ b/gui/frontend/src/lib/config/SliderField.svelte
@@ -1,9 +1,10 @@
 <script lang="ts">
+  import { Input, Range, Toggle } from "flowbite-svelte";
   import { untrack } from "svelte";
-  import NoteTip from "../NoteTip.svelte";
+  import FormRow from "../FormRow.svelte";
 
   // One numeric setting: a slider for the usual range and a number box for
-  // anything outside it. With `auto`, a checkbox switches to the value that
+  // anything outside it. With `auto`, a toggle switches to the value that
   // means automatic (vision_processor's 0 for exposure and gain), and
   // remembers the manual value for switching back.
   interface Props {
@@ -50,98 +51,66 @@
   }
 </script>
 
-<div class="row">
-  <label for={id}>{label}</label>
-
+<FormRow {label} for={id} {notes} {warnings}>
   <div class="controls">
     {#if auto}
-      <label class="auto">
-        <input
-          type="checkbox"
-          checked={isAuto}
-          onchange={(e) => {
-            set(e.currentTarget.checked ? auto.value : lastManual);
-          }}
-        />
-        {auto.label ?? "Auto"}
-      </label>
+      <Toggle
+        size="small"
+        class="shrink-0"
+        checked={isAuto}
+        onchange={(e: Event) => {
+          set(
+            (e.currentTarget as HTMLInputElement).checked
+              ? auto.value
+              : lastManual,
+          );
+        }}
+      >
+        <span class="text-xs">{auto.label ?? "Auto"}</span>
+      </Toggle>
     {/if}
 
-    <input
-      type="range"
+    <Range
+      size="sm"
+      class="min-w-24 flex-1"
       {min}
       {max}
       {step}
       value={isAuto ? lastManual : value}
       disabled={isAuto}
-      oninput={(e) => {
-        set(e.currentTarget.valueAsNumber);
-      }}
-    />
-    <input
-      {id}
-      type="number"
-      class="number"
-      {step}
-      value={isAuto ? "" : value}
-      placeholder={isAuto ? (auto?.label ?? "Auto").toLowerCase() : ""}
-      disabled={isAuto}
-      onchange={(e) => {
-        set(e.currentTarget.valueAsNumber);
+      oninput={(e: Event) => {
+        set((e.currentTarget as HTMLInputElement).valueAsNumber);
       }}
     />
+    <div class="w-24 shrink-0">
+      <Input
+        {id}
+        type="number"
+        size="sm"
+        {step}
+        value={isAuto ? "" : value}
+        placeholder={isAuto ? (auto?.label ?? "Auto").toLowerCase() : ""}
+        disabled={isAuto}
+        onchange={(e: Event) => {
+          set((e.currentTarget as HTMLInputElement).valueAsNumber);
+        }}
+      />
+    </div>
     <span class="unit">{unit}</span>
   </div>
-
-  <NoteTip id={`${id}-notes`} {notes} />
-</div>
-
-{#each warnings as warning (warning)}
-  <p class="warning">{warning}</p>
-{/each}
+</FormRow>
 
 <style>
-  .row {
-    display: grid;
-    grid-template-columns: 7rem 1fr 1.25rem;
-    align-items: center;
-    gap: 0.5rem;
-    margin: 0.45rem 0;
-    font-size: 0.85rem;
-  }
-
   .controls {
     display: flex;
     align-items: center;
     gap: 0.5rem;
   }
 
-  .auto {
-    display: flex;
-    align-items: center;
-    gap: 0.25rem;
-    font-size: 0.8rem;
-  }
-
-  input[type="range"] {
-    flex: 1;
-    min-width: 6rem;
-  }
-
-  .number {
-    width: 5.5rem;
-    font-size: 0.85rem;
-  }
-
   .unit {
+    flex-shrink: 0;
     width: 5.5rem;
-    color: #666;
-    font-size: 0.8rem;
-  }
-
-  .warning {
-    margin: 0 0 0.4rem 7.5rem;
-    color: #7a4a00;
+    color: var(--color-gray-500);
     font-size: 0.8rem;
   }
 </style>
diff --git a/gui/frontend/src/lib/config/StreamPanel.svelte b/gui/frontend/src/lib/config/StreamPanel.svelte
index 3ca6f85..88b93db 100644
--- a/gui/frontend/src/lib/config/StreamPanel.svelte
+++ b/gui/frontend/src/lib/config/StreamPanel.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { Heading, P } from "flowbite-svelte";
   import type { VisionInstance } from "../layout/nav.svelte";
   import VideoPlayer from "../video/VideoPlayer.svelte";
 
@@ -10,21 +11,23 @@
 </script>
 
 <section class="stream-panel">
-  <h2>Live video</h2>
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">Live video</Heading>
 
   {#if instance}
-    <p class="hint">
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
       {instance.host} / cam {instance.cameraId}'s H.264 stream, relayed by the
       host without re-encoding. vision_processor cycles through its views (raw,
       then processed) unless <code>stream.raw_feed</code> is set. For exact pixels,
       such as picking corners, use the snapshots on the Geometry tab.
-    </p>
+    </P>
 
     {#key instance.cameraId}
       <VideoPlayer cameraId={instance.cameraId} />
     {/key}
   {:else}
-    <p class="hint">Select a vision processor on the left first.</p>
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
+      >Select a vision processor on the left first.</P
+    >
   {/if}
 </section>
 
@@ -32,13 +35,4 @@
   .stream-panel {
     max-width: 960px;
   }
-
-  h2 {
-    margin: 0 0 0.5rem;
-  }
-
-  .hint {
-    color: #666;
-    font-size: 0.85rem;
-  }
 </style>
diff --git a/gui/frontend/src/lib/config/WeightTriangle.svelte b/gui/frontend/src/lib/config/WeightTriangle.svelte
index 971e555..63a5fdc 100644
--- a/gui/frontend/src/lib/config/WeightTriangle.svelte
+++ b/gui/frontend/src/lib/config/WeightTriangle.svelte
@@ -16,7 +16,7 @@
 
   import { minReferenceForceUnlock } from "../color.svelte";
   import { preferences } from "../preferences.svelte";
-  import { Button, Modal } from "flowbite-svelte";
+  import { Button, Modal, Input, Label } from "flowbite-svelte";
 
   interface Props {
     referenceForce?: number;
@@ -373,19 +373,25 @@
       </Button>
 
       <div class="min-force-block">
-        <label class="min-force">
-          Minimum reference weight
-          <input
-            type="number"
-            step="0.01"
-            value={minForceText}
-            disabled={!minForceUnlocked}
-            oninput={handleMinForceInput}
-            onkeydown={handleMinForceKeydown}
-            onfocus={handleMinForceFocus}
-            onblur={handleMinForceBlur}
-          />
-        </label>
+        <div class="min-force">
+          <Label for="min-force" class="font-normal"
+            >Minimum reference weight</Label
+          >
+          <div class="w-20 shrink-0">
+            <Input
+              id="min-force"
+              type="number"
+              size="sm"
+              step="0.01"
+              value={minForceText}
+              disabled={!minForceUnlocked}
+              oninput={handleMinForceInput}
+              onkeydown={handleMinForceKeydown}
+              onfocus={handleMinForceFocus}
+              onblur={handleMinForceBlur}
+            />
+          </div>
+        </div>
 
         {#if !minForceUnlocked}
           <Button size="xs" color="light" outline onclick={requestUnlock}>
@@ -480,7 +486,7 @@
   }
 
   .marker {
-    fill: #1565c0;
+    fill: var(--color-primary-700);
     stroke: white;
     stroke-width: 0.6;
     cursor: grab;
@@ -524,14 +530,4 @@
     font-size: 0.85rem;
     color: #444;
   }
-
-  .min-force input {
-    width: 5rem;
-  }
-
-  .min-force input:disabled {
-    background: #eee;
-    color: #888;
-    cursor: not-allowed;
-  }
 </style>
diff --git a/gui/frontend/src/lib/config/YuvPositionPane.svelte b/gui/frontend/src/lib/config/YuvPositionPane.svelte
index 9bd692f..4a7e6fb 100644
--- a/gui/frontend/src/lib/config/YuvPositionPane.svelte
+++ b/gui/frontend/src/lib/config/YuvPositionPane.svelte
@@ -28,7 +28,14 @@
     type RGB,
   } from "../color.svelte";
   import { preferences } from "../preferences.svelte";
-  import { Button, ButtonGroup, Modal } from "flowbite-svelte";
+  import {
+    Button,
+    ButtonGroup,
+    Modal,
+    Alert,
+    Heading,
+    P,
+  } from "flowbite-svelte";
 
   interface Props {
     color?: RGB;
@@ -554,7 +561,9 @@
 
 <div class="yuv-pane">
   <div class="pane-header">
-    <h3>Reference colors</h3>
+    <Heading tag="h3" class="mb-1 text-base font-semibold"
+      >Reference colors</Heading
+    >
     <div class="history-buttons">
       <Button
         size="xs"
@@ -662,11 +671,14 @@
           </Button>
         </ButtonGroup>
 
+        <!-- Same pattern as the mode buttons above: colors from the selection
+             keep exactly one lit, which ButtonToggleGroup doesn't. -->
         {#each COLOR_CLASSES as cls (cls)}
-          <button
-            type="button"
+          <Button
+            size="sm"
+            pill
+            color={selectedClass === cls ? "primary" : "alternative"}
             class="class-button"
-            class:selected={selectedClass === cls}
             onclick={() => (selectedClass = cls)}
           >
             <span
@@ -676,7 +688,7 @@
               )}
             ></span>
             {CLASS_LABELS[cls]}
-          </button>
+          </Button>
         {/each}
 
         <div
@@ -742,15 +754,15 @@
   </Modal>
 
   {#if preferences.tooltipsEnabled && gamutFraction < 0.3}
-    <p class="gamut-note">
+    <Alert color="primary" class="mt-2 p-2 text-sm">
       Only {Math.round(gamutFraction * 100)}% of the square is a real color at
       this brightness -- the outlined shape, not a full square, is expected
       here: brightness this close to {sliceY < 128 ? "black" : "white"} genuinely
       has few reachable colors. Not a rendering glitch.
-    </p>
+    </Alert>
   {/if}
 
-  <p class="hint">
+  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
     Drag or click inside the square to set {label || "the reference color"}'s
     color at the brightness shown. Dragging the slider (or scrolling over either
     control) only previews a different brightness -- the marker stays exactly
@@ -760,7 +772,7 @@
     last drag, one gesture at a time. The currently-autoadapted position and
     per-frame blob samples aren't shown yet: both need the other contributor's
     protobuf work to reach this host.
-  </p>
+  </P>
 </div>
 
 <style>
@@ -784,10 +796,6 @@
     margin-bottom: 0.5rem;
   }
 
-  .pane-header h3 {
-    margin: 0;
-  }
-
   .history-buttons {
     display: flex;
     gap: 0.5rem;
@@ -897,7 +905,7 @@
     z-index: 2;
     padding: 0.15rem 0.45rem;
     border-radius: 999px;
-    background: #1565c0;
+    background: var(--color-primary-700);
     color: white;
     font-size: 0.8rem;
     font-variant-numeric: tabular-nums;
@@ -999,21 +1007,10 @@
     border-top: 1px solid #ddd;
   }
 
-  .class-button {
-    display: inline-flex;
-    align-items: center;
+  /* A Flowbite Button; this only lays out the swatch beside the label. */
+  :global(.class-button) {
+    justify-content: flex-start;
     gap: 0.4rem;
-    padding: 0.3rem 0.6rem;
-    border: 1px solid #ccc;
-    border-radius: 999px;
-    background: white;
-    font-size: 0.85rem;
-    cursor: pointer;
-  }
-
-  .class-button.selected {
-    border-color: #1565c0;
-    background: #e8f0fe;
   }
 
   /* Full column width, split evenly, matching the class buttons below. */
@@ -1052,20 +1049,4 @@
     margin: 0;
     font-variant-numeric: tabular-nums;
   }
-
-  .gamut-note {
-    color: #7a5c00;
-    background: #fff8e1;
-    border: 1px solid #ffe1a8;
-    border-radius: 4px;
-    padding: 0.4rem 0.6rem;
-    margin-top: 0.5rem;
-    font-size: 0.8rem;
-  }
-
-  .hint {
-    color: #666;
-    font-size: 0.8rem;
-    margin-top: 0.5rem;
-  }
 </style>
diff --git a/gui/frontend/src/lib/layout/ChangeList.svelte b/gui/frontend/src/lib/layout/ChangeList.svelte
index 2d8cede..1376d81 100644
--- a/gui/frontend/src/lib/layout/ChangeList.svelte
+++ b/gui/frontend/src/lib/layout/ChangeList.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { Listgroup, ListgroupItem, Heading } from "flowbite-svelte";
   import {
     formatValue,
     SECTION_LABELS,
@@ -43,19 +44,23 @@
 
 <div class="change-list">
   {#each groups as group (group.key)}
-    <h4>{group.title}</h4>
-    <ul>
+    <Heading tag="h4" class="mt-3 mb-1 text-sm font-semibold first:mt-0"
+      >{group.title}</Heading
+    >
+    <Listgroup class="w-full">
       {#each group.changes as change (change.path)}
-        <li>
+        <ListgroupItem
+          class="flex flex-wrap justify-between gap-2 px-3 py-1.5 text-sm font-normal"
+        >
           <code class="path">{change.path}</code>
           <span class="values">
             <span class="before">{formatValue(change.before)}</span>
             →
             <span class="after">{formatValue(change.after)}</span>
           </span>
-        </li>
+        </ListgroupItem>
       {/each}
-    </ul>
+    </Listgroup>
   {/each}
 </div>
 
@@ -66,32 +71,8 @@
     font-size: 0.85rem;
   }
 
-  h4 {
-    margin: 0.75rem 0 0.25rem;
-    font-weight: 600;
-  }
-
-  h4:first-child {
-    margin-top: 0;
-  }
-
-  ul {
-    margin: 0;
-    padding: 0;
-    list-style: none;
-  }
-
-  li {
-    display: flex;
-    flex-wrap: wrap;
-    justify-content: space-between;
-    gap: 0.5rem;
-    padding: 0.2rem 0;
-    border-bottom: 1px solid #eee;
-  }
-
   .path {
-    color: #444;
+    color: var(--color-gray-700);
   }
 
   .values {
@@ -100,10 +81,10 @@
   }
 
   .before {
-    color: #b00020;
+    color: var(--color-red-700);
   }
 
   .after {
-    color: #1b5e20;
+    color: var(--color-green-800);
   }
 </style>
diff --git a/gui/frontend/src/lib/layout/ConfigDialogs.svelte b/gui/frontend/src/lib/layout/ConfigDialogs.svelte
index 1316e1e..f7db66d 100644
--- a/gui/frontend/src/lib/layout/ConfigDialogs.svelte
+++ b/gui/frontend/src/lib/layout/ConfigDialogs.svelte
@@ -1,5 +1,5 @@
 <script lang="ts">
-  import { Modal, Button } from "flowbite-svelte";
+  import { Modal, Button, Input, Label, Alert, Toast } from "flowbite-svelte";
   import {
     config,
     saveConfig,
@@ -73,18 +73,21 @@
 
 <svelte:window onkeydown={onKeydown} />
 
+<!-- Keyed on the message, so each new error is a fresh toast rather than one
+     that was dismissed staying hidden. -->
 {#if config.error}
-  <div class="error-banner" role="alert">
-    <span>{config.error}</span>
-    <button
-      type="button"
-      class="dismiss"
-      aria-label="Dismiss"
-      onclick={() => {
+  {#key config.error}
+    <Toast
+      color="red"
+      class="fixed end-4 bottom-4 z-60 max-w-lg whitespace-pre-wrap"
+      closeAriaLabel="Dismiss"
+      onclose={() => {
         config.error = null;
-      }}>×</button
+      }}
     >
-  </div>
+      {config.error}
+    </Toast>
+  {/key}
 {/if}
 
 <Modal
@@ -125,15 +128,16 @@
   size="md"
   class={MODAL_CLASS}
 >
-  <label class="flex flex-col gap-1 text-sm">
-    Path on the host
-    <input
+  <div class="flex flex-col gap-1">
+    <Label for="save-as-path">Path on the host</Label>
+    <Input
+      id="save-as-path"
       type="text"
-      class="rounded border border-gray-300 p-1.5"
+      class="font-mono"
       bind:value={pathInput}
       placeholder="vision.yml"
     />
-  </label>
+  </div>
   <p class="text-sm text-gray-600">
     The GUI edits and watches the new file from then on.
   </p>
@@ -157,22 +161,23 @@
   size="md"
   class={MODAL_CLASS}
 >
-  <label class="flex flex-col gap-1 text-sm">
-    Path on the host
-    <input
+  <div class="flex flex-col gap-1">
+    <Label for="load-path">Path on the host</Label>
+    <Input
+      id="load-path"
       type="text"
-      class="rounded border border-gray-300 p-1.5"
+      class="font-mono"
       bind:value={pathInput}
       placeholder="vision.yml"
     />
-  </label>
+  </div>
 
   {#if changes.length > 0}
-    <p class="text-sm text-red-700">
+    <Alert color="yellow" class="p-2 text-sm">
       Loading discards {changes.length} unsaved change{changes.length === 1
         ? ""
         : "s"}, and applies the loaded file live.
-    </p>
+    </Alert>
   {:else}
     <p class="text-sm text-gray-600">The loaded file applies live.</p>
   {/if}
@@ -202,8 +207,10 @@
   </p>
 
   {#if external?.error}
-    <p class="text-sm text-red-700">It can't be loaded as it is:</p>
-    <pre class="error-detail">{external.error}</pre>
+    <Alert color="red" class="p-2 text-sm">
+      It can't be loaded as it is:
+      <pre class="error-detail">{external.error}</pre>
+    </Alert>
   {:else if external && external.changes.length > 0}
     <p class="text-sm text-gray-600">Loading it would change:</p>
     <ChangeList changes={external.changes} />
@@ -214,10 +221,10 @@
   {/if}
 
   {#if changes.length > 0}
-    <p class="text-sm text-red-700">
+    <Alert color="yellow" class="p-2 text-sm">
       You have {changes.length} unsaved change{changes.length === 1 ? "" : "s"}.
       Loading discards them; overwriting replaces the edited file with them.
-    </p>
+    </Alert>
   {/if}
 
   <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
@@ -233,38 +240,13 @@
 </Modal>
 
 <style>
-  .error-banner {
-    position: fixed;
-    right: 1rem;
-    bottom: 1rem;
-    z-index: 60;
-    display: flex;
-    align-items: flex-start;
-    gap: 0.75rem;
-    max-width: 32rem;
-    padding: 0.75rem 1rem;
-    border: 1px solid #f5c2c7;
-    border-radius: 6px;
-    background: #fdecee;
-    color: #842029;
-    font-size: 0.85rem;
-    white-space: pre-wrap;
-  }
-
-  .dismiss {
-    padding: 0 0.3rem;
-    border: none;
-    background: none;
-    font-size: 1rem;
-    line-height: 1;
-  }
-
   .error-detail {
     max-height: 30vh;
     overflow: auto;
+    margin-top: 0.4rem;
     padding: 0.5rem;
     border-radius: 4px;
-    background: #f5f5f5;
+    background: rgb(255 255 255 / 0.6);
     font-size: 0.8rem;
     white-space: pre-wrap;
   }
diff --git a/gui/frontend/src/lib/layout/ConfigNav.svelte b/gui/frontend/src/lib/layout/ConfigNav.svelte
index 8cead0d..b58ab09 100644
--- a/gui/frontend/src/lib/layout/ConfigNav.svelte
+++ b/gui/frontend/src/lib/layout/ConfigNav.svelte
@@ -1,5 +1,11 @@
 <script lang="ts">
-  import { nav, selectedInstance, isCategoryDirty } from "./nav.svelte";
+  import { Heading, SidebarGroup, SidebarItem } from "flowbite-svelte";
+  import {
+    nav,
+    selectedInstance,
+    isCategoryDirty,
+    categoryHref,
+  } from "./nav.svelte";
   import { CONFIG_CATEGORIES } from "./configCategories";
 
   let sharedCategories = $derived(
@@ -13,98 +19,43 @@
   // function, rather than calling selectedInstance() again at each of the
   // template sites below.
   let instance = $derived(selectedInstance());
+
+  const HEADING =
+    "mt-5 mb-1 px-2 text-xs font-semibold tracking-wider text-gray-500 uppercase";
 </script>
 
-<nav class="config-nav">
-  <h2>Shared</h2>
-  <ul>
+<nav aria-label="Settings">
+  <Heading tag="h2" class={HEADING}>Shared</Heading>
+  <SidebarGroup class="space-y-0.5">
     {#each sharedCategories as category (category.id)}
-      <li>
-        <button
-          type="button"
-          class:selected={category.id === nav.selectedCategoryId}
-          onclick={() => {
-            nav.selectedCategoryId = category.id;
-          }}
-        >
-          {category.label}{isCategoryDirty(category.id) ? "*" : ""}
-        </button>
-      </li>
+      <SidebarItem
+        href={categoryHref(category.id)}
+        label={`${category.label}${isCategoryDirty(category.id) ? "*" : ""}`}
+        spanClass=""
+        active={category.id === nav.selectedCategoryId}
+      />
     {/each}
-  </ul>
+  </SidebarGroup>
 
-  <h2>
+  <Heading tag="h2" class={HEADING}>
     {#if instance}
       {instance.host} / cam {instance.cameraId}
     {:else}
-      Per-instance (select one above)
+      Per-instance (no cameras yet)
     {/if}
-  </h2>
-  <ul>
+  </Heading>
+  <SidebarGroup class="space-y-0.5">
     {#each instanceCategories as category (category.id)}
-      <li>
-        <button
-          type="button"
-          class:selected={category.id === nav.selectedCategoryId}
-          disabled={!instance}
-          onclick={() => {
-            nav.selectedCategoryId = category.id;
-          }}
-        >
-          {category.label}{isCategoryDirty(category.id) ? "*" : ""}
-        </button>
-      </li>
+      <!-- Without a camera there's nothing to link to; an <a> without href
+           isn't focusable, which is what disabled should be. -->
+      <SidebarItem
+        href={instance ? categoryHref(category.id) : undefined}
+        label={`${category.label}${isCategoryDirty(category.id) ? "*" : ""}`}
+        spanClass=""
+        aria-disabled={!instance}
+        class={instance ? "" : "pointer-events-none opacity-40"}
+        active={category.id === nav.selectedCategoryId}
+      />
     {/each}
-  </ul>
+  </SidebarGroup>
 </nav>
-
-<style>
-  .config-nav {
-    padding: 0.75rem;
-    overflow-y: auto;
-  }
-
-  h2 {
-    font-size: 0.85rem;
-    text-transform: uppercase;
-    letter-spacing: 0.05em;
-    margin: 0.75rem 0 0.4rem;
-    color: #555;
-  }
-
-  h2:first-child {
-    margin-top: 0;
-  }
-
-  ul {
-    list-style: none;
-    margin: 0;
-    padding: 0;
-  }
-
-  button {
-    display: block;
-    width: 100%;
-    padding: 0.35rem 0.5rem;
-    border: none;
-    background: none;
-    text-align: left;
-    font-size: 0.85rem;
-    border-radius: 4px;
-    cursor: pointer;
-  }
-
-  button:hover:not(:disabled) {
-    background: #f0f0f0;
-  }
-
-  button.selected {
-    background: #dbe9ff;
-    font-weight: 600;
-  }
-
-  button:disabled {
-    color: #bbb;
-    cursor: not-allowed;
-  }
-</style>
diff --git a/gui/frontend/src/lib/layout/InstanceList.svelte b/gui/frontend/src/lib/layout/InstanceList.svelte
index 56bfe5e..aeb6504 100644
--- a/gui/frontend/src/lib/layout/InstanceList.svelte
+++ b/gui/frontend/src/lib/layout/InstanceList.svelte
@@ -1,5 +1,12 @@
 <script lang="ts">
-  import { nav, instances, selectedInstance } from "./nav.svelte";
+  import {
+    Heading,
+    Indicator,
+    P,
+    SidebarGroup,
+    SidebarItem,
+  } from "flowbite-svelte";
+  import { instances, selectedInstance, instanceHref } from "./nav.svelte";
   import { config } from "../config.svelte";
 
   // Cameras with unsaved changes get a dot, same idea as the tab asterisks.
@@ -12,93 +19,33 @@
   );
 </script>
 
-<section class="instance-list">
-  <h2>Vision processors</h2>
-  <p class="hint">
-    One row per camera role, not per machine -- a host running all 4 cameras of
-    a quad setup appears here 4 times. From vision.yml's cameras list.
-  </p>
-
-  <ul>
-    {#each instances() as instance (instance.id)}
-      <li>
-        <button
-          type="button"
-          class:selected={instance.id === selectedInstance()?.id}
-          onclick={() => {
-            nav.selectedInstanceId = instance.id;
-          }}
-        >
-          <span class="host">{instance.host}</span>
-          <span class="cam">
-            cam {instance.cameraId}{#if dirtyCameras.has(instance.cameraId)}<span
-                class="dirty-dot"
-                title="Unsaved changes">●</span
-              >{/if}
-          </span>
-        </button>
-      </li>
-    {/each}
-  </ul>
-</section>
-
-<style>
-  .dirty-dot {
-    margin-left: 0.3rem;
-    color: #1a56db;
-    font-size: 0.6rem;
-    vertical-align: middle;
-  }
-
-  .instance-list {
-    padding: 0.75rem;
-    border-bottom: 1px solid #ddd;
-  }
-
-  h2 {
-    font-size: 0.85rem;
-    text-transform: uppercase;
-    letter-spacing: 0.05em;
-    margin: 0 0 0.4rem;
-    color: #555;
-  }
-
-  ul {
-    list-style: none;
-    margin: 0;
-    padding: 0;
-  }
-
-  button {
-    display: flex;
-    justify-content: space-between;
-    width: 100%;
-    padding: 0.4rem 0.5rem;
-    border: none;
-    background: none;
-    text-align: left;
-    font-size: 0.85rem;
-    border-radius: 4px;
-    cursor: pointer;
-  }
-
-  button:hover {
-    background: #f0f0f0;
-  }
-
-  button.selected {
-    background: #dbe9ff;
-    font-weight: 600;
-  }
-
-  .cam {
-    color: #666;
-  }
-
-  .hint {
-    color: #888;
-    font-size: 0.75rem;
-    font-style: italic;
-    margin: 0 0 0.5rem;
-  }
-</style>
+<Heading
+  tag="h2"
+  class="px-2 text-xs font-semibold tracking-wider text-gray-500 uppercase"
+>
+  Vision processors
+</Heading>
+<P size="xs" italic class="mt-1 mb-2 px-2 text-gray-500">
+  One row per camera role, not per machine -- a host running all 4 cameras of a
+  quad setup appears here 4 times. From vision.yml's cameras list.
+</P>
+
+<SidebarGroup class="space-y-0.5">
+  {#each instances() as instance (instance.id)}
+    <SidebarItem
+      href={instanceHref(instance.cameraId)}
+      label={instance.host}
+      spanClass="flex-1"
+      active={instance.id === selectedInstance()?.id}
+    >
+      {#snippet subtext()}
+        <span class="flex items-center gap-1.5 text-xs text-gray-500">
+          cam {instance.cameraId}
+          {#if dirtyCameras.has(instance.cameraId)}
+            <Indicator size="xs" color="primary" title="Unsaved changes" />
+          {/if}
+        </span>
+      {/snippet}
+    </SidebarItem>
+  {/each}
+</SidebarGroup>
diff --git a/gui/frontend/src/lib/layout/Shell.svelte b/gui/frontend/src/lib/layout/Shell.svelte
index 35d249b..ad023cc 100644
--- a/gui/frontend/src/lib/layout/Shell.svelte
+++ b/gui/frontend/src/lib/layout/Shell.svelte
@@ -11,11 +11,18 @@
     DropdownHeader,
     DropdownItem,
     Checkbox,
+    Badge,
+    Button,
+    Indicator,
+    Kbd,
+    Navbar,
+    NavBrand,
+    Sidebar,
   } from "flowbite-svelte";
   import { config, reloadFromDisk } from "../config.svelte";
   import { fileDialogs } from "./fileDialogs.svelte";
   import ConfigDialogs from "./ConfigDialogs.svelte";
-  import { nav } from "./nav.svelte";
+  import { categoryHref } from "./nav.svelte";
   import { network, networkFromDoc } from "../network.svelte";
 
   // `below` is where App.svelte puts the existing snapshot grid / WS dev
@@ -37,6 +44,13 @@
   // hand-rolled here with a window click listener.
   let settingsOpen = $state(false);
 
+  // The WebSocket to this host: green when open.
+  const CONNECTION_COLOR = {
+    open: "green",
+    connecting: "yellow",
+    closed: "red",
+  } as const;
+
   let unsaved = $derived(config.state?.changes.length ?? 0);
 
   // Multicast badges: the address each host socket is open on, green while
@@ -50,16 +64,16 @@
       fallback: `${configured.vision_ip}:${String(configured.vision_port)}`,
     },
     {
-      label: "GC",
+      label: "Game Controller",
       status: network.state?.gc,
       fallback: `${configured.gc_ip}:${String(configured.gc_port)}`,
     },
   ]);
 
-  // Clears app.css's base-layer button chrome and matches the preference
-  // checkboxes below: same text, same left inset as their p-3 group.
+  // Matches the preference checkboxes below: same text, same left inset as
+  // their p-3 group.
   const ITEM_CLASS =
-    "flex items-center justify-between gap-4 rounded-none border-0 bg-transparent px-3 py-1.5 text-sm font-medium text-gray-900 dark:text-white";
+    "flex items-center justify-between gap-4 px-3 py-1.5 text-sm font-medium text-gray-900 dark:text-white";
 
   function openDialog(which: "save" | "saveAs" | "load"): void {
     settingsOpen = false;
@@ -84,91 +98,128 @@
 
 <div class="shell">
   <header>
-    <h1>vision-processor</h1>
-    {#each sockets as socket (socket.label)}
-      <button
-        type="button"
-        class="badge socket"
-        data-state={socket.status?.receiving ? "open" : "silent"}
-        title={socket.status?.problem
-          ? `Not open: ${socket.status.problem}. Retrying. Click to configure.`
-          : socket.status?.receiving
-            ? `Receiving on ${socket.status.address}. Click to configure.`
-            : "Nothing heard on this address. Click to configure."}
-        onclick={() => {
-          nav.selectedCategoryId = "network";
-        }}
-      >
-        {socket.label}
-        {socket.status?.address ?? socket.fallback}
-      </button>
-    {/each}
-    <span class="badge" data-state={$connectionState}>
-      {$connectionState.toUpperCase()} ({location.host})
-    </span>
-
-    <div class="settings">
-      <button
-        id="settings-trigger"
-        type="button"
-        class="settings-button"
-        aria-label="Settings"
-      >
-        ⚙{#if unsaved > 0}<span class="unsaved-dot" title="Unsaved changes"
-          ></span>{/if}
-      </button>
-
-      <Dropdown
-        placement="bottom-end"
-        triggeredBy="#settings-trigger"
-        bind:isOpen={settingsOpen}
-      >
-        <DropdownHeader class="px-3">
-          <span class="block text-xs text-gray-500">Configuration</span>
-          <span class="block truncate font-mono text-xs"
-            >{config.state?.path ?? ""}</span
-          >
-        </DropdownHeader>
-        <DropdownGroup>
-          <DropdownItem
-            class={ITEM_CLASS}
-            onclick={() => {
-              openDialog("save");
-            }}
-          >
-            <span>Save{unsaved > 0 ? ` (${String(unsaved)})` : ""}</span>
-            <span class="text-xs font-normal text-gray-400">Ctrl+S</span>
-          </DropdownItem>
-          <DropdownItem
-            class={ITEM_CLASS}
-            onclick={() => {
-              openDialog("saveAs");
-            }}>Save as…</DropdownItem
+    <Navbar fluid class="px-6 py-2" closeOnClickOutside={false}>
+      <div class="flex flex-wrap items-center gap-3">
+        <NavBrand>
+          <h1 class="text-lg font-semibold whitespace-nowrap">
+            vision-processor
+          </h1>
+        </NavBrand>
+        {#each sockets as socket (socket.label)}
+          <a
+            href={categoryHref("network")}
+            class="badge-link"
+            title={socket.status?.problem
+              ? `Not open: ${socket.status.problem}. Retrying. Click to configure.`
+              : socket.status?.receiving
+                ? `Receiving on ${socket.status.address}. Click to configure.`
+                : "Nothing heard on this address. Click to configure."}
           >
-          <DropdownItem
-            class={ITEM_CLASS}
-            onclick={() => {
-              openDialog("load");
-            }}>Load…</DropdownItem
-          >
-          <DropdownItem class={ITEM_CLASS} onclick={revert}
-            >Revert to disk</DropdownItem
-          >
-        </DropdownGroup>
-        <DropdownGroup class="flex flex-col gap-2 p-3">
-          <Checkbox bind:checked={preferences.tooltipsEnabled}>
-            Show extra tooltips
-          </Checkbox>
-          <Checkbox bind:checked={preferences.expertUser}>Expert mode</Checkbox>
-        </DropdownGroup>
-      </Dropdown>
-    </div>
+            <Badge
+              rounded
+              color={socket.status?.problem
+                ? "yellow"
+                : socket.status?.receiving
+                  ? "green"
+                  : "gray"}
+            >
+              {socket.label} ({socket.status?.address ?? socket.fallback})
+            </Badge>
+          </a>
+        {/each}
+        <Badge rounded color={CONNECTION_COLOR[$connectionState]}>
+          User Interface - {$connectionState.toUpperCase()} ({location.host})
+        </Badge>
+      </div>
+
+      <div class="settings">
+        <Button
+          id="settings-trigger"
+          color="alternative"
+          size="xs"
+          pill
+          class="relative h-8 w-8 p-0 text-base"
+          aria-label="Settings"
+        >
+          <!-- U+FE0E asks for the plain text glyph; without it the button's
+             font stack picks the color emoji. -->
+          <span class="text-lg leading-none text-gray-700">⚙︎</span
+          >{#if unsaved > 0}<Indicator
+              color="primary"
+              size="sm"
+              placement="top-right"
+              title="Unsaved changes"
+            />{/if}
+        </Button>
+
+        <Dropdown
+          placement="bottom-end"
+          triggeredBy="#settings-trigger"
+          bind:isOpen={settingsOpen}
+        >
+          <DropdownHeader class="px-3">
+            <span class="block text-xs text-gray-500">Configuration</span>
+            <span class="block truncate font-mono text-xs"
+              >{config.state?.path ?? ""}</span
+            >
+          </DropdownHeader>
+          <DropdownGroup>
+            <DropdownItem
+              class={ITEM_CLASS}
+              onclick={() => {
+                openDialog("save");
+              }}
+            >
+              <span>Save{unsaved > 0 ? ` (${String(unsaved)})` : ""}</span>
+              <Kbd class="px-1.5 py-0.5 text-xs font-normal">Ctrl+S</Kbd>
+            </DropdownItem>
+            <DropdownItem
+              class={ITEM_CLASS}
+              onclick={() => {
+                openDialog("saveAs");
+              }}>Save as…</DropdownItem
+            >
+            <DropdownItem
+              class={ITEM_CLASS}
+              onclick={() => {
+                openDialog("load");
+              }}>Load…</DropdownItem
+            >
+            <DropdownItem class={ITEM_CLASS} onclick={revert}
+              >Revert to disk</DropdownItem
+            >
+          </DropdownGroup>
+          <DropdownGroup class="flex flex-col gap-2 p-3">
+            <Checkbox bind:checked={preferences.tooltipsEnabled}>
+              Show extra tooltips
+            </Checkbox>
+            <Checkbox bind:checked={preferences.expertUser}
+              >Expert mode</Checkbox
+            >
+          </DropdownGroup>
+        </Dropdown>
+      </div>
+    </Navbar>
   </header>
 
-  <aside class="sidebar">
+  <Sidebar
+    position="static"
+    alwaysOpen
+    disableBreakpoints
+    backdrop={false}
+    activateClickOutside={false}
+    ariaLabel="Cameras and settings"
+    class="sidebar w-full"
+    classes={{
+      div: "h-full overflow-y-auto bg-white px-3 py-4",
+      active:
+        "rounded-md bg-primary-100 px-2 py-1.5 text-sm font-semibold hover:bg-primary-100",
+      nonactive: "rounded-md px-2 py-1.5 text-sm",
+    }}
+  >
     <InstanceList />
     <ConfigNav />
-  </aside>
+  </Sidebar>
 
   <main>
     <MainContent />
@@ -181,106 +232,36 @@
 </div>
 
 <style>
-  .unsaved-dot {
-    position: absolute;
-    top: 0.15rem;
-    right: 0.15rem;
-    width: 0.45rem;
-    height: 0.45rem;
-    border-radius: 50%;
-    background: #1a56db;
-  }
-
   .shell {
     display: grid;
     grid-template-columns: 280px 1fr;
     grid-template-rows: auto 1fr;
     min-height: 100vh;
-    font-family: ui-sans-serif, system-ui, sans-serif;
   }
 
   header {
     grid-column: 1 / -1;
-    display: flex;
-    align-items: center;
-    gap: 1rem;
-    padding: 0.75rem 1.5rem;
-    border-bottom: 1px solid #ddd;
-  }
-
-  h1 {
-    font-size: 1.1rem;
-    margin: 0;
-  }
-
-  .badge {
-    font-size: 0.75rem;
-    text-transform: uppercase;
-    letter-spacing: 0.05em;
-    padding: 0.2rem 0.5rem;
-    border-radius: 999px;
-    background: #ddd;
-    color: #333;
+    border-bottom: 1px solid var(--color-gray-200);
   }
 
-  .socket {
-    border: none;
-    cursor: pointer;
+  /* Only a link around the badge inside it. A flex box rather than an
+     inline <a>, which would sit the badge on a text baseline, lower than the
+     connection badge beside it. */
+  .badge-link {
+    display: flex;
   }
 
-  .socket:hover {
+  .badge-link:hover {
     filter: brightness(0.95);
   }
 
-  .badge[data-state="silent"] {
-    background: #eee;
-    color: #666;
-  }
-
-  .badge[data-state="open"] {
-    background: #c8e6c9;
-    color: #1b5e20;
-  }
-
-  .badge[data-state="connecting"] {
-    background: #fff3cd;
-    color: #856404;
-  }
-
-  .badge[data-state="closed"] {
-    background: #f8d7da;
-    color: #721c24;
-  }
-
   .settings {
     position: relative;
-    margin-left: auto;
-  }
-
-  .settings-button {
-    position: relative;
-    width: 2rem;
-    height: 2rem;
-    display: inline-flex;
-    align-items: center;
-    justify-content: center;
-    border: 1px solid #ccc;
-    border-radius: 50%;
-    background: white;
-    font-size: 1.1rem;
-    line-height: 1;
-    cursor: pointer;
   }
 
-  .settings-button:hover {
-    background: #f5f5f5;
-  }
-
-  .sidebar {
-    display: flex;
-    flex-direction: column;
-    border-right: 1px solid #ddd;
-    overflow-y: auto;
+  /* The Sidebar's <aside>, passed down as a class. */
+  :global(.sidebar) {
+    border-right: 1px solid var(--color-gray-200);
   }
 
   main {
@@ -290,6 +271,6 @@
   .below {
     margin-top: 2rem;
     padding: 1rem 1.5rem;
-    border-top: 1px solid #ddd;
+    border-top: 1px solid var(--color-gray-200);
   }
 </style>
diff --git a/gui/frontend/src/lib/layout/TabBar.svelte b/gui/frontend/src/lib/layout/TabBar.svelte
index a8f5570..933068a 100644
--- a/gui/frontend/src/lib/layout/TabBar.svelte
+++ b/gui/frontend/src/lib/layout/TabBar.svelte
@@ -1,68 +1,54 @@
 <script lang="ts">
-  import { nav, isCategoryDirty } from "./nav.svelte";
+  import { tabs as tabsTheme, tabItem } from "flowbite-svelte";
+  import { nav, isCategoryDirty, categoryHref } from "./nav.svelte";
   import { CONFIG_CATEGORIES, TAB_CATEGORY_IDS } from "./configCategories";
 
   // Same source data as the sidebar (CONFIG_CATEGORIES), just a curated
-  // subset in a fixed order -- both bind to nav.selectedCategoryId, so
-  // picking a tab here and picking the matching entry in the sidebar do the
-  // exact same thing and stay in sync automatically.
+  // subset in a fixed order -- both follow nav.selectedCategoryId, so picking
+  // a tab here and picking the matching entry in the sidebar do the exact
+  // same thing and stay in sync automatically.
   let tabs = $derived(
     TAB_CATEGORY_IDS.map((id) =>
       CONFIG_CATEGORIES.find((c) => c.id === id),
     ).filter((c) => c !== undefined),
   );
+
+  // Flowbite's Tabs component keeps exactly one tab selected and ignores
+  // pages that aren't tabs (Network, Stream, ... from the sidebar), so it
+  // can't follow nav. These are plain links styled with its own "underline"
+  // theme instead: they look like Flowbite Tabs, and none is selected on a
+  // page that isn't a tab.
+  const theme = tabsTheme({ tabStyle: "underline" });
+  const item = tabItem();
 </script>
 
-<div class="tab-bar" role="tablist">
+<ul
+  class={theme.base({ class: "mb-4 border-b border-gray-200" })}
+  role="tablist"
+>
   {#each tabs as tab (tab.id)}
-    <button
-      type="button"
-      role="tab"
-      aria-selected={tab.id === nav.selectedCategoryId}
-      class:selected={tab.id === nav.selectedCategoryId}
-      class:shared={tab.scope === "shared"}
-      onclick={() => {
-        nav.selectedCategoryId = tab.id;
-      }}
+    {@const selected = tab.id === nav.selectedCategoryId}
+    <li
+      class={item.base({
+        // The one shared tab gets a break after it, so it doesn't read as
+        // just another camera-specific setting.
+        class:
+          tab.scope === "shared" ? "me-2 border-e border-gray-200 pe-2" : "",
+      })}
+      role="presentation"
     >
-      {tab.label}{isCategoryDirty(tab.id) ? "*" : ""}
-    </button>
+      <a
+        href={categoryHref(tab.id)}
+        role="tab"
+        aria-selected={selected}
+        class={item.button({
+          class: selected
+            ? theme.active({ class: "px-4 py-2.5 font-semibold" })
+            : theme.inactive({ class: "px-4 py-2.5" }),
+        })}
+      >
+        {tab.label}{isCategoryDirty(tab.id) ? "*" : ""}
+      </a>
+    </li>
   {/each}
-</div>
-
-<style>
-  .tab-bar {
-    display: flex;
-    gap: 0.25rem;
-    border-bottom: 1px solid #ddd;
-    margin-bottom: 1rem;
-  }
-
-  button {
-    padding: 0.5rem 1rem;
-    border: none;
-    border-bottom: 2px solid transparent;
-    background: none;
-    font-size: 0.9rem;
-    cursor: pointer;
-    color: #555;
-  }
-
-  button:hover {
-    color: #000;
-  }
-
-  button.selected {
-    color: #1a56db;
-    border-bottom-color: #1a56db;
-    font-weight: 600;
-  }
-
-  /* The one shared (non-per-instance) tab gets a visual break after it, so
-     it doesn't read as just another camera-specific setting. */
-  button.shared {
-    margin-right: 0.5rem;
-    padding-right: 1rem;
-    border-right: 1px solid #ddd;
-  }
-</style>
+</ul>
diff --git a/gui/frontend/src/lib/layout/nav.svelte.ts b/gui/frontend/src/lib/layout/nav.svelte.ts
index 9a15b93..cfcc2bc 100644
--- a/gui/frontend/src/lib/layout/nav.svelte.ts
+++ b/gui/frontend/src/lib/layout/nav.svelte.ts
@@ -21,6 +21,52 @@ export const nav = $state<{
   selectedCategoryId: "field",
 });
 
+// The URL hash mirrors nav, so pages are links: "#0/geometry" is camera 0's
+// Geometry page, "#0/network" the shared Network page with camera 0 selected
+// in the sidebar. Sidebar items, tabs, and the header badges are all links
+// to these, so the browser records each move and back/forward work. The sync
+// below only corrects the URL (first load, a camera that no longer exists),
+// with replaceState so it adds no history entries.
+export function navHref(
+  cameraId: number | undefined,
+  categoryId: string,
+): string {
+  return `#${cameraId === undefined ? "" : String(cameraId)}/${categoryId}`;
+}
+
+// The link to a category, keeping the selected camera.
+export function categoryHref(categoryId: string): string {
+  return navHref(selectedInstance()?.cameraId, categoryId);
+}
+
+// The link to a camera, keeping the selected category.
+export function instanceHref(cameraId: number): string {
+  return navHref(cameraId, nav.selectedCategoryId);
+}
+
+function applyHash(): void {
+  const match = /^#(\d*)\/([\w-]+)$/.exec(location.hash);
+  if (!match) return;
+
+  const [, camera, category] = match;
+
+  if (camera) nav.selectedInstanceId = `cam:${camera}`;
+
+  if (category && CONFIG_CATEGORIES.some((c) => c.id === category)) {
+    nav.selectedCategoryId = category;
+  }
+}
+
+applyHash();
+window.addEventListener("hashchange", applyHash);
+
+$effect.root(() => {
+  $effect(() => {
+    const href = categoryHref(nav.selectedCategoryId);
+    if (location.hash !== href) history.replaceState(null, "", href);
+  });
+});
+
 export function instances(): VisionInstance[] {
   return (config.doc?.cameras ?? []).map((c) => ({
     id: `cam:${String(c.cameraId)}`,
diff --git a/gui/frontend/src/lib/video/VideoPlayer.svelte b/gui/frontend/src/lib/video/VideoPlayer.svelte
index 0592893..1032c98 100644
--- a/gui/frontend/src/lib/video/VideoPlayer.svelte
+++ b/gui/frontend/src/lib/video/VideoPlayer.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { Spinner } from "flowbite-svelte";
   import {
     VideoStream,
     type Mode,
@@ -62,6 +63,11 @@
     };
   });
 
+  // Still expecting video, as opposed to an error or streaming being off.
+  let waiting = $derived(
+    !error && (!status || (status.active && (!status.receiving || !format))),
+  );
+
   let overlay = $derived.by((): string | null => {
     if (error) return error;
     if (!status) return "Connecting…";
@@ -81,7 +87,10 @@
   <video bind:this={video} muted autoplay playsinline></video>
 
   {#if overlay}
-    <div class="overlay">{overlay}</div>
+    <div class="overlay">
+      {#if waiting}<Spinner size="6" color="gray" />{/if}
+      <span>{overlay}</span>
+    </div>
   {/if}
 </div>
 
@@ -119,6 +128,7 @@
     display: flex;
     align-items: center;
     justify-content: center;
+    gap: 0.75rem;
     padding: 1rem;
     color: #ddd;
     font-size: 0.9rem;
diff --git a/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte b/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
index b398bd3..2626157 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { Input, Label } from "flowbite-svelte";
   import {
     DIMENSION_FIELDS,
     type FieldConfigField,
@@ -47,37 +48,48 @@
   <p class="text-sm text-gray-600">All dimensions are in millimeters.</p>
 
   {#if wizard.fieldLayout === "half"}
-    <label class="flex items-center justify-between gap-2 text-sm">
-      Half length (full: {wizard.draft.field.fieldLength ?? 0}mm)
-      <input
-        type="number"
-        class="w-28 rounded border border-gray-300 p-1.5"
-        value={halfLength}
-        oninput={(e) => {
-          setHalfLength(e.currentTarget.valueAsNumber);
-        }}
-      />
-    </label>
+    <div class="flex items-center justify-between gap-2">
+      <Label for="wizard-half-length" class="font-normal"
+        >Half length (full: {wizard.draft.field.fieldLength ?? 0}mm)</Label
+      >
+      <div class="w-28 shrink-0">
+        <Input
+          id="wizard-half-length"
+          type="number"
+          size="sm"
+          value={halfLength}
+          oninput={(e: Event) => {
+            setHalfLength((e.currentTarget as HTMLInputElement).valueAsNumber);
+          }}
+        />
+      </div>
+    </div>
   {:else}
-    <label class="flex items-center justify-between gap-2 text-sm">
-      Field length
-      <input
-        type="number"
-        class="w-28 rounded border border-gray-300 p-1.5"
-        bind:value={wizard.draft.field.fieldLength}
-      />
-    </label>
+    <div class="flex items-center justify-between gap-2">
+      <Label for="wizard-field-length" class="font-normal">Field length</Label>
+      <div class="w-28 shrink-0">
+        <Input
+          id="wizard-field-length"
+          type="number"
+          size="sm"
+          bind:value={wizard.draft.field.fieldLength}
+        />
+      </div>
+    </div>
   {/if}
 
   {#each fields as { key, label } (key)}
-    <label class="flex items-center justify-between gap-2 text-sm">
-      {label}
-      <input
-        type="number"
-        class="w-28 rounded border border-gray-300 p-1.5"
-        bind:value={wizard.draft.field[key]}
-      />
-    </label>
+    <div class="flex items-center justify-between gap-2">
+      <Label for={`wizard-${key}`} class="font-normal">{label}</Label>
+      <div class="w-28 shrink-0">
+        <Input
+          id={`wizard-${key}`}
+          type="number"
+          size="sm"
+          bind:value={wizard.draft.field[key]}
+        />
+      </div>
+    </div>
   {/each}
 
   <div class="mt-2 px-2">
diff --git a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
index c545056..711de9d 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { Li, List } from "flowbite-svelte";
   import { config } from "../../config.svelte";
   import { wizard } from "../wizard.svelte";
   import { OPTIONAL_LINE_FIELDS } from "../../fieldConfigFields";
@@ -13,16 +14,16 @@
     Review, then apply to put these values live on the field.
   </p>
 
-  <ul class="flex flex-col gap-1 text-sm text-gray-700">
-    <li>
+  <List class="flex flex-col gap-1 text-sm text-gray-700">
+    <Li>
       Field: {wizard.draft.field.fieldLength ?? 0}mm x {wizard.draft.field
         .fieldWidth ?? 0}mm
-    </li>
-    <li>
+    </Li>
+    <Li>
       Markings:
       {markings.length > 0 ? markings.map((f) => f.label).join(", ") : "none"}
-    </li>
-  </ul>
+    </Li>
+  </List>
 
   <p class="text-sm text-gray-600">
     Applying takes effect immediately but doesn't save -- use Save in the
diff --git a/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte b/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
index 4bfc917..6da6a89 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { Helper, Label, Radio, Select } from "flowbite-svelte";
   import { CAMERA_COUNT_OPTIONS } from "../../fieldSplit";
   import { wizard } from "../wizard.svelte";
 
@@ -15,47 +16,46 @@
 <div class="flex flex-col gap-4">
   <fieldset class="flex flex-col gap-2">
     <legend class="mb-1 text-sm font-medium">Field layout</legend>
-    <label class="flex items-center gap-2 text-sm">
-      <input
-        type="radio"
-        name="wizard-layout"
-        checked={wizard.fieldLayout === "full"}
-        onchange={() => {
-          setFieldLayout("full");
-        }}
-      />
-      Full field
-    </label>
-    <label class="flex items-center gap-2 text-sm">
-      <input
-        type="radio"
-        name="wizard-layout"
-        checked={wizard.fieldLayout === "half"}
-        onchange={() => {
-          setFieldLayout("half");
-        }}
-      />
-      Half field
-    </label>
+    <Radio
+      name="wizard-layout"
+      value="full"
+      group={wizard.fieldLayout}
+      onchange={() => {
+        setFieldLayout("full");
+      }}>Full field</Radio
+    >
+    <Radio
+      name="wizard-layout"
+      value="half"
+      group={wizard.fieldLayout}
+      onchange={() => {
+        setFieldLayout("half");
+      }}>Half field</Radio
+    >
   </fieldset>
 
-  <label class="flex flex-col gap-1 text-sm">
-    Cameras
-    <select
-      class="w-32 rounded border border-gray-300 p-1.5"
+  <div class="flex flex-col gap-1">
+    <Label for="wizard-cameras">Cameras</Label>
+    <Select
+      id="wizard-cameras"
+      size="sm"
+      class="w-32"
+      placeholder=""
       value={wizard.cameraCount}
-      onchange={(e) => {
-        wizard.cameraCount = Number(e.currentTarget.value);
+      onchange={(e: Event) => {
+        wizard.cameraCount = Number(
+          (e.currentTarget as HTMLSelectElement).value,
+        );
       }}
     >
       {#each CAMERA_COUNT_OPTIONS[wizard.fieldLayout] as count (count)}
         <option value={count}>{count}</option>
       {/each}
-    </select>
-  </label>
+    </Select>
+  </div>
 
-  <p class="text-sm text-gray-500">
+  <Helper>
     This isn't written anywhere yet: set <code>camera_amount</code> to
     {wizard.cameraCount} in each camera's own config.yml by hand.
-  </p>
+  </Helper>
 </div>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte b/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
index 0ec5651..f2b7c35 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { Checkbox } from "flowbite-svelte";
   import { wizard } from "../wizard.svelte";
   import { OPTIONAL_LINE_FIELDS } from "../../fieldConfigFields";
   import WizardFieldPreview from "./WizardFieldPreview.svelte";
@@ -9,13 +10,9 @@
     <p class="text-sm text-gray-600">Which markings does this field have?</p>
 
     {#each OPTIONAL_LINE_FIELDS as { key, label } (key)}
-      <label class="flex items-center gap-2 text-sm">
-        <input
-          type="checkbox"
-          bind:checked={wizard.draft.optionalFieldLines[key]}
-        />
+      <Checkbox bind:checked={wizard.draft.optionalFieldLines[key]}>
         {label}
-      </label>
+      </Checkbox>
     {/each}
   </div>
 

From 7508f3b8cf6c650c86c97f83a045c300ceef2407 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Mon, 5 Oct 2026 12:42:19 -0400
Subject: [PATCH 21/23] initial pass at field level camera assignment

---
 gui/ARCHITECTURE.md                           |  14 +-
 gui/CLAUDE.md                                 |   3 +-
 gui/cmd/ssl-vision-processor-gui/main.go      |  18 +-
 gui/frontend/src/lib/CornerPicker.svelte      |  28 +
 gui/frontend/src/lib/FieldEditor.svelte       |  89 +--
 gui/frontend/src/lib/FieldSketch.svelte       |  29 +-
 gui/frontend/src/lib/cameraLayout.ts          | 273 +++++++++
 gui/frontend/src/lib/config.svelte.ts         |  19 +
 .../src/lib/config/CameraPanel.svelte         |  23 +-
 gui/frontend/src/lib/config/LayoutMap.svelte  | 214 +++++++
 .../src/lib/config/LayoutPanel.svelte         | 534 ++++++++++++++++++
 gui/frontend/src/lib/fieldSplit.ts            |  10 +-
 gui/frontend/src/lib/layout/ChangeList.svelte |   1 +
 .../src/lib/layout/InstanceList.svelte        |   5 +-
 .../src/lib/layout/MainContent.svelte         |   3 +
 gui/frontend/src/lib/layout/TabBar.svelte     |  10 +-
 .../src/lib/layout/configCategories.ts        |  15 +-
 gui/frontend/src/lib/layout/nav.svelte.ts     |   1 +
 gui/frontend/src/lib/layoutView.svelte.ts     |  53 ++
 gui/frontend/src/lib/network.svelte.ts        |  12 +
 gui/frontend/src/lib/video/VideoPlayer.svelte |  93 ++-
 .../src/lib/wizard/steps/WizardFinish.svelte  |  13 +-
 .../src/lib/wizard/steps/WizardLayout.svelte  |  19 +-
 gui/frontend/src/lib/wizard/wizard.svelte.ts  |  25 +-
 gui/internal/config/camera.go                 |  25 +
 gui/internal/config/diff.go                   |  81 ++-
 gui/internal/config/document.go               |  71 +++
 gui/internal/config/import.go                 |  29 +-
 gui/internal/config/layout_test.go            | 219 +++++++
 gui/internal/config/render.go                 |   2 +-
 gui/internal/config/status.go                 |   4 +
 gui/internal/config/store.go                  |  10 +
 gui/internal/detections/tracker.go            | 103 ++++
 gui/internal/detections/tracker_test.go       |  44 ++
 gui/internal/multicast/consumers.go           |  25 +-
 gui/internal/multicast/endpoint.go            |   9 +-
 gui/internal/multicast/endpoint_test.go       |  23 +-
 gui/internal/multicast/socket.go              |  11 +-
 gui/internal/multicast/socket_linux.go        |  28 +
 gui/internal/multicast/socket_other.go        |   9 +
 gui/internal/video/source.go                  |  11 +-
 gui/internal/video/video_test.go              |   2 +-
 42 files changed, 2045 insertions(+), 165 deletions(-)
 create mode 100644 gui/frontend/src/lib/cameraLayout.ts
 create mode 100644 gui/frontend/src/lib/config/LayoutMap.svelte
 create mode 100644 gui/frontend/src/lib/config/LayoutPanel.svelte
 create mode 100644 gui/frontend/src/lib/layoutView.svelte.ts
 create mode 100644 gui/internal/config/layout_test.go
 create mode 100644 gui/internal/detections/tracker.go
 create mode 100644 gui/internal/detections/tracker_test.go
 create mode 100644 gui/internal/multicast/socket_linux.go
 create mode 100644 gui/internal/multicast/socket_other.go

diff --git a/gui/ARCHITECTURE.md b/gui/ARCHITECTURE.md
index d8c43e5..31011ea 100644
--- a/gui/ARCHITECTURE.md
+++ b/gui/ARCHITECTURE.md
@@ -85,6 +85,7 @@ before returning.
 | `internal/geometry`    | The live field template, published calibrations, and the 1Hz publish loop. Holds no file state. |
 | `internal/multicast`   | The vision, game controller, and video sockets: interface selection, reopening on changes, retrying while unhealthy, suspend detection. |
 | `internal/hub`         | In-process topic pub/sub and the `/ws` WebSocket handler.                     |
+| `internal/detections`  | Which camera_ids the vision socket hears, from which address, at what rate. Feeds the Camera Layout page. |
 | `internal/snapshot`    | Debug image listing and serving.                                              |
 | `internal/video`       | Live video: each camera's H.264 RTP stream relayed to browsers as fragmented MP4. |
 | `internal/v4l`         | Lists this host's Video4Linux capture devices for the camera path picker.     |
@@ -114,8 +115,10 @@ A calibration missing a required proto2 field is rejected with `proto.CheckIniti
 
 `vision.yml` is the one file the host owns. It holds the field template, shared `defaults` in vision_processor's
 own `config.yml` layout, and a `cameras` list keyed by `camera_id`. Each camera carries its own overrides, its
-corner picker `seed` (corners plus the image resolution they were picked at), and optionally a locked
-`calibration`.
+corner picker `seed` (corners plus the image resolution and slot they were picked at), optionally a locked
+`calibration`, and a GUI-only video `display` orientation. `layout.camera_count` (1, 2 or 4) splits the field into
+regions. A camera's `camera_id` picks its region, as in `camera_ids.png`. Any mix of hosts and cameras is valid;
+one host may run several cameras.
 
 `config.Store` keeps two copies of the document: the working copy and the copy last loaded from or saved to disk.
 Edits from the browser replace the working copy and apply live straight away. Save writes the working copy to
@@ -167,8 +170,9 @@ carrier, support multicast, and have an IPv4 address, and skips loopback and vir
 VPN tunnels); it is re-evaluated every second. Otherwise `skip` is a blacklist. At startup the host warns if the
 loopback interface has multicast off, as Ubuntu ships it, and suggests the command that enables it.
 
-Every endpoint receives on one plain socket bound to its group address (as vision_processor binds), joined on
-all used interfaces at once, and sends from each used interface. Endpoints heal themselves: if a socket can't be
+Every endpoint receives on one plain socket that hears only the group it joined (Linux `IP_MULTICAST_ALL` off; Go
+binds a multicast address as `0.0.0.0`, so binding the group alone doesn't do it), joined on all used interfaces at
+once, and sends from each used interface. Endpoints heal themselves: if a socket can't be
 fully set up (no usable interface, a failed join, a send socket lost when an interface went away), the endpoint
 reports the problem in its status, shown on the Network page and the badges, and retries every 5 s, logging only
 when the problem changes. The host also notices a suspend: each second it compares `CLOCK_BOOTTIME`, which keeps
@@ -242,7 +246,7 @@ value once it catches up, never a growing backlog of stale ones.
 Each vision_processor multicasts H.264 over RTP (`src/rtpstreamer.cpp`) to `ip_base_prefix + (ip_base_end +
 cam_id):port` from its `stream` settings, 224.5.23.100+id:10100 by default. `internal/video` relays it without
 re-encoding. A camera's socket opens on its first viewer and closes 5 s after its last. Like every endpoint it
-binds its group address, so cameras sharing port 10100 don't mix, with a 4 MB receive buffer for a keyframe's
+hears only its own group, so cameras sharing port 10100 don't mix, with a 4 MB receive buffer for a keyframe's
 burst of packets.
 
 Packets are reassembled into frames (RFC 6184 single units, STAP-A, FU-A; there is no SDP, so payload type and
diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
index b5b21ee..af721aa 100644
--- a/gui/CLAUDE.md
+++ b/gui/CLAUDE.md
@@ -156,7 +156,8 @@ protocol), so it recalibrates on its next restart.
 **Each local camera's `config.yml` is generated, not edited.** It's the
 transport until vision_processor accepts config over the network:
 `defaults` deep-merged with the camera's `config`, plus derived `cam_id`,
-`camera_amount` (number of cameras) and `line_corners` (from the seed). This
+`camera_amount` (`layout.camera_count`, else the number of cameras rounded
+up to a power of 2) and `line_corners` (from the seed). This
 supersedes the old line-splice writers, which existed to preserve the file's
 comments -- irrelevant once the file is generated.
 
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
index 05e05b8..e79d3e5 100644
--- a/gui/cmd/ssl-vision-processor-gui/main.go
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -16,6 +16,7 @@ import (
 	"time"
 
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/config"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/detections"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/logging"
@@ -97,12 +98,15 @@ func run() int {
 
 	_, addrs, auto, ifaces := currentNetwork(store)
 	opts := multicast.Options{Verbose: level == slog.LevelDebug}
+	tracker := detections.NewTracker()
+	track := func(id uint32, from net.IP) { tracker.Record(id, from, time.Now()) }
 	sockets := &networkSockets{
-		vision: multicast.NewEndpoint("vision", addrs.VisionAddress(), ifaces, withSend(opts), multicast.VisionConsumer(geom.Absorb)),
-		gc:     multicast.NewEndpoint("game controller", addrs.GCAddress(), ifaces, opts, multicast.RefereeConsumer()),
-		video:  video.NewManager(level == slog.LevelDebug),
-		auto:   auto,
-		ifaces: ifaces,
+		vision:     multicast.NewEndpoint("vision", addrs.VisionAddress(), ifaces, withSend(opts), multicast.VisionConsumer(geom.Absorb, track)),
+		detections: tracker,
+		gc:         multicast.NewEndpoint("game controller", addrs.GCAddress(), ifaces, opts, multicast.RefereeConsumer()),
+		video:      video.NewManager(level == slog.LevelDebug),
+		auto:       auto,
+		ifaces:     ifaces,
 	}
 	sockets.apply(store)
 	wsHub := hub.New()
@@ -283,6 +287,8 @@ func publishConfigState(wsHub *hub.Hub, store *config.Store) {
 type networkSockets struct {
 	vision *multicast.Endpoint
 	gc     *multicast.Endpoint
+	// detections is which camera_ids the vision socket hears, from where.
+	detections *detections.Tracker
 	// video opens each camera's stream only while someone watches it.
 	video *video.Manager
 
@@ -386,6 +392,7 @@ func publishNetworkState(wsHub *hub.Hub, sockets *networkSockets) {
 	data, err := json.Marshal(struct {
 		Vision                multicast.Status      `json:"vision"`
 		GC                    multicast.Status      `json:"gc"`
+		Cameras               []detections.Source   `json:"cameras"`
 		AutoInterfaces        bool                  `json:"autoInterfaces"`
 		Interfaces            []multicast.Interface `json:"interfaces"`
 		Loopback              string                `json:"loopback"`
@@ -395,6 +402,7 @@ func publishNetworkState(wsHub *hub.Hub, sockets *networkSockets) {
 	}{
 		Vision:                sockets.vision.Status(now),
 		GC:                    sockets.gc.Status(now),
+		Cameras:               sockets.detections.Sources(now),
 		AutoInterfaces:        auto,
 		Interfaces:            ifaces,
 		Loopback:              loopback,
diff --git a/gui/frontend/src/lib/CornerPicker.svelte b/gui/frontend/src/lib/CornerPicker.svelte
index 25e8853..c8952e0 100644
--- a/gui/frontend/src/lib/CornerPicker.svelte
+++ b/gui/frontend/src/lib/CornerPicker.svelte
@@ -3,6 +3,7 @@
   import { Button, Alert, P } from "flowbite-svelte";
   import { untrack } from "svelte";
   import { config, cameraDoc } from "./config.svelte";
+  import { cameraCount, regionLabel, slotSlice } from "./cameraLayout";
 
   // The corner-drag picker from the calibration UI plan. Corners live in the
   // host's working document as this camera's seed, together with the image
@@ -107,6 +108,10 @@
       resolution: [imageWidth, imageHeight] as [number, number],
       lineCorners: orderedCorners.map((c) => [c.x, c.y] as [number, number]),
       goalSideMarker: originIndex + 1,
+      // The region they were picked for; moving the camera makes them stale.
+      slot: config.doc
+        ? { cameraId, cameraCount: cameraCount(config.doc) }
+        : undefined,
     };
 
     lastCommitted = JSON.stringify(next);
@@ -177,6 +182,17 @@
         .join("\n"),
   );
 
+  // The region this camera covers now. A seed picked for another region is
+  // reported by the host as seed_stale, shown with the other warnings.
+  let region = $derived(
+    config.doc
+      ? {
+          label: regionLabel(config.doc, cameraId),
+          slice: slotSlice(config.doc, cameraId),
+          count: cameraCount(config.doc),
+        }
+      : undefined,
+  );
   // How the saved seed relates to the image now being served.
   let resolutionStatus = $derived.by(() => {
     if (seed?.lineCorners.length !== 4 || imageWidth === 0) {
@@ -226,6 +242,18 @@
     of a marker; Save keeps them.
   </P>
 
+  {#if region && region.count > 1}
+    <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
+      This camera covers region {cameraId} of {region.count} ({region.label}): x {Math.round(
+        region.slice.minX,
+      )} … {Math.round(region.slice.maxX)}, y {Math.round(region.slice.minY)} … {Math.round(
+        region.slice.maxY,
+      )} mm. The first marker goes on its ({Math.round(region.slice.minX)}, {Math.round(
+        region.slice.minY,
+      )}) corner.
+    </P>
+  {/if}
+
   {#if resolutionStatus === "rescalable" && seed}
     <Alert color="yellow" class="my-2 text-sm">
       Corners were picked at {seed.resolution[0]}x{seed.resolution[1]}, but this
diff --git a/gui/frontend/src/lib/FieldEditor.svelte b/gui/frontend/src/lib/FieldEditor.svelte
index fc49c0d..980c3a9 100644
--- a/gui/frontend/src/lib/FieldEditor.svelte
+++ b/gui/frontend/src/lib/FieldEditor.svelte
@@ -6,7 +6,6 @@
     Checkbox,
     Input,
     Radio,
-    Select,
     Spinner,
     Heading,
     P,
@@ -14,7 +13,8 @@
   import { virtualField } from "./geometry.svelte";
   import { config } from "./config.svelte";
   import FieldSketch from "./FieldSketch.svelte";
-  import { computeFieldSlice, CAMERA_COUNT_OPTIONS } from "./fieldSplit";
+  import { cameraCount, regionLabel, slotSlice } from "./cameraLayout";
+  import { selectedInstance, categoryHref } from "./layout/nav.svelte";
   import { DIMENSION_FIELDS, OPTIONAL_LINE_FIELDS } from "./fieldConfigFields";
   import { openWizard } from "./wizard/wizard.svelte";
 
@@ -27,29 +27,14 @@
   // why length (not width) is what gets halved.
   let fieldLayout = $state<"full" | "half">("full");
 
-  // camAmount here is informational only -- it belongs in each vision
-  // processor's own config.yml (SSL_VPConfigGeometry.camera_amount), which
-  // this host does not yet read, write, or push to any instance.
-  let cameraCount = $state(1);
-  let cameraId = $state(0);
-
-  let cameraAmount = $derived(fieldLayout === "half" ? 2 : cameraCount);
-
-  // Which one this instance is, out of cameraAmount -- clamped so a stale
-  // selection (e.g. picked "camera 3 of 4" then switched to 2 cameras) can't
-  // point past the end.
-  let clampedCameraId = $derived(Math.min(cameraId, cameraAmount - 1));
-
-  // The FieldSketch highlight: which portion of the field cameraId is
-  // responsible for out of cameraAmount, so the rest of the markings (e.g.
-  // the other goal's penalty box) render dimmed.
+  // The selected camera's region, from the Camera Layout page, so the
+  // markings outside it render dimmed.
+  let instance = $derived(selectedInstance());
+  let count = $derived(config.doc ? cameraCount(config.doc) : 1);
   let fieldSlice = $derived(
-    computeFieldSlice(
-      clampedCameraId,
-      cameraAmount,
-      config.doc?.field.fieldLength ?? 0,
-      config.doc?.field.fieldWidth ?? 0,
-    ),
+    config.doc && instance && count > 1
+      ? slotSlice(config.doc, instance.cameraId)
+      : undefined,
   );
 
   let halfLength = $derived(
@@ -62,11 +47,6 @@
 
   function setFieldLayout(layout: "full" | "half"): void {
     fieldLayout = layout;
-
-    const options = CAMERA_COUNT_OPTIONS[layout];
-    if (!options.includes(cameraCount)) {
-      cameraCount = options[0] ?? 1;
-    }
   }
 
   // The form's labels ("Boundary width (goal line)") need more room than
@@ -127,46 +107,17 @@
             </FormRow>
           {/if}
 
-          <FormRow
-            label={`Cameras (camera_amount: ${String(cameraAmount)})`}
-            for="field-camera-count"
-            labelWidth={LABEL_WIDTH}
-          >
-            <Select
-              id="field-camera-count"
-              size="sm"
-              placeholder=""
-              value={cameraCount}
-              onchange={(e: Event) => {
-                cameraCount = Number(
-                  (e.currentTarget as HTMLSelectElement).value,
-                );
-              }}
-            >
-              {#each CAMERA_COUNT_OPTIONS[fieldLayout] as count (count)}
-                <option value={count}>{count}</option>
-              {/each}
-            </Select>
-          </FormRow>
-
-          <FormRow
-            label="This camera (camera_id)"
-            for="field-camera-id"
-            labelWidth={LABEL_WIDTH}
-          >
-            <Select
-              id="field-camera-id"
-              size="sm"
-              placeholder=""
-              value={clampedCameraId}
-              onchange={(e: Event) => {
-                cameraId = Number((e.currentTarget as HTMLSelectElement).value);
-              }}
-            >
-              {#each Array.from(Array(cameraAmount).keys()) as id (id)}
-                <option value={id}>{id}</option>
-              {/each}
-            </Select>
+          <FormRow label="Cameras" labelWidth={LABEL_WIDTH}>
+            <span class="flex flex-wrap items-center gap-2 text-sm">
+              {count} region{count === 1 ? "" : "s"}{instance && count > 1
+                ? `; camera ${String(instance.cameraId)} covers ${regionLabel(doc, instance.cameraId)}`
+                : ""}
+              <Button
+                size="xs"
+                color="alternative"
+                href={categoryHref("layout")}>Camera Layout →</Button
+              >
+            </span>
           </FormRow>
         </SettingsCard>
 
diff --git a/gui/frontend/src/lib/FieldSketch.svelte b/gui/frontend/src/lib/FieldSketch.svelte
index 966d17d..00dba09 100644
--- a/gui/frontend/src/lib/FieldSketch.svelte
+++ b/gui/frontend/src/lib/FieldSketch.svelte
@@ -3,7 +3,7 @@
     SSL_FieldLineSegmentJson,
     SSL_FieldCircularArcJson,
   } from "../proto/vision/ssl_vision_geometry_pb";
-  import { boxesOverlap, type FieldSlice } from "./fieldSplit";
+  import { boxesOverlap, SKETCH_MARGIN, type FieldSlice } from "./fieldSplit";
 
   interface Props {
     fieldLength: number;
@@ -15,15 +15,25 @@
     // visibly shows you get one penalty box, not both. Omit to show every
     // marking at full brightness (the whole-field view).
     slice?: FieldSlice;
+    // Square (the default) letterboxes the field; false keeps its own aspect
+    // ratio, so overlays can be positioned in percent of the field.
+    square?: boolean;
   }
 
-  let { fieldLength, fieldWidth, lines, arcs, slice }: Props = $props();
+  let {
+    fieldLength,
+    fieldWidth,
+    lines,
+    arcs,
+    slice,
+    square = true,
+  }: Props = $props();
 
   // Field coordinates: origin at center, +x toward one goal, +y toward one
   // touchline (see gui/CLAUDE.md / internal/geometry/field.go). SVG is
   // y-down, so the viewBox flips y to draw with +y pointing up, matching the
   // physical convention instead of mirroring it.
-  const margin = 300; // mm, just so lines at the boundary aren't clipped
+  const margin = SKETCH_MARGIN;
 
   let halfLength = $derived((fieldLength || 1) / 2 + margin);
   let halfWidth = $derived((fieldWidth || 1) / 2 + margin);
@@ -73,7 +83,13 @@
   }
 </script>
 
-<svg {viewBox} transform="scale(1,-1)" role="img" aria-label="Field sketch">
+<svg
+  {viewBox}
+  transform="scale(1,-1)"
+  role="img"
+  aria-label="Field sketch"
+  class:square
+>
   {#if slice}
     <rect
       x={slice.minX}
@@ -113,11 +129,14 @@
   svg {
     width: 100%;
     height: auto;
-    aspect-ratio: 1;
     background: #0a5c2e;
     border-radius: 4px;
   }
 
+  .square {
+    aspect-ratio: 1;
+  }
+
   .dimmed {
     opacity: 0.25;
   }
diff --git a/gui/frontend/src/lib/cameraLayout.ts b/gui/frontend/src/lib/cameraLayout.ts
new file mode 100644
index 0000000..8288294
--- /dev/null
+++ b/gui/frontend/src/lib/cameraLayout.ts
@@ -0,0 +1,273 @@
+// Camera Layout: which physical camera (host + device) covers which region
+// of the field. A region is a slot: camera_id out of the camera count, split
+// as in src/CameraModel.cpp's visibleFieldExtentEstimation (camera_ids.png).
+// Any mix of hosts and cameras is valid; one host may run several.
+import {
+  config,
+  cameraStatus,
+  type CameraDoc,
+  type ConfigDocument,
+} from "./config.svelte";
+import { computeFieldSlice, type FieldSlice } from "./fieldSplit";
+import { network, type DetectionSource } from "./network.svelte";
+
+// Detection sources heard for cameraId, receiving ones first.
+export function liveSources(cameraId: number): DetectionSource[] {
+  return (network.state?.cameras ?? [])
+    .filter((s) => s.cameraId === cameraId)
+    .sort((a, b) => Number(b.receiving) - Number(a.receiving));
+}
+
+// "10.0.0.5, 30 fps", "silent (10.0.0.5)", or "not heard".
+export function liveLabel(sources: DetectionSource[]): string {
+  const receiving = sources.filter((s) => s.receiving);
+  if (receiving.length > 0) {
+    return receiving
+      .map((s) => `${s.address}, ${String(s.fps)} fps`)
+      .join("; ");
+  }
+
+  const silent = sources[0];
+
+  return silent ? `silent (${silent.address})` : "not heard";
+}
+
+// camera_ids heard with no camera in the document, e.g. a processor whose
+// cam_id was never added here or was set by hand to a free slot.
+export function unplacedSources(doc: ConfigDocument): DetectionSource[] {
+  const known = new Set(doc.cameras.map((c) => c.cameraId));
+
+  return (network.state?.cameras ?? []).filter((s) => !known.has(s.cameraId));
+}
+
+// Matches gui/internal/config's CameraCounts.
+export const CAMERA_COUNTS = [1, 2, 4];
+
+// Matches gui/internal/config's Document.CameraCount.
+export function cameraCount(doc: ConfigDocument): number {
+  if (doc.layout && doc.layout.cameraCount > 0) return doc.layout.cameraCount;
+
+  let n = 1;
+  while (n < doc.cameras.length) n *= 2;
+
+  return n;
+}
+
+export function slotSlice(doc: ConfigDocument, cameraId: number): FieldSlice {
+  return computeFieldSlice(
+    cameraId,
+    cameraCount(doc),
+    doc.field.fieldLength ?? 0,
+    doc.field.fieldWidth ?? 0,
+  );
+}
+
+// "−x +y" style name for a region: the side of each axis it's on, or
+// "whole field" when it isn't split at all.
+export function regionLabel(doc: ConfigDocument, cameraId: number): string {
+  const s = slotSlice(doc, cameraId);
+  const length = doc.field.fieldLength ?? 0;
+  const width = doc.field.fieldWidth ?? 0;
+  const parts: string[] = [];
+
+  if (s.maxX - s.minX < length) parts.push(s.minX + s.maxX < 0 ? "−x" : "+x");
+  if (s.maxY - s.minY < width) parts.push(s.minY + s.maxY < 0 ? "−y" : "+y");
+
+  return parts.length > 0 ? parts.join(" ") : "whole field";
+}
+
+// The device a camera opens: the camera: block from defaults with the
+// camera's own override over it.
+export interface Device {
+  driver?: string;
+  path?: string;
+  id?: number;
+}
+
+export function cameraDevice(doc: ConfigDocument, camera: CameraDoc): Device {
+  const base = doc.defaults?.["camera"] as Device | undefined;
+  const own = camera.config?.["camera"] as Device | undefined;
+
+  return { ...base, ...own };
+}
+
+// Short device name for tight spaces: the last path segment (a by-id link's
+// name), or the driver's camera index.
+export function deviceLabel(device: Device): string {
+  if (device.path) return device.path.split("/").pop() ?? device.path;
+  if (device.id !== undefined) return `id ${String(device.id)}`;
+
+  return "default device";
+}
+
+export function hostName(camera: CameraDoc): string {
+  return camera.instance === undefined || camera.instance === ""
+    ? "(no host)"
+    : camera.instance;
+}
+
+// One color per host, so a split like "host-a covers both left regions"
+// reads at a glance.
+const HOST_COLORS = [
+  "#0794b9",
+  "#e08a00",
+  "#2e9e4f",
+  "#b042c2",
+  "#d6334a",
+  "#4f5bd5",
+];
+
+export function hostColor(doc: ConfigDocument, host: string): string {
+  const hosts = [...new Set(doc.cameras.map((c) => c.instance ?? ""))].sort();
+
+  return HOST_COLORS[hosts.indexOf(host) % HOST_COLORS.length] ?? "#9ca3af";
+}
+
+export type Severity = "ok" | "warning" | "error" | "empty";
+
+export interface SlotInfo {
+  cameraId: number;
+  slice: FieldSlice;
+  region: string;
+  camera?: CameraDoc;
+  sources: DetectionSource[];
+  // More than one address is sending this camera_id right now.
+  conflict: boolean;
+  severity: Severity;
+}
+
+export function slots(doc: ConfigDocument): SlotInfo[] {
+  return Array.from({ length: cameraCount(doc) }, (_, cameraId) => {
+    const camera = doc.cameras.find((c) => c.cameraId === cameraId);
+    const warnings = cameraStatus(cameraId)?.warnings ?? [];
+    const sources = liveSources(cameraId);
+    const conflict = sources.filter((s) => s.receiving).length > 1;
+
+    let severity: Severity = "ok";
+    if (conflict) severity = "error";
+    else if (!camera) severity = "empty";
+    else if (warnings.length > 0) severity = "warning";
+
+    return {
+      cameraId,
+      slice: slotSlice(doc, cameraId),
+      region: regionLabel(doc, cameraId),
+      camera,
+      sources,
+      conflict,
+      severity,
+    };
+  });
+}
+
+// What moving cameras between slots does, for the confirm dialog. Settings
+// stay with the physical camera; the seed and calibration belong to the
+// region they were made for.
+export interface Consequence {
+  camera: CameraDoc;
+  from: number;
+  to: number;
+  seedStale: boolean;
+  calibrationRemoved: boolean;
+}
+
+function consequence(camera: CameraDoc, to: number): Consequence {
+  return {
+    camera,
+    from: camera.cameraId,
+    to,
+    seedStale: (camera.seed?.lineCorners.length ?? 0) === 4,
+    calibrationRemoved: camera.calibration !== undefined,
+  };
+}
+
+// Moving the camera in slot from to slot to, swapping with whatever is there.
+export function planMove(
+  doc: ConfigDocument,
+  from: number,
+  to: number,
+): Consequence[] {
+  const a = doc.cameras.find((c) => c.cameraId === from);
+  const b = doc.cameras.find((c) => c.cameraId === to);
+  if (!a || from === to) return [];
+
+  return b ? [consequence(a, to), consequence(b, from)] : [consequence(a, to)];
+}
+
+// Changing the count re-splits the field, so every camera's region changes
+// even though its id doesn't.
+export function planCount(doc: ConfigDocument, count: number): Consequence[] {
+  if (count === cameraCount(doc)) return [];
+
+  return doc.cameras.map((c) => consequence(c, c.cameraId));
+}
+
+// The smallest count every current camera_id still fits in.
+export function minCameraCount(doc: ConfigDocument): number {
+  const top = Math.max(-1, ...doc.cameras.map((c) => c.cameraId));
+
+  return CAMERA_COUNTS.find((n) => n > top) ?? Infinity;
+}
+
+// Changes how the GUI orients a camera's video, dropping the display block
+// when it's back to the default.
+export function setDisplay(
+  cameraId: number,
+  change: { rotate?: number; mirror?: boolean },
+): void {
+  const camera = config.doc?.cameras.find((c) => c.cameraId === cameraId);
+  if (!camera) return;
+
+  const rotate = ((((change.rotate ?? camera.display?.rotate ?? 0) % 360) +
+    360) %
+    360) as 0 | 90 | 180 | 270;
+  const mirror = change.mirror ?? camera.display?.mirror ?? false;
+
+  if (rotate === 0 && !mirror) delete camera.display;
+  else
+    camera.display = {
+      ...(rotate ? { rotate } : {}),
+      ...(mirror ? { mirror } : {}),
+    };
+}
+
+// Adds a camera for a heard but unplaced camera_id, named after the address
+// it was heard from until someone renames it.
+export function addHeardCamera(source: DetectionSource): void {
+  const doc = config.doc;
+  if (!doc || doc.cameras.some((c) => c.cameraId === source.cameraId)) return;
+
+  doc.cameras.push({ cameraId: source.cameraId, instance: source.address });
+  doc.cameras.sort((a, b) => a.cameraId - b.cameraId);
+}
+
+// Applies a plan from planMove or planCount to the live document. The seed
+// is kept but tagged with the slot it was picked for, which the host reports
+// as stale; the calibration is dropped, which the host withholds.
+export function applyPlan(plan: Consequence[], count?: number): void {
+  const doc = config.doc;
+  if (!doc) return;
+
+  const oldCount = cameraCount(doc);
+
+  // Look every camera up before changing any id: a swap reuses both ids.
+  const steps = plan.map((step) => ({
+    step,
+    camera: doc.cameras.find((c) => c.cameraId === step.from),
+  }));
+
+  for (const { step, camera } of steps) {
+    if (!camera) continue;
+
+    if (camera.seed && !camera.seed.slot) {
+      camera.seed.slot = { cameraId: step.from, cameraCount: oldCount };
+    }
+
+    delete camera.calibration;
+    camera.cameraId = step.to;
+  }
+
+  if (count !== undefined) doc.layout = { ...doc.layout, cameraCount: count };
+
+  doc.cameras.sort((a, b) => a.cameraId - b.cameraId);
+}
diff --git a/gui/frontend/src/lib/config.svelte.ts b/gui/frontend/src/lib/config.svelte.ts
index a947d9c..b363e94 100644
--- a/gui/frontend/src/lib/config.svelte.ts
+++ b/gui/frontend/src/lib/config.svelte.ts
@@ -17,6 +17,7 @@ export type Section =
   | "geometry"
   | "color"
   | "network"
+  | "layout"
   | "other";
 
 // Mirrors gui/internal/config's Change: one leaf difference between two
@@ -58,6 +59,20 @@ export interface Seed {
   resolution: [number, number];
   lineCorners: [number, number][];
   goalSideMarker?: number;
+  // The slot the corners were picked for; unset for older seeds.
+  slot?: Slot;
+}
+
+// A camera's place in the layout: its id out of the camera count.
+export interface Slot {
+  cameraId: number;
+  cameraCount: number;
+}
+
+// How the GUI orients a camera's video. Never sent to vision_processor.
+export interface Display {
+  rotate?: 0 | 90 | 180 | 270;
+  mirror?: boolean;
 }
 
 export interface Calibration {
@@ -73,6 +88,7 @@ export interface CameraDoc {
   config?: Record<string, unknown>;
   seed?: Seed;
   calibration?: Calibration;
+  display?: Display;
 }
 
 export interface ConfigDocument {
@@ -81,6 +97,8 @@ export interface ConfigDocument {
   optionalFieldLines: OptionalFieldLines;
   models?: Record<string, unknown>;
   defaults?: Record<string, unknown>;
+  // Unset: the camera count rounded up to a power of 2 (cameraCount()).
+  layout?: { cameraCount: number };
   cameras: CameraDoc[];
   // Settings for the GUI host alone; see gui/internal/config's Host.
   host?: {
@@ -370,5 +388,6 @@ export const SECTION_LABELS: Record<Section, string> = {
   geometry: "Geometry",
   color: "Color",
   network: "Network",
+  layout: "Camera Layout",
   other: "Other settings",
 };
diff --git a/gui/frontend/src/lib/config/CameraPanel.svelte b/gui/frontend/src/lib/config/CameraPanel.svelte
index 343802b..491c211 100644
--- a/gui/frontend/src/lib/config/CameraPanel.svelte
+++ b/gui/frontend/src/lib/config/CameraPanel.svelte
@@ -1,9 +1,11 @@
 <script lang="ts">
   import SettingsCard from "../SettingsCard.svelte";
-  import { Input, Select, Alert, Heading, P } from "flowbite-svelte";
+  import { Input, Select, Alert, Badge, Heading, P } from "flowbite-svelte";
+  import { cameraCount, regionLabel } from "../cameraLayout";
+  import { categoryHref } from "../layout/nav.svelte";
   import { onMount } from "svelte";
   import type { VisionInstance } from "../layout/nav.svelte";
-  import { cameraDoc } from "../config.svelte";
+  import { config, cameraDoc } from "../config.svelte";
   import {
     DRIVERS,
     cameraSettings,
@@ -249,7 +251,22 @@
 </script>
 
 <section class="camera-panel">
-  <Heading tag="h2" class="mb-2 text-xl font-semibold">Camera settings</Heading>
+  <div class="mb-2 flex flex-wrap items-center gap-3">
+    <Heading tag="h2" class="w-auto text-xl font-semibold"
+      >Camera settings</Heading
+    >
+    {#if instance && config.doc}
+      <Badge
+        color="gray"
+        href={categoryHref("layout")}
+        title="Which region of the field this camera covers. Change it on the Camera Layout page."
+      >
+        {instance.host || "(no host)"} · camera {instance.cameraId} of {cameraCount(
+          config.doc,
+        )} · {regionLabel(config.doc, instance.cameraId)}
+      </Badge>
+    {/if}
+  </div>
 
   {#if instance}
     <Alert color="primary" class="mb-3 p-2 text-sm">
diff --git a/gui/frontend/src/lib/config/LayoutMap.svelte b/gui/frontend/src/lib/config/LayoutMap.svelte
new file mode 100644
index 0000000..b798225
--- /dev/null
+++ b/gui/frontend/src/lib/config/LayoutMap.svelte
@@ -0,0 +1,214 @@
+<script lang="ts">
+  import FieldSketch from "../FieldSketch.svelte";
+  import { SKETCH_MARGIN } from "../fieldSplit";
+  import { virtualField } from "../geometry.svelte";
+  import type { ConfigDocument, CameraDoc } from "../config.svelte";
+  import VideoPlayer from "../video/VideoPlayer.svelte";
+  import { layoutView, flips } from "../layoutView.svelte";
+  import {
+    slots,
+    cameraDevice,
+    deviceLabel,
+    hostColor,
+    hostName,
+    liveLabel,
+    type SlotInfo,
+  } from "../cameraLayout";
+
+  interface Props {
+    doc: ConfigDocument;
+    selected: number;
+    onselect: (cameraId: number) => void;
+  }
+
+  let { doc, selected, onselect }: Props = $props();
+
+  let length = $derived(doc.field.fieldLength ?? 0);
+  let width = $derived(doc.field.fieldWidth ?? 0);
+  let halfLength = $derived(length / 2 + SKETCH_MARGIN);
+  let halfWidth = $derived(width / 2 + SKETCH_MARGIN);
+
+  // Inset per side, in percent, so neighbouring tiles' borders don't touch.
+  const GAP = 0.4;
+
+  let flip = $derived(flips());
+
+  // Field mm to percent of the sketch: +x right and +y up, unless the view
+  // is turned around or mirrored.
+  function placement(slot: SlotInfo): string {
+    const { minX, maxX, minY, maxY } = slot.slice;
+    const fromLeft = flip.x ? halfLength - maxX : minX + halfLength;
+    const fromTop = flip.y ? minY + halfWidth : halfWidth - maxY;
+    const left = (fromLeft / (2 * halfLength)) * 100 + GAP;
+    const top = (fromTop / (2 * halfWidth)) * 100 + GAP;
+    const w = ((maxX - minX) / (2 * halfLength)) * 100 - 2 * GAP;
+    const h = ((maxY - minY) / (2 * halfWidth)) * 100 - 2 * GAP;
+
+    return `left:${String(left)}%;top:${String(top)}%;width:${String(w)}%;height:${String(h)}%`;
+  }
+
+  // The camera's own orientation (how it's mounted), then the view's. A
+  // mirror before a rotation equals the opposite rotation after it, so the
+  // result is still one rotation and an optional mirror.
+  function videoOrientation(camera: CameraDoc): {
+    rotate: number;
+    mirror: boolean;
+  } {
+    const turn =
+      (camera.display?.rotate ?? 0) + (layoutView.rotate180 ? 180 : 0);
+    const mirror = camera.display?.mirror ?? false;
+
+    return layoutView.mirror
+      ? { rotate: -turn, mirror: !mirror }
+      : { rotate: turn, mirror };
+  }
+</script>
+
+<div class="relative">
+  <div
+    style:transform={`scale(${flip.x ? "-1" : "1"}, ${flip.y ? "-1" : "1"})`}
+  >
+    <FieldSketch
+      fieldLength={length}
+      fieldWidth={width}
+      lines={virtualField.fieldLines}
+      arcs={virtualField.fieldArcs}
+      square={false}
+    />
+  </div>
+
+  {#each slots(doc) as slot (slot.cameraId)}
+    {@const camera = slot.camera}
+    {@const video = camera !== undefined && layoutView.feeds !== "off"}
+    <button
+      type="button"
+      class="tile absolute overflow-hidden rounded border-2 text-left text-xs"
+      class:selected={slot.cameraId === selected}
+      class:warning={slot.severity === "warning"}
+      class:empty={slot.severity === "empty"}
+      class:error={slot.severity === "error"}
+      class:video
+      style={placement(slot)}
+      aria-pressed={slot.cameraId === selected}
+      onclick={() => {
+        onselect(slot.cameraId);
+      }}
+    >
+      {#if video && camera}
+        {@const orientation = videoOrientation(camera)}
+        <VideoPlayer
+          cameraId={slot.cameraId}
+          compact
+          mode={layoutView.feeds === "live" || slot.cameraId === selected
+            ? "full"
+            : "keyframes"}
+          rotate={orientation.rotate}
+          mirror={orientation.mirror}
+        />
+      {/if}
+
+      <span
+        class="info relative flex max-w-full flex-col items-start gap-0.5"
+        class:p-1.5={!video}
+        class:caption={video}
+      >
+        <span class="flex w-full items-center gap-1.5">
+          <span class="text-base leading-none font-bold">{slot.cameraId}</span>
+          <span class="text-gray-500">{slot.region}</span>
+          {#if video && camera}
+            <span class="font-medium">{hostName(camera)}</span>
+            <span
+              class="inline-block h-1.5 w-1.5 rounded-full"
+              class:bg-green-500={slot.sources.some((x) => x.receiving)}
+              class:bg-gray-400={!slot.sources.some((x) => x.receiving)}
+              title={liveLabel(slot.sources)}
+            ></span>
+          {/if}
+          {#if slot.conflict}
+            <span class="ms-auto text-red-700" title="Camera ID conflict"
+              >⚠</span
+            >
+          {:else if slot.severity === "warning"}
+            <span class="ms-auto text-yellow-600" title="Has warnings">⚠</span>
+          {/if}
+        </span>
+
+        {#if video}
+          <!-- Over video only the line above shows; the rest is in the
+               region card and the table. -->
+        {:else if camera}
+          <span class="flex items-center gap-1 font-medium">
+            <span
+              class="inline-block h-2 w-2 rounded-full"
+              style:background={hostColor(doc, camera.instance ?? "")}
+            ></span>
+            {hostName(camera)}
+          </span>
+          <span class="max-w-full truncate text-gray-500">
+            {deviceLabel(cameraDevice(doc, camera))}
+          </span>
+        {:else}
+          <span class="text-gray-500 italic">No camera</span>
+        {/if}
+
+        {#if !video}
+          <span
+            class="flex items-center gap-1"
+            class:text-red-700={slot.conflict}
+            class:text-gray-500={!slot.conflict}
+          >
+            <span
+              class="inline-block h-1.5 w-1.5 rounded-full"
+              class:bg-green-500={slot.sources.some((x) => x.receiving)}
+              class:bg-gray-400={!slot.sources.some((x) => x.receiving)}
+            ></span>
+            {slot.conflict ? "Conflict: " : ""}{liveLabel(slot.sources)}
+          </span>
+        {/if}
+      </span>
+    </button>
+  {/each}
+</div>
+
+<style>
+  .tile {
+    background: rgb(255 255 255 / 0.7);
+    border-color: rgb(255 255 255 / 0.9);
+  }
+
+  .tile:hover {
+    background: rgb(255 255 255 / 0.95);
+  }
+
+  .tile.warning {
+    border-color: var(--color-yellow-400);
+  }
+
+  .tile.empty {
+    background: rgb(255 255 255 / 0.5);
+    border-style: dashed;
+    border-color: var(--color-gray-400);
+  }
+
+  .tile.error {
+    border-color: var(--color-red-500);
+  }
+
+  .tile.video {
+    background: #111;
+  }
+
+  /* Over the video, the details sit in a small box in the corner. */
+  .caption {
+    display: inline-flex;
+    padding: 0.15rem 0.35rem;
+    margin: 0.25rem;
+    border-radius: 0.25rem;
+    background: rgb(255 255 255 / 0.8);
+  }
+
+  .tile.selected {
+    border-color: var(--color-primary-700);
+    box-shadow: 0 0 0 2px var(--color-primary-700);
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/LayoutPanel.svelte b/gui/frontend/src/lib/config/LayoutPanel.svelte
new file mode 100644
index 0000000..5aa7b00
--- /dev/null
+++ b/gui/frontend/src/lib/config/LayoutPanel.svelte
@@ -0,0 +1,534 @@
+<script lang="ts">
+  import {
+    Alert,
+    Button,
+    ButtonGroup,
+    Heading,
+    Modal,
+    P,
+    Select,
+    Table,
+    TableBody,
+    TableBodyCell,
+    TableBodyRow,
+    TableHead,
+    TableHeadCell,
+  } from "flowbite-svelte";
+  import SettingsCard from "../SettingsCard.svelte";
+  import FormRow from "../FormRow.svelte";
+  import LayoutMap from "./LayoutMap.svelte";
+  import { layoutView, flips, type FeedMode } from "../layoutView.svelte";
+  import { config, cameraStatus } from "../config.svelte";
+  import { navHref, selectedInstance } from "../layout/nav.svelte";
+  import {
+    CAMERA_COUNTS,
+    applyPlan,
+    cameraCount,
+    cameraDevice,
+    deviceLabel,
+    hostColor,
+    hostName,
+    liveLabel,
+    unplacedSources,
+    addHeardCamera,
+    setDisplay,
+    minCameraCount,
+    planCount,
+    planMove,
+    slots,
+    type Consequence,
+  } from "../cameraLayout";
+
+  let doc = $derived(config.doc);
+  let count = $derived(doc ? cameraCount(doc) : 1);
+  let allSlots = $derived(doc ? slots(doc) : []);
+
+  let picked = $state(selectedInstance()?.cameraId ?? 0);
+  let selected = $derived(Math.min(picked, count - 1));
+  let slot = $derived(allSlots[selected]);
+  let status = $derived(cameraStatus(selected));
+
+  let unplaced = $derived(doc ? unplacedSources(doc) : []);
+  let uncovered = $derived(
+    allSlots.filter((s) => !s.camera).map((s) => s.cameraId),
+  );
+  let hostCount = $derived(
+    new Set(doc?.cameras.map((c) => c.instance ?? "")).size,
+  );
+
+  // A change waiting on the confirm dialog.
+  let pending = $state<{
+    title: string;
+    plan: Consequence[];
+    count?: number;
+  } | null>(null);
+
+  function requestCount(next: number): void {
+    if (!doc || next === count) return;
+
+    pending = {
+      title: `Split the field ${String(next)} way${next === 1 ? "" : "s"}`,
+      plan: planCount(doc, next),
+      count: next,
+    };
+  }
+
+  function requestMove(from: number, to: number): void {
+    if (!doc) return;
+
+    const plan = planMove(doc, from, to);
+    if (plan.length === 0) return;
+
+    pending = {
+      title:
+        plan.length === 2
+          ? `Swap cameras ${String(Math.min(from, to))} and ${String(Math.max(from, to))}`
+          : `Move camera ${String(from)} to ${String(to)}`,
+      plan,
+    };
+  }
+
+  function confirm(): void {
+    if (pending) applyPlan(pending.plan, pending.count);
+    pending = null;
+  }
+
+  function cameraName(cameraId: number): string {
+    const camera = doc?.cameras.find((c) => c.cameraId === cameraId);
+    if (!doc || !camera) return "";
+
+    return `${hostName(camera)} · ${deviceLabel(cameraDevice(doc, camera))}`;
+  }
+
+  function mm(v: number): string {
+    return String(Math.round(v));
+  }
+
+  const LABEL_WIDTH = "7rem";
+
+  const FEEDS: { mode: FeedMode; label: string }[] = [
+    { mode: "off", label: "Off" },
+    { mode: "keyframes", label: "Keyframes" },
+    { mode: "live", label: "Live" },
+  ];
+
+  let axes = $derived.by(() => {
+    const f = flips();
+
+    return `+x points ${f.x ? "left" : "right"}, +y ${f.y ? "down" : "up"}`;
+  });
+</script>
+
+{#if doc && slot}
+  <div class="max-w-7xl">
+    <Heading tag="h2" class="mb-2 text-xl font-semibold">Camera Layout</Heading>
+    <P size="sm" class="mb-3 text-gray-600 dark:text-gray-400">
+      Each vision_processor covers one region of the field. Its camera ID and
+      the camera count decide which region, and so the corners its calibration
+      fits to. One host can run any number of cameras.
+    </P>
+
+    <SettingsCard title="Layout">
+      <FormRow
+        label="Cameras"
+        labelWidth={LABEL_WIDTH}
+        notes={[
+          "vision_processor's geometry.camera_amount. The field is halved along its longer side for each doubling.",
+        ]}
+        warnings={uncovered.length > 0
+          ? [
+              `No camera covers region${uncovered.length === 1 ? "" : "s"} ${uncovered.join(", ")}.`,
+            ]
+          : []}
+      >
+        <ButtonGroup>
+          {#each CAMERA_COUNTS as n (n)}
+            {@const tooSmall = n < minCameraCount(doc)}
+            <Button
+              size="sm"
+              color={n === count ? "primary" : "alternative"}
+              disabled={tooSmall}
+              title={tooSmall
+                ? "Move cameras with higher IDs to lower ones first."
+                : undefined}
+              onclick={() => {
+                requestCount(n);
+              }}
+            >
+              {n}
+            </Button>
+          {/each}
+        </ButtonGroup>
+      </FormRow>
+      <FormRow label="Each region" labelWidth={LABEL_WIDTH}>
+        <span class="text-sm">
+          {mm(slot.slice.maxX - slot.slice.minX)} × {mm(
+            slot.slice.maxY - slot.slice.minY,
+          )} mm, plus the boundary on outer edges
+        </span>
+      </FormRow>
+      <FormRow label="Hardware" labelWidth={LABEL_WIDTH}>
+        <span class="text-sm">
+          {doc.cameras.length} camera{doc.cameras.length === 1 ? "" : "s"} on
+          {hostCount} host{hostCount === 1 ? "" : "s"}
+        </span>
+      </FormRow>
+    </SettingsCard>
+
+    <div class="grid gap-4 xl:grid-cols-[minmax(0,3fr)_minmax(20rem,2fr)]">
+      <SettingsCard title="Field">
+        <LayoutMap
+          {doc}
+          {selected}
+          onselect={(id: number) => {
+            picked = id;
+          }}
+        />
+        <div class="mt-2 flex flex-wrap items-center gap-2 text-sm">
+          <span class="text-gray-600">Video</span>
+          <ButtonGroup>
+            {#each FEEDS as { mode, label } (mode)}
+              <Button
+                size="xs"
+                color={layoutView.feeds === mode ? "primary" : "alternative"}
+                onclick={() => {
+                  layoutView.feeds = mode;
+                }}>{label}</Button
+              >
+            {/each}
+          </ButtonGroup>
+          <span class="ms-2 text-gray-600">View</span>
+          <Button
+            size="xs"
+            color={layoutView.rotate180 ? "primary" : "alternative"}
+            onclick={() => {
+              layoutView.rotate180 = !layoutView.rotate180;
+            }}>↻ Rotate 180°</Button
+          >
+          <Button
+            size="xs"
+            color={layoutView.mirror ? "primary" : "alternative"}
+            onclick={() => {
+              layoutView.mirror = !layoutView.mirror;
+            }}>⇋ Mirror</Button
+          >
+        </div>
+        <P size="xs" class="mt-1 text-gray-500">
+          {axes}. Click a region to select it; it plays live. The view is saved
+          in this browser only.
+        </P>
+      </SettingsCard>
+
+      <SettingsCard title={`Region ${String(selected)} (${slot.region})`}>
+        <FormRow label="Bounds" labelWidth="5rem">
+          <span class="text-sm">
+            x {mm(slot.slice.minX)} … {mm(slot.slice.maxX)}, y {mm(
+              slot.slice.minY,
+            )} … {mm(slot.slice.maxY)} mm
+          </span>
+        </FormRow>
+
+        <FormRow
+          label="Live"
+          labelWidth="5rem"
+          errors={slot.conflict
+            ? [
+                "Several vision_processors send this camera ID. Each must have its own; check their cam_id.",
+              ]
+            : []}
+        >
+          <span class="text-sm">{liveLabel(slot.sources)}</span>
+        </FormRow>
+
+        <FormRow
+          label="Camera"
+          for="layout-camera"
+          labelWidth="5rem"
+          notes={["Picking a camera that covers another region swaps the two."]}
+        >
+          <Select
+            id="layout-camera"
+            size="sm"
+            placeholder=""
+            value={slot.camera ? selected : -1}
+            onchange={(e: Event) => {
+              const from = Number((e.currentTarget as HTMLSelectElement).value);
+              requestMove(from, selected);
+              // The select shows the change only once it's confirmed.
+              (e.currentTarget as HTMLSelectElement).value = String(
+                slot.camera ? selected : -1,
+              );
+            }}
+          >
+            {#if !slot.camera}
+              <option value={-1} disabled>No camera</option>
+            {/if}
+            {#each doc.cameras as c (c.cameraId)}
+              <option value={c.cameraId}>
+                {cameraName(c.cameraId)}{c.cameraId === selected
+                  ? ""
+                  : ` (now ${String(c.cameraId)})`}
+              </option>
+            {/each}
+          </Select>
+        </FormRow>
+
+        {#if slot.camera}
+          {@const camera = slot.camera}
+          <FormRow
+            label="Video"
+            labelWidth="5rem"
+            notes={[
+              "Turns this camera's video to match the field, for a camera mounted at an angle. Only the GUI uses it.",
+            ]}
+          >
+            <span class="flex items-center gap-2">
+              <Button
+                size="xs"
+                color="alternative"
+                onclick={() => {
+                  setDisplay(selected, {
+                    rotate: (camera.display?.rotate ?? 0) + 90,
+                  });
+                }}>↻ Rotate</Button
+              >
+              <Button
+                size="xs"
+                color={camera.display?.mirror ? "primary" : "alternative"}
+                onclick={() => {
+                  setDisplay(selected, { mirror: !camera.display?.mirror });
+                }}>⇋ Mirror</Button
+              >
+              <span class="text-sm text-gray-600">
+                {camera.display?.rotate ?? 0}°{camera.display?.mirror
+                  ? ", mirrored"
+                  : ""}
+              </span>
+            </span>
+          </FormRow>
+          <FormRow label="Device" labelWidth="5rem">
+            <span class="text-sm break-all">
+              {cameraDevice(doc, camera).path ??
+                deviceLabel(cameraDevice(doc, camera))}
+            </span>
+          </FormRow>
+          <FormRow
+            label="Config"
+            labelWidth="5rem"
+            hints={camera.configPath
+              ? []
+              : [
+                  "Remote: this host can't write its config.yml yet. Set cam_id there by hand.",
+                ]}
+          >
+            <span class="text-sm break-all">
+              {camera.configPath ?? "remote"}
+            </span>
+          </FormRow>
+          <FormRow
+            label="Calibration"
+            labelWidth="5rem"
+            warnings={(status?.warnings ?? []).map((w) => w.message)}
+          >
+            <span class="text-sm">
+              {status?.calibration ?? "none"}{camera.seed?.lineCorners
+                .length === 4
+                ? ", corners picked"
+                : ", no corners"}
+            </span>
+          </FormRow>
+
+          <div class="mt-2 flex flex-wrap gap-2">
+            <Button
+              size="xs"
+              color="alternative"
+              href={navHref(selected, "camera")}
+            >
+              Camera Settings →
+            </Button>
+            <Button
+              size="xs"
+              color="alternative"
+              href={navHref(selected, "geometry")}
+            >
+              Geometry →
+            </Button>
+          </div>
+        {/if}
+      </SettingsCard>
+    </div>
+
+    <SettingsCard title="Assignments">
+      <Table hoverable>
+        <TableHead>
+          <TableHeadCell class="px-2 py-1.5">ID</TableHeadCell>
+          <TableHeadCell class="px-2 py-1.5">Region</TableHeadCell>
+          <TableHeadCell class="px-2 py-1.5">Host</TableHeadCell>
+          <TableHeadCell class="px-2 py-1.5">Device</TableHeadCell>
+          <TableHeadCell class="px-2 py-1.5">Live</TableHeadCell>
+          <TableHeadCell class="px-2 py-1.5">Config</TableHeadCell>
+          <TableHeadCell class="px-2 py-1.5">Calibration</TableHeadCell>
+          <TableHeadCell class="px-2 py-1.5">Warnings</TableHeadCell>
+        </TableHead>
+        <TableBody>
+          {#each allSlots as s (s.cameraId)}
+            {@const camera = s.camera}
+            {@const rowStatus = cameraStatus(s.cameraId)}
+            <TableBodyRow
+              class={`cursor-pointer ${s.severity === "warning" ? "bg-yellow-50" : ""} ${s.severity === "error" ? "bg-red-50" : ""} ${s.cameraId === selected ? "font-semibold" : ""}`}
+              onclick={() => {
+                picked = s.cameraId;
+              }}
+            >
+              <TableBodyCell class="px-2 py-1.5">{s.cameraId}</TableBodyCell>
+              <TableBodyCell class="px-2 py-1.5">{s.region}</TableBodyCell>
+              {#if camera}
+                <TableBodyCell class="px-2 py-1.5">
+                  <span class="flex items-center gap-1.5">
+                    <span
+                      class="inline-block h-2 w-2 rounded-full"
+                      style:background={hostColor(doc, camera.instance ?? "")}
+                    ></span>
+                    {hostName(camera)}
+                  </span>
+                </TableBodyCell>
+                <TableBodyCell
+                  class="px-2 py-1.5"
+                  title={cameraDevice(doc, camera).path}
+                >
+                  {deviceLabel(cameraDevice(doc, camera))}
+                </TableBodyCell>
+                <TableBodyCell
+                  class={`px-2 py-1.5 ${s.conflict ? "text-red-700" : ""}`}
+                >
+                  {liveLabel(s.sources)}
+                </TableBodyCell>
+                <TableBodyCell class="px-2 py-1.5">
+                  {camera.configPath ? "local" : "remote"}
+                </TableBodyCell>
+                <TableBodyCell class="px-2 py-1.5">
+                  {rowStatus?.calibration ?? "none"}
+                </TableBodyCell>
+                <TableBodyCell
+                  class="px-2 py-1.5"
+                  title={(rowStatus?.warnings ?? [])
+                    .map((w) => w.message)
+                    .join("\n")}
+                >
+                  {#if (rowStatus?.warnings.length ?? 0) > 0}
+                    <span class="text-yellow-700">
+                      ⚠ {rowStatus?.warnings.map((w) => w.code).join(", ")}
+                    </span>
+                  {/if}
+                </TableBodyCell>
+              {:else}
+                <TableBodyCell class="px-2 py-1.5 text-gray-500 italic">
+                  No camera
+                </TableBodyCell>
+                <TableBodyCell></TableBodyCell>
+                <TableBodyCell class="px-2 py-1.5"
+                  >{liveLabel(s.sources)}</TableBodyCell
+                >
+                <TableBodyCell class="px-2 py-1.5"></TableBodyCell>
+                <TableBodyCell class="px-2 py-1.5"></TableBodyCell>
+                <TableBodyCell class="px-2 py-1.5"></TableBodyCell>
+              {/if}
+            </TableBodyRow>
+          {/each}
+        </TableBody>
+      </Table>
+    </SettingsCard>
+
+    {#if unplaced.length > 0}
+      <SettingsCard title="Heard but not placed">
+        <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
+          These vision_processors send detections with a camera ID that no
+          camera here has.
+        </P>
+        {#each unplaced as source (`${String(source.cameraId)}@${source.address}`)}
+          <div class="flex items-center gap-3 py-1 text-sm">
+            <span class="font-semibold">Camera {source.cameraId}</span>
+            <span>{source.address}</span>
+            <span class="text-gray-500">
+              {source.receiving ? `${String(source.fps)} fps` : "silent"}
+            </span>
+            {#if source.cameraId < count}
+              <Button
+                size="xs"
+                color="alternative"
+                onclick={() => {
+                  addHeardCamera(source);
+                }}
+              >
+                Add as camera {source.cameraId}
+              </Button>
+            {:else}
+              <span class="text-yellow-700">
+                Outside the {count}-camera layout; its cam_id is wrong or the
+                count is too low.
+              </span>
+            {/if}
+          </div>
+        {/each}
+      </SettingsCard>
+    {/if}
+  </div>
+
+  <Modal
+    open={pending !== null}
+    title={pending?.title ?? ""}
+    size="md"
+    class="fixed inset-0 m-auto"
+    onclose={() => {
+      pending = null;
+    }}
+  >
+    {#if pending}
+      <ul class="space-y-2 text-sm">
+        {#each pending.plan as step (step.from)}
+          <li>
+            <span class="font-semibold">
+              {`${hostName(step.camera)} · ${deviceLabel(cameraDevice(doc, step.camera))}:`}
+            </span>
+            {step.from !== step.to
+              ? `camera ${String(step.from)} → ${String(step.to)}`
+              : `camera ${String(step.from)}, new region`}
+            <ul class="ms-4 list-disc text-gray-600">
+              <li>Camera and color settings stay with it.</li>
+              {#if step.seedStale}
+                <li>
+                  Its line corners are kept but marked for re-picking: they were
+                  picked for the old region.
+                </li>
+              {/if}
+              {#if step.calibrationRemoved}
+                <li>
+                  Its locked calibration is removed. It recalibrates when its
+                  vision_processor restarts.
+                </li>
+              {/if}
+              {#if !step.camera.configPath}
+                <li>Remote: set its cam_id by hand.</li>
+              {/if}
+            </ul>
+          </li>
+        {/each}
+      </ul>
+
+      <Alert color="yellow" class="mt-3 p-2 text-sm">
+        vision_processor reads its camera ID and count only at startup. Restart
+        the affected ones after saving.
+      </Alert>
+    {/if}
+
+    <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
+      <Button
+        color="alternative"
+        onclick={() => {
+          pending = null;
+        }}>Cancel</Button
+      >
+      <Button onclick={confirm}>Apply</Button>
+    </div>
+  </Modal>
+{/if}
diff --git a/gui/frontend/src/lib/fieldSplit.ts b/gui/frontend/src/lib/fieldSplit.ts
index f64f829..0482535 100644
--- a/gui/frontend/src/lib/fieldSplit.ts
+++ b/gui/frontend/src/lib/fieldSplit.ts
@@ -4,14 +4,18 @@
 // responsible for. Reimplemented here rather than fetched from the Go host
 // because it's pure geometry with no state, and the UI needs it live as the
 // user changes camera count/id, not round-tripped through an API call.
-// Which camera counts are valid for each field layout: a full field supports
-// 1/2/4 cameras, a half field only 1/2. Shared between FieldEditor's layout
-// section and the setup wizard's equivalent step.
+// How many physical cameras the setup wizard offers for each field layout: a
+// full field 1/2/4, a half field 1/2 (which cover 2/4 regions of the full
+// field it's half of).
 export const CAMERA_COUNT_OPTIONS: Record<"full" | "half", number[]> = {
   full: [1, 2, 4],
   half: [1, 2],
 };
 
+// mm of grass FieldSketch draws around the field lines, so lines at the
+// boundary aren't clipped. Overlays positioned over a sketch need it too.
+export const SKETCH_MARGIN = 300;
+
 export interface FieldSlice {
   minX: number;
   minY: number;
diff --git a/gui/frontend/src/lib/layout/ChangeList.svelte b/gui/frontend/src/lib/layout/ChangeList.svelte
index 1376d81..2e6300e 100644
--- a/gui/frontend/src/lib/layout/ChangeList.svelte
+++ b/gui/frontend/src/lib/layout/ChangeList.svelte
@@ -15,6 +15,7 @@
 
   const SECTION_ORDER: Section[] = [
     "field",
+    "layout",
     "camera",
     "geometry",
     "color",
diff --git a/gui/frontend/src/lib/layout/InstanceList.svelte b/gui/frontend/src/lib/layout/InstanceList.svelte
index aeb6504..560a3b7 100644
--- a/gui/frontend/src/lib/layout/InstanceList.svelte
+++ b/gui/frontend/src/lib/layout/InstanceList.svelte
@@ -8,6 +8,7 @@
   } from "flowbite-svelte";
   import { instances, selectedInstance, instanceHref } from "./nav.svelte";
   import { config } from "../config.svelte";
+  import { regionLabel, cameraCount } from "../cameraLayout";
 
   // Cameras with unsaved changes get a dot, same idea as the tab asterisks.
   let dirtyCameras = $derived(
@@ -40,7 +41,9 @@
     >
       {#snippet subtext()}
         <span class="flex items-center gap-1.5 text-xs text-gray-500">
-          cam {instance.cameraId}
+          cam {instance.cameraId}{config.doc && cameraCount(config.doc) > 1
+            ? ` · ${regionLabel(config.doc, instance.cameraId)}`
+            : ""}
           {#if dirtyCameras.has(instance.cameraId)}
             <Indicator size="xs" color="primary" title="Unsaved changes" />
           {/if}
diff --git a/gui/frontend/src/lib/layout/MainContent.svelte b/gui/frontend/src/lib/layout/MainContent.svelte
index 06e8e97..84b82e8 100644
--- a/gui/frontend/src/lib/layout/MainContent.svelte
+++ b/gui/frontend/src/lib/layout/MainContent.svelte
@@ -7,6 +7,7 @@
   import NetworkPanel from "../config/NetworkPanel.svelte";
   import StreamPanel from "../config/StreamPanel.svelte";
   import CameraPanel from "../config/CameraPanel.svelte";
+  import LayoutPanel from "../config/LayoutPanel.svelte";
   import ConfigCategoryPlaceholder from "../config/ConfigCategoryPlaceholder.svelte";
 
   let category = $derived(selectedCategory());
@@ -18,6 +19,8 @@
 
   {#if nav.selectedCategoryId === "field"}
     <FieldEditor />
+  {:else if nav.selectedCategoryId === "layout"}
+    <LayoutPanel />
   {:else if nav.selectedCategoryId === "camera"}
     <CameraPanel {instance} />
   {:else if nav.selectedCategoryId === "geometry"}
diff --git a/gui/frontend/src/lib/layout/TabBar.svelte b/gui/frontend/src/lib/layout/TabBar.svelte
index 933068a..8ace373 100644
--- a/gui/frontend/src/lib/layout/TabBar.svelte
+++ b/gui/frontend/src/lib/layout/TabBar.svelte
@@ -26,14 +26,16 @@
   class={theme.base({ class: "mb-4 border-b border-gray-200" })}
   role="tablist"
 >
-  {#each tabs as tab (tab.id)}
+  {#each tabs as tab, i (tab.id)}
     {@const selected = tab.id === nav.selectedCategoryId}
     <li
       class={item.base({
-        // The one shared tab gets a break after it, so it doesn't read as
-        // just another camera-specific setting.
+        // A break after the last shared tab, so the camera-specific ones
+        // read as their own group.
         class:
-          tab.scope === "shared" ? "me-2 border-e border-gray-200 pe-2" : "",
+          tab.scope === "shared" && tabs[i + 1]?.scope !== "shared"
+            ? "me-2 border-e border-gray-200 pe-2"
+            : "",
       })}
       role="presentation"
     >
diff --git a/gui/frontend/src/lib/layout/configCategories.ts b/gui/frontend/src/lib/layout/configCategories.ts
index 6509f8f..2c44011 100644
--- a/gui/frontend/src/lib/layout/configCategories.ts
+++ b/gui/frontend/src/lib/layout/configCategories.ts
@@ -33,6 +33,13 @@ export const CONFIG_CATEGORIES: ConfigCategory[] = [
     yamlKey: null, // geometry.yml's field: block, not config.yml
     fields: [],
   },
+  {
+    id: "layout",
+    label: "Camera Layout",
+    scope: "shared",
+    yamlKey: null, // vision.yml's layout: and each camera's camera_id
+    fields: [],
+  },
   {
     id: "camera",
     label: "Camera Settings",
@@ -157,4 +164,10 @@ export const CONFIG_CATEGORIES: ConfigCategory[] = [
 // used constantly while working on one camera, separate from the sidebar's
 // full list of all nine. Start small and add to this as more categories earn
 // a spot -- it's deliberately a subset, not a duplicate of CONFIG_CATEGORIES.
-export const TAB_CATEGORY_IDS = ["field", "camera", "geometry", "color"];
+export const TAB_CATEGORY_IDS = [
+  "field",
+  "layout",
+  "camera",
+  "geometry",
+  "color",
+];
diff --git a/gui/frontend/src/lib/layout/nav.svelte.ts b/gui/frontend/src/lib/layout/nav.svelte.ts
index cfcc2bc..5e213ac 100644
--- a/gui/frontend/src/lib/layout/nav.svelte.ts
+++ b/gui/frontend/src/lib/layout/nav.svelte.ts
@@ -100,6 +100,7 @@ export function selectedCategory(): ConfigCategory {
 // any camera; per-camera ones only the selected camera's.
 const CATEGORY_SECTIONS: Record<string, Section> = {
   field: "field",
+  layout: "layout",
   camera: "camera",
   geometry: "geometry",
   color: "color",
diff --git a/gui/frontend/src/lib/layoutView.svelte.ts b/gui/frontend/src/lib/layoutView.svelte.ts
new file mode 100644
index 0000000..46da89e
--- /dev/null
+++ b/gui/frontend/src/lib/layoutView.svelte.ts
@@ -0,0 +1,53 @@
+// How this browser shows the Camera Layout map. Per browser, in
+// localStorage, since each operator may stand on a different side of the
+// field. Same pattern as preferences.svelte.ts.
+const STORAGE_KEY = "vision-processor-gui:layout-view";
+
+export type FeedMode = "off" | "keyframes" | "live";
+
+interface LayoutView {
+  // Turns the field around, for an operator on the other side of it.
+  rotate180: boolean;
+  // Flips the field left to right.
+  mirror: boolean;
+  // Video in the tiles: none, about one frame a second (the selected tile
+  // still plays live), or every tile live.
+  feeds: FeedMode;
+}
+
+function load(): LayoutView {
+  const defaults: LayoutView = {
+    rotate180: false,
+    mirror: false,
+    feeds: "keyframes",
+  };
+
+  try {
+    const raw = localStorage.getItem(STORAGE_KEY);
+    if (!raw) return defaults;
+
+    return { ...defaults, ...(JSON.parse(raw) as Partial<LayoutView>) };
+  } catch {
+    return defaults;
+  }
+}
+
+export const layoutView = $state<LayoutView>(load());
+
+$effect.root(() => {
+  $effect(() => {
+    try {
+      localStorage.setItem(STORAGE_KEY, JSON.stringify(layoutView));
+    } catch {
+      // Storage disabled: the view just resets on reload.
+    }
+  });
+});
+
+// Whether field x and y run backwards on screen.
+export function flips(): { x: boolean; y: boolean } {
+  return {
+    x: layoutView.rotate180 !== layoutView.mirror,
+    y: layoutView.rotate180,
+  };
+}
diff --git a/gui/frontend/src/lib/network.svelte.ts b/gui/frontend/src/lib/network.svelte.ts
index fac68ea..952d059 100644
--- a/gui/frontend/src/lib/network.svelte.ts
+++ b/gui/frontend/src/lib/network.svelte.ts
@@ -34,9 +34,21 @@ export interface HostInterface {
   used: boolean;
 }
 
+// One camera_id heard on the vision socket from one address, from
+// gui/internal/detections' Source.
+export interface DetectionSource {
+  cameraId: number;
+  address: string;
+  fps: number;
+  lastHeard: string;
+  receiving: boolean;
+}
+
 export interface NetworkState {
   vision: SocketStatus;
   gc: SocketStatus;
+  // Every camera_id heard in the last 30 s, by camera_id then address.
+  cameras: DetectionSource[] | null;
   autoInterfaces: boolean;
   interfaces: HostInterface[] | null;
   // The loopback interface, and whether multicast is enabled on it.
diff --git a/gui/frontend/src/lib/video/VideoPlayer.svelte b/gui/frontend/src/lib/video/VideoPlayer.svelte
index 1032c98..c5f68f2 100644
--- a/gui/frontend/src/lib/video/VideoPlayer.svelte
+++ b/gui/frontend/src/lib/video/VideoPlayer.svelte
@@ -13,9 +13,26 @@
   interface Props {
     cameraId: number;
     mode?: Mode;
+    // Fills its parent instead of a 16:9 box, with no caption: for tiles.
+    compact?: boolean;
+    // Degrees clockwise, a multiple of 90. 90 and 270 swap the video's
+    // width and height so it still fits the box.
+    rotate?: number;
+    mirror?: boolean;
   }
 
-  let { cameraId, mode = "full" }: Props = $props();
+  let {
+    cameraId,
+    mode = "full",
+    compact = false,
+    rotate = 0,
+    mirror = false,
+  }: Props = $props();
+
+  let quarterTurn = $derived(((rotate % 180) + 180) % 180 === 90);
+  let transform = $derived(
+    `translate(-50%, -50%) rotate(${String(rotate)}deg)${mirror ? " scaleX(-1)" : ""}`,
+  );
 
   let video: HTMLVideoElement | undefined = $state();
   let status = $state<StreamStatus | null>(null);
@@ -39,12 +56,20 @@
     };
   });
 
+  // The stream effect reads these, not the props: a prop is a getter on the
+  // parent's expression, so the effect would otherwise rerun (reconnecting
+  // and blanking the video) whenever anything that expression reads changes,
+  // e.g. the Camera Layout tiles' slot objects, rebuilt every second. A
+  // $derived only signals when the value itself changes.
+  let streamCamera = $derived(cameraId);
+  let streamMode = $derived(mode);
+
   $effect(() => {
     if (!video || !visible) return;
 
     status = null;
 
-    const stream = new VideoStream(video, cameraId, mode, {
+    const stream = new VideoStream(video, streamCamera, streamMode, {
       status: (s) => {
         status = s;
       },
@@ -83,28 +108,37 @@
   });
 </script>
 
-<div class="player">
-  <video bind:this={video} muted autoplay playsinline></video>
+<div class="player" class:compact>
+  <video
+    bind:this={video}
+    muted
+    autoplay
+    playsinline
+    class:quarter-turn={quarterTurn}
+    style:transform
+  ></video>
 
   {#if overlay}
     <div class="overlay">
-      {#if waiting}<Spinner size="6" color="gray" />{/if}
+      {#if waiting}<Spinner size={compact ? "4" : "6"} color="gray" />{/if}
       <span>{overlay}</span>
     </div>
   {/if}
 </div>
 
-<p class="meta">
-  {#if format}
-    {format.width}×{format.height}, {format.codec}
-  {/if}
-  {#if status}
-    · {status.address}{status.source ? ` from ${status.source}` : ""}
-  {/if}
-  {#if mode === "keyframes"}
-    · keyframes only
-  {/if}
-</p>
+{#if !compact}
+  <p class="meta">
+    {#if format}
+      {format.width}×{format.height}, {format.codec}
+    {/if}
+    {#if status}
+      · {status.address}{status.source ? ` from ${status.source}` : ""}
+    {/if}
+    {#if mode === "keyframes"}
+      · keyframes only
+    {/if}
+  </p>
+{/if}
 
 <style>
   .player {
@@ -114,14 +148,37 @@
     border-radius: 4px;
     background: #111;
     overflow: hidden;
+    /* Lets the video size itself in container units when rotated. */
+    container-type: size;
+  }
+
+  .player.compact {
+    position: absolute;
+    inset: 0;
+    aspect-ratio: auto;
+    border-radius: 0;
   }
 
   video {
-    width: 100%;
-    height: 100%;
+    position: absolute;
+    top: 50%;
+    left: 50%;
+    width: 100cqw;
+    height: 100cqh;
     object-fit: contain;
   }
 
+  video.quarter-turn {
+    width: 100cqh;
+    height: 100cqw;
+  }
+
+  .compact .overlay {
+    gap: 0.4rem;
+    padding: 0.5rem;
+    font-size: 0.7rem;
+  }
+
   .overlay {
     position: absolute;
     inset: 0;
diff --git a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
index 711de9d..c53ea0d 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
@@ -1,9 +1,15 @@
 <script lang="ts">
   import { Li, List } from "flowbite-svelte";
   import { config } from "../../config.svelte";
-  import { wizard } from "../wizard.svelte";
+  import { wizard, wizardCameraCount } from "../wizard.svelte";
+  import { cameraCount } from "../../cameraLayout";
   import { OPTIONAL_LINE_FIELDS } from "../../fieldConfigFields";
 
+  let count = $derived(wizardCameraCount());
+  let changes = $derived(
+    config.doc ? count !== cameraCount(config.doc) : false,
+  );
+
   let markings = $derived(
     OPTIONAL_LINE_FIELDS.filter((f) => wizard.draft.optionalFieldLines[f.key]),
   );
@@ -23,6 +29,11 @@
       Markings:
       {markings.length > 0 ? markings.map((f) => f.label).join(", ") : "none"}
     </Li>
+    <Li>
+      Cameras: {count} region{count === 1 ? "" : "s"}{changes
+        ? ". This changes every camera's region: their line corners need re-picking and locked calibrations are removed."
+        : ""}
+    </Li>
   </List>
 
   <p class="text-sm text-gray-600">
diff --git a/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte b/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
index 6da6a89..ffd585f 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
@@ -1,7 +1,11 @@
 <script lang="ts">
   import { Helper, Label, Radio, Select } from "flowbite-svelte";
   import { CAMERA_COUNT_OPTIONS } from "../../fieldSplit";
-  import { wizard } from "../wizard.svelte";
+  import { wizard, wizardCameraCount } from "../wizard.svelte";
+  import { config } from "../../config.svelte";
+  import { minCameraCount } from "../../cameraLayout";
+
+  let min = $derived(config.doc ? minCameraCount(config.doc) : 1);
 
   function setFieldLayout(layout: "full" | "half"): void {
     wizard.fieldLayout = layout;
@@ -49,13 +53,20 @@
       }}
     >
       {#each CAMERA_COUNT_OPTIONS[wizard.fieldLayout] as count (count)}
-        <option value={count}>{count}</option>
+        <option
+          value={count}
+          disabled={(wizard.fieldLayout === "half" ? count * 2 : count) < min}
+          >{count}</option
+        >
       {/each}
     </Select>
   </div>
 
   <Helper>
-    This isn't written anywhere yet: set <code>camera_amount</code> to
-    {wizard.cameraCount} in each camera's own config.yml by hand.
+    Sets the layout to {wizardCameraCount()} region{wizardCameraCount() === 1
+      ? ""
+      : "s"}{wizard.fieldLayout === "half"
+      ? ", since a half field is half of a full one"
+      : ""}. Assign cameras to regions on the Camera Layout page.
   </Helper>
 </div>
diff --git a/gui/frontend/src/lib/wizard/wizard.svelte.ts b/gui/frontend/src/lib/wizard/wizard.svelte.ts
index a95411e..617aa96 100644
--- a/gui/frontend/src/lib/wizard/wizard.svelte.ts
+++ b/gui/frontend/src/lib/wizard/wizard.svelte.ts
@@ -13,6 +13,7 @@ import type {
   FieldPreset,
 } from "../geometry.svelte";
 import { config } from "../config.svelte";
+import { applyPlan, cameraCount, planCount } from "../cameraLayout";
 
 export const WIZARD_STEPS = [
   "start",
@@ -27,10 +28,8 @@ export type WizardStep = (typeof WIZARD_STEPS)[number];
 export const wizard = $state<{
   open: boolean;
   step: WizardStep;
-  // Advisory only, for the Layout step and Finish's summary -- camera_amount
-  // isn't wired to any instance's config.yml yet (see gui/CLAUDE.md's "Not
-  // yet built"), so this never gets written anywhere, just relayed back to
-  // the operator as a reminder of what to set by hand.
+  // Physical cameras over the physical field. Finish writes the layout's
+  // camera count from these (wizardCameraCount).
   fieldLayout: "full" | "half";
   cameraCount: number;
   // A working copy the wizard's own steps read and write, kept separate from
@@ -57,7 +56,9 @@ export const wizard = $state<{
 export function openWizard(): void {
   wizard.step = "start";
   wizard.fieldLayout = "full";
-  wizard.cameraCount = 1;
+  // Start from the current layout, so skipping the Layout step (a preset)
+  // leaves it as it is.
+  wizard.cameraCount = config.doc ? cameraCount(config.doc) : 1;
   // Seed from the current live field, not blank -- reopening the wizard to
   // adjust an already-configured field should start from what's there.
   // $state.snapshot, not structuredClone: config.doc is a $state proxy, and
@@ -90,12 +91,26 @@ export function skipToFinish(): void {
 
 // Only place the draft ever reaches config.doc: called from Finish's confirm
 // action. It applies live from there; Save persists it.
+// The layout's camera count for what the wizard asked. A half field is
+// entered as the full field it's half of, so its cameras cover half the
+// regions: one camera on a half field is camera 0 or 1 of 2.
+export function wizardCameraCount(): number {
+  return wizard.fieldLayout === "half"
+    ? wizard.cameraCount * 2
+    : wizard.cameraCount;
+}
+
 export function finishWizard(): void {
   if (config.doc) {
     config.doc.field = $state.snapshot(wizard.draft.field);
     config.doc.optionalFieldLines = $state.snapshot(
       wizard.draft.optionalFieldLines,
     );
+
+    // Same rules as the Camera Layout page: every region changes, so seeds
+    // go stale and locked calibrations are dropped.
+    const count = wizardCameraCount();
+    applyPlan(planCount(config.doc, count), count);
   }
 
   wizard.open = false;
diff --git a/gui/internal/config/camera.go b/gui/internal/config/camera.go
index 7cc7a16..789768b 100644
--- a/gui/internal/config/camera.go
+++ b/gui/internal/config/camera.go
@@ -26,6 +26,31 @@ type cameraBlock struct {
 	WhiteBalance yaml.Node `yaml:"white_balance"`
 }
 
+// deviceKey identifies the physical camera a camera block opens on host, or
+// is empty when the block doesn't say which device. Two cameras with the same
+// key would fight over one device.
+func deviceKey(host string, block any) string {
+	data, err := yaml.Marshal(block)
+	if err != nil {
+		return ""
+	}
+
+	var c cameraBlock
+	if yaml.Unmarshal(data, &c) != nil || c.Driver == nil {
+		return ""
+	}
+
+	switch {
+	case c.Path != nil && *c.Path != "":
+		return fmt.Sprintf("%s|%s|path=%s", host, *c.Driver, *c.Path)
+	case c.ID != nil:
+		return fmt.Sprintf("%s|%s|id=%d", host, *c.Driver, *c.ID)
+	}
+
+	// Neither set: the driver's default device on that host.
+	return fmt.Sprintf("%s|%s|default", host, *c.Driver)
+}
+
 // validateCamera checks a camera block for what vision_processor would
 // misread rather than reject: an unknown driver is fatal at startup, and any
 // white_balance string other than OUTDOOR silently means INDOOR.
diff --git a/gui/internal/config/diff.go b/gui/internal/config/diff.go
index 052d1d6..3712d66 100644
--- a/gui/internal/config/diff.go
+++ b/gui/internal/config/diff.go
@@ -14,6 +14,7 @@ const (
 	SectionColor    = "color"
 	SectionNetwork  = "network"
 	SectionCamera   = "camera"
+	SectionLayout   = "layout"
 	SectionOther    = "other"
 )
 
@@ -29,18 +30,71 @@ type Change struct {
 }
 
 // Diff lists every difference from before to after, ordered by path.
-// Cameras are matched by camera_id, so reordering the list is not a change.
+// Cameras are matched by camera_id, so reordering the list is not a change,
+// except that a physical camera (same host and device) whose camera_id
+// changed is matched to itself: moving it to another slot is one camera_id
+// change, not every one of its settings changing in two places.
 func Diff(before, after Document) []Change {
 	var changes []Change
 
-	diffValue(nil, keyCameras(before.generic()), keyCameras(after.generic()), &changes)
+	moves := cameraMoves(before, after)
+	moved := map[int]bool{}
+
+	for _, to := range moves {
+		moved[to] = true
+	}
+
+	diffValue(nil, keyCameras(before.generic(), moves, nil), keyCameras(after.generic(), nil, moved), &changes)
 
 	return changes
 }
 
+// cameraMoves maps before camera_ids to after ones for physical cameras that
+// changed slot.
+func cameraMoves(before, after Document) map[int]int {
+	afterIDs := map[string]int{}
+
+	for _, c := range after.Cameras {
+		if key := deviceKey(c.Instance, after.Effective(c)["camera"]); key != "" {
+			afterIDs[key] = c.CameraID
+		}
+	}
+
+	moves := map[int]int{}
+
+	for _, c := range before.Cameras {
+		key := deviceKey(c.Instance, before.Effective(c)["camera"])
+		if to, ok := afterIDs[key]; key != "" && ok && to != c.CameraID {
+			moves[c.CameraID] = to
+		}
+	}
+
+	// Moved cameras must not land on the id of a camera that couldn't be
+	// matched and so stays put; fall back to matching by id alone.
+	keys := map[int]bool{}
+
+	for _, c := range before.Cameras {
+		key, ok := moves[c.CameraID]
+		if !ok {
+			key = c.CameraID
+		}
+
+		if keys[key] {
+			return nil
+		}
+
+		keys[key] = true
+	}
+
+	return moves
+}
+
 // keyCameras replaces the cameras list with a map keyed "cameras[<id>]"
-// segments, so cameras diff by identity rather than list position.
-func keyCameras(doc map[string]any) map[string]any {
+// segments, so cameras diff by identity rather than list position. rekey
+// files a camera under another id (where it moved to); camera_id is kept as
+// a value only for rekeyed cameras and the ids in keep, so the move itself
+// shows up as a change.
+func keyCameras(doc map[string]any, rekey map[int]int, keep map[int]bool) map[string]any {
 	list, _ := doc["cameras"].([]any)
 	delete(doc, "cameras")
 
@@ -50,9 +104,18 @@ func keyCameras(doc map[string]any) map[string]any {
 			continue
 		}
 
-		id := cam["camera_id"]
-		delete(cam, "camera_id")
-		doc[fmt.Sprintf("cameras[%v]", id)] = cam
+		id, _ := cam["camera_id"].(int)
+		key, moved := rekey[id]
+
+		if !moved {
+			key = id
+		}
+
+		if !moved && !keep[id] {
+			delete(cam, "camera_id")
+		}
+
+		doc[fmt.Sprintf("cameras[%d]", key)] = cam
 	}
 
 	return doc
@@ -123,6 +186,8 @@ func classify(path []string) (string, *int) {
 		return SectionField, nil
 	case first == "host":
 		return SectionNetwork, nil
+	case first == "layout":
+		return SectionLayout, nil
 	case first == "defaults":
 		switch segment(1) {
 		case "color":
@@ -141,6 +206,8 @@ func classify(path []string) (string, *int) {
 		}
 
 		switch segment(1) {
+		case "camera_id", "instance", "display":
+			return SectionLayout, &id
 		case "config":
 			switch segment(2) {
 			case "color":
diff --git a/gui/internal/config/document.go b/gui/internal/config/document.go
index 7a8c910..ca33bb6 100644
--- a/gui/internal/config/document.go
+++ b/gui/internal/config/document.go
@@ -12,6 +12,7 @@ import (
 	"errors"
 	"fmt"
 	"math"
+	"slices"
 	"time"
 
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/geometry"
@@ -39,11 +40,39 @@ type Document struct {
 	// Defaults uses vision_processor's own config.yml layout (camera:,
 	// geometry:, color:, thresholds:, ...) and applies to every camera.
 	Defaults map[string]any `yaml:"defaults,omitempty" json:"defaults,omitempty"`
+	Layout   *Layout        `yaml:"layout,omitempty" json:"layout,omitempty"`
 	Cameras  []Camera       `yaml:"cameras" json:"cameras"`
 	// Host is settings for this GUI host alone; no vision_processor reads it.
 	Host *Host `yaml:"host,omitempty" json:"host,omitempty"`
 }
 
+// Layout is how the field is split between cameras.
+type Layout struct {
+	// CameraCount is the number of regions the field is split into
+	// (vision_processor's geometry.camera_amount). It can exceed the number of
+	// cameras, leaving some regions uncovered.
+	CameraCount int `yaml:"camera_count" json:"cameraCount"`
+}
+
+// CameraCounts are the supported Layout.CameraCount values. vision_processor
+// accepts any power of 2; the GUI supports up to 4 for now.
+var CameraCounts = []int{1, 2, 4}
+
+// CameraCount is the number of regions the field is split into: Layout's
+// value, or else the number of cameras rounded up to a power of 2.
+func (d Document) CameraCount() int {
+	if d.Layout != nil && d.Layout.CameraCount > 0 {
+		return d.Layout.CameraCount
+	}
+
+	n := 1
+	for n < len(d.Cameras) {
+		n *= 2
+	}
+
+	return n
+}
+
 // Host is settings that only mean something on the machine running the GUI
 // host, such as its network interface names.
 type Host struct {
@@ -83,6 +112,22 @@ type Camera struct {
 	Config      map[string]any `yaml:"config,omitempty" json:"config,omitempty"`
 	Seed        *Seed          `yaml:"seed,omitempty" json:"seed,omitempty"`
 	Calibration *Calibration   `yaml:"calibration,omitempty" json:"calibration,omitempty"`
+	// Display is how the GUI shows this camera's video. Never rendered.
+	Display *Display `yaml:"display,omitempty" json:"display,omitempty"`
+}
+
+// Display orients a camera's video in the GUI to match the field, since a
+// camera can be mounted at any angle.
+type Display struct {
+	Rotate int  `yaml:"rotate,omitempty" json:"rotate,omitempty"` // degrees clockwise: 0, 90, 180, 270
+	Mirror bool `yaml:"mirror,omitempty" json:"mirror,omitempty"`
+}
+
+// Slot is a camera's place in the layout: its camera_id out of the camera
+// count, which together decide the region it covers.
+type Slot struct {
+	CameraID    int `yaml:"camera_id" json:"cameraId"`
+	CameraCount int `yaml:"camera_count" json:"cameraCount"`
 }
 
 // Seed is the human-picked calibration starting point: the four field line
@@ -94,6 +139,10 @@ type Seed struct {
 	// GoalSideMarker records which corner-picker marker (1-4) was chosen as
 	// the goal-side corner. vision_processor never reads it.
 	GoalSideMarker int `yaml:"goal_side_marker,omitempty" json:"goalSideMarker,omitempty"`
+	// Slot is the slot the corners were picked for. Moving the camera to
+	// another slot makes them stale. Nil for corners saved before slots were
+	// recorded.
+	Slot *Slot `yaml:"slot,omitempty" json:"slot,omitempty"`
 }
 
 // Calibration is a locked SSL_GeometryCameraCalibration, published in place
@@ -191,7 +240,13 @@ func (d Document) Validate() error {
 		add(fmt.Errorf("defaults: %w", err))
 	}
 
+	count := d.CameraCount()
+	if !slices.Contains(CameraCounts, count) {
+		add(fmt.Errorf("layout.camera_count: want one of %v, got %d", CameraCounts, count))
+	}
+
 	seen := map[int]bool{}
+	devices := map[string]int{}
 
 	for _, c := range d.Cameras {
 		prefix := fmt.Sprintf("cameras[%d]", c.CameraID)
@@ -200,6 +255,22 @@ func (d Document) Validate() error {
 			add(fmt.Errorf("%s.camera_id: must not be negative", prefix))
 		}
 
+		if c.CameraID >= count {
+			add(fmt.Errorf("%s.camera_id: must be below layout.camera_count (%d)", prefix, count))
+		}
+
+		if device := deviceKey(c.Instance, d.Effective(c)["camera"]); device != "" {
+			if other, ok := devices[device]; ok {
+				add(fmt.Errorf("%s: same host and camera device as cameras[%d]", prefix, other))
+			} else {
+				devices[device] = c.CameraID
+			}
+		}
+
+		if c.Display != nil && !slices.Contains([]int{0, 90, 180, 270}, c.Display.Rotate) {
+			add(fmt.Errorf("%s.display.rotate: want 0, 90, 180 or 270, got %d", prefix, c.Display.Rotate))
+		}
+
 		if seen[c.CameraID] {
 			add(fmt.Errorf("%s.camera_id: duplicate", prefix))
 		}
diff --git a/gui/internal/config/import.go b/gui/internal/config/import.go
index 1d9ebbd..f24dba8 100644
--- a/gui/internal/config/import.go
+++ b/gui/internal/config/import.go
@@ -41,10 +41,21 @@ func Import(geometryPath, configPath string) (Document, error) {
 	camera := Camera{CameraID: 0}
 
 	if configPath != "" {
-		camera, doc.Defaults, err = importConfig(configPath)
+		var count int
+
+		camera, doc.Defaults, count, err = importConfig(configPath)
 		if err != nil {
 			return Document{}, err
 		}
+
+		// Keep the legacy split, grown if needed so cam_id still fits.
+		for count <= camera.CameraID {
+			count = max(1, count*2)
+		}
+
+		if count > 1 {
+			doc.Layout = &Layout{CameraCount: count}
+		}
 	}
 
 	if host, err := os.Hostname(); err == nil {
@@ -57,15 +68,16 @@ func Import(geometryPath, configPath string) (Document, error) {
 	return doc, doc.Validate()
 }
 
-func importConfig(path string) (Camera, map[string]any, error) {
+// importConfig also returns the file's geometry.camera_amount, 0 if unset.
+func importConfig(path string) (Camera, map[string]any, int, error) {
 	data, err := os.ReadFile(path)
 	if err != nil {
-		return Camera{}, nil, fmt.Errorf("read %s: %w", path, err)
+		return Camera{}, nil, 0, fmt.Errorf("read %s: %w", path, err)
 	}
 
 	var raw map[string]any
 	if err := yaml.Unmarshal(data, &raw); err != nil {
-		return Camera{}, nil, fmt.Errorf("parse %s: %w", path, err)
+		return Camera{}, nil, 0, fmt.Errorf("parse %s: %w", path, err)
 	}
 
 	raw, _ = normalize(raw).(map[string]any)
@@ -89,17 +101,20 @@ func importConfig(path string) (Camera, map[string]any, error) {
 
 	delete(raw, "cam_id")
 
+	count := 0
+
 	if geom, ok := raw["geometry"].(map[string]any); ok {
 		seed, err := importSeed(geom)
 		if err != nil {
-			return Camera{}, nil, fmt.Errorf("%s: %w", path, err)
+			return Camera{}, nil, 0, fmt.Errorf("%s: %w", path, err)
 		}
 
 		camera.Seed = seed
 
 		delete(geom, "line_corners")
 		delete(geom, "goal_side_marker")
-		delete(geom, "camera_amount") // derived from the camera count now
+		count, _ = geom["camera_amount"].(int)
+		delete(geom, "camera_amount") // layout.camera_count now
 	}
 
 	for _, key := range perCameraSections {
@@ -118,7 +133,7 @@ func importConfig(path string) (Camera, map[string]any, error) {
 		raw = nil
 	}
 
-	return camera, raw, nil
+	return camera, raw, count, nil
 }
 
 func importSeed(geom map[string]any) (*Seed, error) {
diff --git a/gui/internal/config/layout_test.go b/gui/internal/config/layout_test.go
new file mode 100644
index 0000000..1dbcb68
--- /dev/null
+++ b/gui/internal/config/layout_test.go
@@ -0,0 +1,219 @@
+package config
+
+import (
+	"strings"
+	"testing"
+
+	"gopkg.in/yaml.v3"
+)
+
+func TestCameraCountDefaultsToCamerasRoundedUp(t *testing.T) {
+	for _, tc := range []struct{ cameras, want int }{{0, 1}, {1, 1}, {2, 2}, {3, 4}, {4, 4}} {
+		doc := Document{Cameras: make([]Camera, tc.cameras)}
+		if got := doc.CameraCount(); got != tc.want {
+			t.Errorf("%d cameras: CameraCount = %d, want %d", tc.cameras, got, tc.want)
+		}
+	}
+
+	doc := Document{Layout: &Layout{CameraCount: 4}, Cameras: make([]Camera, 1)}
+	if got := doc.CameraCount(); got != 4 {
+		t.Errorf("layout 4 with 1 camera: CameraCount = %d, want 4", got)
+	}
+}
+
+func TestValidateChecksTheLayout(t *testing.T) {
+	for _, tc := range []struct {
+		name   string
+		edit   func(*Document)
+		reason string
+	}{
+		{"unsupported count", func(d *Document) { d.Layout = &Layout{CameraCount: 3} }, "layout.camera_count"},
+		{"count above 4", func(d *Document) { d.Layout = &Layout{CameraCount: 8} }, "layout.camera_count"},
+		{"id past the count", func(d *Document) { d.Cameras[1].CameraID = 2 }, "must be below layout.camera_count"},
+		{"same device twice", func(d *Document) {
+			d.Cameras[1].Instance = d.Cameras[0].Instance
+			d.Cameras[1].Config = map[string]any{"camera": map[string]any{"path": "/dev/video0"}}
+		}, "same host and camera device"},
+		{"odd rotation", func(d *Document) { d.Cameras[0].Display = &Display{Rotate: 45} }, "display.rotate"},
+	} {
+		t.Run(tc.name, func(t *testing.T) {
+			doc := loadFixture(t)
+			tc.edit(&doc)
+
+			if err := doc.Validate(); err == nil || !strings.Contains(err.Error(), tc.reason) {
+				t.Fatalf("Validate = %v, want an error mentioning %q", err, tc.reason)
+			}
+		})
+	}
+}
+
+func TestValidateAllowsOneHostRunningSeveralCameras(t *testing.T) {
+	doc := loadFixture(t)
+	doc.Layout = &Layout{CameraCount: 4}
+	doc.Cameras[1].Instance = doc.Cameras[0].Instance
+	doc.Cameras[1].Config = map[string]any{"camera": map[string]any{"path": "/dev/video2"}}
+	doc.Cameras[1].CameraID = 3
+	doc.Cameras[0].Display = &Display{Rotate: 270, Mirror: true}
+
+	if err := doc.Validate(); err != nil {
+		t.Fatalf("Validate: %v", err)
+	}
+}
+
+func TestRenderUsesTheLayoutCount(t *testing.T) {
+	doc := loadFixture(t)
+	doc.Layout = &Layout{CameraCount: 4}
+
+	data, err := Render(doc, doc.Cameras[0], "vision.yml")
+	if err != nil {
+		t.Fatalf("Render: %v", err)
+	}
+
+	var got map[string]any
+	if err := yaml.Unmarshal(data, &got); err != nil {
+		t.Fatalf("Unmarshal: %v", err)
+	}
+
+	if amount := got["geometry"].(map[string]any)["camera_amount"]; amount != 4 {
+		t.Errorf("camera_amount = %v, want 4", amount)
+	}
+
+	if strings.Contains(string(data), "display") {
+		t.Errorf("render should not include display settings:\n%s", data)
+	}
+}
+
+func TestStatusFlagsASeedPickedForAnotherSlot(t *testing.T) {
+	doc := loadFixture(t)
+	c := doc.Cameras[0]
+
+	if hasWarning(cameraStatus(doc, c, nil), "seed_stale") {
+		t.Fatalf("seed without a slot should not be stale")
+	}
+
+	c.Seed.Slot = &Slot{CameraID: 0, CameraCount: 2}
+	if hasWarning(cameraStatus(doc, c, nil), "seed_stale") {
+		t.Fatalf("seed picked for the current slot should not be stale")
+	}
+
+	doc.Layout = &Layout{CameraCount: 4}
+	if !hasWarning(cameraStatus(doc, c, nil), "seed_stale") {
+		t.Errorf("seed picked as 0 of 2 should be stale once the count is 4")
+	}
+
+	doc.Layout = nil
+	c.CameraID = 1
+	if !hasWarning(cameraStatus(doc, c, nil), "seed_stale") {
+		t.Errorf("seed picked as camera 0 should be stale on camera 1")
+	}
+}
+
+func TestDiffClassifiesLayoutChanges(t *testing.T) {
+	before := loadFixture(t)
+	after := before.clone()
+	after.Layout = &Layout{CameraCount: 4}
+	after.Cameras[0].Instance = "host-c"
+	after.Cameras[1].Display = &Display{Rotate: 90}
+
+	changes := Diff(before, after)
+	if len(changes) != 3 {
+		t.Fatalf("got %d changes, want 3: %+v", len(changes), changes)
+	}
+
+	for _, c := range changes {
+		if c.Section != SectionLayout {
+			t.Errorf("%s: section %s, want %s", c.Path, c.Section, SectionLayout)
+		}
+	}
+}
+
+func TestImportKeepsTheLegacyCameraAmount(t *testing.T) {
+	doc, err := Import("testdata/legacy-geometry.yml", "testdata/legacy-config.yml")
+	if err != nil {
+		t.Fatalf("Import: %v", err)
+	}
+
+	if doc.CameraCount() != 2 {
+		t.Errorf("CameraCount = %d, want the legacy camera_amount 2", doc.CameraCount())
+	}
+}
+
+func hasWarning(s CameraStatus, code string) bool {
+	for _, w := range s.Warnings {
+		if w.Code == code {
+			return true
+		}
+	}
+
+	return false
+}
+
+func TestUpdateWithholdsACalibrationTheEditRemoved(t *testing.T) {
+	s, live, _ := testStore(t)
+
+	doc, rev := s.Working()
+	if doc.camera(0).Calibration == nil {
+		t.Fatal("fixture camera 0 should have a locked calibration")
+	}
+
+	// Swap the two cameras' slots, dropping the calibration that no longer
+	// matches its region.
+	doc.Cameras[0].CameraID, doc.Cameras[1].CameraID = 1, 0
+	doc.Cameras[0].Calibration = nil
+
+	if _, err := s.Update(rev, doc); err != nil {
+		t.Fatalf("Update: %v", err)
+	}
+
+	if len(live.unlocked) != 1 || live.unlocked[0] != 0 {
+		t.Fatalf("unlocked = %v, want camera 0 withheld", live.unlocked)
+	}
+}
+
+func TestDiffReportsASwapAsCameraIDChanges(t *testing.T) {
+	before := loadFixture(t)
+	before.Layout = &Layout{CameraCount: 4}
+	after := before.clone()
+
+	// Swap the two cameras' slots; camera 0 also loses its calibration.
+	after.Cameras[0].CameraID, after.Cameras[1].CameraID = 1, 0
+	after.Cameras[0].Calibration = nil
+
+	got := map[string]Change{}
+	for _, c := range Diff(before, after) {
+		got[c.Path] = c
+	}
+
+	if len(got) != 3 {
+		t.Fatalf("got %d changes, want 2 camera_id changes and the calibration: %v", len(got), got)
+	}
+
+	// Camera 0 (host-a) is now filed under 1, its new slot.
+	if c := got["cameras[1].camera_id"]; c.Before != 0 || c.After != 1 || c.Section != SectionLayout {
+		t.Errorf("cameras[1].camera_id = %+v, want 0 -> 1 in layout", c)
+	}
+
+	if c := got["cameras[0].camera_id"]; c.Before != 1 || c.After != 0 {
+		t.Errorf("cameras[0].camera_id = %+v, want 1 -> 0", c)
+	}
+
+	if c, ok := got["cameras[1].calibration"]; !ok || c.After != nil {
+		t.Errorf("cameras[1].calibration = %+v, want removed", c)
+	}
+}
+
+func TestDiffFallsBackToIDsWhenAMoveCantBeMatched(t *testing.T) {
+	before := loadFixture(t)
+	after := before.clone()
+
+	// Camera 1 changes device as well as slot, so only camera 0 matches.
+	after.Cameras[0].CameraID, after.Cameras[1].CameraID = 1, 0
+	after.Cameras[0].Calibration = nil
+	after.Cameras[1].Config = map[string]any{"camera": map[string]any{"path": "/dev/video4"}}
+
+	for _, c := range Diff(before, after) {
+		if strings.HasSuffix(c.Path, ".camera_id") {
+			t.Errorf("unexpected %s: a partial match would file two cameras under one id", c.Path)
+		}
+	}
+}
diff --git a/gui/internal/config/render.go b/gui/internal/config/render.go
index 4e53948..be17a26 100644
--- a/gui/internal/config/render.go
+++ b/gui/internal/config/render.go
@@ -27,7 +27,7 @@ func Render(doc Document, c Camera, sourcePath string) ([]byte, error) {
 		merged["geometry"] = geom
 	}
 
-	geom["camera_amount"] = len(doc.Cameras)
+	geom["camera_amount"] = doc.CameraCount()
 	delete(geom, "line_corners")
 
 	if c.Seed != nil && len(c.Seed.LineCorners) == 4 {
diff --git a/gui/internal/config/status.go b/gui/internal/config/status.go
index d375a7e..2c7b959 100644
--- a/gui/internal/config/status.go
+++ b/gui/internal/config/status.go
@@ -68,6 +68,10 @@ func cameraStatus(doc Document, c Camera, live *vision.SSL_GeometryCameraCalibra
 	if c.Seed != nil && len(c.Seed.LineCorners) == 4 {
 		seedRes := c.Seed.Resolution
 
+		if slot := (Slot{CameraID: c.CameraID, CameraCount: doc.CameraCount()}); c.Seed.Slot != nil && *c.Seed.Slot != slot {
+			warn("seed_stale", "Line corners were picked as camera %d of %d, but this camera is now %d of %d and covers a different region. Re-pick them.", c.Seed.Slot.CameraID, c.Seed.Slot.CameraCount, slot.CameraID, slot.CameraCount)
+		}
+
 		switch {
 		case seedRes[0] == 0 || seedRes[1] == 0:
 			warn("seed_resolution_unknown", "Line corners were saved without the image resolution they were picked at, so a resolution change can't be detected. Re-save them from the corner picker.")
diff --git a/gui/internal/config/store.go b/gui/internal/config/store.go
index fd2040a..bbc6c02 100644
--- a/gui/internal/config/store.go
+++ b/gui/internal/config/store.go
@@ -164,6 +164,16 @@ func (s *Store) update(rev int64, doc Document) (int64, error) {
 		return 0, err
 	}
 
+	// A calibration removed by the edit (e.g. a camera moved to another
+	// slot) is withheld, as UnlockCalibration does, not just unlocked.
+	for _, c := range s.working.Cameras {
+		if next := doc.camera(c.CameraID); c.Calibration != nil && (next == nil || next.Calibration == nil) {
+			if err := s.live.Unlock(uint32(c.CameraID)); err != nil {
+				return 0, err
+			}
+		}
+	}
+
 	s.working = doc.clone()
 	s.revision++
 
diff --git a/gui/internal/detections/tracker.go b/gui/internal/detections/tracker.go
new file mode 100644
index 0000000..d46868e
--- /dev/null
+++ b/gui/internal/detections/tracker.go
@@ -0,0 +1,103 @@
+// Package detections tracks which vision_processors are sending detection
+// frames: each camera_id heard, from which address, and how often. The Camera
+// Layout page uses it to show which slots are live and to catch two
+// processors claiming the same camera_id.
+package detections
+
+import (
+	"net"
+	"slices"
+	"strings"
+	"sync"
+	"time"
+)
+
+// Window is how far back FPS is measured, and how recently a source must
+// have been heard to count as receiving.
+const Window = time.Second
+
+// Forget drops a source silent this long, so one that moved to another
+// camera_id or shut down stops showing.
+const Forget = 30 * time.Second
+
+// Source is one camera_id heard from one address.
+type Source struct {
+	CameraID  uint32    `json:"cameraId"`
+	Address   string    `json:"address"`
+	FPS       int       `json:"fps"`
+	LastHeard time.Time `json:"lastHeard"`
+	Receiving bool      `json:"receiving"`
+}
+
+type key struct {
+	cameraID uint32
+	address  string
+}
+
+// Tracker is safe for concurrent use.
+type Tracker struct {
+	mu      sync.Mutex
+	sources map[key][]time.Time // arrival times within Window, newest last
+	last    map[key]time.Time
+}
+
+func NewTracker() *Tracker {
+	return &Tracker{sources: map[key][]time.Time{}, last: map[key]time.Time{}}
+}
+
+// Record notes a detection frame for cameraID from from, arriving at now.
+func (t *Tracker) Record(cameraID uint32, from net.IP, now time.Time) {
+	k := key{cameraID, from.String()}
+
+	t.mu.Lock()
+	defer t.mu.Unlock()
+
+	t.sources[k] = append(trim(t.sources[k], now), now)
+	t.last[k] = now
+}
+
+// Sources lists every source heard within Forget, by camera_id then address.
+func (t *Tracker) Sources(now time.Time) []Source {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+
+	out := []Source{}
+
+	for k, last := range t.last {
+		if now.Sub(last) > Forget {
+			delete(t.last, k)
+			delete(t.sources, k)
+
+			continue
+		}
+
+		t.sources[k] = trim(t.sources[k], now)
+		out = append(out, Source{
+			CameraID:  k.cameraID,
+			Address:   k.address,
+			FPS:       len(t.sources[k]),
+			LastHeard: last,
+			Receiving: now.Sub(last) <= Window,
+		})
+	}
+
+	slices.SortFunc(out, func(a, b Source) int {
+		if a.CameraID != b.CameraID {
+			return int(a.CameraID) - int(b.CameraID)
+		}
+
+		return strings.Compare(a.Address, b.Address)
+	})
+
+	return out
+}
+
+// trim drops arrivals older than Window before now.
+func trim(times []time.Time, now time.Time) []time.Time {
+	i := 0
+	for i < len(times) && now.Sub(times[i]) > Window {
+		i++
+	}
+
+	return times[i:]
+}
diff --git a/gui/internal/detections/tracker_test.go b/gui/internal/detections/tracker_test.go
new file mode 100644
index 0000000..45cacf5
--- /dev/null
+++ b/gui/internal/detections/tracker_test.go
@@ -0,0 +1,44 @@
+package detections
+
+import (
+	"net"
+	"testing"
+	"time"
+)
+
+func TestTrackerCountsFPSPerCameraAndAddress(t *testing.T) {
+	tr := NewTracker()
+	start := time.Unix(1000, 0)
+	a, b := net.IPv4(10, 0, 0, 5), net.IPv4(10, 0, 0, 6)
+
+	// 30 frames over the last second from a as camera 1; b also claims 1.
+	for i := range 30 {
+		tr.Record(1, a, start.Add(time.Duration(i)*time.Second/30))
+	}
+
+	tr.Record(1, b, start.Add(900*time.Millisecond))
+	tr.Record(0, a, start.Add(900*time.Millisecond))
+
+	got := tr.Sources(start.Add(time.Second))
+	if len(got) != 3 {
+		t.Fatalf("sources = %+v, want 3", got)
+	}
+
+	if got[0].CameraID != 0 || got[1].Address != "10.0.0.5" || got[1].FPS < 29 || got[2].Address != "10.0.0.6" {
+		t.Errorf("sources = %+v, want camera 0, then camera 1 from .5 at ~30 fps and from .6", got)
+	}
+}
+
+func TestTrackerGoesSilentThenForgets(t *testing.T) {
+	tr := NewTracker()
+	start := time.Unix(1000, 0)
+	tr.Record(2, net.IPv4(10, 0, 0, 5), start)
+
+	if s := tr.Sources(start.Add(5 * time.Second)); len(s) != 1 || s[0].Receiving || s[0].FPS != 0 {
+		t.Fatalf("after 5 s: %+v, want one silent source", s)
+	}
+
+	if s := tr.Sources(start.Add(Forget + time.Second)); len(s) != 0 {
+		t.Fatalf("after Forget: %+v, want none", s)
+	}
+}
diff --git a/gui/internal/multicast/consumers.go b/gui/internal/multicast/consumers.go
index f3cedd7..c01ab2a 100644
--- a/gui/internal/multicast/consumers.go
+++ b/gui/internal/multicast/consumers.go
@@ -2,19 +2,21 @@ package multicast
 
 import (
 	"log/slog"
+	"net"
 
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/gamecontroller"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/vision"
 	"google.golang.org/protobuf/proto"
 )
 
-// VisionConsumer hands the geometry from every wrapper packet to absorb. Only
-// packets carrying a detection frame count as heard: those come from vision
-// processors, while geometry-only packets include the host's own, looped back
-// (multicast loopback is on by default; absorb is idempotent, so that's
-// harmless rather than special-cased).
-func VisionConsumer(absorb func(*vision.SSL_GeometryData)) Consumer {
-	return func(data []byte) bool {
+// VisionConsumer hands the geometry from every wrapper packet to absorb, and
+// each detection frame's camera_id and sender to track. Only packets carrying
+// a detection frame count as heard: those come from vision processors, while
+// geometry-only packets include the host's own, looped back (multicast
+// loopback is on by default; absorb is idempotent, so that's harmless rather
+// than special-cased).
+func VisionConsumer(absorb func(*vision.SSL_GeometryData), track func(cameraID uint32, from net.IP)) Consumer {
+	return func(data []byte, from *net.UDPAddr) bool {
 		var packet vision.SSL_WrapperPacket
 		if err := proto.Unmarshal(data, &packet); err != nil {
 			slog.Warn("dropping malformed wrapper packet", "err", err)
@@ -26,7 +28,12 @@ func VisionConsumer(absorb func(*vision.SSL_GeometryData)) Consumer {
 			absorb(geometry)
 		}
 
-		return packet.GetDetection() != nil
+		detection := packet.GetDetection()
+		if detection != nil && from != nil && track != nil {
+			track(detection.GetCameraId(), from.IP)
+		}
+
+		return detection != nil
 	}
 }
 
@@ -34,7 +41,7 @@ func VisionConsumer(absorb func(*vision.SSL_GeometryData)) Consumer {
 // contents yet; hearing them is what shows the game controller address is
 // right.
 func RefereeConsumer() Consumer {
-	return func(data []byte) bool {
+	return func(data []byte, _ *net.UDPAddr) bool {
 		var referee gamecontroller.Referee
 
 		return proto.Unmarshal(data, &referee) == nil
diff --git a/gui/internal/multicast/endpoint.go b/gui/internal/multicast/endpoint.go
index 5aa9bf9..83b6264 100644
--- a/gui/internal/multicast/endpoint.go
+++ b/gui/internal/multicast/endpoint.go
@@ -42,9 +42,10 @@ type Options struct {
 	ReadBuffer int
 }
 
-// Consumer handles one datagram and reports whether it counts as heard: a
-// valid packet from someone else, not noise or our own looped-back sends.
-type Consumer func(data []byte) bool
+// Consumer handles one datagram from from (nil if unknown) and reports
+// whether it counts as heard: a valid packet from someone else, not noise or
+// our own looped-back sends.
+type Consumer func(data []byte, from *net.UDPAddr) bool
 
 // sockets is what an opener hands back.
 type sockets struct {
@@ -299,7 +300,7 @@ func (e *Endpoint) start(address string, ifaces []Interface, retrying bool) sock
 // still deliver one after a move; it's dropped rather than counted against
 // the new address.
 func (e *Endpoint) receive(address string, data []byte, from *net.UDPAddr) {
-	if !e.consume(data) {
+	if !e.consume(data, from) {
 		return
 	}
 
diff --git a/gui/internal/multicast/endpoint_test.go b/gui/internal/multicast/endpoint_test.go
index 40fe295..d33ddff 100644
--- a/gui/internal/multicast/endpoint_test.go
+++ b/gui/internal/multicast/endpoint_test.go
@@ -2,6 +2,7 @@ package multicast
 
 import (
 	"context"
+	"fmt"
 	"net"
 	"sync"
 	"testing"
@@ -114,7 +115,7 @@ func startEndpoint(t *testing.T, address string, opts Options, consume Consumer,
 	}
 }
 
-func countAll(data []byte) bool { return true }
+func countAll([]byte, *net.UDPAddr) bool { return true }
 
 func TestEndpointReopensOnNewAddress(t *testing.T) {
 	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{}, countAll)
@@ -147,7 +148,7 @@ func TestEndpointSameAddressIsNoop(t *testing.T) {
 }
 
 func TestEndpointStatusCountsHeardAndResetsOnMove(t *testing.T) {
-	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{}, func(data []byte) bool {
+	e, f, stop := startEndpoint(t, "224.5.23.2:10006", Options{}, func(data []byte, _ *net.UDPAddr) bool {
 		return string(data) == "valid"
 	})
 	defer stop()
@@ -217,7 +218,14 @@ func marshal(t *testing.T, m proto.Message) []byte {
 func TestVisionConsumerAbsorbsGeometryButCountsOnlyDetections(t *testing.T) {
 	var got *vision.SSL_GeometryData
 
-	consume := VisionConsumer(func(g *vision.SSL_GeometryData) { got = g })
+	var tracked []string
+
+	visionConsume := VisionConsumer(
+		func(g *vision.SSL_GeometryData) { got = g },
+		func(id uint32, from net.IP) { tracked = append(tracked, fmt.Sprintf("%d@%s", id, from)) },
+	)
+	from := &net.UDPAddr{IP: net.IPv4(10, 0, 0, 5), Port: 10006}
+	consume := func(data []byte) bool { return visionConsume(data, from) }
 
 	// SSL_GeometryData.field is a required proto2 field, so Marshal needs a
 	// complete SSL_GeometryFieldSize.
@@ -246,7 +254,7 @@ func TestVisionConsumerAbsorbsGeometryButCountsOnlyDetections(t *testing.T) {
 			FrameNumber: proto.Uint32(1),
 			TCapture:    proto.Float64(1),
 			TSent:       proto.Float64(1),
-			CameraId:    proto.Uint32(0),
+			CameraId:    proto.Uint32(2),
 		},
 	}
 
@@ -254,13 +262,18 @@ func TestVisionConsumerAbsorbsGeometryButCountsOnlyDetections(t *testing.T) {
 		t.Fatal("detection packet not counted as heard")
 	}
 
+	if len(tracked) != 1 || tracked[0] != "2@10.0.0.5" {
+		t.Fatalf("tracked = %v, want camera 2 from 10.0.0.5 once", tracked)
+	}
+
 	if consume([]byte("not a protobuf message")) {
 		t.Fatal("malformed data counted as heard")
 	}
 }
 
 func TestRefereeConsumer(t *testing.T) {
-	consume := RefereeConsumer()
+	refereeConsume := RefereeConsumer()
+	consume := func(data []byte) bool { return refereeConsume(data, nil) }
 
 	team := func() *gamecontroller.Referee_TeamInfo {
 		return &gamecontroller.Referee_TeamInfo{
diff --git a/gui/internal/multicast/socket.go b/gui/internal/multicast/socket.go
index d378408..2b26503 100644
--- a/gui/internal/multicast/socket.go
+++ b/gui/internal/multicast/socket.go
@@ -18,9 +18,10 @@ var errNoInterface = errors.New("no usable network interface")
 
 // openSocket receives on one plain UDP socket:
 //
-//   - it binds the group address itself, not 0.0.0.0, as vision_processor
-//     does, so groups sharing a port (every camera's video uses 10100) each
-//     get only their own traffic;
+//   - it hears only the groups it joined itself (onlyJoinedGroups), so
+//     groups sharing a port (every camera's video uses 10100) each get only
+//     their own traffic. Binding the group address doesn't do this in Go,
+//     which binds a multicast address as 0.0.0.0;
 //   - it joins the group on every used interface at once;
 //   - its kernel receive buffer is opts.ReadBuffer, room for a video
 //     keyframe's burst of packets. The kernel caps it at net.core.rmem_max.
@@ -59,6 +60,10 @@ func openSocket(address string, ifaces []Interface, opts Options, receive func([
 	}
 
 	if addr.IP.IsMulticast() {
+		if err := onlyJoinedGroups(conn); err != nil {
+			slog.Warn("can't limit socket to its own group; it may hear other groups on its port", "address", address, "err", err)
+		}
+
 		if err := join(ipv4.NewPacketConn(conn), addr, ifaces); err != nil {
 			problem = err.Error()
 		}
diff --git a/gui/internal/multicast/socket_linux.go b/gui/internal/multicast/socket_linux.go
new file mode 100644
index 0000000..ad58336
--- /dev/null
+++ b/gui/internal/multicast/socket_linux.go
@@ -0,0 +1,28 @@
+package multicast
+
+import (
+	"net"
+
+	"golang.org/x/sys/unix"
+)
+
+// onlyJoinedGroups limits conn to the groups it joined itself. Go binds a
+// multicast listen address as 0.0.0.0, and Linux by default delivers every
+// group joined by any socket on the machine to such a socket, so without
+// this each camera's video socket on the shared port hears every camera.
+func onlyJoinedGroups(conn *net.UDPConn) error {
+	raw, err := conn.SyscallConn()
+	if err != nil {
+		return err
+	}
+
+	var sockErr error
+
+	if err := raw.Control(func(fd uintptr) {
+		sockErr = unix.SetsockoptInt(int(fd), unix.IPPROTO_IP, unix.IP_MULTICAST_ALL, 0)
+	}); err != nil {
+		return err
+	}
+
+	return sockErr
+}
diff --git a/gui/internal/multicast/socket_other.go b/gui/internal/multicast/socket_other.go
new file mode 100644
index 0000000..4aa2680
--- /dev/null
+++ b/gui/internal/multicast/socket_other.go
@@ -0,0 +1,9 @@
+//go:build !linux
+
+package multicast
+
+import "net"
+
+// onlyJoinedGroups is Linux only (IP_MULTICAST_ALL). Elsewhere a socket may
+// hear other groups on its port.
+func onlyJoinedGroups(*net.UDPConn) error { return nil }
diff --git a/gui/internal/video/source.go b/gui/internal/video/source.go
index 6b4983e..af0ebd9 100644
--- a/gui/internal/video/source.go
+++ b/gui/internal/video/source.go
@@ -4,6 +4,7 @@ import (
 	"context"
 	"encoding/json"
 	"log/slog"
+	"net"
 	"sync"
 	"time"
 
@@ -225,7 +226,7 @@ func (s *source) stopIfIdle() {
 // handle is the socket's consumer: one RTP packet in, any finished frames
 // out to viewers. It reports whether the datagram was RTP, which is what the
 // endpoint's status counts.
-func (s *source) handle(data []byte) bool {
+func (s *source) handle(data []byte, _ *net.UDPAddr) bool {
 	var pkt rtp.Packet
 	if err := pkt.Unmarshal(data); err != nil || pkt.Version != 2 {
 		return false
@@ -260,10 +261,14 @@ func (s *source) handle(data []byte) bool {
 // publish caches a frame's output and delivers it. Called with mu held.
 func (s *source) publish(out output) {
 	if out.init != nil {
+		// A new init can repeat the format (e.g. an encoder alternating two
+		// SPS variants); only a real change is worth a log line.
+		if s.format == nil || *s.format != out.format {
+			slog.Info("video format", "camera", s.id, "codec", out.format.Codec, "width", out.format.Width, "height", out.format.Height)
+		}
+
 		s.init, s.format = out.init, &out.format
 		s.gop = nil
-
-		slog.Info("video format", "camera", s.id, "codec", out.format.Codec, "width", out.format.Width, "height", out.format.Height)
 	}
 
 	if out.full != nil {
diff --git a/gui/internal/video/video_test.go b/gui/internal/video/video_test.go
index ff33aa3..99341f0 100644
--- a/gui/internal/video/video_test.go
+++ b/gui/internal/video/video_test.go
@@ -339,7 +339,7 @@ func feed(t *testing.T, s *source, p *packetizer, clip [][][]byte) {
 				t.Fatal(err)
 			}
 
-			if !s.handle(data) {
+			if !s.handle(data, nil) {
 				t.Fatal("source rejected an RTP packet")
 			}
 		}

From 175083d7df66d9f11d334fb3f6b47be0ed13f2d2 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Tue, 6 Oct 2026 17:44:57 -0400
Subject: [PATCH 22/23] add missing advanced configs, abstract all long text
 into dedicated files for docs maint, lots of cleanups

---
 .gitignore                                    |  33 +--
 README.md                                     |  15 +-
 config.yml                                    |  20 --
 config/README.md                              |  41 +++
 .../legacy/config-minimal.yml                 |   0
 config/legacy/config.yml                      | 152 ++++++++++
 .../legacy/geometry-divA.yml                  |   0
 .../legacy/geometry-divB.yml                  |   0
 config/vision.yml                             | 151 ++++++++++
 documentation.md                              |   4 +-
 gui/ARCHITECTURE.md                           |  68 ++---
 gui/CLAUDE.md                                 |   5 +-
 gui/Makefile                                  |   2 +-
 gui/README.md                                 |   5 +-
 gui/cmd/ssl-vision-processor-gui/main.go      |  19 +-
 gui/cmd/ssl-vision-processor-gui/server.go    |  10 +-
 gui/frontend/README.md                        |   9 +-
 gui/frontend/eslint.config.js                 |   3 +
 gui/frontend/index.html                       |  18 +-
 gui/frontend/package.json                     |   1 +
 gui/frontend/scripts/check-text.mjs           | 227 +++++++++++++++
 gui/frontend/src/App.svelte                   |  15 +-
 gui/frontend/src/app.css                      |  52 ++++
 gui/frontend/src/lib/CornerPicker.svelte      |  46 ++-
 gui/frontend/src/lib/FieldEditor.svelte       | 104 ++++---
 gui/frontend/src/lib/RichText.svelte          |  15 +
 gui/frontend/src/lib/advanced.svelte.ts       | 174 ++++++++++++
 .../src/lib/alerts/AlertSummary.svelte        |  67 +++++
 .../src/lib/alerts/AlertsPanel.svelte         | 123 ++++++++
 gui/frontend/src/lib/alerts/alerts.ts         | 262 ++++++++++++++++++
 gui/frontend/src/lib/config.svelte.ts         |  27 +-
 .../src/lib/config/AdvancedPanel.svelte       |  69 +++++
 .../src/lib/config/CalibrationCard.svelte     |  37 +--
 .../src/lib/config/CameraPanel.svelte         | 139 +++-------
 gui/frontend/src/lib/config/ColorPanel.svelte |  28 +-
 .../src/lib/config/ColorUpdateEquation.svelte |  12 +-
 .../config/ConfigCategoryPlaceholder.svelte   |  26 +-
 .../src/lib/config/ConfigFieldList.svelte     |   4 +-
 .../src/lib/config/GeometryPanel.svelte       |  17 +-
 .../src/lib/config/HostInterfaces.svelte      |  20 +-
 gui/frontend/src/lib/config/LayoutMap.svelte  |  93 ++++++-
 .../src/lib/config/LayoutPanel.svelte         | 113 +++-----
 .../src/lib/config/NetworkPanel.svelte        |  41 ++-
 .../src/lib/config/OverviewPanel.svelte       | 194 +++++++++++++
 .../src/lib/config/SliderField.svelte         |  23 +-
 .../src/lib/config/StreamPanel.svelte         |  13 +-
 .../src/lib/config/WeightTriangle.svelte      |  24 +-
 .../src/lib/config/YuvPositionPane.svelte     |  34 +--
 gui/frontend/src/lib/layout/ChangeList.svelte |   6 +-
 .../src/lib/layout/ConfigDialogs.svelte       |  56 ++--
 gui/frontend/src/lib/layout/ConfigNav.svelte  |  10 +-
 .../src/lib/layout/InstanceList.svelte        |  12 +-
 .../src/lib/layout/MainContent.svelte         |  15 +-
 gui/frontend/src/lib/layout/Shell.svelte      | 202 +++++++++-----
 gui/frontend/src/lib/layout/TabBar.svelte     |  97 ++++---
 .../src/lib/layout/configCategories.ts        | 138 ++++-----
 gui/frontend/src/lib/layout/nav.svelte.ts     |  24 +-
 gui/frontend/src/lib/network.svelte.ts        | 110 ++++----
 gui/frontend/src/lib/teams.svelte.ts          | 159 +++++++++++
 gui/frontend/src/lib/text/README.md           |  52 ++++
 gui/frontend/src/lib/text/advanced.ts         |  80 ++++++
 gui/frontend/src/lib/text/alerts.ts           |  73 +++++
 gui/frontend/src/lib/text/app.ts              |  53 ++++
 gui/frontend/src/lib/text/camera.ts           | 106 +++++++
 gui/frontend/src/lib/text/color.ts            |  29 ++
 gui/frontend/src/lib/text/common.ts           |   9 +
 gui/frontend/src/lib/text/configFields.ts     |  59 ++++
 gui/frontend/src/lib/text/docs.ts             | 170 ++++++++++++
 gui/frontend/src/lib/text/geometry.ts         |  49 ++++
 gui/frontend/src/lib/text/layout.ts           |  62 +++++
 gui/frontend/src/lib/text/links.ts            |   7 +
 gui/frontend/src/lib/text/network.ts          | 107 +++++++
 gui/frontend/src/lib/text/overview.ts         |  41 +++
 gui/frontend/src/lib/text/placeholder.ts      |  15 +
 gui/frontend/src/lib/text/video.ts            |  24 ++
 gui/frontend/src/lib/text/wizard.ts           |  14 +
 gui/frontend/src/lib/video/VideoPlayer.svelte |  21 +-
 gui/frontend/src/lib/video/videoStream.ts     |  19 +-
 .../src/lib/wizard/SetupWizard.svelte         |   6 +-
 .../lib/wizard/steps/WizardDimensions.svelte  |   6 +-
 .../src/lib/wizard/steps/WizardFinish.svelte  |  19 +-
 .../src/lib/wizard/steps/WizardLayout.svelte  |   7 +-
 .../wizard/steps/WizardOptionalLines.svelte   |   5 +-
 .../src/lib/wizard/steps/WizardStart.svelte   |   9 +-
 gui/frontend/vite.config.ts                   |   5 +
 gui/internal/config/advanced.go               |  82 ++++++
 gui/internal/config/advanced_test.go          |  40 +++
 gui/internal/config/diff.go                   |   8 +
 gui/internal/config/document.go               |  92 +++++-
 gui/internal/config/document_test.go          |   2 +-
 gui/internal/config/layout_test.go            |  62 +++++
 gui/internal/config/reference_test.go         |  55 ++++
 gui/internal/config/render.go                 |  11 +
 gui/internal/config/store.go                  |   4 +-
 gui/internal/geometry/field_config.go         |   2 +-
 gui/internal/multicast/consumers.go           |  17 +-
 gui/internal/multicast/endpoint_test.go       |  16 +-
 gui/internal/referee/referee.go               | 159 +++++++++++
 gui/internal/referee/referee_test.go          |  69 +++++
 gui/internal/video/source.go                  |  43 ++-
 gui/internal/video/video_test.go              |  37 +++
 101 files changed, 4279 insertions(+), 851 deletions(-)
 delete mode 100644 config.yml
 create mode 100644 config/README.md
 rename config-minimal.yml => config/legacy/config-minimal.yml (100%)
 create mode 100644 config/legacy/config.yml
 rename geometry-divA.yml => config/legacy/geometry-divA.yml (100%)
 rename geometry-divB.yml => config/legacy/geometry-divB.yml (100%)
 create mode 100644 config/vision.yml
 create mode 100644 gui/frontend/scripts/check-text.mjs
 create mode 100644 gui/frontend/src/lib/RichText.svelte
 create mode 100644 gui/frontend/src/lib/advanced.svelte.ts
 create mode 100644 gui/frontend/src/lib/alerts/AlertSummary.svelte
 create mode 100644 gui/frontend/src/lib/alerts/AlertsPanel.svelte
 create mode 100644 gui/frontend/src/lib/alerts/alerts.ts
 create mode 100644 gui/frontend/src/lib/config/AdvancedPanel.svelte
 create mode 100644 gui/frontend/src/lib/config/OverviewPanel.svelte
 create mode 100644 gui/frontend/src/lib/teams.svelte.ts
 create mode 100644 gui/frontend/src/lib/text/README.md
 create mode 100644 gui/frontend/src/lib/text/advanced.ts
 create mode 100644 gui/frontend/src/lib/text/alerts.ts
 create mode 100644 gui/frontend/src/lib/text/app.ts
 create mode 100644 gui/frontend/src/lib/text/camera.ts
 create mode 100644 gui/frontend/src/lib/text/color.ts
 create mode 100644 gui/frontend/src/lib/text/common.ts
 create mode 100644 gui/frontend/src/lib/text/configFields.ts
 create mode 100644 gui/frontend/src/lib/text/docs.ts
 create mode 100644 gui/frontend/src/lib/text/geometry.ts
 create mode 100644 gui/frontend/src/lib/text/layout.ts
 create mode 100644 gui/frontend/src/lib/text/links.ts
 create mode 100644 gui/frontend/src/lib/text/network.ts
 create mode 100644 gui/frontend/src/lib/text/overview.ts
 create mode 100644 gui/frontend/src/lib/text/placeholder.ts
 create mode 100644 gui/frontend/src/lib/text/video.ts
 create mode 100644 gui/frontend/src/lib/text/wizard.ts
 create mode 100644 gui/internal/config/advanced.go
 create mode 100644 gui/internal/config/advanced_test.go
 create mode 100644 gui/internal/config/reference_test.go
 create mode 100644 gui/internal/referee/referee.go
 create mode 100644 gui/internal/referee/referee_test.go

diff --git a/.gitignore b/.gitignore
index a4a0392..b72e58c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -16,27 +16,18 @@ __pycache__
 /test-data
 *.log
 
-# Device/venue-specific configs -- only the reference templates below are
-# tracked. Anything else matching config*.yml/geometry*.yml at the repo root
-# (config-camtest.yml, a real venue's calibration, ...) is a personal/local
-# working file per the README's config[X].yml/geometry[X].yml convention, not
-# shipped source -- `git add -A` has swept these in by accident before.
-/config*.yml
-/geometry*.yml
-!/config.yml
-!/config-minimal.yml
-!/geometry-divA.yml
-!/geometry-divB.yml
-
-# gui/'s own working copies of the above, bootstrapped from geometry-divB.yml
-# / vision_processor's own config.yml default -- same reasoning.
-/gui/config.yml
-/gui/geometry.yml
-
-# The GUI host's unified config (field, per-camera config, locked
-# calibrations) is venue-specific for the same reason.
-/vision*.yml
-/gui/vision*.yml
+# Config files are local: only the read-only references in config/ are
+# tracked (see config/README.md). Copy one to the repo root and edit the copy;
+# git ignores it wherever it lives, so `git add -A` can't sweep in a venue's
+# config or calibration.
+*.yml
+!/config/**/*.yml
+# Not configs: test fixtures, CI, and vision_processor's default robot height
+# table, which it reads from the working directory.
+!**/testdata/**/*.yml
+!/.gitlab-ci.yml
+!/.github/**/*.yml
+!/robot-heights.yml
 
 #Output binaries
 vision_processor
diff --git a/README.md b/README.md
index 3e1e187..49f2c85 100644
--- a/README.md
+++ b/README.md
@@ -65,7 +65,8 @@ Installation with PIP: `pip install protobuf pyyaml`
 ## Setup
 
 1. Complete the dependency installation and compilation section.
-2. Configure one `config-minimal.yml` or `config.yml` for each camera, skip the `geometry` section for now.
+2. Copy `config/legacy/config-minimal.yml` or `config/legacy/config.yml` to the repo root as a
+   `config[X].yml` for each camera, and fill it in. Skip the `geometry` section for now.
    The camera ids are assigned like in ssl-vision:
    ![Camera id pattern](camera_ids.png)
 3. Start `build/vision_processor config[X].yml` for each camera.
@@ -78,18 +79,18 @@ Installation with PIP: `pip install protobuf pyyaml`
    Subsequent edits to thresholds, tracking limits and color references in `config[X].yml`
    are picked up live (within ~0.5 s) without a restart; camera, geometry, network and stream
    sections still require a restart.
-7. Modify `geometry[X].yml` to match your field geometry.
+7. Copy `config/legacy/geometry-divA.yml` or `config/legacy/geometry-divB.yml` to `geometry[X].yml`
+   and modify it to match your field geometry.
    (for simple use cases configuring the field size, penalty area and goal will suffice)
 8. Start `python/geom_publisher.py geometry[X].yml`.
    The calibration is successful when the reprojected livestream views are parallel to the image frame.
    If the calibration is unsuccessful, restart the geom_publisher for a new geometry calibration.
    For setups with multiple cameras it is recommended to tune the calibration by hand.
 
-Your own `config[X].yml`/`geometry[X].yml` files (camera or venue specific) are gitignored by
-default and won't be committed. Only the reference templates -- `config.yml`, `config-minimal.yml`,
-`geometry-divA.yml`, `geometry-divB.yml` -- are tracked; the GUI's unified `vision.yml` (and the
-older `gui/config.yml` and `gui/geometry.yml` working copies) are gitignored the same way. If you need to
-track a variant anyway, `git add -f` it.
+The reference configs live in [config/](config/README.md) and are read-only: copy one and edit the
+copy. Every other `.yml` config, wherever it is (your `config[X].yml`/`geometry[X].yml`, the GUI's
+`vision.yml`), is gitignored and won't be committed. If you need to track a variant anyway, `git add -f`
+it.
 
 
 ## Troubleshooting
diff --git a/config.yml b/config.yml
deleted file mode 100644
index 288d52d..0000000
--- a/config.yml
+++ /dev/null
@@ -1,20 +0,0 @@
-# Generated by vision-processor-gui from vision.yml.
-# Edit that file (or use the GUI) instead; changes here are overwritten.
-cam_id: 0
-camera:
-  driver: OPENCV
-color:
-  history_force: 0.7
-  min_reference_force: 0.05
-  orange:
-    - 192
-    - 128
-    - 64
-  reference_force: 0.1
-geometry:
-  camera_amount: 1
-  line_corners:
-    - [1584, 613]
-    - [2520, 151]
-    - [3012, 1471]
-    - [2256, 1885]
diff --git a/config/README.md b/config/README.md
new file mode 100644
index 0000000..8292923
--- /dev/null
+++ b/config/README.md
@@ -0,0 +1,41 @@
+# Reference configuration
+
+Read-only reference files. Copy one to the repo root under your own name and
+edit the copy; git ignores config files outside this directory, so local
+configs never get committed by accident.
+
+| File | What it is |
+| --- | --- |
+| `vision.yml` | The unified config the GUI host owns: field, shared and per-camera settings, locked calibrations. Start here. |
+| `legacy/config.yml` | vision_processor's own config, with every setting and its default documented. The GUI generates one of these per local camera from `vision.yml`. |
+| `legacy/config-minimal.yml` | The smallest vision_processor config: just what has no usable default. |
+| `legacy/geometry-divA.yml` | Division A field (12 x 9 m). The GUI's Division A preset. |
+| `legacy/geometry-divB.yml` | Division B field (9 x 6 m). The GUI's Division B preset. |
+
+## Getting started
+
+```sh
+cp config/vision.yml vision.yml
+./gui/bin/vision-processor-gui -config vision.yml
+```
+
+For a vision_processor run by hand, without the GUI:
+
+```sh
+cp config/legacy/config.yml config.yml
+./build/vision_processor config.yml
+```
+
+## Read-only
+
+These files are `chmod 444`, and the GUI refuses to write any file without
+write permission, so a `config_path` or Save As pointed here fails instead of
+overwriting a reference. Git doesn't record read-only permissions, so a fresh
+clone needs:
+
+```sh
+chmod 444 config/*.yml config/legacy/*.yml
+```
+
+The GUI's tests parse every file here, so a reference that stops matching
+what the code accepts fails `make test`.
diff --git a/config-minimal.yml b/config/legacy/config-minimal.yml
similarity index 100%
rename from config-minimal.yml
rename to config/legacy/config-minimal.yml
diff --git a/config/legacy/config.yml b/config/legacy/config.yml
new file mode 100644
index 0000000..0ce4c75
--- /dev/null
+++ b/config/legacy/config.yml
@@ -0,0 +1,152 @@
+# VisionProcessor configuration
+
+# Vision camera ID handled by this VisionProcessor instance.
+# On multi camera fields the IDs have to be ordered according to camera_ids.png.
+#cam_id: 0
+
+# Team bot heights yml file (heights in mm)
+#bot_heights_file: robot-heights.yml
+
+camera:
+  # Camera driver type. Availability depending on libraries installed.
+  # Existing: SPINNAKER (FLIR cameras), MVIMPACT (Bluefox3 cameras), OPENCV(files, v4l2 cameras)
+  #driver: SPINNAKER
+
+  # Spinnaker, mvIMPACT or OpenCV(v4l2) camera id
+  #id: 0
+  # OpenCV camera device, image or video file path (if unset id is used instead)
+  #path: /dev/video0
+
+  # Camera resolution as reported by the camera. VisionProcessor might use half (true color) resolution internally with SPINNAKER and MVIMPACT.
+  # 0 = highest resolution supported by the camera
+  #width: 0
+  #height: 0
+
+  # Camera exposure time in ms to adjust brightness. Higher values lead to more motion blur. Lower values lead to a darker image.
+  # Camera frame rate will drop if set equal to or higher than the frame time (1 / fps_cam).
+  # 0.0 = automatic exposure
+  #exposure: 0.0
+  # Camera gain to adjust brightness. Higher values lead to more noise. Lower values lead to a darker image.
+  # Frequently changing bot identities or team colors indicate an image that is too bright (all colors becoming nearly white).
+  # 0.0 = automatic gain
+  #gain: 0.0
+  # Camera gamma as nonlinear brightness adjustment. Only supported on SPINNAKER and OPENCV.
+  # Low values reduce differences between bright and dark illuminated areas. High values increase the color contrast.
+  # 1.0 = no gamma
+  #gamma: 1.0
+
+  # Camera white balance. OUTDOOR or INDOOR for auto white balance with green or gray carpet respectively.
+  # (distinction between OUTDOOR and INDOOR currently only implemented for SPINNAKER backend)
+  #white_balance: OUTDOOR
+  # If you want to set manual white balance values use this format:
+  #white_balance:
+  #  red: 1.0
+  #  blue: 1.0
+
+geometry:
+  # Total camera amount over the field
+  #camera_amount: 1
+  # Camera height above field in mm
+  # 0.0 = automated camera height calibration, this does not work if the camera looks perpendicular to the field
+  #camera_height: 0.0
+
+  # Field line crossings at the edges of the camera extent in pixels from the top left image corner.
+  # The first coordinate must be the edge with the smallest x and y field coordinate.
+  #line_corners:
+  #- [0 , 1000]
+  #- [0 , 0]
+  #- [1000, 0]
+  #- [1000, 1000]
+
+  # Enable field line pixel refinement.
+  # Disable in cluttered environments when the geometry calibration has failed multiple times in a row.
+  #refinement: true
+
+  # Minimum brightness difference to surrounding pixels for the classification as field line pixel (0 - 255)
+  #field_line_threshold: 5
+  # Minimum length of line segments to ensure angular stability in pixels
+  #min_line_segment_length: 10.0
+  # Maximum perpendicular offset of line segments for merging in pixels
+  #max_line_segment_offset: 10.0
+  # Maximum relative angle of line segments for merging in °
+  #max_line_segment_angle: 3.0
+
+thresholds:
+  # Minimum mean cosine similarity (not normalized) of the blob border gradient (0 - 195075.0)
+  # High value lead to undetected blobs. Low values lead to an increase in false positive blob detections.
+  #circularity: 15.0
+  # Minimum circularity/(3*stddev) ball blob score
+  #score: 5.0
+
+  # Maximum amount of blobs processed per frame. Should not be necessary to adjust this value.
+  #blobs: 2000
+
+  # Minimum confidence (0.0 - 1.0)
+  #min_confidence: 0.2
+
+  # Min ball camera edge distance in mm
+  #min_cam_edge_distance: 170.0
+
+  # Maximum allowed clipping of two objects in mm
+  #clipping_tolerance: 10.0
+
+  # Added tolerance to geometry related operations in mm.
+  # Affects field border cutoff area and field line blob classification.
+  #geometry_tolerance: 10.0
+
+color:
+  # Strength of the reference color during color updates (0.0 - 0.5-history_force/2)
+  #reference_force: 0.1
+  # Strength of the previous color during color updates (0.0 - 1.0-reference_force)
+  #history_force: 0.7
+
+  # Reference colors used for ball determination
+  #orange: [192, 128, 64]
+  #field: [128, 128, 128]
+  # Reference colors used for center blob determination
+  #yellow: [255, 128, 0]
+  #blue: [0, 128, 255]
+  # Reference colors used for side blob determination
+  #green: [0, 255, 128]
+  #pink: [255, 0, 128]
+
+tracking:
+  # Min tracking radius in mm
+  #min_tracking_radius: 20.0
+
+  # Max tracked bot acceleration in m/s^2
+  #max_bot_acceleration: 6.5
+
+network:
+  # Game controller multicast ip address
+  #gc_ip: "224.5.23.1"
+  # Game controller multicast port
+  #gc_port: 10003
+
+  # Vision multicast IP address
+  #vision_ip: "224.5.23.2"
+  # Vision multicast port
+  #vision_port: 10006
+
+stream:
+  # If false no network live stream will be encoded and sent
+  #active: true
+  # Only stream raw camera footage. Useful for recordings.
+  #raw_feed: false
+
+  # Camera stream ip prefix
+  #ip_base_prefix: 224.5.23.
+  # Camera stream ip end base (cam_id is added to maintain separation)
+  #ip_base_end: 100
+  # Camera stream port
+  #port: 10100
+
+debug:
+  # Ground truth file. Only used by blob and geometry benchmark.
+  #ground_truth: gt.yml
+  # Wait for geometry prior to processing frames
+  #wait_for_geometry: false
+  # Save additional debug images in img/.
+  #debug_images: false
+  # Periodically overwrite img/.sample.<camId>.png while calibration isn't accepted yet, every N milliseconds. 0 disables.
+  #debug_stream_interval_ms: 0
diff --git a/geometry-divA.yml b/config/legacy/geometry-divA.yml
similarity index 100%
rename from geometry-divA.yml
rename to config/legacy/geometry-divA.yml
diff --git a/geometry-divB.yml b/config/legacy/geometry-divB.yml
similarity index 100%
rename from geometry-divB.yml
rename to config/legacy/geometry-divB.yml
diff --git a/config/vision.yml b/config/vision.yml
new file mode 100644
index 0000000..b4b4aa1
--- /dev/null
+++ b/config/vision.yml
@@ -0,0 +1,151 @@
+# vision.yml reference: the unified config the GUI host owns.
+#
+# Copy this file (e.g. to vision.yml at the repo root, which git ignores) and
+# start the host with `-config vision.yml`. Don't edit this copy; it's a
+# read-only reference.
+#
+# One file holds the field, settings shared by every camera, each camera's own
+# settings, and locked calibrations. The GUI edits it live and asks before
+# overwriting changes made here by hand. Comments aren't kept when the GUI
+# saves.
+#
+# All lengths are in mm.
+
+# Format version. The GUI refuses other versions.
+version: 1
+
+# The field, as in proto/ssl_vision_geometry.proto. Division B shown; see
+# legacy/geometry-divA.yml for Division A. Field lines and arcs are generated
+# from these dimensions.
+field:
+  field_length: 9000
+  field_width: 6000
+  goal_width: 1000
+  goal_depth: 180
+  goal_height: 160
+  penalty_area_depth: 1000
+  penalty_area_width: 2000
+  goal_center_to_penalty_mark: 6000
+  boundary_width: 300
+  boundary_width_goal_line: 300
+  center_circle_radius: 500
+  line_thickness: 10
+  ball_radius: 21.5
+  max_robot_radius: 90
+  goal_substitution_area_width: 0
+
+# Field markings a lab or exhibition carpet may not have. Turn off any line
+# the physical field lacks: lines the camera can't see disturb calibration.
+optional_field_lines:
+  goal2goal: true # center line running end to end
+  halfway: true # halfway line across the width
+  centercircle: true # center circle
+  penalty: true # penalty area lines in front of each goal
+
+# Ball models, published with the geometry. acc_slide and acc_roll in m/s².
+# Defaults from RoboCup 2026.
+models:
+  straight_two_phase:
+    acc_slide: -3.40
+    acc_roll: -0.45
+    k_switch: 0.64
+  chip_fixed_loss:
+    damping_xy_first_hop: 0.55
+    damping_xy_other_hops: 0.88
+    damping_z: 0.54
+
+# How the field is split between cameras: 1, 2 or 4 regions. A camera's
+# camera_id picks its region (see camera_ids.png). Unset: the number of
+# cameras, rounded up to a power of 2.
+layout:
+  camera_count: 1
+
+# A match setup with a game controller, rather than lab use. Changes how the
+# GUI keeps robot height choices and how loudly it reports missing setup;
+# vision_processor doesn't read it.
+# competition_field: true
+
+# Robot height choices. A team or color without one uses bot_heights_file,
+# looked up by the game controller's team name. Shown in the GUI only for
+# now; vision_processor still uses the game controller and the table.
+# teams:
+#   # On a competition field: by the game controller's team name, so each
+#   # follows its team if the colors are switched.
+#   overrides:
+#     ER Force: { name: ER-Force } # another table entry's height
+#     Custom FC: { height: 150 } # a custom height in mm
+#   # Otherwise (lab use, often no game controller): per color.
+#   by_color:
+#     yellow: { height: 150 }
+#     blue: { name: ER-Force }
+
+# Settings every camera shares, in vision_processor's own config.yml layout
+# (see legacy/config.yml for every key and its default). A camera's own
+# `config` below overrides these key by key.
+defaults:
+  bot_heights_file: robot-heights.yml
+
+  camera:
+    driver: OPENCV
+
+  # network:
+  #   vision_ip: 224.5.23.2
+  #   vision_port: 10006
+  #   gc_ip: 224.5.23.1
+  #   gc_port: 10003
+
+  # stream:
+  #   active: true
+  #   ip_base_prefix: 224.5.23.
+  #   ip_base_end: 100
+  #   port: 10100
+
+  # thresholds:
+  #   min_confidence: 0.2
+
+  # tracking:
+  #   max_bot_acceleration: 6.5
+
+  # color:
+  #   reference_force: 0.1
+  #   history_force: 0.7
+
+# One entry per camera, keyed by camera_id (its region), not by machine: a
+# host running four cameras appears four times.
+cameras:
+  - camera_id: 0
+    # The machine running this camera's vision_processor.
+    instance: lab-pc
+    # A config.yml on this host the GUI regenerates from this file, for a
+    # vision_processor on the same machine. Omit for a remote one. Use a
+    # git-ignored name such as config-local.yml.
+    config_path: config-local.yml
+    # This camera's overrides of `defaults`, same layout.
+    config:
+      camera:
+        path: /dev/v4l/by-id/usb-Example_Camera-video-index0
+        width: 1920
+        height: 1080
+    # Written by the corner picker: the four field line corners in image
+    # pixels, the resolution they were picked at, and the region they were
+    # picked for.
+    # seed:
+    #   resolution: [1920, 1080]
+    #   line_corners: [[1131, 949], [1512, 733], [1266, 76], [792, 303]]
+    #   goal_side_marker: 1
+    #   slot: { camera_id: 0, camera_count: 1 }
+    # Written by "Lock" on the Geometry page; published in place of what the
+    # camera sends, so a restart doesn't recalibrate.
+    # calibration:
+    #   locked_at: 2026-01-01T12:00:00Z
+    #   field_hash: sha256:...
+    #   camera: { camera_id: 0, focal_length: 1184.6, ... }
+    # How the GUI turns this camera's video to match the field (0, 90, 180,
+    # 270 degrees clockwise; mirror flips it). Only the GUI reads it.
+    # display: { rotate: 0, mirror: false }
+
+# Settings for the GUI host alone.
+# host:
+#   interfaces:
+#     auto: true # pick interfaces itself
+#     skip: [docker0] # with auto off, interfaces not to use
diff --git a/documentation.md b/documentation.md
index f87f1f9..67d701b 100644
--- a/documentation.md
+++ b/documentation.md
@@ -2,7 +2,7 @@
 
 This is a short introduction to the algorithms, configuration and setup of VisionProcessor.
 More details about the approaches and algorithms can be found in the corresponding [master thesis](https://download.tigers-mannheim.de/papers/2024-Vision-based-Understanding-of-the-RoboCup-Small-Size-League-field-Weinmann.pdf).
-Additional descriptions to configuration options and default values can be found in the [config itself](config.yml).
+Additional descriptions to configuration options and default values can be found in the [reference config](config/legacy/config.yml).
 Additional information for the setup can be found in the [README](README.md).
 
 
@@ -41,7 +41,7 @@ Field shape and size are important informations for every participant in the fie
 For some applications field lines, [ball model](https://ssl.robocup.org/wp-content/uploads/2026/04/2026_ETDP_TIGERs-Mannheim.pdf) and camera model information is required as well.
 This information is broadcasted with the vision protocol in so called geometry packets.
 In VisionProcessor the `python/geom_publisher.py` script uses a geometry.yml file to publish this information.
-For setup ideally start by copying one of `geometry-divA.yml` or `geometry-divB.yml` to `geometry.yml` (the name the systemd service expects) and modify as necessary.
+For setup ideally start by copying one of `config/legacy/geometry-divA.yml` or `config/legacy/geometry-divB.yml` to `geometry.yml` (the name the systemd service expects) and modify as necessary.
 
 
 ## Camera model calibration
diff --git a/gui/ARCHITECTURE.md b/gui/ARCHITECTURE.md
index 31011ea..1420be2 100644
--- a/gui/ARCHITECTURE.md
+++ b/gui/ARCHITECTURE.md
@@ -78,20 +78,21 @@ before returning.
 
 ## Package responsibilities
 
-| Package                | Responsibility                                                                 |
-| ---------------------- | -------------------------------------------------------------------------------|
-| `cmd/ssl-vision-processor-gui` | Flags, wiring, HTTP handlers and routes.                                |
-| `internal/config`      | `vision.yml`: the working document, save and load, locked calibrations, the disk watcher, and generated `config.yml` files. |
-| `internal/geometry`    | The live field template, published calibrations, and the 1Hz publish loop. Holds no file state. |
-| `internal/multicast`   | The vision, game controller, and video sockets: interface selection, reopening on changes, retrying while unhealthy, suspend detection. |
-| `internal/hub`         | In-process topic pub/sub and the `/ws` WebSocket handler.                     |
-| `internal/detections`  | Which camera_ids the vision socket hears, from which address, at what rate. Feeds the Camera Layout page. |
-| `internal/snapshot`    | Debug image listing and serving.                                              |
-| `internal/video`       | Live video: each camera's H.264 RTP stream relayed to browsers as fragmented MP4. |
-| `internal/v4l`         | Lists this host's Video4Linux capture devices for the camera path picker.     |
-| `internal/logging`     | slog setup: a coloured console handler and a rotating file handler.           |
-| `internal/vision`, `internal/gamecontroller` | Generated protobuf bindings. Not committed, see Build-time codegen below. |
-| `frontend`             | Svelte 5 and TypeScript, embedded into the binary via `//go:embed`.           |
+| Package                                      | Responsibility                                                                                                                          |
+| -------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------- |
+| `cmd/ssl-vision-processor-gui`               | Flags, wiring, HTTP handlers and routes.                                                                                                |
+| `internal/config`                            | `vision.yml`: the working document, save and load, locked calibrations, the disk watcher, and generated `config.yml` files.             |
+| `internal/geometry`                          | The live field template, published calibrations, and the 1Hz publish loop. Holds no file state.                                         |
+| `internal/multicast`                         | The vision, game controller, and video sockets: interface selection, reopening on changes, retrying while unhealthy, suspend detection. |
+| `internal/hub`                               | In-process topic pub/sub and the `/ws` WebSocket handler.                                                                               |
+| `internal/detections`                        | Which camera_ids the vision socket hears, from which address, at what rate. Feeds the Camera Layout page.                               |
+| `internal/referee`                           | The current match's teams, from the game controller, and their robot heights from `bot_heights_file`.                                   |
+| `internal/snapshot`                          | Debug image listing and serving.                                                                                                        |
+| `internal/video`                             | Live video: each camera's H.264 RTP stream relayed to browsers as fragmented MP4.                                                       |
+| `internal/v4l`                               | Lists this host's Video4Linux capture devices for the camera path picker.                                                               |
+| `internal/logging`                           | slog setup: a coloured console handler and a rotating file handler.                                                                     |
+| `internal/vision`, `internal/gamecontroller` | Generated protobuf bindings. Not committed, see Build-time codegen below.                                                               |
+| `frontend`                                   | Svelte 5 and TypeScript, embedded into the binary via `//go:embed`.                                                                     |
 
 ## Data flow: geometry state
 
@@ -194,24 +195,24 @@ JSON float and YAML decodes integers as ints, so without this every edit would s
 
 All routes are registered in `cmd/ssl-vision-processor-gui/routes.go`.
 
-| Method | Path                          | Purpose                                                             |
-| ------ | ----------------------------- | -------------------------------------------------------------------|
-| GET    | `/api/health`                 | Liveness check.                                                     |
-| GET    | `/api/geometry`                | The full wrapper packet, as canonical protojson.                   |
-| GET    | `/api/geometry/presets`        | The rulebook presets, read live from `geometry-divA.yml`/`geometry-divB.yml`. |
-| GET    | `/api/config`                  | The working document and the store's state.                         |
-| PUT    | `/api/config`                  | Replace the working document and apply it live. 409 on a stale revision. |
-| POST   | `/api/config/save`             | Write the working document to disk. 409 if the file changed on disk, unless forced. |
-| POST   | `/api/config/save-as`          | Write to a new path and edit that file from then on.                |
-| POST   | `/api/config/load`             | Load another file, discarding unsaved changes.                      |
-| POST   | `/api/config/reload`           | Accept the file as it is on disk, discarding unsaved changes.       |
-| POST   | `/api/config/cameras/{id}/calibration` | Lock the camera's latest live calibration.                  |
-| DELETE | `/api/config/cameras/{id}/calibration` | Unlock it and stop publishing any calibration for the camera. |
-| GET    | `/api/camera/devices`          | This host's capture devices: stable by-id and by-path links, then raw nodes. |
-| GET    | `/api/snapshots`               | List of debug images currently on disk.                            |
-| GET    | `/api/snapshot/{camID}/{view}` | One debug image.                                                    |
-| GET    | `/ws`                          | WebSocket, see below.                                               |
-| GET    | `/ws/video/{id}?mode=full\|keyframes` | One camera's live video, see Live video below.                |
+| Method | Path                                   | Purpose                                                                             |
+| ------ | -------------------------------------- | ----------------------------------------------------------------------------------- |
+| GET    | `/api/health`                          | Liveness check.                                                                     |
+| GET    | `/api/geometry`                        | The full wrapper packet, as canonical protojson.                                    |
+| GET    | `/api/geometry/presets`                | The rulebook presets, read live from `config/legacy/geometry-div{A,B}.yml`.         |
+| GET    | `/api/config`                          | The working document and the store's state.                                         |
+| PUT    | `/api/config`                          | Replace the working document and apply it live. 409 on a stale revision.            |
+| POST   | `/api/config/save`                     | Write the working document to disk. 409 if the file changed on disk, unless forced. |
+| POST   | `/api/config/save-as`                  | Write to a new path and edit that file from then on.                                |
+| POST   | `/api/config/load`                     | Load another file, discarding unsaved changes.                                      |
+| POST   | `/api/config/reload`                   | Accept the file as it is on disk, discarding unsaved changes.                       |
+| POST   | `/api/config/cameras/{id}/calibration` | Lock the camera's latest live calibration.                                          |
+| DELETE | `/api/config/cameras/{id}/calibration` | Unlock it and stop publishing any calibration for the camera.                       |
+| GET    | `/api/camera/devices`                  | This host's capture devices: stable by-id and by-path links, then raw nodes.        |
+| GET    | `/api/snapshots`                       | List of debug images currently on disk.                                             |
+| GET    | `/api/snapshot/{camID}/{view}`         | One debug image.                                                                    |
+| GET    | `/ws`                                  | WebSocket, see below.                                                               |
+| GET    | `/ws/video/{id}?mode=full\|keyframes`  | One camera's live video, see Live video below.                                      |
 
 An unrouted `/api/*` path returns 404 rather than falling through to the frontend, so a typo'd endpoint fails
 with a clear status instead of returning HTML to a caller expecting JSON. Every other path serves the embedded
@@ -277,4 +278,5 @@ regenerates them as an ordinary build prerequisite. See `gui/README.md` for the
   a running instance to recalibrate.
 - **Remote snapshots.** `internal/snapshot` assumes the gui host and the vision_processor instance share a
   filesystem. Live video (above) works remotely, but the full-resolution snapshots the corner picker needs do not.
-- **A video grid.** `keyframes` mode exists for it; only the single camera view is built.
+- **Translation (i18n), planned for v2.1.** User-facing text moving into one catalog per language, looked up by
+  key. Until then the text stays English and in the source.
diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
index af721aa..27ba85f 100644
--- a/gui/CLAUDE.md
+++ b/gui/CLAUDE.md
@@ -262,5 +262,6 @@ Not automated -- there is no CI hardware to run it on.
   MSE, chosen over WebRTC because latency doesn't matter for setup and it
   avoids Firefox's Constrained-Baseline-only WebRTC H.264), but the corner
   picker needs full-resolution stills, which the stream isn't.
-- **A video grid.** The backend's `keyframes` mode is built for it; the
-  Svelte side has only the single camera Stream panel.
+- **i18n (planned for v2.1).** Not yet: the GUI is English only. When it
+  comes, every user-facing string moves to a per-language catalog looked up by
+  key (Paraglide is the Svelte-native candidate: compile-time and typed).
diff --git a/gui/Makefile b/gui/Makefile
index fb97694..9ae0dd6 100644
--- a/gui/Makefile
+++ b/gui/Makefile
@@ -57,7 +57,7 @@ go-test: frontend
 	go test $(GO_PACKAGES) -race
 
 frontend-test: frontend
-	cd frontend && npm run check && npm run lint && npm run format:check
+	cd frontend && npm run check && npm run lint && npm run check:text && npm run format:check
 
 # CI runs go-test and frontend-test as separate parallel jobs (see
 # .github/workflows/ci.yml) -- this is the single "everything before you
diff --git a/gui/README.md b/gui/README.md
index 3d53697..4db76d6 100644
--- a/gui/README.md
+++ b/gui/README.md
@@ -36,9 +36,10 @@ The host reads and writes one file, `-config` (default `vision.yml`). Edits made
 are written to the file only on Save, after a confirmation that lists every change. The host watches the file,
 so a hand edit prompts the browser to load it or overwrite it.
 
-If `-config` does not exist yet, the host creates it on startup. It imports `-importGeometry` (default
+`config/vision.yml` at the repo root is a commented reference; copying it is the quickest start. If
+`-config` does not exist yet, the host creates it on startup. It imports `-importGeometry` (default
 `geometry.yml`) and `-importConfig` (default `config.yml`) when they exist, and otherwise starts from
-`-geometryPreset`. An imported `config.yml` becomes a camera with that file as its `config_path`, so the host
+`-geometryPreset` (default `config/legacy/geometry-divB.yml`). An imported `config.yml` becomes a camera with that file as its `config_path`, so the host
 regenerates it from `vision.yml` from then on. Keep a copy if you want its comments.
 
 The vision and game controller multicast addresses are in the same file, under `defaults.network`. They are
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
index e79d3e5..9640015 100644
--- a/gui/cmd/ssl-vision-processor-gui/main.go
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -21,6 +21,7 @@ import (
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/hub"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/logging"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/multicast"
+	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/referee"
 	"github.com/RoboCup-SSL/ssl-vision-processor/gui/internal/video"
 	"google.golang.org/protobuf/encoding/protojson"
 )
@@ -39,7 +40,7 @@ var configPath = flag.String("config", "vision.yml", "Host configuration file (f
 // setup. Without -importGeometry the field comes from -geometryPreset.
 var importGeometry = flag.String("importGeometry", "geometry.yml", "Legacy field geometry file to import into a new -config, default: geometry.yml")
 var importConfig = flag.String("importConfig", "config.yml", "Legacy vision_processor config.yml to import into a new -config as its camera, default: config.yml")
-var geometryPreset = flag.String("geometryPreset", "geometry-divB.yml", "Field preset for a new -config when there's no -importGeometry, default: geometry-divB.yml")
+var geometryPreset = flag.String("geometryPreset", "config/legacy/geometry-divB.yml", "Field preset for a new -config when there's no -importGeometry, default: config/legacy/geometry-divB.yml")
 var imgDir = flag.String("imgDir", "img", "Directory the vision processor writes debug snapshot images to, default: img")
 var logLevelFlag = flag.String("logLevel", "Info", "Log Level: Debug, Info, Warn, Error. Default: Info")
 var logFile = flag.String("logFile", "logs/vision-processor-gui.log", "Rotating log file to write alongside stderr, empty to disable. Default: logs/vision-processor-gui.log")
@@ -99,11 +100,15 @@ func run() int {
 	_, addrs, auto, ifaces := currentNetwork(store)
 	opts := multicast.Options{Verbose: level == slog.LevelDebug}
 	tracker := detections.NewTracker()
+	teams := &referee.Teams{}
+	trackTeams := func(yellow, blue string) { teams.Record(yellow, blue, time.Now()) }
 	track := func(id uint32, from net.IP) { tracker.Record(id, from, time.Now()) }
 	sockets := &networkSockets{
 		vision:     multicast.NewEndpoint("vision", addrs.VisionAddress(), ifaces, withSend(opts), multicast.VisionConsumer(geom.Absorb, track)),
 		detections: tracker,
-		gc:         multicast.NewEndpoint("game controller", addrs.GCAddress(), ifaces, opts, multicast.RefereeConsumer()),
+		teams:      teams,
+		heights:    &referee.Heights{},
+		gc:         multicast.NewEndpoint("game controller", addrs.GCAddress(), ifaces, opts, multicast.RefereeConsumer(trackTeams)),
 		video:      video.NewManager(level == slog.LevelDebug),
 		auto:       auto,
 		ifaces:     ifaces,
@@ -289,6 +294,11 @@ type networkSockets struct {
 	gc     *multicast.Endpoint
 	// detections is which camera_ids the vision socket hears, from where.
 	detections *detections.Tracker
+	// teams is the current match's teams, from the game controller socket;
+	// heights is the robot height table they're looked up in.
+	teams       *referee.Teams
+	heights     *referee.Heights
+	heightsFile string
 	// video opens each camera's stream only while someone watches it.
 	video *video.Manager
 
@@ -328,6 +338,7 @@ func (s *networkSockets) apply(store *config.Store) {
 	s.mu.Lock()
 	previous := s.used
 	s.auto, s.ifaces, s.used = auto, ifaces, used
+	s.heightsFile = doc.BotHeightsFile()
 	s.mu.Unlock()
 
 	switch {
@@ -384,7 +395,7 @@ func publishNetworkState(wsHub *hub.Hub, sockets *networkSockets) {
 	now := time.Now()
 
 	sockets.mu.Lock()
-	auto, ifaces := sockets.auto, sockets.ifaces
+	auto, ifaces, heightsFile := sockets.auto, sockets.ifaces, sockets.heightsFile
 	sockets.mu.Unlock()
 
 	loopback, loopbackMulticast, _ := multicast.LoopbackMulticast()
@@ -393,6 +404,7 @@ func publishNetworkState(wsHub *hub.Hub, sockets *networkSockets) {
 		Vision                multicast.Status      `json:"vision"`
 		GC                    multicast.Status      `json:"gc"`
 		Cameras               []detections.Source   `json:"cameras"`
+		Referee               referee.State         `json:"referee"`
 		AutoInterfaces        bool                  `json:"autoInterfaces"`
 		Interfaces            []multicast.Interface `json:"interfaces"`
 		Loopback              string                `json:"loopback"`
@@ -403,6 +415,7 @@ func publishNetworkState(wsHub *hub.Hub, sockets *networkSockets) {
 		Vision:                sockets.vision.Status(now),
 		GC:                    sockets.gc.Status(now),
 		Cameras:               sockets.detections.Sources(now),
+		Referee:               referee.Describe(sockets.teams, sockets.heights, heightsFile),
 		AutoInterfaces:        auto,
 		Interfaces:            ifaces,
 		Loopback:              loopback,
diff --git a/gui/cmd/ssl-vision-processor-gui/server.go b/gui/cmd/ssl-vision-processor-gui/server.go
index 2b41165..852462a 100644
--- a/gui/cmd/ssl-vision-processor-gui/server.go
+++ b/gui/cmd/ssl-vision-processor-gui/server.go
@@ -274,15 +274,15 @@ func respondConfigErr(w http.ResponseWriter, err error, logMsg string, logArgs .
 	}
 }
 
-// fieldPresets are the rulebook defaults, read live from the same files a
-// human would open (geometry-divA.yml, geometry-divB.yml at the repo root) --
-// not a copy that could drift from them. Saves refuse to touch these paths.
+// fieldPresets are the rulebook defaults, read live from the read-only
+// reference files in the repo's config/ directory, not a copy that could
+// drift from them. Saves refuse to touch these paths.
 var fieldPresets = []struct {
 	Name string
 	Path string
 }{
-	{Name: "Division A", Path: "geometry-divA.yml"},
-	{Name: "Division B", Path: "geometry-divB.yml"},
+	{Name: "Division A", Path: "config/legacy/geometry-divA.yml"},
+	{Name: "Division B", Path: "config/legacy/geometry-divB.yml"},
 }
 
 type fieldPresetResponse struct {
diff --git a/gui/frontend/README.md b/gui/frontend/README.md
index 93c5e7f..7598d73 100644
--- a/gui/frontend/README.md
+++ b/gui/frontend/README.md
@@ -10,7 +10,7 @@ category nav on the left, the selected category's panel on the right. A tab
 bar above the panel gives quick access to the categories used most, Virtual
 Field, Geometry, and Color. All three edit the host's `vision.yml` working
 copy, which applies live; Save in the settings menu writes it to disk, and a
-tab shows an asterisk while it has unsaved changes. Virtual Field edits the
+tab shows an asterisk while it has unsaved changes. Field Dimensions edits the
 shared field. Geometry holds the selected camera's calibration lock and the
 corner picker, which marks calibration corners on a debug snapshot. Debug
 snapshots (via `GET /api/snapshots`) are only
@@ -51,12 +51,17 @@ badge and snapshot grid to show anything.
   bookmarks work. The tab bar is links styled with Flowbite's tab theme rather
   than its Tabs component, which can't leave every tab unselected on a page
   that isn't a tab.
-- `src/lib/FieldEditor.svelte` is the Virtual Field editor, backed by
+- `src/lib/FieldEditor.svelte` is the Field Dimensions editor, backed by
   `src/lib/geometry.svelte.ts`, a module level `$state` object shared with
   anything else that needs the field config.
 - `src/lib/config/GeometryPanel.svelte` is the Geometry category's panel. It
   embeds `src/lib/CornerPicker.svelte`, backed by
   `src/lib/lineCorners.svelte.ts` in the same way.
+- `src/lib/alerts/` is the Alerts page and its sidebar summary.
+  `alerts.ts` derives every known problem from state the browser already
+  has and sorts it into errors, warnings, and cautions; `docs.ts` holds the
+  resolution docs its "How to fix" buttons open. To add an alert, push it in
+  `collect()` and point its actions at a page and/or a doc.
 - `src/lib/api.ts` holds the fetch helpers (`requestJSON`, `withLoadingState`)
   every panel's load and save functions are built on.
 - `src/lib/wrapper-bus.ts` is a single `WebSocket` client. It exposes
diff --git a/gui/frontend/eslint.config.js b/gui/frontend/eslint.config.js
index 22fe9ed..1e3008d 100644
--- a/gui/frontend/eslint.config.js
+++ b/gui/frontend/eslint.config.js
@@ -50,6 +50,9 @@ export default ts.config(
       ".svelte-kit/",
       "*.config.js",
       "*.config.ts",
+      // Plain Node scripts, outside the TypeScript projects the type-aware
+      // rules need.
+      "scripts/",
     ],
   },
 );
diff --git a/gui/frontend/index.html b/gui/frontend/index.html
index d900fa3..ba889f7 100644
--- a/gui/frontend/index.html
+++ b/gui/frontend/index.html
@@ -3,7 +3,23 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>vision-processor wrapper</title>
+    <title>SSL Vision Processor</title>
+    <script>
+      // Dark mode before first paint, so a dark page doesn't flash white.
+      // Same key and fallback as flowbite-svelte's DarkMode toggle.
+      try {
+        const saved = localStorage.getItem("THEME_PREFERENCE_KEY");
+        if (
+          saved === "dark" ||
+          (saved === null &&
+            window.matchMedia("(prefers-color-scheme: dark)").matches)
+        ) {
+          document.documentElement.classList.add("dark");
+        }
+      } catch {
+        // Storage disabled: light, until toggled.
+      }
+    </script>
   </head>
   <body>
     <div id="app"></div>
diff --git a/gui/frontend/package.json b/gui/frontend/package.json
index 6b82939..2b2cc9d 100644
--- a/gui/frontend/package.json
+++ b/gui/frontend/package.json
@@ -9,6 +9,7 @@
     "preview": "vite preview",
     "check": "svelte-check --tsconfig ./tsconfig.app.json && tsc -p tsconfig.node.json",
     "lint": "eslint .",
+    "check:text": "node scripts/check-text.mjs",
     "format": "prettier --write .",
     "format:check": "prettier --check ."
   },
diff --git a/gui/frontend/scripts/check-text.mjs b/gui/frontend/scripts/check-text.mjs
new file mode 100644
index 0000000..30d2851
--- /dev/null
+++ b/gui/frontend/scripts/check-text.mjs
@@ -0,0 +1,227 @@
+// Fails when user-facing prose is written outside src/lib/text/, so tooltips,
+// messages, and docs stay in the one folder an editor looks through. Run by
+// `npm run check:text` (and so `make test`).
+//
+// It flags string literals ("...", '...', `...`) that read like sentences
+// (at least MIN_WORDS words and MIN_CHARS characters, not a CSS class list),
+// and in .svelte files, plain text between tags with MIN_WORDS real words.
+// Short labels and button text can stay in components.
+// Comments are ignored. A "text-ok" comment on the line or up to two above
+// exempts it, for the rare sentence that is code (an internal error, say).
+import { readFileSync, readdirSync } from "node:fs";
+import { join, relative } from "node:path";
+
+const ROOT = new URL("../src/", import.meta.url).pathname;
+const SKIP = ["lib/text/", "proto/"];
+const MIN_WORDS = 6;
+const MIN_CHARS = 40;
+
+// Yields [literal text, line number] for every string literal in source,
+// skipping comments. Template expressions (${...}) become "x".
+function* literals(source) {
+  let i = 0;
+  let line = 1;
+
+  while (i < source.length) {
+    const c = source[i];
+    const next = source[i + 1];
+
+    if (c === "\n") {
+      line++;
+      i++;
+    } else if (c === "/" && next === "/") {
+      while (i < source.length && source[i] !== "\n") i++;
+    } else if (c === "/" && next === "*") {
+      const end = source.indexOf("*/", i + 2);
+      const stop = end === -1 ? source.length : end + 2;
+      line += source.slice(i, stop).split("\n").length - 1;
+      i = stop;
+    } else if (c === "<" && source.startsWith("<!--", i)) {
+      const end = source.indexOf("-->", i + 4);
+      const stop = end === -1 ? source.length : end + 3;
+      line += source.slice(i, stop).split("\n").length - 1;
+      i = stop;
+    } else if (c === '"' || c === "'" || c === "`") {
+      const start = line;
+      let text = "";
+      i++;
+
+      while (i < source.length && source[i] !== c) {
+        if (source[i] === "\\") {
+          text += source[i + 1] ?? "";
+          i += 2;
+        } else if (c === "`" && source[i] === "$" && source[i + 1] === "{") {
+          let depth = 1;
+          i += 2;
+          while (i < source.length && depth > 0) {
+            if (source[i] === "{") depth++;
+            if (source[i] === "}") depth--;
+            if (source[i] === "\n") line++;
+            i++;
+          }
+          text += "x";
+        } else {
+          if (source[i] === "\n") {
+            // A quote with no partner on its line is an apostrophe in
+            // markup text, not a string; resynchronize at the next line.
+            if (c !== "`") break;
+            line++;
+          }
+          text += source[i];
+          i++;
+        }
+      }
+
+      i++;
+      yield [text, start];
+    } else {
+      i++;
+    }
+  }
+}
+
+// "flex items-center gap-2": all class-shaped tokens, a good share of them
+// hyphenated or variant-prefixed.
+function isClassList(text) {
+  const tokens = text.trim().split(/\s+/);
+  const shaped = tokens.every((t) => /^[a-z0-9!:[\]/.\-_%#()&>=*]+$/.test(t));
+  const marked = tokens.filter((t) => /[-:]/.test(t)).length;
+
+  return shaped && marked * 3 >= tokens.length;
+}
+
+// The parts of a .svelte file that hold code: <script> blocks, {...}
+// expressions, and quoted attribute values. Markup text between tags is
+// prose by nature and isn't checked here. Line breaks are kept so line
+// numbers still match.
+function svelteCode(source) {
+  let out = "";
+  let i = 0;
+
+  const keepLines = (text) => text.replace(/[^\n]/g, " ");
+
+  while (i < source.length) {
+    if (source.startsWith("<script", i)) {
+      const end = source.indexOf("</script>", i);
+      const stop = end === -1 ? source.length : end;
+      out += source.slice(i, stop);
+      i = stop;
+    } else if (source.startsWith("<style", i)) {
+      const end = source.indexOf("</style>", i);
+      const stop = end === -1 ? source.length : end;
+      out += keepLines(source.slice(i, stop));
+      i = stop;
+    } else if (source.startsWith("<!--", i)) {
+      const end = source.indexOf("-->", i);
+      const stop = end === -1 ? source.length : end + 3;
+      out += keepLines(source.slice(i, stop));
+      i = stop;
+    } else if (source[i] === "{") {
+      let depth = 0;
+      const start = i;
+      do {
+        if (source[i] === "{") depth++;
+        if (source[i] === "}") depth--;
+        i++;
+      } while (i < source.length && depth > 0);
+      out += source.slice(start, i);
+    } else if (source[i] === "=" && source[i + 1] === '"') {
+      const end = source.indexOf('"', i + 2);
+      const stop = end === -1 ? source.length : end + 1;
+      out += source.slice(i, stop);
+      i = stop;
+    } else {
+      out += source[i] === "\n" ? "\n" : " ";
+      i++;
+    }
+  }
+
+  return out;
+}
+
+// Yields [text, line number] for plain text between tags in a .svelte file
+// (outside <script>, <style>, comments, and {...} expressions).
+function* markupText(source) {
+  const blank = (m) => m.replace(/[^\n]/g, " ");
+  const stripped = source
+    .replace(/<script[\s\S]*?<\/script>/g, blank)
+    .replace(/<style[\s\S]*?<\/style>/g, blank)
+    .replace(/<!--[\s\S]*?-->/g, blank);
+
+  for (const m of stripped.matchAll(/>([^<>]+)</g)) {
+    let text = "";
+    let depth = 0;
+
+    for (const c of m[1]) {
+      if (c === "{") depth++;
+      else if (c === "}") depth--;
+      else if (depth === 0) text += c;
+    }
+
+    const line =
+      stripped.slice(0, m.index).split("\n").length +
+      (m[1].match(/^\s*/)?.[0].split("\n").length ?? 1) -
+      1;
+
+    yield [text, line];
+  }
+}
+
+// Real words only: values in {...} were dropped above.
+function isMarkupProse(text) {
+  return (text.match(/[A-Za-z][A-Za-z']+/g) ?? []).length >= MIN_WORDS;
+}
+
+function isProse(text) {
+  const words = text.trim().split(/\s+/);
+
+  return (
+    text.length >= MIN_CHARS &&
+    words.length >= MIN_WORDS &&
+    /[A-Za-z]{3,}/.test(text) &&
+    !isClassList(text)
+  );
+}
+
+const problems = [];
+
+for (const entry of readdirSync(ROOT, { recursive: true })) {
+  const path = String(entry);
+  if (!/\.(ts|svelte)$/.test(path) || SKIP.some((s) => path.startsWith(s))) {
+    continue;
+  }
+
+  const raw = readFileSync(join(ROOT, path), "utf8");
+  const lines = raw.split("\n");
+  const source = path.endsWith(".svelte") ? svelteCode(raw) : raw;
+
+  const exempt = (line) =>
+    [lines[line - 1], lines[line - 2], lines[line - 3]].some((l) =>
+      l?.includes("text-ok"),
+    );
+  const report = (text, line) => {
+    problems.push(
+      `src/${path}:${String(line)}: ${text.trim().replace(/\s+/g, " ").slice(0, 70)}...`,
+    );
+  };
+
+  for (const [text, line] of literals(source)) {
+    if (isProse(text) && !exempt(line)) report(text, line);
+  }
+
+  if (path.endsWith(".svelte")) {
+    for (const [text, line] of markupText(raw)) {
+      if (isMarkupProse(text) && !exempt(line)) report(text, line);
+    }
+  }
+}
+
+if (problems.length > 0) {
+  console.error(
+    "User-facing text belongs in src/lib/text/ (see its README.md):\n",
+  );
+  for (const p of problems) console.error(`  ${p}`);
+  process.exit(1);
+}
+
+console.log(`check-text: OK (${relative(process.cwd(), ROOT)})`);
diff --git a/gui/frontend/src/App.svelte b/gui/frontend/src/App.svelte
index 655f64a..94dec67 100644
--- a/gui/frontend/src/App.svelte
+++ b/gui/frontend/src/App.svelte
@@ -93,6 +93,7 @@
       viewer over internal/hub that hasn't been started). Lift it into those
       once they exist rather than growing it further here.
     -->
+    <!-- text-ok: temporary developer tooling, removed with it. -->
     <p class="below-hint">
       Temporary debug utilities -- see the note in this file's source.
     </p>
@@ -147,6 +148,12 @@
     margin: 0 0 1rem;
   }
 
+  :global(.dark) .below-hint {
+    color: var(--color-yellow-300);
+    background: rgb(113 63 18 / 0.3);
+    border-color: var(--color-yellow-800);
+  }
+
   .grid {
     display: grid;
     grid-template-columns: 1fr 1fr;
@@ -161,12 +168,12 @@
     width: 100%;
     height: auto;
     display: block;
-    background: #f5f5f5;
+    background: var(--surface-muted);
   }
 
   figcaption {
     font-size: 0.75rem;
-    color: #666;
+    color: var(--text-muted);
     margin-top: 0.25rem;
   }
 
@@ -176,7 +183,7 @@
   }
 
   pre {
-    background: #f5f5f5;
+    background: var(--surface-muted);
     padding: 1rem;
     border-radius: 4px;
     overflow: auto;
@@ -185,7 +192,7 @@
   }
 
   .hint {
-    color: #666;
+    color: var(--text-muted);
     font-style: italic;
   }
 </style>
diff --git a/gui/frontend/src/app.css b/gui/frontend/src/app.css
index c30e8ae..d4dad96 100644
--- a/gui/frontend/src/app.css
+++ b/gui/frontend/src/app.css
@@ -16,6 +16,43 @@ Required for flowbite-svelte, confirmed against the library's own app.css
 @plugin "flowbite/plugin";
 @custom-variant dark (&:where(.dark, .dark *));
 
+/* The page itself, light and dark. color-scheme makes native controls
+   (scrollbars, date pickers) follow. */
+@layer base {
+  html.dark {
+    color-scheme: dark;
+  }
+
+  body {
+    @apply bg-white text-gray-900 dark:bg-gray-900 dark:text-gray-100;
+  }
+
+  /* Inline code in prose, e.g. RichText's `backticks`. */
+  :not(pre) > code {
+    background: var(--surface-muted);
+    padding: 0.1rem 0.3rem;
+    border-radius: 3px;
+  }
+}
+
+/* Neutral colors for components' own <style> blocks, which can't use dark:
+   utilities. Each flips in dark mode. */
+:root {
+  --surface-muted: var(--color-gray-100);
+  --text-muted: var(--color-gray-500);
+  --text-subtle: var(--color-gray-700);
+  --line: var(--color-gray-300);
+  --line-strong: var(--color-gray-400);
+}
+
+:root.dark {
+  --surface-muted: var(--color-gray-800);
+  --text-muted: var(--color-gray-400);
+  --text-subtle: var(--color-gray-300);
+  --line: var(--color-gray-600);
+  --line-strong: var(--color-gray-500);
+}
+
 /*
 Also required, confirmed against flowbite-svelte's own "Colors" doc page
 (flowbite-svelte.com/docs/pages/colors): a default-colored Button (no `color`
@@ -90,3 +127,18 @@ uses primary. The team colors are its .bg-team-* backgrounds.
 }
 
 @source "../node_modules/flowbite-svelte/dist";
+
+/*
+flowbite-svelte's red and yellow Alerts turn bright (bg-*-200) in dark mode,
+unlike Flowbite's own design and its primary Alert. These match the latter:
+a dark panel with colored text.
+*/
+.dark [role="alert"].bg-yellow-100 {
+  background-color: var(--color-gray-800);
+  color: var(--color-yellow-300);
+}
+
+.dark [role="alert"].bg-red-100 {
+  background-color: var(--color-gray-800);
+  color: var(--color-red-400);
+}
diff --git a/gui/frontend/src/lib/CornerPicker.svelte b/gui/frontend/src/lib/CornerPicker.svelte
index c8952e0..31ff015 100644
--- a/gui/frontend/src/lib/CornerPicker.svelte
+++ b/gui/frontend/src/lib/CornerPicker.svelte
@@ -1,4 +1,6 @@
 <script lang="ts">
+  import { geometry } from "./text/geometry";
+  const text = geometry.cornerPicker;
   import SettingsCard from "./SettingsCard.svelte";
   import { Button, Alert, P } from "flowbite-svelte";
   import { untrack } from "svelte";
@@ -220,6 +222,11 @@
     commit();
   }
 
+  let imageSize = $derived(`${String(imageWidth)}x${String(imageHeight)}`);
+  let pickedSize = $derived(
+    seed ? `${String(seed.resolution[0])}x${String(seed.resolution[1])}` : "",
+  );
+
   // The label/stroke sizes below are SVG user-space units, i.e. image
   // pixels (viewBox == the image's natural size) -- not screen pixels. They
   // must scale with image resolution the same way the handle radius already
@@ -232,47 +239,34 @@
   let labelStrokeWidth = $derived(handleRadius * 0.3);
 </script>
 
-<SettingsCard title="Corner picker" class="max-w-[900px]">
-  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-    Drag the four markers onto the real field corners in the image below, then
-    click the number on whichever one sits where the goal line meets the
-    touchline nearest this field's (0,0) corner -- that one turns green and
-    becomes first in the output. The other three can be in any order; the
-    calibration algorithm works that out itself. Changes apply when you let go
-    of a marker; Save keeps them.
-  </P>
+<SettingsCard title={text.title} class="max-w-[900px]">
+  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">{text.intro}</P>
 
   {#if region && region.count > 1}
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-      This camera covers region {cameraId} of {region.count} ({region.label}): x {Math.round(
-        region.slice.minX,
-      )} … {Math.round(region.slice.maxX)}, y {Math.round(region.slice.minY)} … {Math.round(
-        region.slice.maxY,
-      )} mm. The first marker goes on its ({Math.round(region.slice.minX)}, {Math.round(
-        region.slice.minY,
-      )}) corner.
+      {text.region(cameraId, region.count, region.label, {
+        minX: Math.round(region.slice.minX),
+        maxX: Math.round(region.slice.maxX),
+        minY: Math.round(region.slice.minY),
+        maxY: Math.round(region.slice.maxY),
+      })}
     </P>
   {/if}
 
   {#if resolutionStatus === "rescalable" && seed}
     <Alert color="yellow" class="my-2 text-sm">
-      Corners were picked at {seed.resolution[0]}x{seed.resolution[1]}, but this
-      image is {imageWidth}x{imageHeight}. Same aspect ratio, so they can be
-      scaled to fit.
+      {text.rescalable(pickedSize, imageSize)}
       <Button size="xs" class="ms-2" onclick={rescaleSeed}>
-        Rescale corners to {imageWidth}x{imageHeight}
+        {text.rescale(imageSize)}
       </Button>
     </Alert>
   {:else if resolutionStatus === "aspect" && seed}
     <Alert color="yellow" class="my-2 text-sm">
-      Corners were picked at {seed.resolution[0]}x{seed.resolution[1]}, but this
-      image is {imageWidth}x{imageHeight} -- a different aspect ratio, so they can't
-      be scaled. Re-pick them on this image.
+      {text.otherAspect(pickedSize, imageSize)}
     </Alert>
   {:else if resolutionStatus === "unknown"}
     <Alert color="yellow" class="my-2 text-sm">
-      These corners were saved without the resolution they were picked at, so a
-      camera resolution change can't be detected. Move any marker to record it.
+      {text.unknownResolution}
     </Alert>
   {/if}
 
@@ -401,7 +395,7 @@
   }
 
   pre {
-    background: #f5f5f5;
+    background: var(--surface-muted);
     padding: 0.75rem;
     border-radius: 4px;
     font-size: 0.85rem;
diff --git a/gui/frontend/src/lib/FieldEditor.svelte b/gui/frontend/src/lib/FieldEditor.svelte
index 980c3a9..aa77593 100644
--- a/gui/frontend/src/lib/FieldEditor.svelte
+++ b/gui/frontend/src/lib/FieldEditor.svelte
@@ -56,7 +56,9 @@
 
 <section class="field-editor">
   <div class="title-row">
-    <Heading tag="h2" class="mb-2 text-xl font-semibold">Virtual field</Heading>
+    <Heading tag="h2" class="mb-2 text-xl font-semibold"
+      >Field dimensions</Heading
+    >
     <span class="path">{config.state?.path ?? ""}</span>
     <Button size="xs" outline class="ms-auto" onclick={openWizard}>
       Run setup wizard
@@ -65,8 +67,10 @@
 
   {#if config.doc}
     {@const doc = config.doc}
-    <div class="layout">
-      <form>
+    <form class="layout">
+      <!-- Top: the choices that shape the field, beside its picture.
+           Below: every dimension, full width. -->
+      <div class="choices">
         <SettingsCard title="Field layout">
           <div class="radios">
             <Radio
@@ -87,26 +91,6 @@
             >
           </div>
 
-          {#if fieldLayout === "half"}
-            <FormRow
-              label={`Half length (full: ${String(doc.field.fieldLength ?? 0)}mm)`}
-              for="field-half-length"
-              labelWidth={LABEL_WIDTH}
-            >
-              <Input
-                id="field-half-length"
-                type="number"
-                size="sm"
-                value={halfLength}
-                oninput={(e: Event) => {
-                  setHalfLength(
-                    (e.currentTarget as HTMLInputElement).valueAsNumber,
-                  );
-                }}
-              />
-            </FormRow>
-          {/if}
-
           <FormRow label="Cameras" labelWidth={LABEL_WIDTH}>
             <span class="flex flex-wrap items-center gap-2 text-sm">
               {count} region{count === 1 ? "" : "s"}{instance && count > 1
@@ -121,19 +105,6 @@
           </FormRow>
         </SettingsCard>
 
-        <SettingsCard title="Dimensions">
-          {#each DIMENSION_FIELDS as { key, label } (key)}
-            <FormRow {label} for={`field-${key}`} labelWidth={LABEL_WIDTH}>
-              <Input
-                id={`field-${key}`}
-                type="number"
-                size="sm"
-                bind:value={doc.field[key]}
-              />
-            </FormRow>
-          {/each}
-        </SettingsCard>
-
         <SettingsCard title="Markings present on this field">
           <div class="checks">
             {#each OPTIONAL_LINE_FIELDS as { key, label } (key)}
@@ -143,7 +114,7 @@
             {/each}
           </div>
         </SettingsCard>
-      </form>
+      </div>
 
       <div class="sketch">
         <FieldSketch
@@ -154,7 +125,56 @@
           slice={fieldSlice}
         />
       </div>
-    </div>
+
+      <div class="dimensions">
+        <SettingsCard title="Dimensions">
+          <!-- The file always holds the full length; a half field is entered
+               as half of it (see fieldLayout above). -->
+          {#if fieldLayout === "half"}
+            <FormRow
+              label={`Half field length (full: ${String(doc.field.fieldLength ?? 0)} mm)`}
+              for="field-length"
+              labelWidth={LABEL_WIDTH}
+            >
+              <Input
+                id="field-length"
+                type="number"
+                size="sm"
+                value={halfLength}
+                oninput={(e: Event) => {
+                  setHalfLength(
+                    (e.currentTarget as HTMLInputElement).valueAsNumber,
+                  );
+                }}
+              />
+            </FormRow>
+          {:else}
+            <FormRow
+              label="Field length"
+              for="field-length"
+              labelWidth={LABEL_WIDTH}
+            >
+              <Input
+                id="field-length"
+                type="number"
+                size="sm"
+                bind:value={doc.field.fieldLength}
+              />
+            </FormRow>
+          {/if}
+          {#each DIMENSION_FIELDS as { key, label } (key)}
+            <FormRow {label} for={`field-${key}`} labelWidth={LABEL_WIDTH}>
+              <Input
+                id={`field-${key}`}
+                type="number"
+                size="sm"
+                bind:value={doc.field[key]}
+              />
+            </FormRow>
+          {/each}
+        </SettingsCard>
+      </div>
+    </form>
   {:else}
     <P
       size="sm"
@@ -179,16 +199,20 @@
   .path {
     font-family: monospace;
     font-size: 0.8rem;
-    color: var(--color-gray-600);
+    color: var(--text-muted);
   }
 
   .layout {
     display: grid;
     grid-template-columns: 1fr 1fr;
-    gap: 1.5rem;
+    column-gap: 1.5rem;
     align-items: start;
   }
 
+  .dimensions {
+    grid-column: 1 / -1;
+  }
+
   .radios,
   .checks {
     display: flex;
diff --git a/gui/frontend/src/lib/RichText.svelte b/gui/frontend/src/lib/RichText.svelte
new file mode 100644
index 0000000..d0a6807
--- /dev/null
+++ b/gui/frontend/src/lib/RichText.svelte
@@ -0,0 +1,15 @@
+<script lang="ts">
+  // Text from lib/text/ with `backticks` around code, shown as <code>. Built
+  // from text nodes, never HTML, so a string can't inject markup.
+  interface Props {
+    text: string;
+  }
+
+  let { text }: Props = $props();
+
+  // Odd parts sat between backticks.
+  let parts = $derived(text.split("`"));
+</script>
+
+{#each parts as part, i (i)}{#if i % 2 === 1}<code>{part}</code
+    >{:else}{part}{/if}{/each}
diff --git a/gui/frontend/src/lib/advanced.svelte.ts b/gui/frontend/src/lib/advanced.svelte.ts
new file mode 100644
index 0000000..b4a0888
--- /dev/null
+++ b/gui/frontend/src/lib/advanced.svelte.ts
@@ -0,0 +1,174 @@
+// vision_processor's thresholds: and tracking: settings, edited in vision.yml's
+// defaults so every camera shares them. Defaults and restart-only keys are
+// from src/Resources.cpp (applyTunables reloads the rest live).
+import { config } from "./config.svelte";
+
+export type Block = "thresholds" | "tracking";
+
+export interface AdvancedSetting {
+  block: Block;
+  key: string;
+  // vision_processor's fallback when the key is unset.
+  fallback: number;
+  // The slider's range; the number box takes anything valid.
+  min: number;
+  max: number;
+  step: number;
+  unit?: string;
+  // Read only at startup (Resources' constructor), not on reload.
+  restart?: boolean;
+}
+
+export const ADVANCED: Record<
+  "blobs" | "tolerances" | "tracking",
+  AdvancedSetting[]
+> = {
+  blobs: [
+    {
+      block: "thresholds",
+      key: "circularity",
+      fallback: 15,
+      min: 0,
+      max: 60,
+      step: 0.5,
+    },
+    {
+      block: "thresholds",
+      key: "score",
+      fallback: 5,
+      min: 0,
+      max: 20,
+      step: 0.5,
+    },
+    {
+      block: "thresholds",
+      key: "min_confidence",
+      fallback: 0.2,
+      min: 0,
+      max: 1,
+      step: 0.01,
+    },
+    {
+      block: "thresholds",
+      key: "resampling_factor",
+      fallback: 1,
+      min: 0.25,
+      max: 2,
+      step: 0.05,
+      unit: "×",
+    },
+    {
+      block: "thresholds",
+      key: "blobs",
+      fallback: 2000,
+      min: 100,
+      max: 10000,
+      step: 100,
+      restart: true,
+    },
+  ],
+  tolerances: [
+    {
+      block: "thresholds",
+      key: "min_cam_edge_distance",
+      fallback: 170,
+      min: 0,
+      max: 500,
+      step: 5,
+      unit: "mm",
+    },
+    {
+      block: "thresholds",
+      key: "clipping_tolerance",
+      fallback: 10,
+      min: 0,
+      max: 50,
+      step: 1,
+      unit: "mm",
+    },
+    {
+      block: "thresholds",
+      key: "geometry_tolerance",
+      fallback: 10,
+      min: 0,
+      max: 100,
+      step: 1,
+      unit: "mm",
+      restart: true,
+    },
+  ],
+  tracking: [
+    {
+      block: "tracking",
+      key: "min_tracking_radius",
+      fallback: 20,
+      min: 0,
+      max: 200,
+      step: 5,
+      unit: "mm",
+    },
+    {
+      block: "tracking",
+      key: "max_bot_acceleration",
+      fallback: 6.5,
+      min: 0,
+      max: 20,
+      step: 0.5,
+      unit: "m/s²",
+    },
+  ],
+};
+
+function block(name: Block): Record<string, unknown> | undefined {
+  const b = config.doc?.defaults?.[name];
+
+  return b && typeof b === "object"
+    ? (b as Record<string, unknown>)
+    : undefined;
+}
+
+// The shared value, or undefined when vision_processor's fallback applies.
+export function advancedValue(s: AdvancedSetting): number | undefined {
+  const v = block(s.block)?.[s.key];
+
+  return typeof v === "number" ? v : undefined;
+}
+
+// Sets the shared value; undefined removes it, back to the fallback. An
+// emptied block is removed too, so vision.yml stays minimal.
+export function setAdvanced(
+  s: AdvancedSetting,
+  value: number | undefined,
+): void {
+  const doc = config.doc;
+  if (!doc) return;
+
+  const without = (o: Record<string, unknown>, key: string) =>
+    Object.fromEntries(Object.entries(o).filter(([k]) => k !== key));
+
+  const current = block(s.block) ?? {};
+  const next =
+    value === undefined
+      ? without(current, s.key)
+      : {
+          ...current,
+          [s.key]: s.key === "blobs" ? Math.round(value) : value,
+        };
+
+  const defaults = doc.defaults ?? {};
+  doc.defaults =
+    Object.keys(next).length === 0
+      ? without(defaults, s.block)
+      : { ...defaults, [s.block]: next };
+}
+
+// Cameras whose own config sets any of these, so they ignore the shared value.
+export function advancedOverrides(): number[] {
+  return (config.doc?.cameras ?? [])
+    .filter(
+      (c) =>
+        c.config?.["thresholds"] !== undefined ||
+        c.config?.["tracking"] !== undefined,
+    )
+    .map((c) => c.cameraId);
+}
diff --git a/gui/frontend/src/lib/alerts/AlertSummary.svelte b/gui/frontend/src/lib/alerts/AlertSummary.svelte
new file mode 100644
index 0000000..cae96f0
--- /dev/null
+++ b/gui/frontend/src/lib/alerts/AlertSummary.svelte
@@ -0,0 +1,67 @@
+<script lang="ts">
+  import { Badge, Heading, SidebarGroup, SidebarItem } from "flowbite-svelte";
+  import { categoryHref } from "../layout/nav.svelte";
+  import { alerts, SEVERITIES, type Severity } from "./alerts";
+
+  let counts = $derived.by(() => {
+    const all = alerts();
+    const by = { error: 0, warning: 0, caution: 0 };
+    for (const a of all) by[a.severity]++;
+
+    return by;
+  });
+
+  // Text and badge colors when there's at least one; gray when there are
+  // none, so a quiet system reads as quiet.
+  const ACTIVE: Record<
+    Severity,
+    { text: string; badge: "red" | "orange" | "yellow" }
+  > = {
+    error: { text: "text-red-700", badge: "red" },
+    warning: { text: "text-orange-600", badge: "orange" },
+    caution: { text: "text-yellow-600", badge: "yellow" },
+  };
+
+  // The link opens the Alerts page; this then brings that section into view
+  // once the page has rendered.
+  function scrollTo(id: Severity): void {
+    setTimeout(() => {
+      document
+        .getElementById(`alerts-${id}`)
+        ?.scrollIntoView({ behavior: "smooth", block: "start" });
+    }, 0);
+  }
+</script>
+
+<Heading
+  tag="h2"
+  class="px-2 text-xs font-semibold tracking-wider text-gray-500 dark:text-gray-400 uppercase"
+>
+  Alerts
+</Heading>
+
+<SidebarGroup class="mt-0.5 mb-3 space-y-0">
+  {#each SEVERITIES as { id, label } (id)}
+    {@const count = counts[id]}
+    <SidebarItem
+      href={categoryHref("alerts")}
+      {label}
+      spanClass={`flex-1 ${count > 0 ? `font-semibold ${ACTIVE[id].text}` : "text-gray-400"}`}
+      aClass="py-0.5!"
+      onclick={() => {
+        scrollTo(id);
+      }}
+    >
+      {#snippet subtext()}
+        <Badge
+          rounded
+          color={count > 0 ? ACTIVE[id].badge : "gray"}
+          class={`px-1.5 py-0 text-xs ${count > 0 ? "" : "opacity-60"}`}
+          aria-label={`${String(count)} ${label.toLowerCase()}`}
+        >
+          {count}
+        </Badge>
+      {/snippet}
+    </SidebarItem>
+  {/each}
+</SidebarGroup>
diff --git a/gui/frontend/src/lib/alerts/AlertsPanel.svelte b/gui/frontend/src/lib/alerts/AlertsPanel.svelte
new file mode 100644
index 0000000..934b581
--- /dev/null
+++ b/gui/frontend/src/lib/alerts/AlertsPanel.svelte
@@ -0,0 +1,123 @@
+<script lang="ts">
+  import { Badge, Button, Heading, Modal, P } from "flowbite-svelte";
+  import SettingsCard from "../SettingsCard.svelte";
+  import { alertsOf, SEVERITIES, type Severity } from "./alerts";
+  import { RESOLUTION_DOCS, type DocId } from "../text/docs";
+  import { alerts as text } from "../text/alerts";
+
+  // Left border per severity, so a long list still reads by color.
+  const BORDER: Record<Severity, string> = {
+    error: "border-red-500",
+    warning: "border-orange-400",
+    caution: "border-yellow-400",
+  };
+
+  const EMPTY: Record<Severity, string> = text.empty;
+
+  let openDoc = $state<DocId | null>(null);
+  let doc = $derived(openDoc ? RESOLUTION_DOCS[openDoc] : null);
+</script>
+
+<div class="max-w-5xl">
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">{text.heading}</Heading>
+  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
+    {text.intro}
+  </P>
+
+  {#each SEVERITIES as { id, label } (id)}
+    {@const list = alertsOf(id)}
+    <div id={`alerts-${id}`} class="scroll-mt-4">
+      <SettingsCard title={`${label} (${String(list.length)})`}>
+        {#if list.length === 0}
+          <P size="sm" class="text-gray-500 dark:text-gray-400">{EMPTY[id]}</P>
+        {:else}
+          <ul class="flex flex-col gap-1">
+            {#each list as alert (alert.id)}
+              <li
+                class={`flex flex-wrap items-center gap-x-3 gap-y-1 rounded border border-s-4 border-gray-200 dark:border-gray-700 bg-white dark:bg-gray-800 px-3 py-1.5 ${BORDER[id]}`}
+              >
+                <div class="min-w-0 flex-1">
+                  <div class="flex flex-wrap items-center gap-1.5">
+                    <span class="text-sm font-semibold">{alert.title}</span>
+                    {#if alert.cameraId !== undefined}
+                      <Badge color="gray" class="px-1.5 py-0 text-xs"
+                        >camera {alert.cameraId}</Badge
+                      >
+                    {/if}
+                  </div>
+                  <p class="text-xs text-gray-600 dark:text-gray-400">
+                    {alert.detail}
+                  </p>
+                </div>
+                {#if alert.actions.length > 0}
+                  <div class="flex flex-wrap gap-1.5">
+                    {#each alert.actions as action (action.label)}
+                      {#if action.kind === "doc"}
+                        <Button
+                          size="xs"
+                          onclick={() => {
+                            openDoc = action.doc;
+                          }}>{action.label}</Button
+                        >
+                      {:else if action.kind === "page"}
+                        <Button size="xs" color="alternative" href={action.href}
+                          >{action.label} →</Button
+                        >
+                      {:else}
+                        <Button
+                          size="xs"
+                          color="alternative"
+                          href={action.url}
+                          target="_blank"
+                          rel="noopener">{action.label} ↗</Button
+                        >
+                      {/if}
+                    {/each}
+                  </div>
+                {/if}
+              </li>
+            {/each}
+          </ul>
+        {/if}
+      </SettingsCard>
+    </div>
+  {/each}
+</div>
+
+<Modal
+  open={doc !== null}
+  title={doc?.title ?? ""}
+  size="md"
+  class="fixed inset-0 m-auto"
+  onclose={() => {
+    openDoc = null;
+  }}
+>
+  {#if doc}
+    <p class="text-sm text-gray-600 dark:text-gray-400">{doc.cause}</p>
+    <ol class="ms-5 list-decimal space-y-1 text-sm">
+      {#each doc.steps as step, i (i)}
+        {#if step.startsWith("$ ")}
+          <li class="list-none">
+            <pre
+              class="rounded bg-gray-100 dark:bg-gray-700 px-2 py-1 text-xs">{step.slice(
+                2,
+              )}</pre>
+          </li>
+        {:else}
+          <li>{step}</li>
+        {/if}
+      {/each}
+    </ol>
+  {/if}
+  <div
+    class="flex justify-end border-t border-gray-200 dark:border-gray-700 pt-4"
+  >
+    <Button
+      color="alternative"
+      onclick={() => {
+        openDoc = null;
+      }}>Close</Button
+    >
+  </div>
+</Modal>
diff --git a/gui/frontend/src/lib/alerts/alerts.ts b/gui/frontend/src/lib/alerts/alerts.ts
new file mode 100644
index 0000000..5e617f9
--- /dev/null
+++ b/gui/frontend/src/lib/alerts/alerts.ts
@@ -0,0 +1,262 @@
+// Every known problem the GUI can see right now, sorted into errors (broken:
+// something isn't working), warnings (likely wrong: fix before a match), and
+// cautions (worth knowing, often fine). Derived on demand from state the
+// browser already has (config state, network state, the camera layout), so
+// nothing here is stored or sent to the host.
+//
+// To add one: push it in collect() below with a stable id, and point its
+// actions at a page (where it's fixed) and/or a doc in docs.ts (how).
+import { config } from "../config.svelte";
+import { network } from "../network.svelte";
+import { navHref, selectedInstance } from "../layout/nav.svelte";
+import { slots, unplacedSources } from "../cameraLayout";
+import type { DocId } from "../text/docs";
+import { alerts as text } from "../text/alerts";
+import { overview as overviewText } from "../text/overview";
+import {
+  COLORS,
+  competitionField,
+  heightIssue,
+  teamName,
+} from "../teams.svelte";
+
+export type Severity = "error" | "warning" | "caution";
+
+export const SEVERITIES: { id: Severity; label: string }[] = [
+  { id: "error", label: text.severities.error },
+  { id: "warning", label: text.severities.warning },
+  { id: "caution", label: text.severities.caution },
+];
+
+export type AlertAction =
+  // A page in this GUI, e.g. the camera's Geometry tab.
+  | { kind: "page"; label: string; href: string }
+  // A resolution doc from docs.ts, shown in a dialog.
+  | { kind: "doc"; label: string; doc: DocId }
+  // Documentation elsewhere.
+  | { kind: "external"; label: string; url: string };
+
+export interface Alert {
+  // Stable across updates, for keyed lists.
+  id: string;
+  severity: Severity;
+  title: string;
+  detail: string;
+  cameraId?: number;
+  actions: AlertAction[];
+}
+
+// Host camera warning codes (gui/internal/config's status.go) by severity
+// and resolution doc. Codes not listed show as cautions without a doc.
+const CAMERA_WARNINGS: Record<string, { severity: Severity; doc: DocId }> = {
+  field_changed: { severity: "warning", doc: "calibration-field-changed" },
+  calibration_aspect_mismatch: {
+    severity: "warning",
+    doc: "calibration-resolution",
+  },
+  seed_stale: { severity: "warning", doc: "seed-stale" },
+  seed_aspect_mismatch: { severity: "warning", doc: "seed-resolution" },
+  seed_rescalable: { severity: "caution", doc: "seed-resolution" },
+  seed_resolution_unknown: {
+    severity: "caution",
+    doc: "seed-resolution-unknown",
+  },
+};
+
+function howTo(doc: DocId): AlertAction {
+  return { kind: "doc", label: text.howToFix, doc };
+}
+
+function page(label: string, cameraId: number | undefined, category: string) {
+  return {
+    kind: "page" as const,
+    label,
+    href: navHref(cameraId ?? selectedInstance()?.cameraId, category),
+  };
+}
+
+function collect(): Alert[] {
+  const out: Alert[] = [];
+  const doc = config.doc;
+  const state = config.state;
+  const net = network.state;
+
+  for (const [camera, message] of Object.entries(state?.renderErrors ?? {})) {
+    const cameraId = Number(camera);
+    out.push({
+      id: `render-${camera}`,
+      severity: "error",
+      title: text.renderFailed(camera),
+      detail: message,
+      cameraId,
+      actions: [howTo("config-render-failed")],
+    });
+  }
+
+  if (doc) {
+    for (const slot of slots(doc)) {
+      if (slot.conflict) {
+        out.push({
+          id: `conflict-${String(slot.cameraId)}`,
+          severity: "error",
+          title: text.conflict(slot.cameraId),
+          detail: text.heardFrom(
+            slot.sources.filter((s) => s.receiving).map((s) => s.address),
+          ),
+          cameraId: slot.cameraId,
+          actions: [
+            howTo("camera-id-conflict"),
+            page(text.pages.layout, slot.cameraId, "layout"),
+          ],
+        });
+      }
+
+      if (!slot.camera) {
+        out.push({
+          id: `uncovered-${String(slot.cameraId)}`,
+          severity: "warning",
+          title: text.uncovered(slot.cameraId, slot.region),
+          detail: text.uncoveredDetail,
+          actions: [
+            howTo("region-uncovered"),
+            page(text.pages.layout, undefined, "layout"),
+          ],
+        });
+      }
+    }
+
+    for (const source of unplacedSources(doc)) {
+      out.push({
+        id: `unplaced-${String(source.cameraId)}-${source.address}`,
+        severity: "warning",
+        title: text.unplaced(source.cameraId, source.address),
+        detail: text.unplacedDetail,
+        actions: [
+          howTo("camera-unplaced"),
+          page(text.pages.layout, undefined, "layout"),
+        ],
+      });
+    }
+  }
+
+  for (const status of state?.cameras ?? []) {
+    for (const warning of status.warnings) {
+      const known = CAMERA_WARNINGS[warning.code];
+      out.push({
+        id: `camera-${String(status.cameraId)}-${warning.code}`,
+        severity: known?.severity ?? "caution",
+        title: text.cameraWarning(status.cameraId, warning.code),
+        detail: warning.message,
+        cameraId: status.cameraId,
+        actions: [
+          ...(known ? [howTo(known.doc)] : []),
+          page(text.pages.geometry, status.cameraId, "geometry"),
+        ],
+      });
+    }
+  }
+
+  if (state?.external) {
+    out.push({
+      id: "file-changed",
+      severity: "warning",
+      title: text.fileChanged(state.path),
+      detail:
+        state.external.error ??
+        text.fileChangedDetail(state.external.changes.length),
+      actions: [howTo("file-changed")],
+    });
+  }
+
+  if (net) {
+    for (const [kind, status, label] of [
+      ["vision", net.vision, text.socketLabels.vision],
+      ["gc", net.gc, text.socketLabels.gc],
+    ] as const) {
+      if (status.problem) {
+        out.push({
+          id: `socket-${kind}`,
+          severity: "error",
+          title: text.socket(label, status.problem),
+          detail: text.socketDetail(status.address),
+          actions: [
+            howTo("socket-problem"),
+            page(text.pages.network, undefined, "network"),
+          ],
+        });
+      } else if (!status.receiving) {
+        // Off a competition field a game controller is optional: lab use
+        // often runs without one. On one, a match can't run without it.
+        if (kind === "gc" && !competitionField()) continue;
+
+        out.push({
+          id: `silent-${kind}`,
+          // The game controller only gets here on a competition field.
+          severity: kind === "vision" ? "warning" : "error",
+          title: kind === "vision" ? text.visionSilent : text.gcSilent,
+          detail: text.silentDetail(status.address, Boolean(status.lastHeard)),
+          actions: [
+            howTo(kind === "vision" ? "vision-silent" : "gc-silent"),
+            page(text.pages.network, undefined, "network"),
+          ],
+        });
+      }
+    }
+
+    const ref = net.referee;
+    if (ref.heightsError) {
+      out.push({
+        id: "heights-unreadable",
+        severity: "warning",
+        title: text.heightsUnreadable(ref.heightsFile),
+        detail: ref.heightsError,
+        actions: [howTo("heights-unreadable")],
+      });
+    } else {
+      // A playing team that would get vision_processor's default height.
+      for (const color of COLORS) {
+        const team = teamName(color);
+        const issue = heightIssue(color);
+        if (!issue) continue;
+
+        const colorLabel =
+          color === "yellow"
+            ? overviewText.teams.yellow
+            : overviewText.teams.blue;
+
+        out.push({
+          id: `team-height-${color}`,
+          severity: competitionField() ? "error" : "warning",
+          title: team
+            ? text.teamDefaultHeight(colorLabel, team)
+            : text.colorDefaultHeight(colorLabel),
+          detail: overviewText.teams.issue[issue],
+          actions: [
+            howTo("team-height-missing"),
+            page(text.pages.overview, undefined, "overview"),
+          ],
+        });
+      }
+    }
+
+    if (!net.loopbackMulticast) {
+      out.push({
+        id: "loopback-multicast",
+        severity: "caution",
+        title: text.loopback(net.loopback),
+        detail: text.loopbackDetail,
+        actions: [howTo("loopback-multicast-off")],
+      });
+    }
+  }
+
+  return out;
+}
+
+export function alerts(): Alert[] {
+  return collect();
+}
+
+export function alertsOf(severity: Severity): Alert[] {
+  return collect().filter((a) => a.severity === severity);
+}
diff --git a/gui/frontend/src/lib/config.svelte.ts b/gui/frontend/src/lib/config.svelte.ts
index b363e94..cecc36f 100644
--- a/gui/frontend/src/lib/config.svelte.ts
+++ b/gui/frontend/src/lib/config.svelte.ts
@@ -11,6 +11,8 @@ import {
   type OptionalFieldLines,
 } from "./geometry.svelte";
 
+import { app } from "./text/app";
+
 export type Section =
   | "field"
   | "camera"
@@ -18,6 +20,8 @@ export type Section =
   | "color"
   | "network"
   | "layout"
+  | "advanced"
+  | "overview"
   | "other";
 
 // Mirrors gui/internal/config's Change: one leaf difference between two
@@ -63,6 +67,13 @@ export interface Seed {
   slot?: Slot;
 }
 
+// A team's robot height: another height table entry's (name), or a custom
+// height in mm. Neither set: a custom height not entered yet.
+export interface TeamOverride {
+  name?: string;
+  height?: number;
+}
+
 // A camera's place in the layout: its id out of the camera count.
 export interface Slot {
   cameraId: number;
@@ -99,6 +110,16 @@ export interface ConfigDocument {
   defaults?: Record<string, unknown>;
   // Unset: the camera count rounded up to a power of 2 (cameraCount()).
   layout?: { cameraCount: number };
+  // Robot height overrides by game controller team name; see
+  // gui/internal/config's Teams.
+  teams?: {
+    overrides?: Record<string, TeamOverride>;
+    // Per color, off a competition field.
+    byColor?: { yellow?: TeamOverride; blue?: TeamOverride };
+  };
+  // A match setup with a game controller, rather than lab use; see
+  // gui/internal/config's Document.CompetitionField.
+  competitionField?: boolean;
   cameras: CameraDoc[];
   // Settings for the GUI host alone; see gui/internal/config's Host.
   host?: {
@@ -235,7 +256,7 @@ async function putDoc(json: string): Promise<void> {
   if (response.status === 409) {
     // Another tab edited first. Take the host's version rather than
     // clobbering it.
-    config.error = "Edited elsewhere at the same time; reloaded the latest.";
+    config.error = app.editedElsewhere;
     await loadConfig();
 
     return;
@@ -383,11 +404,13 @@ export function formatValue(value: unknown): string {
 }
 
 export const SECTION_LABELS: Record<Section, string> = {
-  field: "Virtual Field",
+  field: "Field Dimensions",
   camera: "Camera Settings",
   geometry: "Geometry",
   color: "Color",
   network: "Network",
   layout: "Camera Layout",
+  advanced: "Advanced",
+  overview: "Overview",
   other: "Other settings",
 };
diff --git a/gui/frontend/src/lib/config/AdvancedPanel.svelte b/gui/frontend/src/lib/config/AdvancedPanel.svelte
new file mode 100644
index 0000000..a6dc8c7
--- /dev/null
+++ b/gui/frontend/src/lib/config/AdvancedPanel.svelte
@@ -0,0 +1,69 @@
+<script lang="ts">
+  import { Alert, Heading, P } from "flowbite-svelte";
+  import SettingsCard from "../SettingsCard.svelte";
+  import SliderField from "./SliderField.svelte";
+  import RichText from "../RichText.svelte";
+  import {
+    ADVANCED,
+    advancedOverrides,
+    advancedValue,
+    setAdvanced,
+    type AdvancedSetting,
+  } from "../advanced.svelte";
+  import { advanced as text } from "../text/advanced";
+
+  const CARDS = [
+    { id: "blobs", title: text.cards.blobs },
+    { id: "tolerances", title: text.cards.tolerances },
+    { id: "tracking", title: text.cards.tracking },
+  ] as const;
+
+  let overriding = $derived(advancedOverrides());
+
+  function fieldText(s: AdvancedSetting): { label: string; notes: string[] } {
+    return text.fields[s.key as keyof typeof text.fields];
+  }
+</script>
+
+<div class="max-w-3xl">
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">{text.heading}</Heading>
+  <P size="sm" class="mb-3 text-gray-600 dark:text-gray-400"
+    ><RichText text={text.intro} /></P
+  >
+
+  {#if overriding.length > 0}
+    <Alert color="yellow" class="mb-3 p-2 text-sm"
+      >{text.overriding(overriding)}</Alert
+    >
+  {/if}
+
+  {#each CARDS as card (card.id)}
+    <SettingsCard title={card.title}>
+      {#each ADVANCED[card.id] as setting (setting.key)}
+        {@const own = advancedValue(setting)}
+        {@const label = fieldText(setting)}
+        <SliderField
+          id={`advanced-${setting.key}`}
+          label={label.label}
+          value={own ?? setting.fallback}
+          min={setting.min}
+          max={setting.max}
+          step={setting.step}
+          unit={setting.unit}
+          notes={[...label.notes, text.defaultIs(String(setting.fallback))]}
+          hints={setting.restart ? [text.restart] : []}
+          reset={{
+            label: text.reset,
+            disabled: own === undefined,
+            onclick: () => {
+              setAdvanced(setting, undefined);
+            },
+          }}
+          onchange={(value: number) => {
+            setAdvanced(setting, value);
+          }}
+        />
+      {/each}
+    </SettingsCard>
+  {/each}
+</div>
diff --git a/gui/frontend/src/lib/config/CalibrationCard.svelte b/gui/frontend/src/lib/config/CalibrationCard.svelte
index a852a6c..858e28b 100644
--- a/gui/frontend/src/lib/config/CalibrationCard.svelte
+++ b/gui/frontend/src/lib/config/CalibrationCard.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { geometry as text } from "../text/geometry";
   import SettingsCard from "../SettingsCard.svelte";
   import { Button, Spinner, Alert, P } from "flowbite-svelte";
   import {
@@ -35,11 +36,7 @@
   }
 
   function unlock(): void {
-    if (
-      confirm(
-        `Unlock camera ${String(cameraId)}'s calibration? It stops being published now, and the camera recalibrates the next time its vision_processor restarts.`,
-      )
-    ) {
+    if (confirm(text.confirmUnlock(cameraId))) {
       void unlockCalibration(cameraId);
     }
   }
@@ -55,16 +52,18 @@
   {:else}
     <P size="sm" class="mb-2">
       {#if status.calibration === "locked" && locked}
-        <strong>Locked</strong> at {new Date(locked.lockedAt).toLocaleString()}
-        ({lockedResolution(locked.camera)}). Published in place of anything the
-        camera sends, and kept across restarts once saved.
+        <strong>{text.calibration.locked}</strong>
+        {text.calibration.lockedDetail(
+          new Date(locked.lockedAt).toLocaleString(),
+          lockedResolution(locked.camera),
+        )}
       {:else if status.calibration === "live"}
-        <strong>Live, not locked</strong>{liveResolution
+        <strong>{text.calibration.live}</strong>{liveResolution
           ? ` (${liveResolution})`
-          : ""}. The camera calibrated itself; it recalibrates on its next
-        restart unless you lock this.
+          : ""}{text.calibration.liveDetail}
       {:else}
-        <strong>None.</strong> No calibration received from this camera yet.
+        <strong>{text.calibration.none}</strong>
+        {text.calibration.noneDetail}
       {/if}
     </P>
 
@@ -80,14 +79,10 @@
       <Button
         size="sm"
         disabled={!status.live || config.busy}
-        title={status.live
-          ? "Store the calibration this camera last sent"
-          : "No calibration received from this camera yet"}
+        title={status.live ? text.lockTitle : text.nothingToLock}
         onclick={() => void lockCalibration(cameraId)}
       >
-        {status.calibration === "locked"
-          ? "Re-lock latest live calibration"
-          : "Lock current calibration"}
+        {status.calibration === "locked" ? text.relock : text.lock}
       </Button>
       <Button
         size="sm"
@@ -95,13 +90,11 @@
         disabled={status.calibration === "none" || config.busy}
         onclick={unlock}
       >
-        Unlock (recalibrates on processor restart)
+        {text.calibration.unlock}
       </Button>
     </div>
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-      Locking and unlocking apply immediately; Save writes them to the file.
-      There's no way yet to make a running vision_processor recalibrate on
-      request -- it needs a restart.
+      {text.calibration.footer}
     </P>
   {/if}
 </SettingsCard>
diff --git a/gui/frontend/src/lib/config/CameraPanel.svelte b/gui/frontend/src/lib/config/CameraPanel.svelte
index 491c211..ef82772 100644
--- a/gui/frontend/src/lib/config/CameraPanel.svelte
+++ b/gui/frontend/src/lib/config/CameraPanel.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import RichText from "../RichText.svelte";
   import SettingsCard from "../SettingsCard.svelte";
   import { Input, Select, Alert, Badge, Heading, P } from "flowbite-svelte";
   import { cameraCount, regionLabel } from "../cameraLayout";
@@ -19,6 +20,8 @@
   import VideoPlayer from "../video/VideoPlayer.svelte";
   import FormRow from "../FormRow.svelte";
   import SliderField from "./SliderField.svelte";
+  import { camera as text } from "../text/camera";
+  import { NO_HOST, PLACEHOLDER_RANGE } from "../text/common";
 
   interface Props {
     instance: VisionInstance | undefined;
@@ -54,35 +57,22 @@
     settings.path ?? `/dev/video${String(settings.id)}`,
   );
 
-  const KIND_LABEL: Record<VideoDevice["kind"], string> = {
-    "by-id": "this camera, any port",
-    "by-path": "this USB port",
-    node: "may change",
-  };
+  const KIND_LABEL: Record<VideoDevice["kind"], string> = text.path.kind;
 
   let pathNotes = $derived.by((): string[] => {
-    const notes = [
-      "Device, image, or video file. Unset means /dev/video{id}.",
-      "The list shows cameras on the host running this GUI.",
-    ];
+    const notes = [...text.path.notes];
     const device = devices.find((d) => d.path === effectivePath);
 
-    if (device?.kind === "by-id")
-      notes.push("Follows this camera to any USB port.");
-    if (device?.kind === "by-path")
-      notes.push("Follows the USB port, whichever camera is in it.");
+    if (device?.kind === "by-id") notes.push(text.path.byId);
+    if (device?.kind === "by-path") notes.push(text.path.byPath);
     if (!device && devices.length > 0 && effectivePath.startsWith("/dev/"))
-      notes.push("Not on this host; fine if the camera is on another machine.");
+      notes.push(text.path.notOnHost);
 
     return notes;
   });
 
   let pathWarnings = $derived(
-    /^\/dev\/video\d+$/.test(effectivePath)
-      ? [
-          "/dev/videoN can change when devices re-enumerate. A /dev/v4l/by-id path follows the camera.",
-        ]
-      : [],
+    /^\/dev\/video\d+$/.test(effectivePath) ? [text.path.unstable] : [],
   );
 
   // Resolution
@@ -117,13 +107,13 @@
       width < 0 ||
       height < 0
     ) {
-      sizeError = "Width and height must be whole numbers.";
+      sizeError = text.resolution.notWhole;
 
       return;
     }
 
     if ((width === 0) !== (height === 0)) {
-      sizeError = "Set both, or 0 for both (the camera's maximum).";
+      sizeError = text.resolution.setBoth;
 
       return;
     }
@@ -134,65 +124,37 @@
   }
 
   let resolutionNotes = $derived(
-    settings.driver === "OPENCV"
-      ? [
-          "0 asks for the largest the camera offers.",
-          "Check the size under the video: OpenCV doesn't always get what it asks for.",
-        ]
-      : [
-          "0 is the sensor's maximum.",
-          "Bayer cameras are processed at half this internally.",
-        ],
+    settings.driver === "OPENCV" ? text.resolution.opencv : text.resolution.sdk,
   );
 
   // Exposure, gain, gamma
 
   let exposureNotes = $derived([
-    "Longer is brighter but blurs motion.",
-    "At or above the frame time (33 ms at 30 fps) the frame rate drops.",
+    ...text.exposure.notes,
     ...(settings.driver === "OPENCV"
-      ? [
-          "Shown in the camera's 100 µs steps: vision_processor sends the file's value × 1000, so 166 here is 16.6 ms and the file stores 0.166.",
-          "Placeholder range: the UC70 dev camera's 3-2047.",
-        ]
-      : ["Placeholder range until vision_processor reports the camera's."]),
+      ? text.exposure.opencv
+      : text.exposure.sdk),
   ]);
 
   let exposureWarnings = $derived(
     settings.driver === "OPENCV" && settings.exposure === 0
-      ? [
-          "vision_processor's OpenCV driver sends auto_exposure = 1 for Auto, which V4L2 cameras read as Manual: the camera keeps its last exposure.",
-        ]
+      ? [text.exposure.opencvAutoBroken]
       : [],
   );
 
   let gainNotes = $derived([
-    "Brighter but noisier. Noise means more false blobs and more processing time.",
-    "Robot ids or team colors flickering means the image is too bright.",
-    "0 means automatic, so a manual gain of exactly 0 isn't possible.",
-    ...(settings.driver === "OPENCV"
-      ? [
-          "Auto leaves the camera's own setting: OpenCV doesn't turn auto gain on.",
-          "Placeholder range: the UC70 dev camera's 0-8.",
-        ]
-      : ["Placeholder range until vision_processor reports the camera's."]),
+    ...text.gain.notes,
+    ...(settings.driver === "OPENCV" ? text.gain.opencv : text.gain.sdk),
   ]);
 
   let gammaNotes = $derived([
-    "Below 1 evens out bright and dark areas; above 1 adds color contrast.",
-    ...(settings.driver === "OPENCV"
-      ? [
-          "V4L2 counts gamma × 100 and vision_processor sends the file's value unscaled, so 100 here is a gamma of 1.0.",
-          "Placeholder range: the UC70 dev camera's 100-300.",
-        ]
-      : ["Placeholder range until vision_processor reports the camera's."]),
+    ...text.gamma.notes,
+    ...(settings.driver === "OPENCV" ? text.gamma.opencv : text.gamma.sdk),
   ]);
 
   let gammaWarnings = $derived(
     settings.driver === "OPENCV" && settings.gamma !== 1
-      ? [
-          "vision_processor's OpenCV driver currently ignores gamma other than 1.0 (opencvdriver.cpp:43 checks the wrong way round).",
-        ]
+      ? [text.gamma.opencvIgnored]
       : [],
   );
 
@@ -224,28 +186,20 @@
   }
 
   let wbNotes = $derived.by((): string[] => {
-    if (driver.wbProfiles)
-      return [
-        "Outdoor and indoor are Spinnaker's two auto profiles, for green and gray carpet.",
-      ];
-
-    if (settings.driver === "MVIMPACT")
-      return ["Automatic calibrates once, from the first frame after start."];
+    if (driver.wbProfiles) return text.whiteBalance.profiles;
+    if (settings.driver === "MVIMPACT") return text.whiteBalance.mvimpact;
 
-    return ["Automatic turns on the camera's own auto white balance."];
+    return text.whiteBalance.auto;
   });
 
   let wbChannelNotes = $derived(
     settings.driver === "OPENCV"
-      ? [
-          "Sent as V4L2 red/blue balance in camera units. Many UVC webcams only have a color temperature control, so this may do nothing; the UC70 dev camera has no red/blue controls at all.",
-          "Placeholder range: generic 8-bit.",
-        ]
+      ? text.whiteBalance.channelOpencv
       : [
           settings.driver === "SPINNAKER"
-            ? "Balance ratio relative to green; 1.0 is neutral."
-            : "Gain relative to green; 1.0 is neutral.",
-          "Placeholder range until vision_processor reports the camera's.",
+            ? text.whiteBalance.channelSpinnaker
+            : text.whiteBalance.channelMvimpact,
+          PLACEHOLDER_RANGE,
         ],
   );
 </script>
@@ -253,15 +207,11 @@
 <section class="camera-panel">
   <div class="mb-2 flex flex-wrap items-center gap-3">
     <Heading tag="h2" class="w-auto text-xl font-semibold"
-      >Camera settings</Heading
+      >{text.heading}</Heading
     >
     {#if instance && config.doc}
-      <Badge
-        color="gray"
-        href={categoryHref("layout")}
-        title="Which region of the field this camera covers. Change it on the Camera Layout page."
-      >
-        {instance.host || "(no host)"} · camera {instance.cameraId} of {cameraCount(
+      <Badge color="gray" href={categoryHref("layout")} title={text.slotChip}>
+        {instance.host || NO_HOST} · camera {instance.cameraId} of {cameraCount(
           config.doc,
         )} · {regionLabel(config.doc, instance.cameraId)}
       </Badge>
@@ -270,14 +220,10 @@
 
   {#if instance}
     <Alert color="primary" class="mb-3 p-2 text-sm">
-      These apply when cam {instance.cameraId}'s vision_processor restarts: it
-      reads <code>camera:</code> only at startup.
-      {#if configPath}
-        The host writes them to <code>{configPath}</code>.
-      {:else}
-        This camera has no <code>config_path</code>, so the host doesn't write
-        its config file; copy these to it by hand.
-      {/if}
+      <RichText text={text.restartBanner(instance.cameraId)} />
+      <RichText
+        text={configPath ? text.writesTo(configPath) : text.noConfigPath}
+      />
     </Alert>
 
     <div class="layout">
@@ -294,14 +240,7 @@
 
         <div class="capture">
           <SettingsCard title="Device" class="mb-0">
-            <FormRow
-              label="Driver"
-              for="cam-driver"
-              notes={[
-                "SPINNAKER and MVIMPACT need vision_processor built with their SDKs.",
-                "Unset means SPINNAKER.",
-              ]}
-            >
+            <FormRow label="Driver" for="cam-driver" notes={text.driver}>
               <Select
                 id="cam-driver"
                 size="sm"
@@ -324,9 +263,7 @@
               <FormRow
                 label="Camera index"
                 for="cam-id"
-                notes={[
-                  "Position in the SDK's camera list, in detection order.",
-                ]}
+                notes={text.cameraIndex}
               >
                 <Input
                   id="cam-id"
@@ -563,7 +500,7 @@
     </div>
   {:else}
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
-      >Select a vision processor on the left first.</P
+      >{text.noInstance}</P
     >
   {/if}
 </section>
diff --git a/gui/frontend/src/lib/config/ColorPanel.svelte b/gui/frontend/src/lib/config/ColorPanel.svelte
index 47ddc1e..589ebce 100644
--- a/gui/frontend/src/lib/config/ColorPanel.svelte
+++ b/gui/frontend/src/lib/config/ColorPanel.svelte
@@ -1,4 +1,7 @@
 <script lang="ts">
+  import RichText from "../RichText.svelte";
+  import { SELECT_INSTANCE } from "../text/common";
+  import { color as text } from "../text/color";
   import { untrack } from "svelte";
   import type { VisionInstance } from "../layout/nav.svelte";
   import { config } from "../config.svelte";
@@ -90,16 +93,15 @@
 </script>
 
 <section class="color-panel">
-  <Heading tag="h2" class="mb-2 text-xl font-semibold">Color</Heading>
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">{text.heading}</Heading>
 
   {#if instance}
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-      Editing {instance.host} / cam {instance.cameraId}'s
-      <code>color:</code> block.
+      <RichText text={text.editing(instance.host, instance.cameraId)} />
     </P>
   {:else}
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
-      >Select a vision processor on the left first.</P
+      >{SELECT_INSTANCE}</P
     >
   {/if}
 
@@ -197,14 +199,12 @@
     </TableBody>
   </Table>
 
-  <Heading tag="h3" class="mb-1 text-base font-semibold">Update weights</Heading
+  <Heading tag="h3" class="mb-1 text-base font-semibold"
+    >{text.updateWeights.heading}</Heading
+  >
+  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
+    >{text.updateWeights.intro}</P
   >
-  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-    How much each new color leans on its configured reference vs. last frame's
-    color vs. what was actually sampled this frame. Drag the marker, or edit the
-    minimum reference weight directly -- see src/blobs/colorupdate.cpp's
-    updateColor for the exact blend this mirrors.
-  </P>
   <WeightTriangle
     bind:referenceForce={colorConfig.config.referenceForce}
     bind:historyForce={colorConfig.config.historyForce}
@@ -264,12 +264,6 @@
     max-width: 1100px;
   }
 
-  code {
-    background: var(--color-gray-100);
-    padding: 0.1rem 0.3rem;
-    border-radius: 3px;
-  }
-
   .swatch {
     display: inline-block;
     width: 0.9rem;
diff --git a/gui/frontend/src/lib/config/ColorUpdateEquation.svelte b/gui/frontend/src/lib/config/ColorUpdateEquation.svelte
index e697347..11553d9 100644
--- a/gui/frontend/src/lib/config/ColorUpdateEquation.svelte
+++ b/gui/frontend/src/lib/config/ColorUpdateEquation.svelte
@@ -64,7 +64,7 @@
   }
 
   .hint {
-    color: var(--color-gray-600);
+    color: var(--text-muted);
   }
 
   .term {
@@ -74,7 +74,7 @@
   }
 
   .op {
-    color: var(--color-gray-500);
+    color: var(--text-muted);
   }
 
   .swatch {
@@ -88,10 +88,10 @@
   .swatch.placeholder {
     background: repeating-linear-gradient(
       45deg,
-      var(--color-gray-200),
-      var(--color-gray-200) 3px,
-      var(--color-gray-100) 3px,
-      var(--color-gray-100) 6px
+      var(--line),
+      var(--line) 3px,
+      var(--surface-muted) 3px,
+      var(--surface-muted) 6px
     );
   }
 </style>
diff --git a/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte b/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
index c040b6d..bb79b77 100644
--- a/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
+++ b/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
@@ -1,4 +1,7 @@
 <script lang="ts">
+  import RichText from "../RichText.svelte";
+  import { SELECT_INSTANCE } from "../text/common";
+  import { placeholder } from "../text/placeholder";
   import { Alert, Heading, P } from "flowbite-svelte";
   import type { ConfigCategory } from "../layout/configCategories";
   import type { VisionInstance } from "../layout/nav.svelte";
@@ -18,21 +21,22 @@
 
   {#if instance}
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-      Editing {instance.host} / cam {instance.cameraId}'s
-      <code>{category.yamlKey}:</code>
-      block. Not wired to a backend yet -- there is nowhere to read or write a specific
-      instance's config.yml over the network. See
-      <code>internal/config</code> in gui/CLAUDE.md's "Not yet built".
+      <RichText
+        text={placeholder.editing(
+          instance.host,
+          instance.cameraId,
+          category.yamlKey ?? "",
+        )}
+      />
     </P>
   {:else}
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
-      >Select a vision processor on the left first.</P
+      >{SELECT_INSTANCE}</P
     >
   {/if}
 
   <Alert color="gray" class="my-3 p-2 text-sm">
-    Contributing this panel? Replace this file with a real form for the fields
-    below (see config.yml at the repo root for exact defaults/ranges).
+    {placeholder.contributing}
   </Alert>
 
   <ConfigFieldList fields={category.fields} />
@@ -42,10 +46,4 @@
   .placeholder {
     max-width: 640px;
   }
-
-  code {
-    background: var(--color-gray-100);
-    padding: 0.1rem 0.3rem;
-    border-radius: 3px;
-  }
 </style>
diff --git a/gui/frontend/src/lib/config/ConfigFieldList.svelte b/gui/frontend/src/lib/config/ConfigFieldList.svelte
index 9700122..6ee5cbb 100644
--- a/gui/frontend/src/lib/config/ConfigFieldList.svelte
+++ b/gui/frontend/src/lib/config/ConfigFieldList.svelte
@@ -26,7 +26,7 @@
     display: flex;
     gap: 1rem;
     padding: 0.35rem 0;
-    border-bottom: 1px solid var(--color-gray-100);
+    border-bottom: 1px solid var(--line);
     font-size: 0.85rem;
   }
 
@@ -38,6 +38,6 @@
 
   dd {
     margin: 0;
-    color: var(--color-gray-600);
+    color: var(--text-muted);
   }
 </style>
diff --git a/gui/frontend/src/lib/config/GeometryPanel.svelte b/gui/frontend/src/lib/config/GeometryPanel.svelte
index 0bc0a04..064613d 100644
--- a/gui/frontend/src/lib/config/GeometryPanel.svelte
+++ b/gui/frontend/src/lib/config/GeometryPanel.svelte
@@ -1,4 +1,7 @@
 <script lang="ts">
+  import RichText from "../RichText.svelte";
+  import { SELECT_INSTANCE } from "../text/common";
+  import { geometry as text } from "../text/geometry";
   import { Heading, P } from "flowbite-svelte";
   import type { ConfigCategory } from "../layout/configCategories";
   import type { VisionInstance } from "../layout/nav.svelte";
@@ -15,17 +18,15 @@
 </script>
 
 <section class="geometry">
-  <Heading tag="h2" class="mb-2 text-xl font-semibold">Geometry</Heading>
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">{text.heading}</Heading>
 
   {#if instance}
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-      {instance.host} / cam {instance.cameraId}. The numeric settings below
-      (config.yml's <code>geometry:</code> block) aren't editable here yet; the calibration
-      and corner picker are, and apply live.
+      <RichText text={text.intro(instance.host, instance.cameraId)} />
     </P>
   {:else}
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
-      >Select a vision processor on the left first.</P
+      >{SELECT_INSTANCE}</P
     >
   {/if}
 
@@ -48,10 +49,4 @@
   .geometry {
     max-width: 900px;
   }
-
-  code {
-    background: var(--color-gray-100);
-    padding: 0.1rem 0.3rem;
-    border-radius: 3px;
-  }
 </style>
diff --git a/gui/frontend/src/lib/config/HostInterfaces.svelte b/gui/frontend/src/lib/config/HostInterfaces.svelte
index 3c6c747..b20a55d 100644
--- a/gui/frontend/src/lib/config/HostInterfaces.svelte
+++ b/gui/frontend/src/lib/config/HostInterfaces.svelte
@@ -1,4 +1,7 @@
 <script lang="ts">
+  import RichText from "../RichText.svelte";
+  import { network as networkText } from "../text/network";
+  const text = networkText.interfaces;
   import SettingsCard from "../SettingsCard.svelte";
   import { Checkbox, Toggle, Alert, P } from "flowbite-svelte";
   import {
@@ -103,9 +106,7 @@
     }}
   >
     Auto
-    <span class="hint ms-1"
-      >(skips loopback, disconnected, and virtual interfaces)</span
-    >
+    <span class="hint ms-1">{text.autoHint}</span>
   </Toggle>
 
   <ul class:muted={selection.auto}>
@@ -126,21 +127,18 @@
         </Checkbox>
       </li>
     {:else}
-      <li class="hint">Waiting for the host…</li>
+      <li class="hint">{text.waiting}</li>
     {/each}
   </ul>
 
   <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-    Only this host's sockets; vision_processors use their system's default
-    route. Broadcast receiving listens on every interface.
+    {text.scope}
   </P>
 
   {#if loopbackOff && network.state}
     <Alert color="yellow" class="mt-2 p-3 text-sm">
-      Multicast is off on <code>{network.state.loopback}</code>. Programs on
-      this machine that multicast over loopback won't hear each other. To enable
-      it until reboot:
-      <pre>sudo ip link set {network.state.loopback} multicast on</pre>
+      <RichText text={text.loopbackOff(network.state.loopback)} />
+      <pre>{text.loopbackFix(network.state.loopback)}</pre>
     </Alert>
   {/if}
 </SettingsCard>
@@ -165,7 +163,7 @@
 
   .detail,
   .hint {
-    color: var(--color-gray-600);
+    color: var(--text-muted);
     font-size: 0.8rem;
   }
 
diff --git a/gui/frontend/src/lib/config/LayoutMap.svelte b/gui/frontend/src/lib/config/LayoutMap.svelte
index b798225..ed6976a 100644
--- a/gui/frontend/src/lib/config/LayoutMap.svelte
+++ b/gui/frontend/src/lib/config/LayoutMap.svelte
@@ -5,6 +5,8 @@
   import type { ConfigDocument, CameraDoc } from "../config.svelte";
   import VideoPlayer from "../video/VideoPlayer.svelte";
   import { layoutView, flips } from "../layoutView.svelte";
+  import { video as videoText } from "../text/video";
+  import type { StreamStatus } from "../video/videoStream";
   import {
     slots,
     cameraDevice,
@@ -33,6 +35,13 @@
 
   let flip = $derived(flips());
 
+  // The latest received frame rate per camera, from each tile's video status.
+  let fps = $state<Record<number, number | undefined>>({});
+
+  function onstatus(status: StreamStatus): void {
+    fps[status.camera] = status.receiving ? status.fps : undefined;
+  }
+
   // Field mm to percent of the sketch: +x right and +y up, unless the view
   // is turned around or mirrored.
   function placement(slot: SlotInfo): string {
@@ -47,6 +56,23 @@
     return `left:${String(left)}%;top:${String(top)}%;width:${String(w)}%;height:${String(h)}%`;
   }
 
+  // The tile corner the details go in: the outer one on screen, preferring
+  // the top and the left. A tile spanning the whole width or height counts as
+  // left or top, so one camera is top-left, two are top-left and top-right,
+  // and four take all four corners.
+  function corner(slot: SlotInfo): { top: boolean; left: boolean } {
+    const { minX, maxX, minY, maxY } = slot.slice;
+    const centerX = (minX + maxX) / 2;
+    const centerY = (minY + maxY) / 2;
+    const fullWidth = maxX - minX >= length;
+    const fullHeight = maxY - minY >= width;
+
+    return {
+      left: fullWidth || (flip.x ? centerX > 0 : centerX < 0),
+      top: fullHeight || (flip.y ? centerY < 0 : centerY > 0),
+    };
+  }
+
   // The camera's own orientation (how it's mounted), then the view's. A
   // mirror before a rotation equals the opposite rotation after it, so the
   // result is still one rotation and an optional mirror.
@@ -80,6 +106,7 @@
   {#each slots(doc) as slot (slot.cameraId)}
     {@const camera = slot.camera}
     {@const video = camera !== undefined && layoutView.feeds !== "off"}
+    {@const at = corner(slot)}
     <button
       type="button"
       class="tile absolute overflow-hidden rounded border-2 text-left text-xs"
@@ -104,17 +131,26 @@
             : "keyframes"}
           rotate={orientation.rotate}
           mirror={orientation.mirror}
+          {onstatus}
         />
       {/if}
 
       <span
-        class="info relative flex max-w-full flex-col items-start gap-0.5"
+        class="info absolute flex max-w-full flex-col gap-0.5"
+        class:top-0={at.top}
+        class:bottom-0={!at.top}
+        class:left-0={at.left}
+        class:right-0={!at.left}
+        class:items-start={at.left}
+        class:items-end={!at.left}
+        class:text-right={!at.left}
+        data-corner={`${at.top ? "top" : "bottom"}-${at.left ? "left" : "right"}`}
         class:p-1.5={!video}
         class:caption={video}
       >
         <span class="flex w-full items-center gap-1.5">
           <span class="text-base leading-none font-bold">{slot.cameraId}</span>
-          <span class="text-gray-500">{slot.region}</span>
+          <span class="text-gray-500 dark:text-gray-400">{slot.region}</span>
           {#if video && camera}
             <span class="font-medium">{hostName(camera)}</span>
             <span
@@ -123,6 +159,13 @@
               class:bg-gray-400={!slot.sources.some((x) => x.receiving)}
               title={liveLabel(slot.sources)}
             ></span>
+            {#if fps[slot.cameraId] !== undefined}
+              <span
+                class="text-gray-600 tabular-nums dark:text-gray-300"
+                title={videoText.fpsTitle}
+                >{videoText.fps(fps[slot.cameraId] ?? 0)}</span
+              >
+            {/if}
           {/if}
           {#if slot.conflict}
             <span class="ms-auto text-red-700" title="Camera ID conflict"
@@ -144,11 +187,11 @@
             ></span>
             {hostName(camera)}
           </span>
-          <span class="max-w-full truncate text-gray-500">
+          <span class="max-w-full truncate text-gray-500 dark:text-gray-400">
             {deviceLabel(cameraDevice(doc, camera))}
           </span>
         {:else}
-          <span class="text-gray-500 italic">No camera</span>
+          <span class="text-gray-500 dark:text-gray-400 italic">No camera</span>
         {/if}
 
         {#if !video}
@@ -199,14 +242,50 @@
   }
 
   /* Over the video, the details sit in a small box in the corner. */
+  /* Over video, the details are a label tucked into the tile's top-left
+     corner. A <button> centres its content, so .info is pinned there
+     rather than left in the flow. */
   .caption {
     display: inline-flex;
-    padding: 0.15rem 0.35rem;
-    margin: 0.25rem;
-    border-radius: 0.25rem;
+    padding: 0.15rem 0.4rem;
     background: rgb(255 255 255 / 0.8);
   }
 
+  /* Round only the corner facing into the tile. */
+  .caption[data-corner="top-left"] {
+    border-bottom-right-radius: 0.25rem;
+  }
+
+  .caption[data-corner="top-right"] {
+    border-bottom-left-radius: 0.25rem;
+  }
+
+  .caption[data-corner="bottom-left"] {
+    border-top-right-radius: 0.25rem;
+  }
+
+  .caption[data-corner="bottom-right"] {
+    border-top-left-radius: 0.25rem;
+  }
+
+  /* Dark tiles over the field in dark mode, so their dark-mode text reads. */
+  :global(.dark) .tile {
+    background: rgb(17 24 39 / 0.7);
+    border-color: rgb(255 255 255 / 0.35);
+  }
+
+  :global(.dark) .tile:hover {
+    background: rgb(17 24 39 / 0.9);
+  }
+
+  :global(.dark) .tile.empty {
+    background: rgb(17 24 39 / 0.45);
+  }
+
+  :global(.dark) .caption {
+    background: rgb(17 24 39 / 0.8);
+  }
+
   .tile.selected {
     border-color: var(--color-primary-700);
     box-shadow: 0 0 0 2px var(--color-primary-700);
diff --git a/gui/frontend/src/lib/config/LayoutPanel.svelte b/gui/frontend/src/lib/config/LayoutPanel.svelte
index 5aa7b00..93a7381 100644
--- a/gui/frontend/src/lib/config/LayoutPanel.svelte
+++ b/gui/frontend/src/lib/config/LayoutPanel.svelte
@@ -17,6 +17,7 @@
   import SettingsCard from "../SettingsCard.svelte";
   import FormRow from "../FormRow.svelte";
   import LayoutMap from "./LayoutMap.svelte";
+  import { layout as text } from "../text/layout";
   import { layoutView, flips, type FeedMode } from "../layoutView.svelte";
   import { config, cameraStatus } from "../config.svelte";
   import { navHref, selectedInstance } from "../layout/nav.svelte";
@@ -67,7 +68,7 @@
     if (!doc || next === count) return;
 
     pending = {
-      title: `Split the field ${String(next)} way${next === 1 ? "" : "s"}`,
+      title: text.confirm.splitTitle(next),
       plan: planCount(doc, next),
       count: next,
     };
@@ -82,8 +83,8 @@
     pending = {
       title:
         plan.length === 2
-          ? `Swap cameras ${String(Math.min(from, to))} and ${String(Math.max(from, to))}`
-          : `Move camera ${String(from)} to ${String(to)}`,
+          ? text.confirm.swapTitle(from, to)
+          : text.confirm.moveTitle(from, to),
       plan,
     };
   }
@@ -115,31 +116,22 @@
   let axes = $derived.by(() => {
     const f = flips();
 
-    return `+x points ${f.x ? "left" : "right"}, +y ${f.y ? "down" : "up"}`;
+    return text.axes(f.x, f.y);
   });
 </script>
 
 {#if doc && slot}
   <div class="max-w-7xl">
-    <Heading tag="h2" class="mb-2 text-xl font-semibold">Camera Layout</Heading>
-    <P size="sm" class="mb-3 text-gray-600 dark:text-gray-400">
-      Each vision_processor covers one region of the field. Its camera ID and
-      the camera count decide which region, and so the corners its calibration
-      fits to. One host can run any number of cameras.
-    </P>
+    <Heading tag="h2" class="mb-2 text-xl font-semibold">{text.heading}</Heading
+    >
+    <P size="sm" class="mb-3 text-gray-600 dark:text-gray-400">{text.intro}</P>
 
     <SettingsCard title="Layout">
       <FormRow
         label="Cameras"
         labelWidth={LABEL_WIDTH}
-        notes={[
-          "vision_processor's geometry.camera_amount. The field is halved along its longer side for each doubling.",
-        ]}
-        warnings={uncovered.length > 0
-          ? [
-              `No camera covers region${uncovered.length === 1 ? "" : "s"} ${uncovered.join(", ")}.`,
-            ]
-          : []}
+        notes={text.cameraCount}
+        warnings={uncovered.length > 0 ? [text.uncovered(uncovered)] : []}
       >
         <ButtonGroup>
           {#each CAMERA_COUNTS as n (n)}
@@ -148,9 +140,7 @@
               size="sm"
               color={n === count ? "primary" : "alternative"}
               disabled={tooSmall}
-              title={tooSmall
-                ? "Move cameras with higher IDs to lower ones first."
-                : undefined}
+              title={tooSmall ? text.countTooSmall : undefined}
               onclick={() => {
                 requestCount(n);
               }}
@@ -164,7 +154,7 @@
         <span class="text-sm">
           {mm(slot.slice.maxX - slot.slice.minX)} × {mm(
             slot.slice.maxY - slot.slice.minY,
-          )} mm, plus the boundary on outer edges
+          )} mm, {text.eachRegion}
         </span>
       </FormRow>
       <FormRow label="Hardware" labelWidth={LABEL_WIDTH}>
@@ -185,7 +175,7 @@
           }}
         />
         <div class="mt-2 flex flex-wrap items-center gap-2 text-sm">
-          <span class="text-gray-600">Video</span>
+          <span class="text-gray-600 dark:text-gray-400">Video</span>
           <ButtonGroup>
             {#each FEEDS as { mode, label } (mode)}
               <Button
@@ -197,7 +187,7 @@
               >
             {/each}
           </ButtonGroup>
-          <span class="ms-2 text-gray-600">View</span>
+          <span class="ms-2 text-gray-600 dark:text-gray-400">View</span>
           <Button
             size="xs"
             color={layoutView.rotate180 ? "primary" : "alternative"}
@@ -213,9 +203,8 @@
             }}>⇋ Mirror</Button
           >
         </div>
-        <P size="xs" class="mt-1 text-gray-500">
-          {axes}. Click a region to select it; it plays live. The view is saved
-          in this browser only.
+        <P size="xs" class="mt-1 text-gray-500 dark:text-gray-400">
+          {axes}. {text.mapHelp}
         </P>
       </SettingsCard>
 
@@ -231,11 +220,7 @@
         <FormRow
           label="Live"
           labelWidth="5rem"
-          errors={slot.conflict
-            ? [
-                "Several vision_processors send this camera ID. Each must have its own; check their cam_id.",
-              ]
-            : []}
+          errors={slot.conflict ? [text.conflict] : []}
         >
           <span class="text-sm">{liveLabel(slot.sources)}</span>
         </FormRow>
@@ -244,7 +229,7 @@
           label="Camera"
           for="layout-camera"
           labelWidth="5rem"
-          notes={["Picking a camera that covers another region swaps the two."]}
+          notes={text.cameraPicker}
         >
           <Select
             id="layout-camera"
@@ -278,9 +263,7 @@
           <FormRow
             label="Video"
             labelWidth="5rem"
-            notes={[
-              "Turns this camera's video to match the field, for a camera mounted at an angle. Only the GUI uses it.",
-            ]}
+            notes={text.videoOrientation}
           >
             <span class="flex items-center gap-2">
               <Button
@@ -299,7 +282,7 @@
                   setDisplay(selected, { mirror: !camera.display?.mirror });
                 }}>⇋ Mirror</Button
               >
-              <span class="text-sm text-gray-600">
+              <span class="text-sm text-gray-600 dark:text-gray-400">
                 {camera.display?.rotate ?? 0}°{camera.display?.mirror
                   ? ", mirrored"
                   : ""}
@@ -315,11 +298,7 @@
           <FormRow
             label="Config"
             labelWidth="5rem"
-            hints={camera.configPath
-              ? []
-              : [
-                  "Remote: this host can't write its config.yml yet. Set cam_id there by hand.",
-                ]}
+            hints={camera.configPath ? [] : [text.remote]}
           >
             <span class="text-sm break-all">
               {camera.configPath ?? "remote"}
@@ -375,7 +354,7 @@
             {@const camera = s.camera}
             {@const rowStatus = cameraStatus(s.cameraId)}
             <TableBodyRow
-              class={`cursor-pointer ${s.severity === "warning" ? "bg-yellow-50" : ""} ${s.severity === "error" ? "bg-red-50" : ""} ${s.cameraId === selected ? "font-semibold" : ""}`}
+              class={`cursor-pointer ${s.severity === "warning" ? "bg-yellow-50 dark:bg-yellow-900/30" : ""} ${s.severity === "error" ? "bg-red-50 dark:bg-red-900/30" : ""} ${s.cameraId === selected ? "font-semibold" : ""}`}
               onclick={() => {
                 picked = s.cameraId;
               }}
@@ -422,7 +401,9 @@
                   {/if}
                 </TableBodyCell>
               {:else}
-                <TableBodyCell class="px-2 py-1.5 text-gray-500 italic">
+                <TableBodyCell
+                  class="px-2 py-1.5 text-gray-500 dark:text-gray-400 italic"
+                >
                   No camera
                 </TableBodyCell>
                 <TableBodyCell></TableBodyCell>
@@ -440,16 +421,15 @@
     </SettingsCard>
 
     {#if unplaced.length > 0}
-      <SettingsCard title="Heard but not placed">
-        <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-          These vision_processors send detections with a camera ID that no
-          camera here has.
-        </P>
+      <SettingsCard title={text.unplaced.title}>
+        <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
+          >{text.unplaced.intro}</P
+        >
         {#each unplaced as source (`${String(source.cameraId)}@${source.address}`)}
           <div class="flex items-center gap-3 py-1 text-sm">
             <span class="font-semibold">Camera {source.cameraId}</span>
             <span>{source.address}</span>
-            <span class="text-gray-500">
+            <span class="text-gray-500 dark:text-gray-400">
               {source.receiving ? `${String(source.fps)} fps` : "silent"}
             </span>
             {#if source.cameraId < count}
@@ -463,10 +443,8 @@
                 Add as camera {source.cameraId}
               </Button>
             {:else}
-              <span class="text-yellow-700">
-                Outside the {count}-camera layout; its cam_id is wrong or the
-                count is too low.
-              </span>
+              <span class="text-yellow-700">{text.unplaced.outside(count)}</span
+              >
             {/if}
           </div>
         {/each}
@@ -491,24 +469,18 @@
               {`${hostName(step.camera)} · ${deviceLabel(cameraDevice(doc, step.camera))}:`}
             </span>
             {step.from !== step.to
-              ? `camera ${String(step.from)} → ${String(step.to)}`
-              : `camera ${String(step.from)}, new region`}
-            <ul class="ms-4 list-disc text-gray-600">
-              <li>Camera and color settings stay with it.</li>
+              ? text.confirm.moved(step.from, step.to)
+              : text.confirm.newRegion(step.from)}
+            <ul class="ms-4 list-disc text-gray-600 dark:text-gray-400">
+              <li>{text.confirm.settingsStay}</li>
               {#if step.seedStale}
-                <li>
-                  Its line corners are kept but marked for re-picking: they were
-                  picked for the old region.
-                </li>
+                <li>{text.confirm.seedStale}</li>
               {/if}
               {#if step.calibrationRemoved}
-                <li>
-                  Its locked calibration is removed. It recalibrates when its
-                  vision_processor restarts.
-                </li>
+                <li>{text.confirm.calibrationRemoved}</li>
               {/if}
               {#if !step.camera.configPath}
-                <li>Remote: set its cam_id by hand.</li>
+                <li>{text.confirm.remote}</li>
               {/if}
             </ul>
           </li>
@@ -516,12 +488,13 @@
       </ul>
 
       <Alert color="yellow" class="mt-3 p-2 text-sm">
-        vision_processor reads its camera ID and count only at startup. Restart
-        the affected ones after saving.
+        {text.confirm.restart}
       </Alert>
     {/if}
 
-    <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
+    <div
+      class="flex justify-end gap-2 border-t border-gray-200 dark:border-gray-700 pt-4"
+    >
       <Button
         color="alternative"
         onclick={() => {
diff --git a/gui/frontend/src/lib/config/NetworkPanel.svelte b/gui/frontend/src/lib/config/NetworkPanel.svelte
index 0ecd3f0..6fb70db 100644
--- a/gui/frontend/src/lib/config/NetworkPanel.svelte
+++ b/gui/frontend/src/lib/config/NetworkPanel.svelte
@@ -1,7 +1,9 @@
 <script lang="ts">
+  import RichText from "../RichText.svelte";
   import SettingsCard from "../SettingsCard.svelte";
   import { Input, Select, Indicator, Alert, Heading, P } from "flowbite-svelte";
   import { untrack } from "svelte";
+  import { network as text } from "../text/network";
   import { config } from "../config.svelte";
   import FormRow from "../FormRow.svelte";
   import HostInterfaces from "./HostInterfaces.svelte";
@@ -52,7 +54,7 @@
       !errors.gc_ip &&
       draft.vision_ip === draft.gc_ip &&
       draft.vision_port === draft.gc_port
-      ? "Vision and game controller can't use the same address and port."
+      ? text.errors.sameAddress
       : null,
   );
 
@@ -76,14 +78,14 @@
       title: "Vision",
       ipKey: "vision_ip",
       portKey: "vision_port",
-      what: "detection packets",
+      what: text.status.visionWhat,
     },
     {
       id: "gc",
       title: "Game controller",
       ipKey: "gc_ip",
       portKey: "gc_port",
-      what: "referee messages",
+      what: text.status.gcWhat,
     },
   ] as const;
 
@@ -125,40 +127,35 @@
   }
 
   function describe(status: SocketStatus | undefined, what: string): string {
-    if (!status) return "Waiting for the host…";
+    if (!status) return text.status.waiting;
 
-    if (status.problem) return `Not open: ${status.problem}. Retrying…`;
+    if (status.problem) return text.status.notOpen(status.problem);
 
-    const via = status.mode === "port" ? " (listening on the port)" : "";
+    const via = status.mode === "port" ? text.status.viaPort : "";
 
-    if (!status.lastHeard) return `No ${what} heard on this address yet${via}.`;
+    if (!status.lastHeard) return text.status.neverHeard(what, via);
 
     const age = Math.max(
       0,
       (Date.now() - new Date(status.lastHeard).getTime()) / 1000,
     );
-    const from = status.source ? ` from ${status.source}` : "";
+    const from = status.source ? text.status.from(status.source) : "";
 
     return status.receiving
-      ? `Receiving: ${String(status.heard)} ${what}, latest${from}${via}.`
-      : `Silent for ${age.toFixed(0)} s (last${from})${via}.`;
+      ? text.status.receiving(status.heard, what, from, via)
+      : text.status.silent(age.toFixed(0), from, via);
   }
 </script>
 
 <div class="network-panel">
-  <Heading tag="h2" class="mb-2 text-xl font-semibold">Network</Heading>
-  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-    Shared by the host and every vision_processor (vision.yml's
-    <code>defaults.network</code>). The host reopens its sockets as soon as a
-    change applies. vision_processors read these only at startup, so restart
-    them after a change.
-  </P>
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">{text.heading}</Heading>
+  <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
+    ><RichText text={text.intro} /></P
+  >
 
   {#if overriding.length > 0}
     <Alert color="yellow" class="mb-3 p-2 text-sm">
-      Camera{overriding.length === 1 ? "" : "s"}
-      {overriding.join(", ")} override{overriding.length === 1 ? "s" : ""} these in
-      their own config, so their vision_processor uses different groups than the host.
+      {text.status.overriding(overriding)}
     </Alert>
   {/if}
 
@@ -258,7 +255,7 @@
 
       <p class="status">
         {#if g.status && g.status.address !== `${current[g.ipKey]}:${String(current[g.portKey])}`}
-          Reopening on {current[g.ipKey]}:{current[g.portKey]}…
+          {text.reopening(`${current[g.ipKey]}:${String(current[g.portKey])}`)}
         {:else}
           {describe(g.status, g.what)}
         {/if}
@@ -281,7 +278,7 @@
   }
 
   .status {
-    color: var(--color-gray-600);
+    color: var(--text-muted);
     font-size: 0.8rem;
   }
 
diff --git a/gui/frontend/src/lib/config/OverviewPanel.svelte b/gui/frontend/src/lib/config/OverviewPanel.svelte
new file mode 100644
index 0000000..b970910
--- /dev/null
+++ b/gui/frontend/src/lib/config/OverviewPanel.svelte
@@ -0,0 +1,194 @@
+<script lang="ts">
+  import { Alert, Input, P, Select, Toggle } from "flowbite-svelte";
+  import SettingsCard from "../SettingsCard.svelte";
+  import FormRow from "../FormRow.svelte";
+  import RichText from "../RichText.svelte";
+  import { network } from "../network.svelte";
+  import {
+    COLORS,
+    DEFAULT_ROBOT_HEIGHT,
+    choice,
+    isDefaultHeightIssue,
+    heightIssue,
+    setCustomHeight,
+    setFromTable,
+    setTeam,
+    slotFor,
+    teamName,
+    type Color,
+  } from "../teams.svelte";
+  import { overview as text } from "../text/overview";
+  import { preferences } from "../preferences.svelte";
+
+  // Select value for "Custom", which can't be a team name in the table.
+  const CUSTOM = "\u0000custom";
+
+  const LABEL: Record<Color, string> = {
+    yellow: text.teams.yellow,
+    blue: text.teams.blue,
+  };
+  const SWATCH: Record<Color, string> = {
+    yellow: "bg-team-yellow",
+    blue: "bg-team-blue",
+  };
+
+  let ref = $derived(network.state?.referee);
+  let tableTeams = $derived(
+    Object.keys(ref?.heights ?? {}).sort((a, b) => a.localeCompare(b)),
+  );
+
+  function tableHeight(name: string): string {
+    const h = ref?.heights?.[name];
+
+    return h === undefined ? text.teams.notInTable : text.teams.height(h);
+  }
+</script>
+
+<div class="max-w-5xl">
+  <SettingsCard title={text.teams.title}>
+    <Alert color="primary" class="mb-2 p-2 text-sm"
+      >{text.teams.notApplied}</Alert
+    >
+
+    <div class="sides">
+      {#each COLORS as color (color)}
+        {@const team = teamName(color)}
+        {@const slot = slotFor(color)}
+        {@const own = choice(slot)}
+        {@const issue = heightIssue(color)}
+        <div class="side">
+          <FormRow
+            label={LABEL[color]}
+            for={`team-${color}-gc`}
+            notes={text.teams.fromGameControllerNotes}
+          >
+            <span class="flex flex-wrap items-center gap-2">
+              <span class={`inline-block h-3 w-3 rounded-full ${SWATCH[color]}`}
+              ></span>
+              <span
+                class="font-medium"
+                class:text-gray-500={!team}
+                class:dark:text-gray-400={!team}
+                >{team || text.teams.noGameController}</span
+              >
+              <Toggle
+                id={`team-${color}-gc`}
+                size="small"
+                checked={own === undefined}
+                disabled={!slot}
+                onchange={(e: Event) => {
+                  if (slot)
+                    setFromTable(
+                      slot,
+                      (e.currentTarget as HTMLInputElement).checked,
+                    );
+                }}
+                ><span class="text-sm">{text.teams.fromGameController}</span
+                ></Toggle
+              >
+            </span>
+          </FormRow>
+
+          <FormRow
+            label={text.teams.team}
+            for={`team-${color}-name`}
+            warnings={issue &&
+            (!isDefaultHeightIssue(issue) || preferences.tooltipsEnabled)
+              ? [text.teams.issue[issue]]
+              : []}
+          >
+            {#if !slot}
+              <span class="text-sm text-gray-500 dark:text-gray-400"
+                >{text.teams.waiting}</span
+              >
+            {:else if own === undefined}
+              <span class="text-sm text-gray-600 dark:text-gray-400"
+                >{team && ref?.heights?.[team] !== undefined
+                  ? tableHeight(team)
+                  : text.teams.defaultHeight(DEFAULT_ROBOT_HEIGHT)}</span
+              >
+            {:else}
+              <span class="flex items-center gap-2">
+                <div class="w-52 shrink-0">
+                  <Select
+                    id={`team-${color}-name`}
+                    size="sm"
+                    placeholder=""
+                    value={own.name ?? CUSTOM}
+                    onchange={(e: Event) => {
+                      const value = (e.currentTarget as HTMLSelectElement)
+                        .value;
+                      if (value === CUSTOM) setFromTable(slot, false);
+                      else setTeam(slot, value);
+                    }}
+                  >
+                    <option value={CUSTOM}>{text.teams.custom}</option>
+                    {#each tableTeams as name (name)}
+                      <option value={name}>{name}</option>
+                    {/each}
+                  </Select>
+                </div>
+                {#if own.name !== undefined}
+                  <span class="text-sm text-gray-600 dark:text-gray-400"
+                    >{tableHeight(own.name)}</span
+                  >
+                {:else}
+                  <!-- Custom: the height goes right beside the selector. -->
+                  <div class="w-24 shrink-0">
+                    <Input
+                      id={`team-${color}-height`}
+                      aria-label={text.teams.customHeight}
+                      type="number"
+                      size="sm"
+                      min="1"
+                      max="500"
+                      step="1"
+                      value={own.height ?? ""}
+                      onchange={(e: Event) => {
+                        const v = (e.currentTarget as HTMLInputElement)
+                          .valueAsNumber;
+                        if (Number.isFinite(v) && v > 0)
+                          setCustomHeight(slot, v);
+                      }}
+                    />
+                  </div>
+                  <span class="text-sm text-gray-500 dark:text-gray-400"
+                    >mm</span
+                  >
+                {/if}
+              </span>
+            {/if}
+          </FormRow>
+        </div>
+      {/each}
+    </div>
+
+    {#if ref}
+      <P size="xs" class="mt-1 text-gray-500 dark:text-gray-400">
+        <RichText
+          text={ref.heightsError
+            ? text.teams.tableError(ref.heightsFile, ref.heightsError)
+            : text.teams.table(
+                ref.heightsFile,
+                DEFAULT_ROBOT_HEIGHT,
+                ref.maxHeight ?? 0,
+              )}
+        />
+      </P>
+    {/if}
+  </SettingsCard>
+</div>
+
+<style>
+  /* Yellow and blue side by side, stacked when there's no room. */
+  .sides {
+    display: grid;
+    grid-template-columns: repeat(auto-fit, minmax(22rem, 1fr));
+    gap: 0.5rem 1.5rem;
+  }
+
+  .side + .side {
+    padding-left: 1.5rem;
+    border-left: 1px solid var(--line);
+  }
+</style>
diff --git a/gui/frontend/src/lib/config/SliderField.svelte b/gui/frontend/src/lib/config/SliderField.svelte
index 578278b..4cc9483 100644
--- a/gui/frontend/src/lib/config/SliderField.svelte
+++ b/gui/frontend/src/lib/config/SliderField.svelte
@@ -1,5 +1,5 @@
 <script lang="ts">
-  import { Input, Range, Toggle } from "flowbite-svelte";
+  import { Button, Input, Range, Toggle } from "flowbite-svelte";
   import { untrack } from "svelte";
   import FormRow from "../FormRow.svelte";
 
@@ -18,7 +18,11 @@
     // label defaults to "Auto"; gamma's sentinel (1.0) reads "Off".
     auto?: { value: number; fallback: number; label?: string };
     notes?: string[];
+    hints?: string[];
     warnings?: string[];
+    // A button that puts the setting back to its default; disabled while it
+    // already is.
+    reset?: { label: string; disabled: boolean; onclick: () => void };
     onchange: (value: number) => void;
   }
 
@@ -32,7 +36,9 @@
     unit = "",
     auto,
     notes = [],
+    hints = [],
     warnings = [],
+    reset,
     onchange,
   }: Props = $props();
 
@@ -51,7 +57,7 @@
   }
 </script>
 
-<FormRow {label} for={id} {notes} {warnings}>
+<FormRow {label} for={id} {notes} {hints} {warnings}>
   <div class="controls">
     {#if auto}
       <Toggle
@@ -97,6 +103,17 @@
       />
     </div>
     <span class="unit">{unit}</span>
+    {#if reset}
+      <Button
+        size="xs"
+        color="alternative"
+        class="shrink-0 px-2"
+        title={reset.label}
+        aria-label={reset.label}
+        disabled={reset.disabled}
+        onclick={reset.onclick}>↺</Button
+      >
+    {/if}
   </div>
 </FormRow>
 
@@ -110,7 +127,7 @@
   .unit {
     flex-shrink: 0;
     width: 5.5rem;
-    color: var(--color-gray-500);
+    color: var(--text-muted);
     font-size: 0.8rem;
   }
 </style>
diff --git a/gui/frontend/src/lib/config/StreamPanel.svelte b/gui/frontend/src/lib/config/StreamPanel.svelte
index 88b93db..c37afa8 100644
--- a/gui/frontend/src/lib/config/StreamPanel.svelte
+++ b/gui/frontend/src/lib/config/StreamPanel.svelte
@@ -1,4 +1,7 @@
 <script lang="ts">
+  import RichText from "../RichText.svelte";
+  import { SELECT_INSTANCE } from "../text/common";
+  import { stream } from "../text/placeholder";
   import { Heading, P } from "flowbite-svelte";
   import type { VisionInstance } from "../layout/nav.svelte";
   import VideoPlayer from "../video/VideoPlayer.svelte";
@@ -11,14 +14,12 @@
 </script>
 
 <section class="stream-panel">
-  <Heading tag="h2" class="mb-2 text-xl font-semibold">Live video</Heading>
+  <Heading tag="h2" class="mb-2 text-xl font-semibold">{stream.heading}</Heading
+  >
 
   {#if instance}
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-      {instance.host} / cam {instance.cameraId}'s H.264 stream, relayed by the
-      host without re-encoding. vision_processor cycles through its views (raw,
-      then processed) unless <code>stream.raw_feed</code> is set. For exact pixels,
-      such as picking corners, use the snapshots on the Geometry tab.
+      <RichText text={stream.intro(instance.host, instance.cameraId)} />
     </P>
 
     {#key instance.cameraId}
@@ -26,7 +27,7 @@
     {/key}
   {:else}
     <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400"
-      >Select a vision processor on the left first.</P
+      >{SELECT_INSTANCE}</P
     >
   {/if}
 </section>
diff --git a/gui/frontend/src/lib/config/WeightTriangle.svelte b/gui/frontend/src/lib/config/WeightTriangle.svelte
index 63a5fdc..d202363 100644
--- a/gui/frontend/src/lib/config/WeightTriangle.svelte
+++ b/gui/frontend/src/lib/config/WeightTriangle.svelte
@@ -1,4 +1,6 @@
 <script lang="ts">
+  import { color } from "../text/color";
+  const text = color.updateWeights;
   // Drag-to-set control for the three color-update weights (see
   // src/blobs/colorupdate.cpp:58-61's updateColor -- this triangle IS that
   // blend, visualized): reference_force, history_force, and the implied
@@ -399,21 +401,15 @@
           </Button>
 
           <Modal
-            title="Unlock the reference weight floor?"
+            title={text.unlockTitle}
             bind:open={showUnlockConfirm}
             size="xs"
           >
-            <p>
-              This floor keeps the reference color from being tuned toward 0.
-              Reference is the only weight never gated on having samples this
-              frame -- without a floor, a color that goes sample-starved for a
-              while has nothing left pulling it back toward its configured
-              value.
-            </p>
+            <p>{text.unlockBody}</p>
             {#snippet footer()}
               <Button color="alternative" onclick={cancelUnlock}>Cancel</Button>
               <Button color="red" onclick={confirmUnlock}>
-                I understand, unlock
+                {text.unlockConfirm}
               </Button>
             {/snippet}
           </Modal>
@@ -454,8 +450,8 @@
   }
 
   .triangle {
-    fill: #f5f5f5;
-    stroke: #999;
+    fill: var(--surface-muted);
+    stroke: var(--line-strong);
     stroke-width: 0.5;
   }
 
@@ -479,7 +475,7 @@
   }
 
   .vertex-label {
-    fill: #444;
+    fill: var(--text-subtle);
     font-size: 4px;
     text-anchor: middle;
     pointer-events: none;
@@ -508,7 +504,7 @@
   }
 
   .readout dt {
-    color: #666;
+    color: var(--text-muted);
   }
 
   .readout dd {
@@ -528,6 +524,6 @@
     flex-direction: column;
     gap: 0.25rem;
     font-size: 0.85rem;
-    color: #444;
+    color: var(--text-subtle);
   }
 </style>
diff --git a/gui/frontend/src/lib/config/YuvPositionPane.svelte b/gui/frontend/src/lib/config/YuvPositionPane.svelte
index 4a7e6fb..f09be47 100644
--- a/gui/frontend/src/lib/config/YuvPositionPane.svelte
+++ b/gui/frontend/src/lib/config/YuvPositionPane.svelte
@@ -1,4 +1,6 @@
 <script lang="ts">
+  import { color as colorText } from "../text/color";
+  const text = colorText.picker;
   // Issue 18's proposed YUV pane: "reference color positions (editable),
   // currently-autoadapted color positions (display), current color blob
   // sample positions (debug, not yet in the protocol)." This is the first
@@ -734,14 +736,11 @@
   </div>
 
   <Modal
-    title="Restore all colors?"
+    title={text.restoreAllTitle}
     bind:open={showRestoreAllConfirm}
     size="xs"
   >
-    <p>
-      Resets all six reference colors to their defaults. Undo can step back
-      through them one color at a time.
-    </p>
+    <p>{text.restoreAllBody}</p>
     {#snippet footer()}
       <Button
         color="alternative"
@@ -755,23 +754,12 @@
 
   {#if preferences.tooltipsEnabled && gamutFraction < 0.3}
     <Alert color="primary" class="mt-2 p-2 text-sm">
-      Only {Math.round(gamutFraction * 100)}% of the square is a real color at
-      this brightness -- the outlined shape, not a full square, is expected
-      here: brightness this close to {sliceY < 128 ? "black" : "white"} genuinely
-      has few reachable colors. Not a rendering glitch.
+      {text.smallGamut(Math.round(gamutFraction * 100), sliceY < 128)}
     </Alert>
   {/if}
 
   <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
-    Drag or click inside the square to set {label || "the reference color"}'s
-    color at the brightness shown. Dragging the slider (or scrolling over either
-    control) only previews a different brightness -- the marker stays exactly
-    where the saved color actually is, even inside the shaded region if that
-    color isn't reachable at the previewed brightness; nothing is saved until
-    you click or drag inside the square again. Ctrl+Z (Cmd+Z on Mac) undoes the
-    last drag, one gesture at a time. The currently-autoadapted position and
-    per-frame blob samples aren't shown yet: both need the other contributor's
-    protobuf work to reach this host.
+    {text.help(label || text.defaultLabel)}
   </P>
 </div>
 
@@ -813,7 +801,7 @@
     height: 660px;
     flex-shrink: 0;
     touch-action: none;
-    border: 1px solid #ccc;
+    border: 1px solid var(--line);
     border-radius: 4px;
     overflow: hidden;
     cursor: crosshair;
@@ -939,14 +927,14 @@
     width: 100%;
     height: 9px;
     border-radius: 4.5px;
-    background: #ccc;
+    background: var(--line);
   }
 
   .y-slider::-moz-range-track {
     width: 100%;
     height: 9px;
     border-radius: 4.5px;
-    background: #ccc;
+    background: var(--line);
   }
 
   /* Invisible, not gone -- the Y=... label (.y-thumb-label) already marks
@@ -1004,7 +992,7 @@
     gap: 0.4rem;
     margin-top: 0.4rem;
     padding-top: 0.4rem;
-    border-top: 1px solid #ddd;
+    border-top: 1px solid var(--line);
   }
 
   /* A Flowbite Button; this only lays out the swatch beside the label. */
@@ -1042,7 +1030,7 @@
   }
 
   .readout dt {
-    color: #666;
+    color: var(--text-muted);
   }
 
   .readout dd {
diff --git a/gui/frontend/src/lib/layout/ChangeList.svelte b/gui/frontend/src/lib/layout/ChangeList.svelte
index 2e6300e..105faf5 100644
--- a/gui/frontend/src/lib/layout/ChangeList.svelte
+++ b/gui/frontend/src/lib/layout/ChangeList.svelte
@@ -14,12 +14,14 @@
   let { changes }: Props = $props();
 
   const SECTION_ORDER: Section[] = [
+    "overview",
+    "network",
     "field",
     "layout",
+    "advanced",
     "camera",
     "geometry",
     "color",
-    "network",
     "other",
   ];
 
@@ -73,7 +75,7 @@
   }
 
   .path {
-    color: var(--color-gray-700);
+    color: var(--text-subtle);
   }
 
   .values {
diff --git a/gui/frontend/src/lib/layout/ConfigDialogs.svelte b/gui/frontend/src/lib/layout/ConfigDialogs.svelte
index f7db66d..abb0d11 100644
--- a/gui/frontend/src/lib/layout/ConfigDialogs.svelte
+++ b/gui/frontend/src/lib/layout/ConfigDialogs.svelte
@@ -1,4 +1,7 @@
 <script lang="ts">
+  import RichText from "../RichText.svelte";
+  import { app } from "../text/app";
+  const text = app.dialogs;
   import { Modal, Button, Input, Label, Alert, Toast } from "flowbite-svelte";
   import {
     config,
@@ -96,17 +99,19 @@
   size="lg"
   class={MODAL_CLASS}
 >
-  <p class="text-sm text-gray-600">
-    Writes to <code>{config.state?.path}</code>.
+  <p class="text-sm text-gray-600 dark:text-gray-400">
+    <RichText text={text.writesTo(config.state?.path ?? "")} />
   </p>
 
   {#if changes.length === 0}
-    <p class="text-sm">No unsaved changes.</p>
+    <p class="text-sm">{text.noChanges}</p>
   {:else}
     <ChangeList {changes} />
   {/if}
 
-  <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
+  <div
+    class="flex justify-end gap-2 border-t border-gray-200 dark:border-gray-700 pt-4"
+  >
     <Button
       color="alternative"
       onclick={() => {
@@ -138,11 +143,13 @@
       placeholder="vision.yml"
     />
   </div>
-  <p class="text-sm text-gray-600">
-    The GUI edits and watches the new file from then on.
+  <p class="text-sm text-gray-600 dark:text-gray-400">
+    {text.saveAsNote}
   </p>
 
-  <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
+  <div
+    class="flex justify-end gap-2 border-t border-gray-200 dark:border-gray-700 pt-4"
+  >
     <Button
       color="alternative"
       onclick={() => {
@@ -174,15 +181,17 @@
 
   {#if changes.length > 0}
     <Alert color="yellow" class="p-2 text-sm">
-      Loading discards {changes.length} unsaved change{changes.length === 1
-        ? ""
-        : "s"}, and applies the loaded file live.
+      {text.loadDiscards(changes.length)}
     </Alert>
   {:else}
-    <p class="text-sm text-gray-600">The loaded file applies live.</p>
+    <p class="text-sm text-gray-600 dark:text-gray-400">
+      {text.loadApplies}
+    </p>
   {/if}
 
-  <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
+  <div
+    class="flex justify-end gap-2 border-t border-gray-200 dark:border-gray-700 pt-4"
+  >
     <Button
       color="alternative"
       onclick={() => {
@@ -203,31 +212,34 @@
   dismissable={false}
 >
   <p class="text-sm">
-    <code>{config.state?.path}</code> was edited outside the GUI.
+    <RichText text={text.editedOutside(config.state?.path ?? "")} />
   </p>
 
   {#if external?.error}
     <Alert color="red" class="p-2 text-sm">
-      It can't be loaded as it is:
+      {text.cantLoad}
       <pre class="error-detail">{external.error}</pre>
     </Alert>
   {:else if external && external.changes.length > 0}
-    <p class="text-sm text-gray-600">Loading it would change:</p>
+    <p class="text-sm text-gray-600 dark:text-gray-400">
+      {text.wouldChange}
+    </p>
     <ChangeList changes={external.changes} />
   {:else}
-    <p class="text-sm text-gray-600">
-      The values match what's running; only formatting or comments differ.
+    <p class="text-sm text-gray-600 dark:text-gray-400">
+      {text.formattingOnly}
     </p>
   {/if}
 
   {#if changes.length > 0}
     <Alert color="yellow" class="p-2 text-sm">
-      You have {changes.length} unsaved change{changes.length === 1 ? "" : "s"}.
-      Loading discards them; overwriting replaces the edited file with them.
+      {text.unsavedConflict(changes.length)}
     </Alert>
   {/if}
 
-  <div class="flex justify-end gap-2 border-t border-gray-200 pt-4">
+  <div
+    class="flex justify-end gap-2 border-t border-gray-200 dark:border-gray-700 pt-4"
+  >
     <Button color="alternative" onclick={later}>Later</Button>
     <Button color="alternative" disabled={config.busy} onclick={overwriteDisk}
       >Overwrite disk</Button
@@ -247,6 +259,10 @@
     padding: 0.5rem;
     border-radius: 4px;
     background: rgb(255 255 255 / 0.6);
+  }
+
+  :global(.dark) .error-detail {
+    background: rgb(0 0 0 / 0.3);
     font-size: 0.8rem;
     white-space: pre-wrap;
   }
diff --git a/gui/frontend/src/lib/layout/ConfigNav.svelte b/gui/frontend/src/lib/layout/ConfigNav.svelte
index b58ab09..da88be9 100644
--- a/gui/frontend/src/lib/layout/ConfigNav.svelte
+++ b/gui/frontend/src/lib/layout/ConfigNav.svelte
@@ -1,15 +1,19 @@
 <script lang="ts">
+  import { app } from "../text/app";
   import { Heading, SidebarGroup, SidebarItem } from "flowbite-svelte";
   import {
     nav,
     selectedInstance,
     isCategoryDirty,
     categoryHref,
+    isCategoryVisible,
   } from "./nav.svelte";
   import { CONFIG_CATEGORIES } from "./configCategories";
 
   let sharedCategories = $derived(
-    CONFIG_CATEGORIES.filter((c) => c.scope === "shared"),
+    CONFIG_CATEGORIES.filter(
+      (c) => c.scope === "shared" && c.inNav !== false && isCategoryVisible(c),
+    ),
   );
   let instanceCategories = $derived(
     CONFIG_CATEGORIES.filter((c) => c.scope === "per-instance"),
@@ -21,7 +25,7 @@
   let instance = $derived(selectedInstance());
 
   const HEADING =
-    "mt-5 mb-1 px-2 text-xs font-semibold tracking-wider text-gray-500 uppercase";
+    "mt-5 mb-1 px-2 text-xs font-semibold tracking-wider text-gray-500 dark:text-gray-400 uppercase";
 </script>
 
 <nav aria-label="Settings">
@@ -41,7 +45,7 @@
     {#if instance}
       {instance.host} / cam {instance.cameraId}
     {:else}
-      Per-instance (no cameras yet)
+      {app.sidebar.noCameras}
     {/if}
   </Heading>
   <SidebarGroup class="space-y-0.5">
diff --git a/gui/frontend/src/lib/layout/InstanceList.svelte b/gui/frontend/src/lib/layout/InstanceList.svelte
index 560a3b7..50da795 100644
--- a/gui/frontend/src/lib/layout/InstanceList.svelte
+++ b/gui/frontend/src/lib/layout/InstanceList.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { app } from "../text/app";
   import {
     Heading,
     Indicator,
@@ -22,13 +23,12 @@
 
 <Heading
   tag="h2"
-  class="px-2 text-xs font-semibold tracking-wider text-gray-500 uppercase"
+  class="px-2 text-xs font-semibold tracking-wider text-gray-500 dark:text-gray-400 uppercase"
 >
   Vision processors
 </Heading>
-<P size="xs" italic class="mt-1 mb-2 px-2 text-gray-500">
-  One row per camera role, not per machine -- a host running all 4 cameras of a
-  quad setup appears here 4 times. From vision.yml's cameras list.
+<P size="xs" italic class="mt-1 mb-2 px-2 text-gray-500 dark:text-gray-400">
+  {app.sidebar.instancesHelp}
 </P>
 
 <SidebarGroup class="space-y-0.5">
@@ -40,7 +40,9 @@
       active={instance.id === selectedInstance()?.id}
     >
       {#snippet subtext()}
-        <span class="flex items-center gap-1.5 text-xs text-gray-500">
+        <span
+          class="flex items-center gap-1.5 text-xs text-gray-500 dark:text-gray-400"
+        >
           cam {instance.cameraId}{config.doc && cameraCount(config.doc) > 1
             ? ` · ${regionLabel(config.doc, instance.cameraId)}`
             : ""}
diff --git a/gui/frontend/src/lib/layout/MainContent.svelte b/gui/frontend/src/lib/layout/MainContent.svelte
index 84b82e8..4cba3a5 100644
--- a/gui/frontend/src/lib/layout/MainContent.svelte
+++ b/gui/frontend/src/lib/layout/MainContent.svelte
@@ -8,6 +8,9 @@
   import StreamPanel from "../config/StreamPanel.svelte";
   import CameraPanel from "../config/CameraPanel.svelte";
   import LayoutPanel from "../config/LayoutPanel.svelte";
+  import AdvancedPanel from "../config/AdvancedPanel.svelte";
+  import OverviewPanel from "../config/OverviewPanel.svelte";
+  import AlertsPanel from "../alerts/AlertsPanel.svelte";
   import ConfigCategoryPlaceholder from "../config/ConfigCategoryPlaceholder.svelte";
 
   let category = $derived(selectedCategory());
@@ -17,10 +20,16 @@
 <div class="main-content">
   <TabBar />
 
-  {#if nav.selectedCategoryId === "field"}
+  {#if nav.selectedCategoryId === "alerts"}
+    <AlertsPanel />
+  {:else if nav.selectedCategoryId === "overview"}
+    <OverviewPanel />
+  {:else if nav.selectedCategoryId === "field"}
     <FieldEditor />
   {:else if nav.selectedCategoryId === "layout"}
     <LayoutPanel />
+  {:else if nav.selectedCategoryId === "advanced"}
+    <AdvancedPanel />
   {:else if nav.selectedCategoryId === "camera"}
     <CameraPanel {instance} />
   {:else if nav.selectedCategoryId === "geometry"}
@@ -38,6 +47,8 @@
 
 <style>
   .main-content {
-    padding: 1rem 1.5rem;
+    /* No top padding: the tab bar's group headers sit flush under the
+       header bar. */
+    padding: 0 1.5rem 1rem;
   }
 </style>
diff --git a/gui/frontend/src/lib/layout/Shell.svelte b/gui/frontend/src/lib/layout/Shell.svelte
index ad023cc..c81858b 100644
--- a/gui/frontend/src/lib/layout/Shell.svelte
+++ b/gui/frontend/src/lib/layout/Shell.svelte
@@ -2,6 +2,10 @@
   import { connectionState } from "../wrapper-bus";
   import { preferences } from "../preferences.svelte";
   import InstanceList from "./InstanceList.svelte";
+  import AlertSummary from "../alerts/AlertSummary.svelte";
+  import { app as text } from "../text/app";
+  import { links } from "../text/links";
+  import { setCompetitionField } from "../teams.svelte";
   import ConfigNav from "./ConfigNav.svelte";
   import MainContent from "./MainContent.svelte";
   import type { Snippet } from "svelte";
@@ -14,6 +18,8 @@
     Badge,
     Button,
     Indicator,
+    DarkMode,
+    Toggle,
     Kbd,
     Navbar,
     NavBrand,
@@ -83,12 +89,7 @@
   function revert(): void {
     settingsOpen = false;
 
-    if (
-      unsaved === 0 ||
-      confirm(
-        `Discard ${String(unsaved)} unsaved change(s) and reload from disk?`,
-      )
-    ) {
+    if (unsaved === 0 || confirm(text.discardAndReload(unsaved))) {
       void reloadFromDisk();
     }
   }
@@ -102,7 +103,7 @@
       <div class="flex flex-wrap items-center gap-3">
         <NavBrand>
           <h1 class="text-lg font-semibold whitespace-nowrap">
-            vision-processor
+            SSL Vision Processor
           </h1>
         </NavBrand>
         {#each sockets as socket (socket.label)}
@@ -110,10 +111,10 @@
             href={categoryHref("network")}
             class="badge-link"
             title={socket.status?.problem
-              ? `Not open: ${socket.status.problem}. Retrying. Click to configure.`
+              ? text.socketBadge.notOpen(socket.status.problem)
               : socket.status?.receiving
-                ? `Receiving on ${socket.status.address}. Click to configure.`
-                : "Nothing heard on this address. Click to configure."}
+                ? text.socketBadge.receiving(socket.status.address)
+                : text.socketBadge.silent}
           >
             <Badge
               rounded
@@ -132,72 +133,114 @@
         </Badge>
       </div>
 
-      <div class="settings">
-        <Button
-          id="settings-trigger"
-          color="alternative"
-          size="xs"
-          pill
-          class="relative h-8 w-8 p-0 text-base"
-          aria-label="Settings"
-        >
-          <!-- U+FE0E asks for the plain text glyph; without it the button's
+      <!-- One flex item, so the Navbar's spacing keeps the two together on
+           the right. -->
+      <div class="flex items-center gap-2">
+        {#if config.doc}
+          <Toggle
+            size="small"
+            checked={config.doc.competitionField === true}
+            title={text.competitionField.title}
+            onchange={(e: Event) => {
+              setCompetitionField(
+                (e.currentTarget as HTMLInputElement).checked,
+              );
+            }}
+            ><span class="text-sm whitespace-nowrap"
+              >{text.competitionField.label}</span
+            ></Toggle
+          >
+        {/if}
+        <DarkMode
+          class="flex h-8 w-8 items-center justify-center rounded-full border border-gray-200 p-0 dark:border-gray-600"
+          size="sm"
+          ariaLabel="Toggle dark mode"
+        />
+
+        <div class="settings">
+          <Button
+            id="settings-trigger"
+            color="alternative"
+            size="xs"
+            pill
+            class="relative h-8 w-8 p-0 text-base"
+            aria-label="Settings"
+          >
+            <!-- U+FE0E asks for the plain text glyph; without it the button's
              font stack picks the color emoji. -->
-          <span class="text-lg leading-none text-gray-700">⚙︎</span
-          >{#if unsaved > 0}<Indicator
-              color="primary"
-              size="sm"
-              placement="top-right"
-              title="Unsaved changes"
-            />{/if}
-        </Button>
+            <span class="text-lg leading-none text-gray-700 dark:text-gray-300"
+              >⚙︎</span
+            >{#if unsaved > 0}<Indicator
+                color="primary"
+                size="sm"
+                placement="top-right"
+                title="Unsaved changes"
+              />{/if}
+          </Button>
 
-        <Dropdown
-          placement="bottom-end"
-          triggeredBy="#settings-trigger"
-          bind:isOpen={settingsOpen}
-        >
-          <DropdownHeader class="px-3">
-            <span class="block text-xs text-gray-500">Configuration</span>
-            <span class="block truncate font-mono text-xs"
-              >{config.state?.path ?? ""}</span
-            >
-          </DropdownHeader>
-          <DropdownGroup>
-            <DropdownItem
-              class={ITEM_CLASS}
-              onclick={() => {
-                openDialog("save");
-              }}
-            >
-              <span>Save{unsaved > 0 ? ` (${String(unsaved)})` : ""}</span>
-              <Kbd class="px-1.5 py-0.5 text-xs font-normal">Ctrl+S</Kbd>
-            </DropdownItem>
-            <DropdownItem
-              class={ITEM_CLASS}
-              onclick={() => {
-                openDialog("saveAs");
-              }}>Save as…</DropdownItem
-            >
-            <DropdownItem
-              class={ITEM_CLASS}
-              onclick={() => {
-                openDialog("load");
-              }}>Load…</DropdownItem
-            >
-            <DropdownItem class={ITEM_CLASS} onclick={revert}
-              >Revert to disk</DropdownItem
-            >
-          </DropdownGroup>
-          <DropdownGroup class="flex flex-col gap-2 p-3">
-            <Checkbox bind:checked={preferences.tooltipsEnabled}>
-              Show extra tooltips
-            </Checkbox>
-            <Checkbox bind:checked={preferences.expertUser}
-              >Expert mode</Checkbox
-            >
-          </DropdownGroup>
-        </Dropdown>
+          <Dropdown
+            placement="bottom-end"
+            triggeredBy="#settings-trigger"
+            bind:isOpen={settingsOpen}
+          >
+            <DropdownHeader class="px-3">
+              <span class="block text-xs text-gray-500 dark:text-gray-400"
+                >Configuration</span
+              >
+              <span class="block truncate font-mono text-xs"
+                >{config.state?.path ?? ""}</span
+              >
+            </DropdownHeader>
+            <DropdownGroup>
+              <DropdownItem
+                class={ITEM_CLASS}
+                onclick={() => {
+                  openDialog("save");
+                }}
+              >
+                <span>Save{unsaved > 0 ? ` (${String(unsaved)})` : ""}</span>
+                <Kbd class="px-1.5 py-0.5 text-xs font-normal">Ctrl+S</Kbd>
+              </DropdownItem>
+              <DropdownItem
+                class={ITEM_CLASS}
+                onclick={() => {
+                  openDialog("saveAs");
+                }}>Save as…</DropdownItem
+              >
+              <DropdownItem
+                class={ITEM_CLASS}
+                onclick={() => {
+                  openDialog("load");
+                }}>Load…</DropdownItem
+              >
+              <DropdownItem class={ITEM_CLASS} onclick={revert}
+                >Revert to disk</DropdownItem
+              >
+            </DropdownGroup>
+            <DropdownGroup class="flex flex-col gap-2 p-3">
+              <Checkbox bind:checked={preferences.tooltipsEnabled}>
+                Show extra tooltips
+              </Checkbox>
+              <Checkbox bind:checked={preferences.expertUser}
+                >Expert mode</Checkbox
+              >
+            </DropdownGroup>
+            <DropdownGroup>
+              <DropdownItem
+                class={ITEM_CLASS}
+                href={links.repository}
+                target="_blank"
+                rel="noopener noreferrer">GitHub Repository ↗︎</DropdownItem
+              >
+              <DropdownItem
+                class={ITEM_CLASS}
+                href={links.issues}
+                target="_blank"
+                rel="noopener noreferrer">Report An Issue ↗︎</DropdownItem
+              >
+            </DropdownGroup>
+          </Dropdown>
+        </div>
       </div>
     </Navbar>
   </header>
@@ -211,12 +254,13 @@
     ariaLabel="Cameras and settings"
     class="sidebar w-full"
     classes={{
-      div: "h-full overflow-y-auto bg-white px-3 py-4",
+      div: "h-full overflow-y-auto bg-white px-3 py-4 dark:bg-gray-800",
       active:
-        "rounded-md bg-primary-100 px-2 py-1.5 text-sm font-semibold hover:bg-primary-100",
+        "rounded-md bg-primary-100 dark:bg-primary-900 px-2 py-1.5 text-sm font-semibold hover:bg-primary-100 dark:hover:bg-primary-900",
       nonactive: "rounded-md px-2 py-1.5 text-sm",
     }}
   >
+    <AlertSummary />
     <InstanceList />
     <ConfigNav />
   </Sidebar>
@@ -244,6 +288,12 @@
     border-bottom: 1px solid var(--color-gray-200);
   }
 
+  :global(.dark) header,
+  :global(.dark .sidebar),
+  :global(.dark) .below {
+    border-color: var(--color-gray-700);
+  }
+
   /* Only a link around the badge inside it. A flex box rather than an
      inline <a>, which would sit the badge on a text baseline, lower than the
      connection badge beside it. */
diff --git a/gui/frontend/src/lib/layout/TabBar.svelte b/gui/frontend/src/lib/layout/TabBar.svelte
index 8ace373..a719880 100644
--- a/gui/frontend/src/lib/layout/TabBar.svelte
+++ b/gui/frontend/src/lib/layout/TabBar.svelte
@@ -1,7 +1,18 @@
 <script lang="ts">
   import { tabs as tabsTheme, tabItem } from "flowbite-svelte";
-  import { nav, isCategoryDirty, categoryHref } from "./nav.svelte";
-  import { CONFIG_CATEGORIES, TAB_CATEGORY_IDS } from "./configCategories";
+  import {
+    nav,
+    isCategoryDirty,
+    categoryHref,
+    selectedInstance,
+    isCategoryVisible,
+  } from "./nav.svelte";
+  import {
+    CONFIG_CATEGORIES,
+    TAB_CATEGORY_IDS,
+    type ConfigCategory,
+  } from "./configCategories";
+  import { app } from "../text/app";
 
   // Same source data as the sidebar (CONFIG_CATEGORIES), just a curated
   // subset in a fixed order -- both follow nav.selectedCategoryId, so picking
@@ -10,11 +21,26 @@
   let tabs = $derived(
     TAB_CATEGORY_IDS.map((id) =>
       CONFIG_CATEGORIES.find((c) => c.id === id),
-    ).filter((c) => c !== undefined),
+    ).filter(
+      (c): c is ConfigCategory => c !== undefined && isCategoryVisible(c),
+    ),
   );
 
+  // Shared settings, then the selected camera's, each under a header that
+  // only labels the group.
+  let groups = $derived<{ label: string; tabs: ConfigCategory[] }[]>([
+    {
+      label: app.tabGroups.global,
+      tabs: tabs.filter((t) => t.scope === "shared"),
+    },
+    {
+      label: app.tabGroups.perCamera(selectedInstance()?.cameraId),
+      tabs: tabs.filter((t) => t.scope === "per-instance"),
+    },
+  ]);
+
   // Flowbite's Tabs component keeps exactly one tab selected and ignores
-  // pages that aren't tabs (Network, Stream, ... from the sidebar), so it
+  // pages that aren't tabs (Stream, Debug, ... from the sidebar), so it
   // can't follow nav. These are plain links styled with its own "underline"
   // theme instead: they look like Flowbite Tabs, and none is selected on a
   // page that isn't a tab.
@@ -22,35 +48,40 @@
   const item = tabItem();
 </script>
 
-<ul
-  class={theme.base({ class: "mb-4 border-b border-gray-200" })}
-  role="tablist"
+<div
+  class="mb-4 flex flex-wrap items-end gap-x-4 border-b border-gray-200 dark:border-gray-700"
 >
-  {#each tabs as tab, i (tab.id)}
-    {@const selected = tab.id === nav.selectedCategoryId}
-    <li
-      class={item.base({
-        // A break after the last shared tab, so the camera-specific ones
-        // read as their own group.
-        class:
-          tab.scope === "shared" && tabs[i + 1]?.scope !== "shared"
-            ? "me-2 border-e border-gray-200 pe-2"
-            : "",
-      })}
-      role="presentation"
-    >
-      <a
-        href={categoryHref(tab.id)}
-        role="tab"
-        aria-selected={selected}
-        class={item.button({
-          class: selected
-            ? theme.active({ class: "px-4 py-2.5 font-semibold" })
-            : theme.inactive({ class: "px-4 py-2.5" }),
-        })}
+  {#each groups as group, i (i)}
+    <div class="flex flex-col">
+      <div
+        class="rounded-b-md border border-t-0 border-gray-200 bg-gray-50 px-3 py-0.5 text-center text-xs font-semibold tracking-wider text-gray-500 uppercase dark:border-gray-700 dark:bg-gray-800 dark:text-gray-400"
       >
-        {tab.label}{isCategoryDirty(tab.id) ? "*" : ""}
-      </a>
-    </li>
+        {group.label}
+      </div>
+      <ul class={theme.base({ class: "flex-nowrap" })} role="tablist">
+        {#each group.tabs as tab (tab.id)}
+          {@const selected = tab.id === nav.selectedCategoryId}
+          <li class={item.base()} role="presentation">
+            <a
+              href={categoryHref(tab.id)}
+              role="tab"
+              aria-selected={selected}
+              class={item.button({
+                class: selected
+                  ? theme.active({ class: "px-4 py-2.5 font-semibold" })
+                  : theme.inactive({ class: "px-4 py-2.5" }),
+              })}
+            >
+              {tab.label}<!-- Always there, so a tab doesn't change width as
+                   its unsaved-changes asterisk comes and goes.
+              --><span
+                class:invisible={!isCategoryDirty(tab.id)}
+                aria-hidden={!isCategoryDirty(tab.id)}>*</span
+              >
+            </a>
+          </li>
+        {/each}
+      </ul>
+    </div>
   {/each}
-</ul>
+</div>
diff --git a/gui/frontend/src/lib/layout/configCategories.ts b/gui/frontend/src/lib/layout/configCategories.ts
index 2c44011..fe98786 100644
--- a/gui/frontend/src/lib/layout/configCategories.ts
+++ b/gui/frontend/src/lib/layout/configCategories.ts
@@ -1,14 +1,15 @@
 // The left sidebar's lower nav list, one entry per config.yml top-level
 // section (see config.yml / config-camtest.yml at the repo root) plus one
-// for the shared field geometry. Field names/comments below are copied
-// straight from config.yml -- ground truth for whichever contributor builds
-// out a real form for a category, not invented.
+// for the shared field geometry. Each category's settings and their
+// config.yml comments are in text/configFields.ts.
 //
 // scope: "shared" categories are one thing for the whole deployment
 // (vision.yml's field, and its defaults.network addresses). "per-instance" categories
 // are a single vision processor's own config.yml, which this host does not
 // yet read, write, or push to any instance -- see gui/CLAUDE.md's "Not yet
 // built". Their panels are placeholders until that exists.
+import { CONFIG_FIELDS } from "../text/configFields";
+
 export type ConfigScope = "shared" | "per-instance";
 
 export interface ConfigField {
@@ -22,13 +23,41 @@ export interface ConfigCategory {
   scope: ConfigScope;
   /** The config.yml top-level key this maps to, or null for the shared field geometry. */
   yamlKey: string | null;
+  /** False for pages reached some other way (Alerts, from its own sidebar block). */
+  inNav?: boolean;
+  /** Shown only with "Expert user" on in the settings menu. */
+  expert?: boolean;
   fields: ConfigField[];
 }
 
 export const CONFIG_CATEGORIES: ConfigCategory[] = [
+  {
+    id: "alerts",
+    label: "Alerts",
+    scope: "shared",
+    yamlKey: null,
+    fields: [],
+    inNav: false,
+  },
+  {
+    id: "overview",
+    label: "Overview",
+    scope: "shared",
+    yamlKey: null, // vision.yml's teams
+    fields: [],
+  },
+  {
+    id: "network",
+    label: "Network",
+    // vision.yml's defaults.network: one pair of groups for the host and
+    // every vision_processor. Edited by config/NetworkPanel.svelte.
+    scope: "shared",
+    yamlKey: "network",
+    fields: CONFIG_FIELDS.network,
+  },
   {
     id: "field",
-    label: "Virtual Field",
+    label: "Field Dimensions",
     scope: "shared",
     yamlKey: null, // geometry.yml's field: block, not config.yml
     fields: [],
@@ -40,105 +69,41 @@ export const CONFIG_CATEGORIES: ConfigCategory[] = [
     yamlKey: null, // vision.yml's layout: and each camera's camera_id
     fields: [],
   },
+  {
+    id: "advanced",
+    label: "Advanced",
+    scope: "shared",
+    expert: true,
+    yamlKey: null, // vision.yml's defaults.thresholds and defaults.tracking
+    fields: [],
+  },
   {
     id: "camera",
     label: "Camera Settings",
     scope: "per-instance",
     yamlKey: "camera",
-    fields: [
-      { name: "driver", comment: "SPINNAKER, MVIMPACT, or OPENCV" },
-      { name: "id / path", comment: "Which camera device" },
-      { name: "width / height", comment: "0 = highest supported resolution" },
-      { name: "exposure", comment: "ms; 0.0 = automatic" },
-      { name: "gain", comment: "0.0 = automatic" },
-      { name: "gamma", comment: "1.0 = no gamma" },
-      { name: "white_balance", comment: "OUTDOOR/INDOOR, or manual red/blue" },
-    ],
+    fields: CONFIG_FIELDS.camera,
   },
   {
     id: "geometry",
     label: "Geometry",
     scope: "per-instance",
     yamlKey: "geometry", // config.yml's geometry: block -- NOT geometry.yml's field:
-    fields: [
-      { name: "camera_amount", comment: "Total cameras over the field" },
-      {
-        name: "camera_height",
-        comment: "mm; 0.0 = automatic (fails if camera looks perpendicular)",
-      },
-      {
-        name: "line_corners",
-        comment:
-          "Pixel corners for calibration seeding -- this is what the Corner Picker below produces",
-      },
-      { name: "refinement", comment: "Field line pixel refinement toggle" },
-      { name: "field_line_threshold", comment: "0-255 brightness delta" },
-      { name: "min_line_segment_length", comment: "px" },
-      { name: "max_line_segment_offset", comment: "px" },
-      { name: "max_line_segment_angle", comment: "degrees" },
-    ],
-  },
-  {
-    id: "thresholds",
-    label: "Thresholds",
-    scope: "per-instance",
-    yamlKey: "thresholds",
-    fields: [
-      { name: "circularity", comment: "0 - 195075.0" },
-      { name: "score", comment: "min circularity/(3*stddev)" },
-      { name: "blobs", comment: "max blobs processed per frame" },
-      { name: "min_confidence", comment: "0.0 - 1.0" },
-      { name: "min_cam_edge_distance", comment: "mm" },
-      { name: "clipping_tolerance", comment: "mm" },
-      { name: "geometry_tolerance", comment: "mm" },
-    ],
+    fields: CONFIG_FIELDS.geometry,
   },
   {
     id: "color",
     label: "Color",
     scope: "per-instance",
     yamlKey: "color",
-    fields: [
-      { name: "reference_force", comment: "0.0 - 0.5-history_force/2" },
-      { name: "history_force", comment: "0.0 - 1.0-reference_force" },
-      { name: "orange / field", comment: "ball / carpet reference colors" },
-      { name: "yellow / blue", comment: "center blob reference colors" },
-      { name: "green / pink", comment: "side blob reference colors" },
-    ],
-  },
-  {
-    id: "tracking",
-    label: "Tracking",
-    scope: "per-instance",
-    yamlKey: "tracking",
-    fields: [
-      { name: "min_tracking_radius", comment: "mm" },
-      { name: "max_bot_acceleration", comment: "m/s^2" },
-    ],
-  },
-  {
-    id: "network",
-    label: "Network",
-    // vision.yml's defaults.network: one pair of groups for the host and
-    // every vision_processor. Edited by config/NetworkPanel.svelte.
-    scope: "shared",
-    yamlKey: "network",
-    fields: [
-      { name: "gc_ip / gc_port", comment: "game controller multicast" },
-      { name: "vision_ip / vision_port", comment: "vision multicast" },
-    ],
+    fields: CONFIG_FIELDS.color,
   },
   {
     id: "stream",
     label: "Stream",
     scope: "per-instance",
     yamlKey: "stream",
-    fields: [
-      { name: "active", comment: "encode and send a live stream" },
-      { name: "raw_feed", comment: "raw camera footage only" },
-      { name: "ip_base_prefix / ip_base_end", comment: "stream destination" },
-      { name: "port", comment: "stream port" },
-    ],
+    fields: CONFIG_FIELDS.stream,
   },
   {
     id: "debug",
@@ -148,15 +113,7 @@ export const CONFIG_CATEGORIES: ConfigCategory[] = [
     // Not to be confused with the mockup's future "Debug Console" (a live log
     // viewer over internal/hub) -- this is config.yml's debug: block, which
     // controls the vision processor's own diagnostic image output.
-    fields: [
-      { name: "ground_truth", comment: "used by blob/geometry benchmarks" },
-      { name: "wait_for_geometry", comment: "hold frames until calibrated" },
-      { name: "debug_images", comment: "save additional debug images in img/" },
-      {
-        name: "debug_stream_interval_ms",
-        comment: "periodic img/.sample.<camId>.png while uncalibrated",
-      },
-    ],
+    fields: CONFIG_FIELDS.debug,
   },
 ];
 
@@ -165,8 +122,11 @@ export const CONFIG_CATEGORIES: ConfigCategory[] = [
 // full list of all nine. Start small and add to this as more categories earn
 // a spot -- it's deliberately a subset, not a duplicate of CONFIG_CATEGORIES.
 export const TAB_CATEGORY_IDS = [
+  "overview",
+  "network",
   "field",
   "layout",
+  "advanced",
   "camera",
   "geometry",
   "color",
diff --git a/gui/frontend/src/lib/layout/nav.svelte.ts b/gui/frontend/src/lib/layout/nav.svelte.ts
index 5e213ac..661a630 100644
--- a/gui/frontend/src/lib/layout/nav.svelte.ts
+++ b/gui/frontend/src/lib/layout/nav.svelte.ts
@@ -3,6 +3,13 @@
 // object, per the project convention (see CLAUDE.md).
 import { CONFIG_CATEGORIES, type ConfigCategory } from "./configCategories";
 import { config, changesFor, type Section } from "../config.svelte";
+import { preferences } from "../preferences.svelte";
+
+// Whether a category's page can be shown: expert-only pages need "Expert
+// user" on.
+export function isCategoryVisible(category: ConfigCategory): boolean {
+  return !category.expert || preferences.expertUser;
+}
 
 // One row in the instance list: a single camera role, keyed by camera_id (its
 // position on the field) -- a host running all 4 cameras of a quad setup
@@ -52,15 +59,23 @@ function applyHash(): void {
 
   if (camera) nav.selectedInstanceId = `cam:${camera}`;
 
-  if (category && CONFIG_CATEGORIES.some((c) => c.id === category)) {
-    nav.selectedCategoryId = category;
-  }
+  const found = CONFIG_CATEGORIES.find((c) => c.id === category);
+  if (found && isCategoryVisible(found)) nav.selectedCategoryId = found.id;
 }
 
 applyHash();
 window.addEventListener("hashchange", applyHash);
 
 $effect.root(() => {
+  // Leaving a page that just became hidden (expert mode turned off on it).
+  $effect(() => {
+    const current = CONFIG_CATEGORIES.find(
+      (c) => c.id === nav.selectedCategoryId,
+    );
+    if (current && !isCategoryVisible(current))
+      nav.selectedCategoryId = "field";
+  });
+
   $effect(() => {
     const href = categoryHref(nav.selectedCategoryId);
     if (location.hash !== href) history.replaceState(null, "", href);
@@ -92,6 +107,7 @@ export function selectedCategory(): ConfigCategory {
   const fallback = CONFIG_CATEGORIES.find((c) => c.id === "field");
   if (fallback) return fallback;
 
+  // text-ok: an internal invariant, not shown to users.
   throw new Error("CONFIG_CATEGORIES is missing the 'field' category");
 }
 
@@ -101,6 +117,8 @@ export function selectedCategory(): ConfigCategory {
 const CATEGORY_SECTIONS: Record<string, Section> = {
   field: "field",
   layout: "layout",
+  overview: "overview",
+  advanced: "advanced",
   camera: "camera",
   geometry: "geometry",
   color: "color",
diff --git a/gui/frontend/src/lib/network.svelte.ts b/gui/frontend/src/lib/network.svelte.ts
index 952d059..f0f821d 100644
--- a/gui/frontend/src/lib/network.svelte.ts
+++ b/gui/frontend/src/lib/network.svelte.ts
@@ -5,6 +5,7 @@
 // Socket status arrives separately, once a second, on the network.state topic.
 import { config } from "./config.svelte";
 import { topic } from "./wrapper-bus";
+import { network as text } from "./text/network";
 
 // Mirrors gui/internal/multicast's Status.
 export interface SocketStatus {
@@ -44,11 +45,33 @@ export interface DetectionSource {
   receiving: boolean;
 }
 
+// The current match's teams and their robot heights, from
+// gui/internal/referee's State.
+export interface RefereeTeam {
+  name: string;
+  // From the height table; unset when the team isn't in it.
+  height?: number;
+}
+
+export interface RefereeState {
+  // When the last referee message arrived; unset if none has.
+  heard?: string;
+  yellow: RefereeTeam;
+  blue: RefereeTeam;
+  heightsFile: string;
+  heightsError?: string;
+  meanHeight?: number;
+  maxHeight?: number;
+  // The whole table, team name to height in mm.
+  heights?: Record<string, number>;
+}
+
 export interface NetworkState {
   vision: SocketStatus;
   gc: SocketStatus;
   // Every camera_id heard in the last 30 s, by camera_id then address.
   cameras: DetectionSource[] | null;
+  referee: RefereeState;
   autoInterfaces: boolean;
   interfaces: HostInterface[] | null;
   // The loopback interface, and whether multicast is enabled on it.
@@ -142,8 +165,8 @@ export function writeInterfaces(auto: boolean, skip: string[]): void {
 // Whether the address is a sensible choice is advice's job, below.
 export function ipv4Error(ip: string): string | null {
   const octets = parseIPv4(ip);
-  if (!octets) return "Not an IPv4 address.";
-  if (octets.every((o) => o === 0)) return "0.0.0.0 isn't a destination.";
+  if (!octets) return text.errors.notIPv4;
+  if (octets.every((o) => o === 0)) return text.errors.zeroAddress;
 
   return null;
 }
@@ -151,7 +174,7 @@ export function ipv4Error(ip: string): string | null {
 export function portError(port: number): string | null {
   return Number.isInteger(port) && port >= 1 && port <= 65535
     ? null
-    : "Must be 1 to 65535.";
+    : text.errors.portRange;
 }
 
 function parseIPv4(ip: string): number[] | null {
@@ -167,10 +190,7 @@ function parseIPv4(ip: string): number[] | null {
 
 export type Kind = "vision" | "gc";
 
-const KIND_LABEL: Record<Kind, string> = {
-  vision: "vision",
-  gc: "game controller",
-};
+const KIND_LABEL: Record<Kind, string> = text.kind;
 
 // The league's standard groups; a redundant second system adds 10 to the port.
 export const STANDARD: Record<Kind, { ip: string; port: number }> = {
@@ -184,15 +204,7 @@ const BACKUP_OFFSET = 10;
 // geometry message.
 const LEGACY_VISION_PORT = 10005;
 
-// Other well known SSL UDP ports, for "normally used by" notes.
-const KNOWN_PORTS: Record<number, string> = {
-  10003: "the game controller",
-  10013: "the backup game controller",
-  10005: "legacy vision",
-  10006: "vision",
-  10016: "backup vision",
-  10010: "the tracker",
-};
+const KNOWN_PORTS = text.knownPorts;
 
 export interface Preset<T> {
   label: string;
@@ -204,13 +216,13 @@ export function addressPresets(
   interfaces: HostInterface[],
 ): Preset<string>[] {
   return [
-    { label: "Standard multicast", value: STANDARD[kind].ip },
-    { label: "Broadcast, all interfaces", value: "255.255.255.255" },
+    { label: text.presets.standardMulticast, value: STANDARD[kind].ip },
+    { label: text.presets.broadcastAll, value: "255.255.255.255" },
     ...interfaces.flatMap((i) =>
       i.used && i.broadcast
         ? [
             {
-              label: `Broadcast, ${i.name} (${i.address ?? ""})`,
+              label: text.presets.broadcastOn(i.name, i.address ?? ""),
               value: i.broadcast,
             },
           ]
@@ -222,12 +234,12 @@ export function addressPresets(
 export function portPresets(kind: Kind): Preset<number>[] {
   const standard = STANDARD[kind].port;
   const presets = [
-    { label: "Standard", value: standard },
-    { label: "Backup", value: standard + BACKUP_OFFSET },
+    { label: text.presets.standard, value: standard },
+    { label: text.presets.backup, value: standard + BACKUP_OFFSET },
   ];
 
   if (kind === "vision") {
-    presets.push({ label: "Legacy", value: LEGACY_VISION_PORT });
+    presets.push({ label: text.presets.legacy, value: LEGACY_VISION_PORT });
   }
 
   return presets;
@@ -260,55 +272,37 @@ export function addressAdvice(
   const other: Kind = kind === "vision" ? "gc" : "vision";
 
   if (a === 127) {
-    advice.warnings.push("Loopback: only reaches this machine.");
+    advice.warnings.push(text.address.loopback);
   } else if (a >= 224 && a <= 239) {
     if (a === 224 && b === 0 && c === 0) {
-      advice.warnings.push(
-        "224.0.0.x is reserved for routing protocols. Pick another group.",
-      );
+      advice.warnings.push(text.address.reserved);
     } else if (a === 232) {
-      advice.warnings.push(
-        "232.x is source-specific multicast: plain joins may receive nothing.",
-      );
+      advice.warnings.push(text.address.sourceSpecific);
     }
 
     if (ip === STANDARD[other].ip) {
-      advice.notes.push(
-        `Standard ${KIND_LABEL[other]} group. Works on a different port.`,
-      );
+      advice.notes.push(text.address.otherStandard(KIND_LABEL[other]));
     } else if (ip !== STANDARD[kind].ip) {
-      advice.notes.push(
-        "Non-standard group. Every SSL tool on the field must use it too.",
-      );
+      advice.notes.push(text.address.nonStandard);
     }
 
     for (const std of [STANDARD.vision.ip, STANDARD.gc.ip]) {
       const stdOctets = parseIPv4(std);
       if (ip !== std && stdOctets && low23(octets) === low23(stdOctets)) {
-        advice.notes.push(
-          `Same Ethernet MAC as ${std}: switches can't filter them apart.`,
-        );
+        advice.notes.push(text.address.sameMac(std));
       }
     }
   } else {
     const iface = state?.interfaces?.find((i) => i.broadcast === ip);
 
     if (ip === "255.255.255.255") {
-      advice.notes.push(
-        "Broadcast: floods the subnet. vision_processor sends it out its default route only.",
-      );
+      advice.notes.push(text.address.broadcastAll);
     } else if (iface) {
-      advice.notes.push(
-        `Subnet broadcast on ${iface.name}: floods the subnet.`,
-      );
+      advice.notes.push(text.address.broadcastOn(iface.name));
     } else if (d === 255) {
-      advice.warnings.push(
-        "Not multicast. Looks like a subnet broadcast, but no interface on this host has it.",
-      );
+      advice.warnings.push(text.address.unknownBroadcast);
     } else {
-      advice.warnings.push(
-        "Not multicast or broadcast: only the machine at this IP receives.",
-      );
+      advice.warnings.push(text.address.unicast);
     }
   }
 
@@ -325,9 +319,7 @@ export function portAdvice(
 
   const start = state?.unprivilegedPortStart ?? 1024;
   if (port < start) {
-    advice.notes.push(
-      `Below ${String(start)}: binding needs root or CAP_NET_BIND_SERVICE, here and on every vision_processor${state?.root ? " (this host runs as root)" : ""}.`,
-    );
+    advice.notes.push(text.port.privileged(start, state?.root ?? false));
   }
 
   const standard = STANDARD[kind].port;
@@ -336,17 +328,13 @@ export function portAdvice(
   if (port === standard) return advice;
 
   if (kind === "vision" && port === LEGACY_VISION_PORT) {
-    advice.notes.push(
-      "Legacy 2014 format port: old clients get detections but not this geometry.",
-    );
+    advice.notes.push(text.port.legacy);
   } else if (port === standard + BACKUP_OFFSET) {
-    advice.notes.push("Backup (+10) port, for a redundant second system.");
+    advice.notes.push(text.port.backup);
   } else if (known) {
-    advice.notes.push(`Normally ${known}'s port.`);
+    advice.notes.push(text.port.known(known));
   } else {
-    advice.notes.push(
-      "Non-standard port. Every SSL tool on the field must use it too.",
-    );
+    advice.notes.push(text.port.nonStandard);
   }
 
   return advice;
diff --git a/gui/frontend/src/lib/teams.svelte.ts b/gui/frontend/src/lib/teams.svelte.ts
new file mode 100644
index 0000000..76e37a4
--- /dev/null
+++ b/gui/frontend/src/lib/teams.svelte.ts
@@ -0,0 +1,159 @@
+// Robot height choices in vision.yml's teams block.
+//
+// On a competition field they're kept by the game controller's team name
+// (teams.overrides): the game controller swaps the whole team record, name
+// included, when teams switch colors, so a choice keyed by name follows its
+// team. Off one (lab use, often with no game controller) they're kept per
+// color (teams.by_color). GUI only for now; see gui/internal/config's Teams.
+import { config, type TeamOverride } from "./config.svelte";
+import { network } from "./network.svelte";
+
+export type Color = "yellow" | "blue";
+
+export const COLORS: Color[] = ["yellow", "blue"];
+
+// The GUI's robot height for a team or color with nothing set, in mm: the
+// Division A limit. vision_processor's own fallback is its table's mean.
+export const DEFAULT_ROBOT_HEIGHT = 150;
+
+// Issues that only mean the default height applies, as opposed to a choice
+// that's been started but not finished.
+export function isDefaultHeightIssue(issue: HeightIssue | null): boolean {
+  return issue === "notInTable" || issue === "noHeight";
+}
+
+export function competitionField(): boolean {
+  return config.doc?.competitionField === true;
+}
+
+export function setCompetitionField(on: boolean): void {
+  if (config.doc) config.doc.competitionField = on || undefined;
+}
+
+// The team the game controller currently puts in color: "" if none, or if
+// the game controller has gone quiet (its last names may be a past match's).
+export function teamName(color: Color): string {
+  const state = network.state;
+
+  return state?.gc.receiving && state.referee.heard
+    ? state.referee[color].name
+    : "";
+}
+
+// Where a color's choice is kept right now: by team on a competition field
+// (none until the game controller names the team), by color otherwise.
+export type Slot = { team: string } | { color: Color };
+
+export function slotFor(color: Color): Slot | null {
+  if (!competitionField()) return { color };
+
+  const team = teamName(color);
+
+  return team ? { team } : null;
+}
+
+export function choice(slot: Slot | null): TeamOverride | undefined {
+  const teams = config.doc?.teams;
+  if (!slot) return undefined;
+
+  return "team" in slot
+    ? teams?.overrides?.[slot.team]
+    : teams?.byColor?.[slot.color];
+}
+
+function without<T>(o: Record<string, T> | undefined, key: string) {
+  return Object.fromEntries(Object.entries(o ?? {}).filter(([k]) => k !== key));
+}
+
+// Replaces a slot's choice; undefined removes it, and emptied blocks go too,
+// so vision.yml stays minimal.
+function setChoice(slot: Slot, value: TeamOverride | undefined): void {
+  const doc = config.doc;
+  if (!doc) return;
+
+  const teams = { ...doc.teams };
+
+  if ("team" in slot) {
+    const overrides = without(teams.overrides, slot.team);
+    if (value) overrides[slot.team] = value;
+    teams.overrides = Object.keys(overrides).length ? overrides : undefined;
+  } else {
+    const byColor = without(teams.byColor, slot.color);
+    if (value) byColor[slot.color] = value;
+    teams.byColor = Object.keys(byColor).length ? byColor : undefined;
+  }
+
+  doc.teams = teams.overrides || teams.byColor ? teams : undefined;
+}
+
+// On: no choice, so the height comes from the table (by game controller
+// name) or vision_processor's default. Off: a choice, starting as a custom
+// height not entered yet.
+export function setFromTable(slot: Slot, on: boolean): void {
+  setChoice(slot, on ? undefined : (choice(slot) ?? {}));
+}
+
+// Another table entry's height, e.g. when the game controller spells the
+// team's name differently.
+export function setTeam(slot: Slot, tableName: string): void {
+  setChoice(slot, { name: tableName });
+}
+
+export function setCustomHeight(slot: Slot, height: number): void {
+  setChoice(slot, { height });
+}
+
+// Why a color's robots would get vision_processor's default height, or null
+// if they have a known one:
+//   notInTable: the game controller's team isn't in the table, no choice
+//   noHeight: no game controller team and no choice for the color
+//   customMissing: a custom height chosen but not entered yet
+//   unsaved: a choice not written to disk yet
+export type HeightIssue =
+  | "notInTable"
+  | "noHeight"
+  | "customMissing"
+  | "unsaved";
+
+export function heightIssue(color: Color): HeightIssue | null {
+  const ref = network.state?.referee;
+  if (!ref || ref.heightsError) return null;
+
+  const team = teamName(color);
+  const slot = slotFor(color);
+
+  // On a competition field nothing is playing until the game controller
+  // names a team; the game controller alert covers that.
+  if (!slot) return null;
+
+  const own = choice(slot);
+
+  if (!own) {
+    if (!team) return "noHeight";
+
+    return ref.heights?.[team] === undefined ? "notInTable" : null;
+  }
+
+  if (own.name === undefined && own.height === undefined) {
+    return "customMissing";
+  }
+
+  return unsaved(slot) ? "unsaved" : null;
+}
+
+// Whether the saved file lacks this slot's choice as it is now: any unsaved
+// change at or above it.
+function unsaved(slot: Slot): boolean {
+  const key =
+    "team" in slot
+      ? `teams.overrides.${slot.team}`
+      : `teams.by_color.${slot.color}`;
+  const parents = ["teams", "teams.overrides", "teams.by_color"];
+
+  return (config.state?.changes ?? []).some(
+    (c) =>
+      parents.includes(c.path) ||
+      c.path === key ||
+      c.path.startsWith(`${key}.`),
+  );
+}
diff --git a/gui/frontend/src/lib/text/README.md b/gui/frontend/src/lib/text/README.md
new file mode 100644
index 0000000..fd2992c
--- /dev/null
+++ b/gui/frontend/src/lib/text/README.md
@@ -0,0 +1,52 @@
+# User-facing text
+
+Tooltips, warnings, error messages, and help text for the GUI live here, one
+file per page or area. To change what the GUI says, edit these files; you
+don't need to touch the components that show them.
+
+| File              | What's in it                                              |
+| ----------------- | --------------------------------------------------------- |
+| `camera.ts`       | Camera Settings page                                      |
+| `layout.ts`       | Camera Layout page and its confirm dialog                 |
+| `network.ts`      | Network page, address and port advice, socket status      |
+| `geometry.ts`     | Geometry page's calibration card                          |
+| `alerts.ts`       | Alerts page titles and details                            |
+| `docs.ts`         | The Alerts page's "How to fix" resolution docs            |
+| `video.ts`        | Messages over live video                                  |
+| `app.ts`          | Header badges, settings menu prompts, edit conflicts      |
+| `wizard.ts`       | Setup wizard                                              |
+| `color.ts`        | Color page, color picker, and update weights              |
+| `placeholder.ts`  | Unbuilt pages and the Stream page                         |
+| `configFields.ts` | Each config.yml setting's comment, copied from config.yml |
+| `links.ts`        | Every external URL, by name                               |
+| `common.ts`       | Phrases several pages share                               |
+
+## Editing
+
+- Plain text is a quoted string: change the words between the quotes.
+- Text with values filled in is a small function, like
+  ``(address: string): string => `Waiting for video on ${address}.` ``.
+  Change the words around `${...}`; keep the `${...}` parts, which are the
+  values.
+- A list in square brackets is several lines shown together, such as the
+  lines of one tooltip.
+- `notes` and lists named after a setting are tooltips, shown with "Show
+  extra tooltips" on. `warnings` and `errors` always show.
+- Where an entry says `` `backticks` show as code ``, text between backticks
+  shows as code, like `config_path`. Inside a template (text between
+  backticks with `${...}` values), write a code backtick as `` \` ``.
+- Fix a dead link in `links.ts`; components refer to links by name.
+
+Keep the style the rest of the GUI uses: short, full sentences, no em or en
+dashes.
+
+## Adding text
+
+New user-facing sentences go here, not in a component. Short labels, such as
+button text and field names, can stay in the component. `npm run check:text`
+(part of `make test`) fails on sentence-like strings written elsewhere. For a
+sentence that is really code, such as an internal error a user never sees,
+put a `// text-ok` comment (`<!-- text-ok -->` in markup) on the line above.
+
+Translation (i18n) is planned for v2.1. These files' keys are meant to become
+its message catalog then.
diff --git a/gui/frontend/src/lib/text/advanced.ts b/gui/frontend/src/lib/text/advanced.ts
new file mode 100644
index 0000000..0be6153
--- /dev/null
+++ b/gui/frontend/src/lib/text/advanced.ts
@@ -0,0 +1,80 @@
+// Advanced page (config/AdvancedPanel.svelte): vision_processor's
+// thresholds: and tracking: settings, shared by every camera. Notes are
+// from config.yml's comments and src/Resources.cpp. `backticks` show as code.
+
+export const advanced = {
+  heading: "Advanced",
+  intro:
+    "Detection thresholds and tracking limits, shared by every camera (vision.yml's `defaults.thresholds` and `defaults.tracking`). The defaults suit most fields; change these only to fix a specific detection problem. Most apply live; the ones marked restart need a vision_processor restart.",
+  overriding: (cameras: number[]): string =>
+    `Camera${cameras.length === 1 ? "" : "s"} ${cameras.join(", ")} override${cameras.length === 1 ? "s" : ""} some of these in their own config, so they don't follow this page for those values.`,
+  restart: "Applies when vision_processor restarts.",
+  defaultIs: (value: string): string => `Default: ${value}.`,
+  reset: "Reset to default",
+
+  cards: {
+    blobs: "Blob detection",
+    tolerances: "Geometry tolerances",
+    tracking: "Tracking",
+  },
+
+  fields: {
+    circularity: {
+      label: "Circularity",
+      notes: [
+        "Minimum mean cosine similarity of a blob's border gradient (not normalized, 0 - 195075).",
+        "Higher misses real blobs; lower adds false positives.",
+      ],
+    },
+    score: {
+      label: "Ball score",
+      notes: ["Minimum circularity / (3 × stddev) for a ball blob."],
+    },
+    blobs: {
+      label: "Max blobs",
+      notes: [
+        "Most blobs processed per frame. Shouldn't need changing; vision_processor logs a warning when a frame hits it.",
+      ],
+    },
+    min_confidence: {
+      label: "Min confidence",
+      notes: [
+        "Robots and balls below this confidence (0 - 1) aren't reported.",
+      ],
+    },
+    resampling_factor: {
+      label: "Resampling",
+      notes: [
+        "Scales the field image blobs are searched in. Below 1 is faster and coarser; above 1 is finer and slower.",
+      ],
+    },
+    min_cam_edge_distance: {
+      label: "Ball edge distance",
+      notes: [
+        "A ball closer than this to the edge of the camera's view, inside the field, is ignored: it's likely half out of frame.",
+      ],
+    },
+    clipping_tolerance: {
+      label: "Clipping tolerance",
+      notes: ["How far two detected objects may overlap."],
+    },
+    geometry_tolerance: {
+      label: "Geometry tolerance",
+      notes: [
+        "Added to geometry checks: the field border cutoff and which blobs count as field lines.",
+      ],
+    },
+    min_tracking_radius: {
+      label: "Min tracking radius",
+      notes: [
+        "Smallest radius searched for a robot's blobs from one frame to the next.",
+      ],
+    },
+    max_bot_acceleration: {
+      label: "Max robot acceleration",
+      notes: [
+        "Fastest a robot is expected to accelerate. Sets how far the search for its blobs grows between frames.",
+      ],
+    },
+  },
+};
diff --git a/gui/frontend/src/lib/text/alerts.ts b/gui/frontend/src/lib/text/alerts.ts
new file mode 100644
index 0000000..82529b0
--- /dev/null
+++ b/gui/frontend/src/lib/text/alerts.ts
@@ -0,0 +1,73 @@
+// The Alerts page and its sidebar summary (alerts/). Each alert's "How to
+// fix" text is in docs.ts.
+
+export const alerts = {
+  heading: "Alerts",
+  intro:
+    "Known problems, live. Errors mean something isn't working; warnings are likely wrong and worth fixing before a match; cautions are worth knowing and often fine.",
+  severities: { error: "Errors", warning: "Warnings", caution: "Cautions" },
+  empty: {
+    error: "No errors.",
+    warning: "No warnings.",
+    caution: "No cautions.",
+  },
+
+  // Action buttons.
+  howToFix: "How to fix",
+  pages: {
+    overview: "Overview",
+    layout: "Camera Layout",
+    geometry: "Geometry",
+    network: "Network",
+  },
+
+  renderFailed: (camera: string): string =>
+    `Can't write camera ${camera}'s config.yml`,
+  conflict: (camera: number): string =>
+    `Camera ID ${String(camera)} is sent by several vision_processors`,
+  heardFrom: (addresses: string[]): string =>
+    `Heard from ${addresses.join(", ")}.`,
+  uncovered: (camera: number, region: string): string =>
+    `No camera covers region ${String(camera)} (${region})`,
+  uncoveredDetail: "Nothing in that part of the field is detected.",
+  unplaced: (camera: number, address: string): string =>
+    `Camera ${String(camera)} at ${address} isn't in the layout`,
+  unplacedDetail:
+    "It sends detections, but vision.yml has no camera with that ID.",
+  fileChanged: (path: string): string => `${path} changed on disk`,
+  fileChangedDetail: (differences: number): string =>
+    `${String(differences)} difference(s) from what the GUI has.`,
+  socket: (label: string, problem: string): string =>
+    `${label} socket: ${problem}`,
+  socketDetail: (address: string): string =>
+    `On ${address}. The host retries every 5 s.`,
+  socketLabels: { vision: "Vision", gc: "Game controller" },
+  visionSilent: "No detections heard",
+  gcSilent: "No game controller heard",
+  silentDetail: (address: string, everHeard: boolean): string =>
+    `Nothing received on ${address}${everHeard ? " recently" : " yet"}.`,
+  teamDefaultHeight: (color: string, team: string): string =>
+    `${color} team "${team}" would get a default robot height`,
+  colorDefaultHeight: (color: string): string =>
+    `${color} robots would get a default robot height`,
+  heightsUnreadable: (file: string): string =>
+    `Can't read the robot height table ${file}`,
+  loopback: (iface: string): string => `Multicast is off on ${iface}`,
+  loopbackDetail:
+    "Only matters when programs on this machine talk over loopback.",
+
+  // Titles for the host's per-camera warning codes (gui/internal/config's
+  // status.go). The host's own message is the detail. Unlisted codes show
+  // the code itself.
+  cameraWarning: (camera: number, code: string): string =>
+    `Camera ${String(camera)}: ${CAMERA_WARNING_TITLES[code] ?? code.replaceAll("_", " ")}`,
+};
+
+const CAMERA_WARNING_TITLES: Record<string, string> = {
+  field_changed: "calibration predates a field change",
+  calibration_aspect_mismatch: "calibration doesn't match the resolution",
+  seed_stale: "line corners picked for another region",
+  seed_aspect_mismatch: "line corners don't match the resolution",
+  seed_rescalable: "line corners need rescaling",
+  seed_resolution_unknown: "line corners have no recorded resolution",
+};
diff --git a/gui/frontend/src/lib/text/app.ts b/gui/frontend/src/lib/text/app.ts
new file mode 100644
index 0000000..aa9f32d
--- /dev/null
+++ b/gui/frontend/src/lib/text/app.ts
@@ -0,0 +1,53 @@
+// The page frame (layout/Shell.svelte) and config syncing (config.svelte.ts):
+// header badge tooltips, the settings menu's prompts, and edit conflicts.
+
+export const app = {
+  competitionField: {
+    label: "Competition Field",
+    title:
+      "A match setup with a game controller. Heights are kept per team so they follow color switches, and missing setup shows as errors. Off: lab use, heights per color.",
+  },
+  // Headers over the tab bar's two groups.
+  tabGroups: {
+    global: "Global Configs",
+    perCamera: (camera: number | undefined): string =>
+      camera === undefined
+        ? "Per-Camera Configs"
+        : `Per-Camera Configs - Field Cam #${String(camera)}`,
+  },
+  socketBadge: {
+    notOpen: (problem: string): string =>
+      `Not open: ${problem}. Retrying. Click to configure.`,
+    receiving: (address: string): string =>
+      `Receiving on ${address}. Click to configure.`,
+    silent: "Nothing heard on this address. Click to configure.",
+  },
+  discardAndReload: (unsaved: number): string =>
+    `Discard ${String(unsaved)} unsaved change(s) and reload from disk?`,
+  editedElsewhere: "Edited elsewhere at the same time; reloaded the latest.",
+
+  sidebar: {
+    instancesHelp:
+      "One row per camera role, not per machine -- a host running all 4 cameras of a quad setup appears here 4 times. From vision.yml's cameras list.",
+    noCameras: "Per-instance (no cameras yet)",
+  },
+
+  // The settings menu's file dialogs (layout/ConfigDialogs.svelte).
+  // `backticks` show as code.
+  dialogs: {
+    writesTo: (path: string): string => `Writes to \`${path}\`.`,
+    noChanges: "No unsaved changes.",
+    saveAsNote: "The GUI edits and watches the new file from then on.",
+    loadDiscards: (changes: number): string =>
+      `Loading discards ${String(changes)} unsaved change${changes === 1 ? "" : "s"}, and applies the loaded file live.`,
+    loadApplies: "The loaded file applies live.",
+    editedOutside: (path: string): string =>
+      `\`${path}\` was edited outside the GUI.`,
+    cantLoad: "It can't be loaded as it is:",
+    wouldChange: "Loading it would change:",
+    formattingOnly:
+      "The values match what's running; only formatting or comments differ.",
+    unsavedConflict: (changes: number): string =>
+      `You have ${String(changes)} unsaved change${changes === 1 ? "" : "s"}. Loading discards them; overwriting replaces the edited file with them.`,
+  },
+};
diff --git a/gui/frontend/src/lib/text/camera.ts b/gui/frontend/src/lib/text/camera.ts
new file mode 100644
index 0000000..c572a8d
--- /dev/null
+++ b/gui/frontend/src/lib/text/camera.ts
@@ -0,0 +1,106 @@
+// Camera Settings page (config/CameraPanel.svelte). Notes are the "Show
+// extra tooltips" text beside a setting; warnings always show under it.
+import { PLACEHOLDER_RANGE, SELECT_INSTANCE } from "./common";
+
+export const camera = {
+  heading: "Camera settings",
+  // The banner above the video. `backticks` show as code.
+  restartBanner: (camera: number): string =>
+    `These apply when cam ${String(camera)}'s vision_processor restarts: it reads \`camera:\` only at startup.`,
+  writesTo: (path: string): string => `The host writes them to \`${path}\`.`,
+  noConfigPath:
+    "This camera has no `config_path`, so the host doesn't write its config file; copy these to it by hand.",
+  slotChip:
+    "Which region of the field this camera covers. Change it on the Camera Layout page.",
+  noInstance: SELECT_INSTANCE,
+
+  driver: [
+    "SPINNAKER and MVIMPACT need vision_processor built with their SDKs.",
+    "Unset means SPINNAKER.",
+  ],
+  cameraIndex: ["Position in the SDK's camera list, in detection order."],
+
+  path: {
+    notes: [
+      "Device, image, or video file. Unset means /dev/video{id}.",
+      "The list shows cameras on the host running this GUI.",
+    ],
+    byId: "Follows this camera to any USB port.",
+    byPath: "Follows the USB port, whichever camera is in it.",
+    notOnHost: "Not on this host; fine if the camera is on another machine.",
+    unstable:
+      "/dev/videoN can change when devices re-enumerate. A /dev/v4l/by-id path follows the camera.",
+    kind: {
+      "by-id": "this camera, any port",
+      "by-path": "this USB port",
+      node: "may change",
+    },
+  },
+
+  resolution: {
+    opencv: [
+      "0 asks for the largest the camera offers.",
+      "Check the size under the video: OpenCV doesn't always get what it asks for.",
+    ],
+    sdk: [
+      "0 is the sensor's maximum.",
+      "Bayer cameras are processed at half this internally.",
+    ],
+    notWhole: "Width and height must be whole numbers.",
+    setBoth: "Set both, or 0 for both (the camera's maximum).",
+  },
+
+  exposure: {
+    notes: [
+      "Longer is brighter but blurs motion.",
+      "At or above the frame time (33 ms at 30 fps) the frame rate drops.",
+    ],
+    opencv: [
+      "Shown in the camera's 100 µs steps: vision_processor sends the file's value × 1000, so 166 here is 16.6 ms and the file stores 0.166.",
+      "Placeholder range: the UC70 dev camera's 3-2047.",
+    ],
+    sdk: [PLACEHOLDER_RANGE],
+    opencvAutoBroken:
+      "vision_processor's OpenCV driver sends auto_exposure = 1 for Auto, which V4L2 cameras read as Manual: the camera keeps its last exposure.",
+  },
+
+  gain: {
+    notes: [
+      "Brighter but noisier. Noise means more false blobs and more processing time.",
+      "Robot ids or team colors flickering means the image is too bright.",
+      "0 means automatic, so a manual gain of exactly 0 isn't possible.",
+    ],
+    opencv: [
+      "Auto leaves the camera's own setting: OpenCV doesn't turn auto gain on.",
+      "Placeholder range: the UC70 dev camera's 0-8.",
+    ],
+    sdk: [PLACEHOLDER_RANGE],
+  },
+
+  gamma: {
+    notes: [
+      "Below 1 evens out bright and dark areas; above 1 adds color contrast.",
+    ],
+    opencv: [
+      "V4L2 counts gamma × 100 and vision_processor sends the file's value unscaled, so 100 here is a gamma of 1.0.",
+      "Placeholder range: the UC70 dev camera's 100-300.",
+    ],
+    sdk: [PLACEHOLDER_RANGE],
+    opencvIgnored:
+      "vision_processor's OpenCV driver currently ignores gamma other than 1.0 (opencvdriver.cpp:43 checks the wrong way round).",
+  },
+
+  whiteBalance: {
+    profiles: [
+      "Outdoor and indoor are Spinnaker's two auto profiles, for green and gray carpet.",
+    ],
+    mvimpact: ["Automatic calibrates once, from the first frame after start."],
+    auto: ["Automatic turns on the camera's own auto white balance."],
+    channelOpencv: [
+      "Sent as V4L2 red/blue balance in camera units. Many UVC webcams only have a color temperature control, so this may do nothing; the UC70 dev camera has no red/blue controls at all.",
+      "Placeholder range: generic 8-bit.",
+    ],
+    channelSpinnaker: "Balance ratio relative to green; 1.0 is neutral.",
+    channelMvimpact: "Gain relative to green; 1.0 is neutral.",
+  },
+};
diff --git a/gui/frontend/src/lib/text/color.ts b/gui/frontend/src/lib/text/color.ts
new file mode 100644
index 0000000..75807c3
--- /dev/null
+++ b/gui/frontend/src/lib/text/color.ts
@@ -0,0 +1,29 @@
+// Color page (config/ColorPanel.svelte, config/YuvPositionPane.svelte,
+// config/WeightTriangle.svelte). `backticks` show as code.
+
+export const color = {
+  heading: "Color",
+  editing: (host: string, camera: number): string =>
+    `Editing ${host} / cam ${String(camera)}'s \`color:\` block.`,
+
+  updateWeights: {
+    heading: "Update weights",
+    intro:
+      "How much each new color leans on its configured reference vs. last frame's color vs. what was actually sampled this frame. Drag the marker, or edit the minimum reference weight directly -- see src/blobs/colorupdate.cpp's updateColor for the exact blend this mirrors.",
+    unlockTitle: "Unlock the reference weight floor?",
+    unlockBody:
+      "This floor keeps the reference color from being tuned toward 0. Reference is the only weight never gated on having samples this frame -- without a floor, a color that goes sample-starved for a while has nothing left pulling it back toward its configured value.",
+    unlockConfirm: "I understand, unlock",
+  },
+
+  picker: {
+    restoreAllTitle: "Restore all colors?",
+    restoreAllBody:
+      "Resets all six reference colors to their defaults. Undo can step back through them one color at a time.",
+    smallGamut: (percent: number, dark: boolean): string =>
+      `Only ${String(percent)}% of the square is a real color at this brightness -- the outlined shape, not a full square, is expected here: brightness this close to ${dark ? "black" : "white"} genuinely has few reachable colors. Not a rendering glitch.`,
+    help: (label: string): string =>
+      `Drag or click inside the square to set ${label}'s color at the brightness shown. Dragging the slider (or scrolling over either control) only previews a different brightness -- the marker stays exactly where the saved color actually is, even inside the shaded region if that color isn't reachable at the previewed brightness; nothing is saved until you click or drag inside the square again. Ctrl+Z (Cmd+Z on Mac) undoes the last drag, one gesture at a time. The currently-autoadapted position and per-frame blob samples aren't shown yet: both need the other contributor's protobuf work to reach this host.`,
+    defaultLabel: "the reference color",
+  },
+};
diff --git a/gui/frontend/src/lib/text/common.ts b/gui/frontend/src/lib/text/common.ts
new file mode 100644
index 0000000..381ab94
--- /dev/null
+++ b/gui/frontend/src/lib/text/common.ts
@@ -0,0 +1,9 @@
+// Phrases more than one page uses.
+
+export const PLACEHOLDER_RANGE =
+  "Placeholder range until vision_processor reports the camera's.";
+
+export const NO_HOST = "(no host)";
+
+// Shown on a per-camera page when no camera is selected.
+export const SELECT_INSTANCE = "Select a vision processor on the left first.";
diff --git a/gui/frontend/src/lib/text/configFields.ts b/gui/frontend/src/lib/text/configFields.ts
new file mode 100644
index 0000000..d1bcfc7
--- /dev/null
+++ b/gui/frontend/src/lib/text/configFields.ts
@@ -0,0 +1,59 @@
+// The config.yml settings each placeholder page lists
+// (config/ConfigFieldList.svelte), with the comment config.yml gives each.
+// Copied from config.yml; keep them in step with it.
+import type { ConfigField } from "../layout/configCategories";
+
+export const CONFIG_FIELDS = {
+  camera: [
+    { name: "driver", comment: "SPINNAKER, MVIMPACT, or OPENCV" },
+    { name: "id / path", comment: "Which camera device" },
+    { name: "width / height", comment: "0 = highest supported resolution" },
+    { name: "exposure", comment: "ms; 0.0 = automatic" },
+    { name: "gain", comment: "0.0 = automatic" },
+    { name: "gamma", comment: "1.0 = no gamma" },
+    { name: "white_balance", comment: "OUTDOOR/INDOOR, or manual red/blue" },
+  ],
+  geometry: [
+    { name: "camera_amount", comment: "Total cameras over the field" },
+    {
+      name: "camera_height",
+      comment: "mm; 0.0 = automatic (fails if camera looks perpendicular)",
+    },
+    {
+      name: "line_corners",
+      comment:
+        "Pixel corners for calibration seeding -- this is what the Corner Picker below produces",
+    },
+    { name: "refinement", comment: "Field line pixel refinement toggle" },
+    { name: "field_line_threshold", comment: "0-255 brightness delta" },
+    { name: "min_line_segment_length", comment: "px" },
+    { name: "max_line_segment_offset", comment: "px" },
+    { name: "max_line_segment_angle", comment: "degrees" },
+  ],
+  color: [
+    { name: "reference_force", comment: "0.0 - 0.5-history_force/2" },
+    { name: "history_force", comment: "0.0 - 1.0-reference_force" },
+    { name: "orange / field", comment: "ball / carpet reference colors" },
+    { name: "yellow / blue", comment: "center blob reference colors" },
+    { name: "green / pink", comment: "side blob reference colors" },
+  ],
+  network: [
+    { name: "gc_ip / gc_port", comment: "game controller multicast" },
+    { name: "vision_ip / vision_port", comment: "vision multicast" },
+  ],
+  stream: [
+    { name: "active", comment: "encode and send a live stream" },
+    { name: "raw_feed", comment: "raw camera footage only" },
+    { name: "ip_base_prefix / ip_base_end", comment: "stream destination" },
+    { name: "port", comment: "stream port" },
+  ],
+  debug: [
+    { name: "ground_truth", comment: "used by blob/geometry benchmarks" },
+    { name: "wait_for_geometry", comment: "hold frames until calibrated" },
+    { name: "debug_images", comment: "save additional debug images in img/" },
+    {
+      name: "debug_stream_interval_ms",
+      comment: "periodic img/.sample.<camId>.png while uncalibrated",
+    },
+  ],
+} satisfies Record<string, ConfigField[]>;
diff --git a/gui/frontend/src/lib/text/docs.ts b/gui/frontend/src/lib/text/docs.ts
new file mode 100644
index 0000000..83c6b71
--- /dev/null
+++ b/gui/frontend/src/lib/text/docs.ts
@@ -0,0 +1,170 @@
+// Resolution docs for known alerts, behind the Alerts page's "How to fix":
+// short, self-contained steps an operator can follow at the field. An alert
+// links to one by id (AlertAction "doc"); the Alerts page shows it in a
+// dialog. Add a doc here, then reference it
+// from the alert in alerts/alerts.ts.
+//
+// Each step is plain text; a step starting with "$ " is shown as a command.
+
+export interface ResolutionDoc {
+  title: string;
+  // Why it happens, in a sentence or two.
+  cause: string;
+  steps: string[];
+}
+
+export const RESOLUTION_DOCS = {
+  "config-render-failed": {
+    title: "A camera's config.yml can't be written",
+    cause:
+      "The host regenerates each local camera's config.yml from vision.yml on every change. Writing it failed, so that vision_processor keeps its old settings.",
+    steps: [
+      "Read the error on the alert: usually a missing directory or a permission problem.",
+      "Check the camera's config_path in vision.yml points somewhere this host can write.",
+      "Fix the path or permissions; the host retries on the next change.",
+    ],
+  },
+  "camera-id-conflict": {
+    title: "Two vision_processors send the same camera ID",
+    cause:
+      "Each vision_processor must have its own cam_id. Two with the same one overwrite each other's detections and fight over one calibration.",
+    steps: [
+      "Open Camera Layout and note the addresses listed for this camera ID.",
+      "On one of those machines, change cam_id in its config.yml to the free region it actually covers.",
+      "Restart that vision_processor. The conflict clears within a few seconds.",
+    ],
+  },
+  "socket-problem": {
+    title: "A network socket isn't fully open",
+    cause:
+      "The host couldn't join the multicast group or open a send socket, often because no network interface is usable (cable unplugged, suspended, or every interface skipped).",
+    steps: [
+      "Check the machine's network cable or Wi-Fi.",
+      "On the Network page, check the host interfaces: with Auto off, at least one must be selected.",
+      "The host retries every 5 s; nothing needs restarting once the network is back.",
+    ],
+  },
+  "vision-silent": {
+    title: "No detections heard",
+    cause:
+      "No vision_processor detection packets arrived on the vision address. Either nothing is running, or the address, port, or network differs.",
+    steps: [
+      "Check at least one vision_processor is running.",
+      "On the Network page, check the vision address and port match its config.yml (defaults.network in vision.yml).",
+      "Check both machines are on the same network and the switch passes multicast.",
+    ],
+  },
+  "gc-silent": {
+    title: "No game controller heard",
+    cause:
+      "No referee messages arrived on the game controller address. Fine when no game controller is running.",
+    steps: [
+      "If a game controller should be running, check its publish address and port match the Network page.",
+      "Check both machines are on the same network.",
+    ],
+  },
+  "team-height-missing": {
+    title: "A team would get a default robot height",
+    cause:
+      "vision_processor looks each team up in its height table by its exact game controller name. A team that isn't listed keeps that color's previous height: the table's mean before any known team has played, otherwise the last known team's, which after a color switch is the other team's. Robots are then placed at the wrong height, which shifts them on the field.",
+    steps: [
+      "Open the Overview page and find the team under Teams.",
+      "Turn off Derive from game controller, then pick the table entry that matches the team, or Custom and enter its robot height in mm.",
+      "Save. The override is kept by team name, so it follows the team if the colors are switched.",
+      "Until vision_processor reads these overrides, also add the team to the height table (bot_heights_file, robot-heights.yml by default) under its exact game controller name, and restart the vision_processors.",
+    ],
+  },
+  "heights-unreadable": {
+    title: "The robot height table can't be read",
+    cause:
+      "vision_processor needs its bot_heights_file to place robots at the right height, and fails to start without it.",
+    steps: [
+      "Check the path in vision.yml's defaults.bot_heights_file (robot-heights.yml when unset). A relative path is relative to where vision_processor runs.",
+      "Check the file is valid YAML: one `team name: height in mm` per line.",
+    ],
+  },
+  "loopback-multicast-off": {
+    title: "Multicast is off on the loopback interface",
+    cause:
+      "Programs on this machine that multicast over loopback (e.g. a vision_processor and the GUI on one laptop with no network) won't hear each other.",
+    steps: [
+      "Enable it until the next reboot:",
+      "$ sudo ip link set lo multicast on",
+      "Not needed when every program uses a real network interface.",
+    ],
+  },
+  "region-uncovered": {
+    title: "A region of the field has no camera",
+    cause:
+      "The camera count splits the field into regions, and no camera is assigned to this one. Nothing there is detected.",
+    steps: [
+      "Open Camera Layout.",
+      "Assign a camera to the region, add the vision_processor heard for it, or lower the camera count.",
+    ],
+  },
+  "camera-unplaced": {
+    title: "A vision_processor isn't in the layout",
+    cause:
+      "Detections arrive with a camera ID that no camera in vision.yml has, so the GUI can't configure or calibrate it.",
+    steps: [
+      "Open Camera Layout and find it under Heard but not placed.",
+      "Add it as a camera, or fix its cam_id if it's wrong.",
+    ],
+  },
+  "file-changed": {
+    title: "vision.yml changed on disk",
+    cause:
+      "Something other than this GUI edited vision.yml since it was loaded or saved.",
+    steps: [
+      "Open the settings menu (gear, top right).",
+      "Load from disk to take the file's version, or Save to overwrite it with the GUI's.",
+    ],
+  },
+  "seed-stale": {
+    title: "Line corners were picked for another region",
+    cause:
+      "The camera moved to a different region (Camera Layout), so its picked corners mark the wrong field corners.",
+    steps: [
+      "Open the camera's Geometry tab.",
+      "Move the corner markers onto the corners of the new region; the first goes on the region's (minX, minY) corner, as the picker says.",
+      "Restart the vision_processor so it recalibrates.",
+    ],
+  },
+  "seed-resolution": {
+    title: "Line corners don't match the camera resolution",
+    cause:
+      "The corners were picked on an image of a different size than the camera now sends.",
+    steps: [
+      "Open the camera's Geometry tab.",
+      "Same aspect ratio: use Rescale corners. Different aspect ratio: re-pick them.",
+    ],
+  },
+  "seed-resolution-unknown": {
+    title: "Line corners have no recorded resolution",
+    cause:
+      "They were saved before the resolution was recorded (e.g. imported from an old config.yml), so a resolution change can't be detected.",
+    steps: [
+      "Open the camera's Geometry tab and move any marker; that records the resolution.",
+    ],
+  },
+  "calibration-field-changed": {
+    title: "Locked calibration predates a field change",
+    cause:
+      "The field dimensions changed after this calibration was locked, so it was solved against the old field lines.",
+    steps: [
+      "Open the camera's Geometry tab.",
+      "Unlock the calibration and restart the vision_processor to recalibrate, then lock the new one.",
+    ],
+  },
+  "calibration-resolution": {
+    title: "Locked calibration doesn't match the camera resolution",
+    cause:
+      "The calibration was solved at a different aspect ratio than the camera now sends; vision_processor can't rescale it.",
+    steps: [
+      "Open the camera's Geometry tab.",
+      "Unlock, restart the vision_processor to recalibrate, then lock again.",
+    ],
+  },
+} satisfies Record<string, ResolutionDoc>;
+
+export type DocId = keyof typeof RESOLUTION_DOCS;
diff --git a/gui/frontend/src/lib/text/geometry.ts b/gui/frontend/src/lib/text/geometry.ts
new file mode 100644
index 0000000..9cbd749
--- /dev/null
+++ b/gui/frontend/src/lib/text/geometry.ts
@@ -0,0 +1,49 @@
+// Geometry page (config/GeometryPanel.svelte, config/CalibrationCard.svelte).
+
+export const geometry = {
+  heading: "Geometry",
+  // `backticks` show as code.
+  intro: (host: string, camera: number): string =>
+    `${host} / cam ${String(camera)}. The numeric settings below (config.yml's \`geometry:\` block) aren't editable here yet; the calibration and corner picker are, and apply live.`,
+
+  calibration: {
+    locked: "Locked",
+    lockedDetail: (when: string, resolution: string): string =>
+      `at ${when} (${resolution}). Published in place of anything the camera sends, and kept across restarts once saved.`,
+    live: "Live, not locked",
+    liveDetail:
+      ". The camera calibrated itself; it recalibrates on its next restart unless you lock this.",
+    none: "None.",
+    noneDetail: "No calibration received from this camera yet.",
+    unlock: "Unlock (recalibrates on processor restart)",
+    footer:
+      "Locking and unlocking apply immediately; Save writes them to the file. There's no way yet to make a running vision_processor recalibrate on request -- it needs a restart.",
+  },
+
+  cornerPicker: {
+    title: "Corner picker",
+    intro:
+      "Drag the four markers onto the real field corners in the image below, then click the number on whichever one sits where the goal line meets the touchline nearest this field's (0,0) corner -- that one turns green and becomes first in the output. The other three can be in any order; the calibration algorithm works that out itself. Changes apply when you let go of a marker; Save keeps them.",
+    region: (
+      camera: number,
+      count: number,
+      label: string,
+      bounds: { minX: number; maxX: number; minY: number; maxY: number },
+    ): string =>
+      `This camera covers region ${String(camera)} of ${String(count)} (${label}): x ${String(bounds.minX)} … ${String(bounds.maxX)}, y ${String(bounds.minY)} … ${String(bounds.maxY)} mm. The first marker goes on its (${String(bounds.minX)}, ${String(bounds.minY)}) corner.`,
+    rescalable: (picked: string, image: string): string =>
+      `Corners were picked at ${picked}, but this image is ${image}. Same aspect ratio, so they can be scaled to fit.`,
+    rescale: (image: string): string => `Rescale corners to ${image}`,
+    otherAspect: (picked: string, image: string): string =>
+      `Corners were picked at ${picked}, but this image is ${image} -- a different aspect ratio, so they can't be scaled. Re-pick them on this image.`,
+    unknownResolution:
+      "These corners were saved without the resolution they were picked at, so a camera resolution change can't be detected. Move any marker to record it.",
+  },
+
+  lockTitle: "Store the calibration this camera last sent",
+  nothingToLock: "No calibration received from this camera yet",
+  relock: "Re-lock latest live calibration",
+  lock: "Lock current calibration",
+  confirmUnlock: (camera: number): string =>
+    `Unlock camera ${String(camera)}'s calibration? It stops being published now, and the camera recalibrates the next time its vision_processor restarts.`,
+};
diff --git a/gui/frontend/src/lib/text/layout.ts b/gui/frontend/src/lib/text/layout.ts
new file mode 100644
index 0000000..ef975d9
--- /dev/null
+++ b/gui/frontend/src/lib/text/layout.ts
@@ -0,0 +1,62 @@
+// Camera Layout page (config/LayoutPanel.svelte, config/LayoutMap.svelte).
+// Functions fill in values; edit the words around them freely.
+
+const plural = (n: number, word: string): string =>
+  `${word}${n === 1 ? "" : "s"}`;
+
+export const layout = {
+  heading: "Camera Layout",
+  intro:
+    "Each vision_processor covers one region of the field. Its camera ID and the camera count decide which region, and so the corners its calibration fits to. One host can run any number of cameras.",
+
+  cameraCount: [
+    "vision_processor's geometry.camera_amount. The field is halved along its longer side for each doubling.",
+  ],
+  uncovered: (ids: number[]): string =>
+    `No camera covers ${plural(ids.length, "region")} ${ids.join(", ")}.`,
+  countTooSmall: "Move cameras with higher IDs to lower ones first.",
+  eachRegion: "plus the boundary on outer edges",
+
+  axes: (flipX: boolean, flipY: boolean): string =>
+    `+x points ${flipX ? "left" : "right"}, +y ${flipY ? "down" : "up"}`,
+  mapHelp:
+    "Click a region to select it; it plays live. The view is saved in this browser only.",
+
+  conflict:
+    "Several vision_processors send this camera ID. Each must have its own; check their cam_id.",
+  cameraPicker: ["Picking a camera that covers another region swaps the two."],
+  videoOrientation: [
+    "Turns this camera's video to match the field, for a camera mounted at an angle. Only the GUI uses it.",
+  ],
+  remote:
+    "Remote: this host can't write its config.yml yet. Set cam_id there by hand.",
+
+  unplaced: {
+    title: "Heard but not placed",
+    intro:
+      "These vision_processors send detections with a camera ID that no camera here has.",
+    outside: (count: number): string =>
+      `Outside the ${String(count)}-camera layout; its cam_id is wrong or the count is too low.`,
+  },
+
+  // The confirm dialog for a swap, move, or count change.
+  confirm: {
+    splitTitle: (count: number): string =>
+      `Split the field ${String(count)} ${plural(count, "way")}`,
+    swapTitle: (a: number, b: number): string =>
+      `Swap cameras ${String(Math.min(a, b))} and ${String(Math.max(a, b))}`,
+    moveTitle: (from: number, to: number): string =>
+      `Move camera ${String(from)} to ${String(to)}`,
+    moved: (from: number, to: number): string =>
+      `camera ${String(from)} → ${String(to)}`,
+    newRegion: (id: number): string => `camera ${String(id)}, new region`,
+    settingsStay: "Camera and color settings stay with it.",
+    seedStale:
+      "Its line corners are kept but marked for re-picking: they were picked for the old region.",
+    calibrationRemoved:
+      "Its locked calibration is removed. It recalibrates when its vision_processor restarts.",
+    remote: "Remote: set its cam_id by hand.",
+    restart:
+      "vision_processor reads its camera ID and count only at startup. Restart the affected ones after saving.",
+  },
+};
diff --git a/gui/frontend/src/lib/text/links.ts b/gui/frontend/src/lib/text/links.ts
new file mode 100644
index 0000000..2360191
--- /dev/null
+++ b/gui/frontend/src/lib/text/links.ts
@@ -0,0 +1,7 @@
+// Every external link the GUI shows, by name, so a moved page is fixed in one
+// place. Reference them as links.<name>; don't paste URLs into components.
+//
+export const links = {
+  repository: "https://github.com/RoboCup-SSL/ssl-vision-processor",
+  issues: "https://github.com/RoboCup-SSL/ssl-vision-processor/issues",
+};
diff --git a/gui/frontend/src/lib/text/network.ts b/gui/frontend/src/lib/text/network.ts
new file mode 100644
index 0000000..7587a49
--- /dev/null
+++ b/gui/frontend/src/lib/text/network.ts
@@ -0,0 +1,107 @@
+// Network page (config/NetworkPanel.svelte, config/HostInterfaces.svelte)
+// and the address/port advice in network.svelte.ts. Advice warnings always
+// show; notes show with "Show extra tooltips".
+
+export const network = {
+  heading: "Network",
+  // `backticks` show as code.
+  intro:
+    "Shared by the host and every vision_processor (vision.yml's `defaults.network`). The host reopens its sockets as soon as a change applies. vision_processors read these only at startup, so restart them after a change.",
+  reopening: (address: string): string => `Reopening on ${address}…`,
+
+  interfaces: {
+    autoHint: "(skips loopback, disconnected, and virtual interfaces)",
+    waiting: "Waiting for the host…",
+    scope:
+      "Only this host's sockets; vision_processors use their system's default route. Broadcast receiving listens on every interface.",
+    loopbackOff: (iface: string): string =>
+      `Multicast is off on \`${iface}\`. Programs on this machine that multicast over loopback won't hear each other. To enable it until reboot:`,
+    loopbackFix: (iface: string): string =>
+      `sudo ip link set ${iface} multicast on`,
+  },
+
+  errors: {
+    notIPv4: "Not an IPv4 address.",
+    zeroAddress: "0.0.0.0 isn't a destination.",
+    portRange: "Must be 1 to 65535.",
+    sameAddress:
+      "Vision and game controller can't use the same address and port.",
+  },
+
+  kind: { vision: "vision", gc: "game controller" },
+
+  // Other well known SSL UDP ports, for "Normally ...'s port" notes.
+  knownPorts: {
+    10003: "the game controller",
+    10013: "the backup game controller",
+    10005: "legacy vision",
+    10006: "vision",
+    10016: "backup vision",
+    10010: "the tracker",
+  } as Record<number, string>,
+
+  presets: {
+    standardMulticast: "Standard multicast",
+    broadcastAll: "Broadcast, all interfaces",
+    broadcastOn: (iface: string, address: string): string =>
+      `Broadcast, ${iface} (${address})`,
+    standard: "Standard",
+    backup: "Backup",
+    legacy: "Legacy",
+  },
+
+  // A socket's state under its card, and the badge tooltips in the header.
+  status: {
+    waiting: "Waiting for the host…",
+    notOpen: (problem: string): string => `Not open: ${problem}. Retrying…`,
+    viaPort: " (listening on the port)",
+    neverHeard: (what: string, via: string): string =>
+      `No ${what} heard on this address yet${via}.`,
+    receiving: (
+      heard: number,
+      what: string,
+      from: string,
+      via: string,
+    ): string => `Receiving: ${String(heard)} ${what}, latest${from}${via}.`,
+    silent: (seconds: string, from: string, via: string): string =>
+      `Silent for ${seconds} s (last${from})${via}.`,
+    from: (source: string): string => ` from ${source}`,
+    visionWhat: "detection packets",
+    gcWhat: "referee messages",
+    overriding: (cameras: number[]): string =>
+      `Camera${cameras.length === 1 ? "" : "s"} ${cameras.join(", ")} override${cameras.length === 1 ? "s" : ""} these in their own config, so their vision_processor uses different groups than the host.`,
+  },
+
+  address: {
+    loopback: "Loopback: only reaches this machine.",
+    reserved:
+      "224.0.0.x is reserved for routing protocols. Pick another group.",
+    sourceSpecific:
+      "232.x is source-specific multicast: plain joins may receive nothing.",
+    otherStandard: (kind: string): string =>
+      `Standard ${kind} group. Works on a different port.`,
+    nonStandard:
+      "Non-standard group. Every SSL tool on the field must use it too.",
+    sameMac: (group: string): string =>
+      `Same Ethernet MAC as ${group}: switches can't filter them apart.`,
+    broadcastAll:
+      "Broadcast: floods the subnet. vision_processor sends it out its default route only.",
+    broadcastOn: (iface: string): string =>
+      `Subnet broadcast on ${iface}: floods the subnet.`,
+    unknownBroadcast:
+      "Not multicast. Looks like a subnet broadcast, but no interface on this host has it.",
+    unicast:
+      "Not multicast or broadcast: only the machine at this IP receives.",
+  },
+
+  port: {
+    privileged: (start: number, root: boolean): string =>
+      `Below ${String(start)}: binding needs root or CAP_NET_BIND_SERVICE, here and on every vision_processor${root ? " (this host runs as root)" : ""}.`,
+    legacy:
+      "Legacy 2014 format port: old clients get detections but not this geometry.",
+    backup: "Backup (+10) port, for a redundant second system.",
+    known: (user: string): string => `Normally ${user}'s port.`,
+    nonStandard:
+      "Non-standard port. Every SSL tool on the field must use it too.",
+  },
+};
diff --git a/gui/frontend/src/lib/text/overview.ts b/gui/frontend/src/lib/text/overview.ts
new file mode 100644
index 0000000..101d9b9
--- /dev/null
+++ b/gui/frontend/src/lib/text/overview.ts
@@ -0,0 +1,41 @@
+// Overview page (config/OverviewPanel.svelte): the current match's teams and
+// the robot height used for each. `backticks` show as code.
+
+export const overview = {
+  teams: {
+    title: "Teams",
+    notApplied:
+      "Shown here only for now: vision_processor still takes the team names from the game controller and looks their heights up in its height table.",
+    yellow: "Yellow",
+    blue: "Blue",
+    fromGameController: "Derive from game controller",
+    fromGameControllerNotes: [
+      "On: the game controller's team and its height from the height table. Off: pick a table entry, or enter a custom height.",
+      "On a competition field the choice is kept for the team, so it follows the team if the colors are switched. Otherwise it's kept for the color.",
+    ],
+    team: "Team",
+    custom: "Custom",
+    customHeight: "Height",
+    waiting:
+      "Waiting for the game controller: on a competition field, heights are set per team once it names them.",
+    noGameController: "No game controller",
+    defaultHeight: (mm: number): string => `default height (${String(mm)} mm)`,
+    noName: "(no name)",
+    height: (mm: number): string => `${String(mm)} mm`,
+    notInTable: "not in the height table",
+    // Why a team would get vision_processor's default height.
+    issue: {
+      notInTable:
+        "Not in the height table, so vision_processor uses a default height. Turn off Derive and enter a custom height, then Save.",
+      customMissing:
+        "Custom height not entered, so the default height applies. Enter it, then Save.",
+      noHeight:
+        "No game controller team and no height set, so vision_processor uses a default height. Turn off Derive and enter a custom height, then Save.",
+      unsaved: "Not saved yet. Save to write it to disk.",
+    },
+    table: (file: string, fallback: number, max: number): string =>
+      `Heights from \`${file}\`. A team not in it gets the default, ${String(fallback)} mm; field checks use the tallest, ${String(max)} mm.`,
+    tableError: (file: string, error: string): string =>
+      `Can't read the height table \`${file}\`: ${error}`,
+  },
+};
diff --git a/gui/frontend/src/lib/text/placeholder.ts b/gui/frontend/src/lib/text/placeholder.ts
new file mode 100644
index 0000000..bda117a
--- /dev/null
+++ b/gui/frontend/src/lib/text/placeholder.ts
@@ -0,0 +1,15 @@
+// Pages not built yet (config/ConfigCategoryPlaceholder.svelte), and the
+// Stream page (config/StreamPanel.svelte). `backticks` show as code.
+
+export const placeholder = {
+  editing: (host: string, camera: number, key: string): string =>
+    `Editing ${host} / cam ${String(camera)}'s \`${key}:\` block. Not wired to a backend yet -- there is nowhere to read or write a specific instance's config.yml over the network. See \`internal/config\` in gui/CLAUDE.md's "Not yet built".`,
+  contributing:
+    "Contributing this panel? Replace this file with a real form for the fields below (see config.yml at the repo root for exact defaults/ranges).",
+};
+
+export const stream = {
+  heading: "Live video",
+  intro: (host: string, camera: number): string =>
+    `${host} / cam ${String(camera)}'s H.264 stream, relayed by the host without re-encoding. vision_processor cycles through its views (raw, then processed) unless \`stream.raw_feed\` is set. For exact pixels, such as picking corners, use the snapshots on the Geometry tab.`,
+};
diff --git a/gui/frontend/src/lib/text/video.ts b/gui/frontend/src/lib/text/video.ts
new file mode 100644
index 0000000..daddb6c
--- /dev/null
+++ b/gui/frontend/src/lib/text/video.ts
@@ -0,0 +1,24 @@
+// Live video (video/VideoPlayer.svelte, video/videoStream.ts): what shows
+// over the picture while there's nothing to play.
+
+export const video = {
+  connecting: "Connecting…",
+  streamingOff:
+    "Streaming is off for this camera (stream.active). Nothing to show.",
+  cantListen: (address: string, problem: string): string =>
+    `Can't listen for video on ${address}: ${problem}. Retrying…`,
+  waiting: (address: string): string =>
+    `Waiting for video on ${address}. Is the vision_processor running?`,
+  waitingKeyframe: "Waiting for a keyframe…",
+  // The rate frames arrive from vision_processor.
+  receivedFps: (fps: number): string => `${fps.toFixed(3)} fps received`,
+  fps: (fps: number): string => `${fps.toFixed(3)} fps`,
+  fpsTitle:
+    "Frames per second arriving from vision_processor, not the rate shown here.",
+  noMSE: "This browser doesn't support Media Source Extensions.",
+  unsupportedCodec: (codec: string): string =>
+    `This browser can't play ${codec} (H.264). On Linux, Chromium and Firefox need the system's FFmpeg libraries; Google Chrome bundles its own.`,
+  lostConnection: "Lost the connection to the host. Reconnecting…",
+  decodeError: (message: string): string => `Video decode error: ${message}`,
+  playbackFailed: (err: string): string => `Playback failed: ${err}`,
+};
diff --git a/gui/frontend/src/lib/text/wizard.ts b/gui/frontend/src/lib/text/wizard.ts
new file mode 100644
index 0000000..26acbef
--- /dev/null
+++ b/gui/frontend/src/lib/text/wizard.ts
@@ -0,0 +1,14 @@
+// Setup wizard (wizard/).
+
+export const wizard = {
+  start: "Start from a regulation field, or configure a custom one.",
+  markings: "Which markings does this field have?",
+  review: "Review, then apply to put these values live on the field.",
+  // `backticks` show as code.
+  applyNote: (path: string): string =>
+    `Applying takes effect immediately but doesn't save -- use Save in the settings menu (or Ctrl+S) to write \`${path}\`, then calibrate each camera on its own Geometry tab.`,
+  layoutCount: (regions: number, half: boolean): string =>
+    `Sets the layout to ${String(regions)} region${regions === 1 ? "" : "s"}${half ? ", since a half field is half of a full one" : ""}. Assign cameras to regions on the Camera Layout page.`,
+  finishCameras: (regions: number, changes: boolean): string =>
+    `Cameras: ${String(regions)} region${regions === 1 ? "" : "s"}${changes ? ". This changes every camera's region: their line corners need re-picking and locked calibrations are removed." : ""}`,
+};
diff --git a/gui/frontend/src/lib/video/VideoPlayer.svelte b/gui/frontend/src/lib/video/VideoPlayer.svelte
index c5f68f2..17bc25b 100644
--- a/gui/frontend/src/lib/video/VideoPlayer.svelte
+++ b/gui/frontend/src/lib/video/VideoPlayer.svelte
@@ -6,6 +6,7 @@
     type StreamFormat,
     type StreamStatus,
   } from "./videoStream";
+  import { video as text } from "../text/video";
 
   // One camera's live stream. Built to be reused by a grid later: each
   // player owns its own connection, and "keyframes" mode costs a fraction of
@@ -19,6 +20,8 @@
     // width and height so it still fits the box.
     rotate?: number;
     mirror?: boolean;
+    // Each status message from the host, e.g. for its received frame rate.
+    onstatus?: (status: StreamStatus) => void;
   }
 
   let {
@@ -27,6 +30,7 @@
     compact = false,
     rotate = 0,
     mirror = false,
+    onstatus,
   }: Props = $props();
 
   let quarterTurn = $derived(((rotate % 180) + 180) % 180 === 90);
@@ -72,6 +76,7 @@
     const stream = new VideoStream(video, streamCamera, streamMode, {
       status: (s) => {
         status = s;
+        onstatus?.(s);
       },
       format: (f) => {
         format = f;
@@ -95,14 +100,11 @@
 
   let overlay = $derived.by((): string | null => {
     if (error) return error;
-    if (!status) return "Connecting…";
-    if (!status.active)
-      return `Streaming is off for this camera (stream.active). Nothing to show.`;
-    if (status.problem)
-      return `Can't listen for video on ${status.address}: ${status.problem}. Retrying…`;
-    if (!status.receiving)
-      return `Waiting for video on ${status.address}. Is the vision_processor running?`;
-    if (!format) return "Waiting for a keyframe…";
+    if (!status) return text.connecting;
+    if (!status.active) return text.streamingOff;
+    if (status.problem) return text.cantListen(status.address, status.problem);
+    if (!status.receiving) return text.waiting(status.address);
+    if (!format) return text.waitingKeyframe;
 
     return null;
   });
@@ -133,6 +135,7 @@
     {/if}
     {#if status}
       · {status.address}{status.source ? ` from ${status.source}` : ""}
+      {#if status.receiving}· {text.receivedFps(status.fps)}{/if}
     {/if}
     {#if mode === "keyframes"}
       · keyframes only
@@ -194,7 +197,7 @@
 
   .meta {
     margin: 0.3rem 0 0;
-    color: #666;
+    color: var(--text-muted);
     font-size: 0.8rem;
   }
 </style>
diff --git a/gui/frontend/src/lib/video/videoStream.ts b/gui/frontend/src/lib/video/videoStream.ts
index 9f1ae41..f6b9aac 100644
--- a/gui/frontend/src/lib/video/videoStream.ts
+++ b/gui/frontend/src/lib/video/videoStream.ts
@@ -8,6 +8,8 @@
 // falls more than maxLag behind the newest frame, and trims what's been
 // watched so memory stays bounded.
 
+import { video as text } from "../text/video";
+
 export type Mode = "full" | "keyframes";
 
 // Mirrors gui/internal/video's Status.
@@ -17,6 +19,9 @@ export interface StreamStatus {
   active: boolean;
   receiving: boolean;
   packets: number;
+  // The rate frames arrive from vision_processor over the last 200 ms, not
+  // what this player shows (keyframes mode shows about one a second).
+  fps: number;
   source?: string;
   // Why the host's socket isn't fully open; it retries until it is.
   problem?: string;
@@ -69,9 +74,7 @@ export class VideoStream {
 
   start(): void {
     if (typeof MediaSource === "undefined") {
-      this.events.error(
-        "This browser doesn't support Media Source Extensions.",
-      );
+      this.events.error(text.noMSE);
 
       return;
     }
@@ -108,7 +111,7 @@ export class VideoStream {
       if (this.stopped || this.ws !== ws) return;
 
       this.ws = null;
-      this.events.error("Lost the connection to the host. Reconnecting…");
+      this.events.error(text.lostConnection);
 
       const delay =
         RECONNECT_MS[Math.min(this.attempts, RECONNECT_MS.length - 1)] ?? 5000;
@@ -145,9 +148,7 @@ export class VideoStream {
 
     if (!MediaSource.isTypeSupported(mime)) {
       this.unsupported = true;
-      this.events.error(
-        `This browser can't play ${format.codec} (H.264). On Linux, Chromium and Firefox need the system's FFmpeg libraries; Google Chrome bundles its own.`,
-      );
+      this.events.error(text.unsupportedCodec(format.codec));
 
       return;
     }
@@ -209,7 +210,7 @@ export class VideoStream {
   private readonly onVideoError = (): void => {
     if (this.stopped || !this.video.error) return;
 
-    this.events.error(`Video decode error: ${this.video.error.message}`);
+    this.events.error(text.decodeError(this.video.error.message));
     this.resetMedia();
     this.ws?.close();
   };
@@ -245,7 +246,7 @@ export class VideoStream {
         this.queue.unshift(op);
         this.trim(0);
       } else {
-        this.events.error(`Playback failed: ${String(err)}`);
+        this.events.error(text.playbackFailed(String(err)));
         this.resetMedia();
         this.ws?.close();
       }
diff --git a/gui/frontend/src/lib/wizard/SetupWizard.svelte b/gui/frontend/src/lib/wizard/SetupWizard.svelte
index 9a06aea..0c08058 100644
--- a/gui/frontend/src/lib/wizard/SetupWizard.svelte
+++ b/gui/frontend/src/lib/wizard/SetupWizard.svelte
@@ -53,7 +53,7 @@
 -->
 <Modal
   bind:open={wizard.open}
-  title="Virtual field setup"
+  title="Field setup"
   size="lg"
   class="fixed inset-0 m-auto"
 >
@@ -72,7 +72,9 @@
   {/if}
 
   {#if showFooterNav}
-    <div class="flex justify-between border-t border-gray-200 pt-4">
+    <div
+      class="flex justify-between border-t border-gray-200 dark:border-gray-700 pt-4"
+    >
       <Button color="alternative" onclick={previousStep}>Back</Button>
       {#if isLastStep}
         <Button onclick={finishWizard}>Apply</Button>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte b/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
index 2626157..5987e5c 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
@@ -10,7 +10,7 @@
   // A short, curated list, not FieldEditor's full one: goal depth/height, line
   // thickness, ball radius, and max robot radius are close enough to standard
   // for most setups to skip asking here. They're still editable in the main
-  // Virtual Field window for anyone who needs to adjust them.
+  // Field Dimensions page for anyone who needs to adjust them.
   const WIZARD_DIMENSION_KEYS: FieldConfigField["key"][] = [
     "fieldWidth",
     "penaltyAreaDepth",
@@ -45,7 +45,9 @@
 </script>
 
 <div class="flex flex-col gap-2">
-  <p class="text-sm text-gray-600">All dimensions are in millimeters.</p>
+  <p class="text-sm text-gray-600 dark:text-gray-400">
+    All dimensions are in millimeters.
+  </p>
 
   {#if wizard.fieldLayout === "half"}
     <div class="flex items-center justify-between gap-2">
diff --git a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
index c53ea0d..d8a89bd 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
@@ -1,9 +1,11 @@
 <script lang="ts">
+  import RichText from "../../RichText.svelte";
   import { Li, List } from "flowbite-svelte";
   import { config } from "../../config.svelte";
   import { wizard, wizardCameraCount } from "../wizard.svelte";
   import { cameraCount } from "../../cameraLayout";
   import { OPTIONAL_LINE_FIELDS } from "../../fieldConfigFields";
+  import { wizard as text } from "../../text/wizard";
 
   let count = $derived(wizardCameraCount());
   let changes = $derived(
@@ -16,11 +18,11 @@
 </script>
 
 <div class="flex flex-col gap-3">
-  <p class="text-sm text-gray-700">
-    Review, then apply to put these values live on the field.
+  <p class="text-sm text-gray-700 dark:text-gray-300">
+    {text.review}
   </p>
 
-  <List class="flex flex-col gap-1 text-sm text-gray-700">
+  <List class="flex flex-col gap-1 text-sm text-gray-700 dark:text-gray-300">
     <Li>
       Field: {wizard.draft.field.fieldLength ?? 0}mm x {wizard.draft.field
         .fieldWidth ?? 0}mm
@@ -30,16 +32,11 @@
       {markings.length > 0 ? markings.map((f) => f.label).join(", ") : "none"}
     </Li>
     <Li>
-      Cameras: {count} region{count === 1 ? "" : "s"}{changes
-        ? ". This changes every camera's region: their line corners need re-picking and locked calibrations are removed."
-        : ""}
+      {text.finishCameras(count, changes)}
     </Li>
   </List>
 
-  <p class="text-sm text-gray-600">
-    Applying takes effect immediately but doesn't save -- use Save in the
-    settings menu (or Ctrl+S) to write <code
-      >{config.state?.path ?? "vision.yml"}</code
-    >, then calibrate each camera on its own Geometry tab.
+  <p class="text-sm text-gray-600 dark:text-gray-400">
+    <RichText text={text.applyNote(config.state?.path ?? "vision.yml")} />
   </p>
 </div>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte b/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
index ffd585f..8818a55 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardLayout.svelte
@@ -4,6 +4,7 @@
   import { wizard, wizardCameraCount } from "../wizard.svelte";
   import { config } from "../../config.svelte";
   import { minCameraCount } from "../../cameraLayout";
+  import { wizard as text } from "../../text/wizard";
 
   let min = $derived(config.doc ? minCameraCount(config.doc) : 1);
 
@@ -63,10 +64,6 @@
   </div>
 
   <Helper>
-    Sets the layout to {wizardCameraCount()} region{wizardCameraCount() === 1
-      ? ""
-      : "s"}{wizard.fieldLayout === "half"
-      ? ", since a half field is half of a full one"
-      : ""}. Assign cameras to regions on the Camera Layout page.
+    {text.layoutCount(wizardCameraCount(), wizard.fieldLayout === "half")}
   </Helper>
 </div>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte b/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
index f2b7c35..2595dea 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { wizard as text } from "../../text/wizard";
   import { Checkbox } from "flowbite-svelte";
   import { wizard } from "../wizard.svelte";
   import { OPTIONAL_LINE_FIELDS } from "../../fieldConfigFields";
@@ -7,7 +8,9 @@
 
 <div class="flex flex-col gap-4 sm:flex-row">
   <div class="flex flex-1 flex-col gap-2">
-    <p class="text-sm text-gray-600">Which markings does this field have?</p>
+    <p class="text-sm text-gray-600 dark:text-gray-400">
+      {text.markings}
+    </p>
 
     {#each OPTIONAL_LINE_FIELDS as { key, label } (key)}
       <Checkbox bind:checked={wizard.draft.optionalFieldLines[key]}>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardStart.svelte b/gui/frontend/src/lib/wizard/steps/WizardStart.svelte
index 8d39e03..949f5e0 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardStart.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardStart.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { wizard as text } from "../../text/wizard";
   import { onMount } from "svelte";
   import { Button, Spinner } from "flowbite-svelte";
   import { virtualField, loadFieldPresets } from "../../geometry.svelte";
@@ -18,12 +19,14 @@
 </script>
 
 <div class="flex flex-col gap-4">
-  <p class="text-sm text-gray-600">
-    Start from a regulation field, or configure a custom one.
+  <p class="text-sm text-gray-600 dark:text-gray-400">
+    {text.start}
   </p>
 
   {#if virtualField.presets.length === 0}
-    <div class="flex items-center gap-2 text-sm text-gray-500">
+    <div
+      class="flex items-center gap-2 text-sm text-gray-500 dark:text-gray-400"
+    >
       <Spinner size="4" /> Loading presets...
     </div>
   {:else}
diff --git a/gui/frontend/vite.config.ts b/gui/frontend/vite.config.ts
index 25d2a2f..93ae459 100644
--- a/gui/frontend/vite.config.ts
+++ b/gui/frontend/vite.config.ts
@@ -7,6 +7,11 @@ export default defineConfig({
   // tailwindcss() must come before svelte() so Tailwind's own PostCSS-less
   // Vite transform sees .svelte files before vite-plugin-svelte compiles them.
   plugins: [tailwindcss(), svelte()],
+  build: {
+    // One bundle on purpose: the host serves it over the local network, so
+    // splitting saves nothing. The default 500 kB warning only flags that.
+    chunkSizeWarningLimit: 1000,
+  },
   server: {
     // The Go host serves /api and /ws on :8085; everything else (this dev
     // server) is same-origin so no CORS handling is needed on either side.
diff --git a/gui/internal/config/advanced.go b/gui/internal/config/advanced.go
new file mode 100644
index 0000000..68d6d20
--- /dev/null
+++ b/gui/internal/config/advanced.go
@@ -0,0 +1,82 @@
+package config
+
+import (
+	"errors"
+	"fmt"
+
+	"gopkg.in/yaml.v3"
+)
+
+// advancedBlocks is the YAML shape of the thresholds: and tracking: blocks,
+// as src/Resources.cpp reads them.
+type advancedBlocks struct {
+	Thresholds struct {
+		Circularity        *float64 `yaml:"circularity"`
+		Score              *float64 `yaml:"score"`
+		Blobs              *int     `yaml:"blobs"`
+		MinConfidence      *float64 `yaml:"min_confidence"`
+		MinCamEdgeDistance *float64 `yaml:"min_cam_edge_distance"`
+		ResamplingFactor   *float64 `yaml:"resampling_factor"`
+		ClippingTolerance  *float64 `yaml:"clipping_tolerance"`
+		GeometryTolerance  *float64 `yaml:"geometry_tolerance"`
+	} `yaml:"thresholds"`
+	Tracking struct {
+		MinTrackingRadius  *float64 `yaml:"min_tracking_radius"`
+		MaxBotAcceleration *float64 `yaml:"max_bot_acceleration"`
+	} `yaml:"tracking"`
+}
+
+// validateAdvanced checks the thresholds and tracking values in an effective
+// config for what vision_processor would accept but misbehave on: a zero or
+// negative blob budget or resampling factor, a confidence outside 0-1, or a
+// negative distance.
+func validateAdvanced(effective map[string]any) error {
+	data, err := yaml.Marshal(map[string]any{
+		"thresholds": effective["thresholds"],
+		"tracking":   effective["tracking"],
+	})
+	if err != nil {
+		return err
+	}
+
+	var b advancedBlocks
+	if err := yaml.Unmarshal(data, &b); err != nil {
+		return fmt.Errorf("thresholds/tracking: %w", err)
+	}
+
+	var errs error
+
+	add := func(format string, args ...any) { errs = errors.Join(errs, fmt.Errorf(format, args...)) }
+
+	t := b.Thresholds
+	if t.Blobs != nil && *t.Blobs < 1 {
+		add("thresholds.blobs: must be at least 1, got %d", *t.Blobs)
+	}
+
+	if t.MinConfidence != nil && (*t.MinConfidence < 0 || *t.MinConfidence > 1) {
+		add("thresholds.min_confidence: want 0-1, got %g", *t.MinConfidence)
+	}
+
+	if t.ResamplingFactor != nil && *t.ResamplingFactor <= 0 {
+		add("thresholds.resampling_factor: must be positive, got %g", *t.ResamplingFactor)
+	}
+
+	for _, f := range []struct {
+		name  string
+		value *float64
+	}{
+		{"thresholds.circularity", t.Circularity},
+		{"thresholds.score", t.Score},
+		{"thresholds.min_cam_edge_distance", t.MinCamEdgeDistance},
+		{"thresholds.clipping_tolerance", t.ClippingTolerance},
+		{"thresholds.geometry_tolerance", t.GeometryTolerance},
+		{"tracking.min_tracking_radius", b.Tracking.MinTrackingRadius},
+		{"tracking.max_bot_acceleration", b.Tracking.MaxBotAcceleration},
+	} {
+		if f.value != nil && *f.value < 0 {
+			add("%s: must not be negative, got %g", f.name, *f.value)
+		}
+	}
+
+	return errs
+}
diff --git a/gui/internal/config/advanced_test.go b/gui/internal/config/advanced_test.go
new file mode 100644
index 0000000..335e1bf
--- /dev/null
+++ b/gui/internal/config/advanced_test.go
@@ -0,0 +1,40 @@
+package config
+
+import (
+	"strings"
+	"testing"
+)
+
+func TestValidateChecksThresholdsAndTracking(t *testing.T) {
+	for _, tc := range []struct {
+		name   string
+		block  string
+		values map[string]any
+		reason string
+	}{
+		{"no blobs", "thresholds", map[string]any{"blobs": 0}, "thresholds.blobs"},
+		{"confidence above 1", "thresholds", map[string]any{"min_confidence": 1.5}, "thresholds.min_confidence"},
+		{"zero resampling", "thresholds", map[string]any{"resampling_factor": 0}, "thresholds.resampling_factor"},
+		{"negative tolerance", "thresholds", map[string]any{"geometry_tolerance": -1}, "thresholds.geometry_tolerance"},
+		{"negative acceleration", "tracking", map[string]any{"max_bot_acceleration": -2}, "tracking.max_bot_acceleration"},
+	} {
+		t.Run(tc.name, func(t *testing.T) {
+			doc := loadFixture(t)
+			doc.Defaults[tc.block] = tc.values
+
+			if err := doc.Validate(); err == nil || !strings.Contains(err.Error(), tc.reason) {
+				t.Fatalf("Validate = %v, want an error mentioning %q", err, tc.reason)
+			}
+		})
+	}
+}
+
+func TestValidateAcceptsSensibleThresholds(t *testing.T) {
+	doc := loadFixture(t)
+	doc.Defaults["thresholds"] = map[string]any{"circularity": 20.0, "blobs": 3000, "min_confidence": 0.3, "resampling_factor": 0.5}
+	doc.Defaults["tracking"] = map[string]any{"min_tracking_radius": 30.0, "max_bot_acceleration": 8.0}
+
+	if err := doc.Validate(); err != nil {
+		t.Fatalf("Validate: %v", err)
+	}
+}
diff --git a/gui/internal/config/diff.go b/gui/internal/config/diff.go
index 3712d66..de58f32 100644
--- a/gui/internal/config/diff.go
+++ b/gui/internal/config/diff.go
@@ -15,6 +15,8 @@ const (
 	SectionNetwork  = "network"
 	SectionCamera   = "camera"
 	SectionLayout   = "layout"
+	SectionAdvanced = "advanced"
+	SectionOverview = "overview"
 	SectionOther    = "other"
 )
 
@@ -188,6 +190,8 @@ func classify(path []string) (string, *int) {
 		return SectionNetwork, nil
 	case first == "layout":
 		return SectionLayout, nil
+	case first == "teams" || first == "competition_field":
+		return SectionOverview, nil
 	case first == "defaults":
 		switch segment(1) {
 		case "color":
@@ -196,6 +200,8 @@ func classify(path []string) (string, *int) {
 			return SectionNetwork, nil
 		case "camera":
 			return SectionCamera, nil
+		case "thresholds", "tracking":
+			return SectionAdvanced, nil
 		}
 
 		return SectionOther, nil
@@ -216,6 +222,8 @@ func classify(path []string) (string, *int) {
 				return SectionNetwork, &id
 			case "camera":
 				return SectionCamera, &id
+			case "thresholds", "tracking":
+				return SectionAdvanced, &id
 			case "geometry", "":
 				return SectionGeometry, &id
 			default:
diff --git a/gui/internal/config/document.go b/gui/internal/config/document.go
index ca33bb6..26dc167 100644
--- a/gui/internal/config/document.go
+++ b/gui/internal/config/document.go
@@ -41,7 +41,15 @@ type Document struct {
 	// geometry:, color:, thresholds:, ...) and applies to every camera.
 	Defaults map[string]any `yaml:"defaults,omitempty" json:"defaults,omitempty"`
 	Layout   *Layout        `yaml:"layout,omitempty" json:"layout,omitempty"`
-	Cameras  []Camera       `yaml:"cameras" json:"cameras"`
+	// Teams overrides robot heights by team. Shown in the GUI only for now:
+	// vision_processor still looks heights up in bot_heights_file by game
+	// controller team name.
+	Teams *Teams `yaml:"teams,omitempty" json:"teams,omitempty"`
+	// CompetitionField is a match setup, with a game controller, rather than
+	// casual lab use. The GUI keys height choices by team and raises missing
+	// setup to errors; vision_processor doesn't read it.
+	CompetitionField bool     `yaml:"competition_field,omitempty" json:"competitionField,omitempty"`
+	Cameras          []Camera `yaml:"cameras" json:"cameras"`
 	// Host is settings for this GUI host alone; no vision_processor reads it.
 	Host *Host `yaml:"host,omitempty" json:"host,omitempty"`
 }
@@ -54,6 +62,49 @@ type Layout struct {
 	CameraCount int `yaml:"camera_count" json:"cameraCount"`
 }
 
+// Teams overrides robot heights by team. Keyed by the game controller's
+// team name, as vision_processor's height table is, so an override follows
+// its team through a color switch (the game controller swaps the whole team
+// record, name included, between colors).
+type Teams struct {
+	Overrides map[string]TeamOverride `yaml:"overrides,omitempty" json:"overrides,omitempty"`
+	// ByColor is each color's height off a competition field, where there's
+	// usually no game controller to name the teams.
+	ByColor *ColorOverrides `yaml:"by_color,omitempty" json:"byColor,omitempty"`
+}
+
+// ColorOverrides is a height choice per color.
+type ColorOverrides struct {
+	Yellow *TeamOverride `yaml:"yellow,omitempty" json:"yellow,omitempty"`
+	Blue   *TeamOverride `yaml:"blue,omitempty" json:"blue,omitempty"`
+}
+
+// TeamOverride is a team's robot height when it isn't (rightly) in the
+// height table: another table entry's (Name), or a custom Height. Neither
+// set means a custom height not entered yet.
+type TeamOverride struct {
+	Name   string   `yaml:"name,omitempty" json:"name,omitempty"`
+	Height *float64 `yaml:"height,omitempty" json:"height,omitempty"`
+}
+
+// maxRobotHeight bounds a custom height. The rules cap robots at 150 mm
+// (Division A) and 180 mm (Division B); this only catches typos.
+const maxRobotHeight = 500
+
+func (t TeamOverride) validate(prefix string) error {
+	var errs error
+
+	if t.Name != "" && t.Height != nil {
+		errs = errors.Join(errs, fmt.Errorf("%s: set name or height, not both", prefix))
+	}
+
+	if t.Height != nil && (*t.Height <= 0 || *t.Height > maxRobotHeight) {
+		errs = errors.Join(errs, fmt.Errorf("%s.height: want 0-%d mm, got %g", prefix, maxRobotHeight, *t.Height))
+	}
+
+	return errs
+}
+
 // CameraCounts are the supported Layout.CameraCount values. vision_processor
 // accepts any power of 2; the GUI supports up to 4 for now.
 var CameraCounts = []int{1, 2, 4}
@@ -240,6 +291,26 @@ func (d Document) Validate() error {
 		add(fmt.Errorf("defaults: %w", err))
 	}
 
+	if d.Teams != nil {
+		for name, o := range d.Teams.Overrides {
+			if name == "" {
+				add(errors.New("teams.overrides: a team name can't be empty"))
+			}
+
+			add(o.validate(fmt.Sprintf("teams.overrides[%q]", name)))
+		}
+
+		if c := d.Teams.ByColor; c != nil {
+			if c.Yellow != nil {
+				add(c.Yellow.validate("teams.by_color.yellow"))
+			}
+
+			if c.Blue != nil {
+				add(c.Blue.validate("teams.by_color.blue"))
+			}
+		}
+	}
+
 	count := d.CameraCount()
 	if !slices.Contains(CameraCounts, count) {
 		add(fmt.Errorf("layout.camera_count: want one of %v, got %d", CameraCounts, count))
@@ -305,6 +376,10 @@ func (d Document) Validate() error {
 			add(fmt.Errorf("%s: %w", prefix, err))
 		}
 
+		if err := validateAdvanced(d.Effective(c)); err != nil {
+			add(fmt.Errorf("%s: %w", prefix, err))
+		}
+
 		color, err := colorFromBlock(d.Effective(c)["color"])
 		if err != nil {
 			add(fmt.Errorf("%s: %w", prefix, err))
@@ -562,3 +637,18 @@ func deepCopy(v any) any {
 		return v
 	}
 }
+
+// DefaultBotHeightsFile is vision_processor's bot_heights_file when unset
+// (src/Resources.cpp).
+const DefaultBotHeightsFile = "robot-heights.yml"
+
+// BotHeightsFile is the robot height table the cameras read, from Defaults'
+// bot_heights_file. Like vision_processor, a relative path is relative to
+// the working directory.
+func (d Document) BotHeightsFile() string {
+	if path, ok := d.Defaults["bot_heights_file"].(string); ok && path != "" {
+		return path
+	}
+
+	return DefaultBotHeightsFile
+}
diff --git a/gui/internal/config/document_test.go b/gui/internal/config/document_test.go
index d08a42f..9ef9c3c 100644
--- a/gui/internal/config/document_test.go
+++ b/gui/internal/config/document_test.go
@@ -218,7 +218,7 @@ func TestDiffClassifiesSections(t *testing.T) {
 		"cameras[0].seed.line_corners":       {SectionGeometry, 0},
 		"cameras[0].config.color.orange":     {SectionColor, 0},
 		"defaults.color.reference_force":     {SectionColor, -1},
-		"defaults.thresholds.min_confidence": {SectionOther, -1},
+		"defaults.thresholds.min_confidence": {SectionAdvanced, -1},
 		"cameras[0].calibration.camera.tz":   {SectionGeometry, 0},
 		"defaults.network":                   {SectionNetwork, -1},
 		"cameras[0].config.camera.gain":      {SectionCamera, 0},
diff --git a/gui/internal/config/layout_test.go b/gui/internal/config/layout_test.go
index 1dbcb68..1548451 100644
--- a/gui/internal/config/layout_test.go
+++ b/gui/internal/config/layout_test.go
@@ -217,3 +217,65 @@ func TestDiffFallsBackToIDsWhenAMoveCantBeMatched(t *testing.T) {
 		}
 	}
 }
+
+func TestValidateChecksTeamOverrides(t *testing.T) {
+	tall, both := 900.0, 150.0
+
+	for _, tc := range []struct {
+		name      string
+		overrides map[string]TeamOverride
+		reason    string
+	}{
+		{"custom height too tall", map[string]TeamOverride{"Custom FC": {Height: &tall}}, `teams.overrides["Custom FC"].height`},
+		{"name and height", map[string]TeamOverride{"Custom FC": {Name: "ER-Force", Height: &both}}, "set name or height"},
+		{"empty team name", map[string]TeamOverride{"": {Height: &both}}, "can't be empty"},
+	} {
+		t.Run(tc.name, func(t *testing.T) {
+			doc := loadFixture(t)
+			doc.Teams = &Teams{Overrides: tc.overrides}
+
+			if err := doc.Validate(); err == nil || !strings.Contains(err.Error(), tc.reason) {
+				t.Fatalf("Validate = %v, want an error mentioning %q", err, tc.reason)
+			}
+		})
+	}
+
+	// A custom height not entered yet is allowed; the GUI warns about it.
+	doc := loadFixture(t)
+	doc.Teams = &Teams{Overrides: map[string]TeamOverride{"Custom FC": {Height: &both}, "ER Force": {Name: "ER-Force"}, "New FC": {}}}
+
+	if err := doc.Validate(); err != nil {
+		t.Fatalf("Validate: %v", err)
+	}
+
+	after := doc.clone()
+	after.Teams.Overrides["Custom FC"] = TeamOverride{Height: &tall}
+	for _, c := range Diff(doc, after) {
+		if c.Section != SectionOverview {
+			t.Errorf("%s: section %s, want %s", c.Path, c.Section, SectionOverview)
+		}
+	}
+}
+
+func TestValidateChecksColorOverridesAndClassifiesCompetition(t *testing.T) {
+	tall, ok := 900.0, 150.0
+
+	doc := loadFixture(t)
+	doc.Teams = &Teams{ByColor: &ColorOverrides{Blue: &TeamOverride{Height: &tall}}}
+
+	if err := doc.Validate(); err == nil || !strings.Contains(err.Error(), "teams.by_color.blue.height") {
+		t.Fatalf("Validate = %v, want a by_color height error", err)
+	}
+
+	doc.Teams.ByColor.Blue.Height = &ok
+	if err := doc.Validate(); err != nil {
+		t.Fatalf("Validate: %v", err)
+	}
+
+	after := doc.clone()
+	after.CompetitionField = true
+	changes := Diff(doc, after)
+	if len(changes) != 1 || changes[0].Path != "competition_field" || changes[0].Section != SectionOverview {
+		t.Fatalf("changes = %+v, want competition_field in overview", changes)
+	}
+}
diff --git a/gui/internal/config/reference_test.go b/gui/internal/config/reference_test.go
new file mode 100644
index 0000000..b10636c
--- /dev/null
+++ b/gui/internal/config/reference_test.go
@@ -0,0 +1,55 @@
+package config
+
+import (
+	"errors"
+	"os"
+	"path/filepath"
+	"testing"
+)
+
+// The read-only reference files at the repo root's config/, which users copy.
+const referenceDir = "../../../config"
+
+func TestReferenceVisionYMLParses(t *testing.T) {
+	data, err := os.ReadFile(filepath.Join(referenceDir, "vision.yml"))
+	if err != nil {
+		t.Fatalf("ReadFile: %v", err)
+	}
+
+	if _, err := Parse(data); err != nil {
+		t.Fatalf("config/vision.yml doesn't parse: %v", err)
+	}
+}
+
+func TestReferenceLegacyFilesImport(t *testing.T) {
+	for _, pair := range [][2]string{
+		{"geometry-divA.yml", "config.yml"},
+		{"geometry-divB.yml", "config.yml"},
+		{"geometry-divB.yml", "config-minimal.yml"},
+	} {
+		t.Run(pair[0]+"+"+pair[1], func(t *testing.T) {
+			_, err := Import(
+				filepath.Join(referenceDir, "legacy", pair[0]),
+				filepath.Join(referenceDir, "legacy", pair[1]),
+			)
+			if err != nil {
+				t.Fatalf("Import: %v", err)
+			}
+		})
+	}
+}
+
+func TestAtomicWriteRefusesAReadOnlyFile(t *testing.T) {
+	path := filepath.Join(t.TempDir(), "reference.yml")
+	if err := os.WriteFile(path, []byte("original\n"), 0o444); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	if err := atomicWrite(path, []byte("replaced\n")); !errors.Is(err, errReadOnly) {
+		t.Fatalf("atomicWrite = %v, want errReadOnly", err)
+	}
+
+	if data, _ := os.ReadFile(path); string(data) != "original\n" {
+		t.Fatalf("file = %q, want it untouched", data)
+	}
+}
diff --git a/gui/internal/config/render.go b/gui/internal/config/render.go
index be17a26..745a6fd 100644
--- a/gui/internal/config/render.go
+++ b/gui/internal/config/render.go
@@ -2,6 +2,7 @@ package config
 
 import (
 	"bytes"
+	"errors"
 	"fmt"
 	"os"
 	"path/filepath"
@@ -101,9 +102,19 @@ func writeIfChanged(path string, data []byte) (bool, error) {
 	return true, atomicWrite(path, data)
 }
 
+// errReadOnly is an existing file with no write permission, such as the
+// reference files in the repo's config/ directory.
+var errReadOnly = errors.New("file is read-only")
+
 // atomicWrite replaces path via a temp file and rename, so a reader (the
 // watcher, vision_processor's own reload) never sees a half-written file.
+// A rename replaces a file whatever its permissions, so a read-only file is
+// refused here instead.
 func atomicWrite(path string, data []byte) error {
+	if info, err := os.Stat(path); err == nil && info.Mode().Perm()&0o222 == 0 {
+		return fmt.Errorf("%s: %w", path, errReadOnly)
+	}
+
 	tmp, err := os.CreateTemp(filepath.Dir(path), "."+filepath.Base(path)+".tmp-*")
 	if err != nil {
 		return err
diff --git a/gui/internal/config/store.go b/gui/internal/config/store.go
index bbc6c02..53448ab 100644
--- a/gui/internal/config/store.go
+++ b/gui/internal/config/store.go
@@ -286,7 +286,9 @@ func (s *Store) writeLocked(path string) error {
 		return err
 	}
 
-	if err := atomicWrite(path, data); err != nil {
+	if err := atomicWrite(path, data); errors.Is(err, errReadOnly) {
+		return &ValidationError{err}
+	} else if err != nil {
 		return fmt.Errorf("write %s: %w", path, err)
 	}
 
diff --git a/gui/internal/geometry/field_config.go b/gui/internal/geometry/field_config.go
index f1c22f6..818791c 100644
--- a/gui/internal/geometry/field_config.go
+++ b/gui/internal/geometry/field_config.go
@@ -118,7 +118,7 @@ func LoadFieldFile(path string) (FieldConfig, OptionalLinesConfig, *vision.SSL_G
 }
 
 // LoadPreset is LoadFieldFile without the models, for serving the rulebook
-// presets (geometry-divA.yml, geometry-divB.yml) straight from the same files
+// presets (config/legacy/geometry-div{A,B}.yml) straight from the same files
 // a human would open, rather than a copy that could drift from them.
 func LoadPreset(path string) (FieldConfig, OptionalLinesConfig, error) {
 	field, opt, _, err := LoadFieldFile(path)
diff --git a/gui/internal/multicast/consumers.go b/gui/internal/multicast/consumers.go
index c01ab2a..2837a10 100644
--- a/gui/internal/multicast/consumers.go
+++ b/gui/internal/multicast/consumers.go
@@ -37,13 +37,20 @@ func VisionConsumer(absorb func(*vision.SSL_GeometryData), track func(cameraID u
 	}
 }
 
-// RefereeConsumer counts valid referee messages. The host doesn't use their
-// contents yet; hearing them is what shows the game controller address is
-// right.
-func RefereeConsumer() Consumer {
+// RefereeConsumer counts valid referee messages and hands each one's yellow
+// and blue team names to track. Hearing them is what shows the game
+// controller address is right.
+func RefereeConsumer(track func(yellow, blue string)) Consumer {
 	return func(data []byte, _ *net.UDPAddr) bool {
 		var referee gamecontroller.Referee
+		if proto.Unmarshal(data, &referee) != nil {
+			return false
+		}
+
+		if track != nil {
+			track(referee.GetYellow().GetName(), referee.GetBlue().GetName())
+		}
 
-		return proto.Unmarshal(data, &referee) == nil
+		return true
 	}
 }
diff --git a/gui/internal/multicast/endpoint_test.go b/gui/internal/multicast/endpoint_test.go
index d33ddff..ac53179 100644
--- a/gui/internal/multicast/endpoint_test.go
+++ b/gui/internal/multicast/endpoint_test.go
@@ -272,12 +272,14 @@ func TestVisionConsumerAbsorbsGeometryButCountsOnlyDetections(t *testing.T) {
 }
 
 func TestRefereeConsumer(t *testing.T) {
-	refereeConsume := RefereeConsumer()
+	var yellow, blue string
+
+	refereeConsume := RefereeConsumer(func(y, b string) { yellow, blue = y, b })
 	consume := func(data []byte) bool { return refereeConsume(data, nil) }
 
-	team := func() *gamecontroller.Referee_TeamInfo {
+	team := func(name string) *gamecontroller.Referee_TeamInfo {
 		return &gamecontroller.Referee_TeamInfo{
-			Name:        proto.String("t"),
+			Name:        proto.String(name),
 			Score:       proto.Uint32(0),
 			RedCards:    proto.Uint32(0),
 			YellowCards: proto.Uint32(0),
@@ -293,14 +295,18 @@ func TestRefereeConsumer(t *testing.T) {
 		Command:          gamecontroller.Referee_HALT.Enum(),
 		CommandCounter:   proto.Uint32(1),
 		CommandTimestamp: proto.Uint64(1),
-		Yellow:           team(),
-		Blue:             team(),
+		Yellow:           team("ER-Force"),
+		Blue:             team("TIGERs Mannheim"),
 	}
 
 	if !consume(marshal(t, referee)) {
 		t.Fatal("referee message not counted")
 	}
 
+	if yellow != "ER-Force" || blue != "TIGERs Mannheim" {
+		t.Fatalf("tracked yellow=%q blue=%q, want ER-Force and TIGERs Mannheim", yellow, blue)
+	}
+
 	if consume(marshal(t, &vision.SSL_WrapperPacket{})) {
 		t.Fatal("wrapper packet counted as a referee message")
 	}
diff --git a/gui/internal/referee/referee.go b/gui/internal/referee/referee.go
new file mode 100644
index 0000000..e1ac9a0
--- /dev/null
+++ b/gui/internal/referee/referee.go
@@ -0,0 +1,159 @@
+// Package referee follows the game controller's referee messages for what
+// matters to vision: which teams are playing, and so (from the robot height
+// table vision_processor also reads) how tall their robots are.
+//
+// vision_processor does the same lookup itself (src/udpsocket.cpp,
+// GCSocket::parse): a team found in the table sets that color's height; a
+// team that isn't keeps whatever height that color had, which is the table's
+// mean before any known team has played. This package reports what it can
+// tell from outside, so the GUI can flag a team missing from the table.
+package referee
+
+import (
+	"fmt"
+	"os"
+	"sync"
+	"time"
+
+	"gopkg.in/yaml.v3"
+)
+
+// Teams records the team names from the latest referee message.
+// Safe for concurrent use.
+type Teams struct {
+	mu     sync.Mutex
+	yellow string
+	blue   string
+	at     time.Time
+}
+
+func (t *Teams) Record(yellow, blue string, now time.Time) {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+
+	t.yellow, t.blue, t.at = yellow, blue, now
+}
+
+func (t *Teams) snapshot() (yellow, blue string, at time.Time) {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+
+	return t.yellow, t.blue, t.at
+}
+
+// Heights is a robot height table file (team name: height in mm), re-read
+// when the file changes. Safe for concurrent use.
+type Heights struct {
+	mu      sync.Mutex
+	path    string
+	modTime time.Time
+	size    int64
+	table   map[string]float64
+	err     error
+}
+
+// load returns the table at path, reading it again only if the path, size,
+// or modification time changed.
+func (h *Heights) load(path string) (map[string]float64, error) {
+	h.mu.Lock()
+	defer h.mu.Unlock()
+
+	info, err := os.Stat(path)
+	if err != nil {
+		h.path, h.table, h.err = path, nil, err
+
+		return nil, err
+	}
+
+	if path == h.path && info.ModTime().Equal(h.modTime) && info.Size() == h.size {
+		return h.table, h.err
+	}
+
+	h.path, h.modTime, h.size = path, info.ModTime(), info.Size()
+	h.table, h.err = readHeights(path)
+
+	return h.table, h.err
+}
+
+func readHeights(path string) (map[string]float64, error) {
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return nil, err
+	}
+
+	var table map[string]float64
+	if err := yaml.Unmarshal(data, &table); err != nil {
+		return nil, fmt.Errorf("parse %s: %w", path, err)
+	}
+
+	if len(table) == 0 {
+		return nil, fmt.Errorf("%s lists no teams", path)
+	}
+
+	return table, nil
+}
+
+// Team is one side of the current match.
+type Team struct {
+	Name string `json:"name"`
+	// Height is the team's robot height from the table, nil when the team
+	// isn't in it.
+	Height *float64 `json:"height,omitempty"`
+}
+
+// State is what the GUI shows about the current match.
+type State struct {
+	// Heard is when the last referee message arrived, nil if none has.
+	Heard  *time.Time `json:"heard,omitempty"`
+	Yellow Team       `json:"yellow"`
+	Blue   Team       `json:"blue"`
+	// HeightsFile is the table vision_processor reads (bot_heights_file).
+	HeightsFile  string `json:"heightsFile"`
+	HeightsError string `json:"heightsError,omitempty"`
+	// MeanHeight is vision_processor's height for a team not in the table,
+	// until a known team has played; MaxHeight is the tallest in the table,
+	// which it uses for its field extent checks.
+	MeanHeight float64 `json:"meanHeight,omitempty"`
+	MaxHeight  float64 `json:"maxHeight,omitempty"`
+	// Heights is the whole table, team name to height in mm.
+	Heights map[string]float64 `json:"heights,omitempty"`
+}
+
+// Describe combines the latest team names with the height table at
+// heightsFile.
+func Describe(teams *Teams, heights *Heights, heightsFile string) State {
+	yellow, blue, at := teams.snapshot()
+	state := State{
+		Yellow:      Team{Name: yellow},
+		Blue:        Team{Name: blue},
+		HeightsFile: heightsFile,
+	}
+
+	if !at.IsZero() {
+		state.Heard = &at
+	}
+
+	table, err := heights.load(heightsFile)
+	if err != nil {
+		state.HeightsError = err.Error()
+
+		return state
+	}
+
+	sum := 0.0
+	for _, h := range table {
+		sum += h
+		state.MaxHeight = max(state.MaxHeight, h)
+	}
+
+	state.MeanHeight = sum / float64(len(table))
+	state.Heights = table
+
+	for _, team := range []*Team{&state.Yellow, &state.Blue} {
+		if h, ok := table[team.Name]; ok {
+			team.Height = &h
+		}
+	}
+
+	return state
+}
diff --git a/gui/internal/referee/referee_test.go b/gui/internal/referee/referee_test.go
new file mode 100644
index 0000000..e63edec
--- /dev/null
+++ b/gui/internal/referee/referee_test.go
@@ -0,0 +1,69 @@
+package referee
+
+import (
+	"os"
+	"path/filepath"
+	"testing"
+	"time"
+)
+
+func writeTable(t *testing.T, content string) string {
+	t.Helper()
+
+	path := filepath.Join(t.TempDir(), "robot-heights.yml")
+	if err := os.WriteFile(path, []byte(content), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	return path
+}
+
+func TestDescribeLooksTeamsUp(t *testing.T) {
+	path := writeTable(t, "ER-Force: 148.0\nTIGERs Mannheim: 150.0\nibis: 90.0\n")
+	teams := &Teams{}
+	teams.Record("ER-Force", "Unknown FC", time.Unix(1000, 0))
+
+	s := Describe(teams, &Heights{}, path)
+
+	if s.Heard == nil || s.HeightsError != "" {
+		t.Fatalf("state = %+v, want heard and a readable table", s)
+	}
+
+	if s.Yellow.Height == nil || *s.Yellow.Height != 148 {
+		t.Errorf("yellow = %+v, want ER-Force at 148", s.Yellow)
+	}
+
+	if s.Blue.Height != nil {
+		t.Errorf("blue = %+v, want no height for a team not in the table", s.Blue)
+	}
+
+	if s.MaxHeight != 150 || s.MeanHeight < 129.33 || s.MeanHeight > 129.34 {
+		t.Errorf("mean=%v max=%v, want 129.33 and 150", s.MeanHeight, s.MaxHeight)
+	}
+}
+
+func TestDescribeReportsAnUnreadableTable(t *testing.T) {
+	s := Describe(&Teams{}, &Heights{}, filepath.Join(t.TempDir(), "missing.yml"))
+
+	if s.HeightsError == "" || s.Heard != nil {
+		t.Fatalf("state = %+v, want a table error and nothing heard", s)
+	}
+}
+
+func TestHeightsRereadsAChangedFile(t *testing.T) {
+	path := writeTable(t, "A: 100\n")
+	h := &Heights{}
+
+	if table, _ := h.load(path); table["A"] != 100 {
+		t.Fatalf("table = %v, want A at 100", table)
+	}
+
+	// A different size is enough to notice the change, whatever the clock.
+	if err := os.WriteFile(path, []byte("A: 120\nB: 130\n"), 0o644); err != nil {
+		t.Fatalf("WriteFile: %v", err)
+	}
+
+	if table, _ := h.load(path); table["A"] != 120 || table["B"] != 130 {
+		t.Fatalf("table = %v, want the new values", table)
+	}
+}
diff --git a/gui/internal/video/source.go b/gui/internal/video/source.go
index af0ebd9..c534cee 100644
--- a/gui/internal/video/source.go
+++ b/gui/internal/video/source.go
@@ -86,6 +86,8 @@ type source struct {
 	gop      [][]byte // full rate segments since the last keyframe
 	keyframe []byte   // the latest keyframes-only segment
 	warned   bool
+	// frames is when each recent frame arrived, for Status.FPS.
+	frames []time.Time
 }
 
 func newSource(id int, verbose bool) *source {
@@ -219,6 +221,7 @@ func (s *source) stopIfIdle() {
 	s.asm = assembler{}
 	s.mux = newMuxer()
 	s.format, s.init, s.gop, s.keyframe = nil, nil, nil, nil
+	s.frames = nil
 
 	slog.Info("video stream closed, no viewers", "camera", s.id)
 }
@@ -242,6 +245,8 @@ func (s *source) handle(data []byte, _ *net.UDPAddr) bool {
 	}
 
 	for _, au := range s.asm.push(&pkt) {
+		s.frames = append(trimFrames(s.frames, now), now)
+
 		out, err := s.mux.push(au, now)
 		if err != nil {
 			if !s.warned {
@@ -364,7 +369,10 @@ type Status struct {
 	Active    bool   `json:"active"`
 	Receiving bool   `json:"receiving"`
 	Packets   uint64 `json:"packets"`
-	Source    string `json:"source,omitempty"`
+	// FPS is the rate frames arrive from vision_processor, over the last
+	// fpsWindow, whatever a viewer's mode shows. 0 when nothing arrives.
+	FPS    float64 `json:"fps"`
+	Source string  `json:"source,omitempty"`
 	// Problem is why the socket isn't fully open, if it isn't.
 	Problem string `json:"problem,omitempty"`
 }
@@ -379,6 +387,9 @@ func (s *source) sendStatus(v *viewer) {
 		status.Receiving, status.Packets, status.Source, status.Problem = ep.Receiving, ep.Heard, ep.Source, ep.Problem
 	}
 
+	s.frames = trimFrames(s.frames, time.Now())
+	status.FPS = frameRate(s.frames)
+
 	data, _ := json.Marshal(status)
 	trySend(v, Message{Data: data})
 }
@@ -395,3 +406,33 @@ func trySend(v *viewer, m Message) bool {
 func free(v *viewer) int {
 	return cap(v.ch) - len(v.ch)
 }
+
+// fpsWindow is how far back Status.FPS looks. Short, so it follows changes
+// quickly; the jitter that brings is accepted.
+const fpsWindow = 200 * time.Millisecond
+
+// trimFrames drops frame arrival times older than fpsWindow before now.
+func trimFrames(frames []time.Time, now time.Time) []time.Time {
+	i := 0
+	for i < len(frames) && now.Sub(frames[i]) > fpsWindow {
+		i++
+	}
+
+	return frames[i:]
+}
+
+// frameRate is frames per second from their arrival times: the intervals
+// between them, not their count, so a short window still gives a fractional
+// rate. 0 with fewer than two frames.
+func frameRate(frames []time.Time) float64 {
+	if len(frames) < 2 {
+		return 0
+	}
+
+	span := frames[len(frames)-1].Sub(frames[0]).Seconds()
+	if span <= 0 {
+		return 0
+	}
+
+	return float64(len(frames)-1) / span
+}
diff --git a/gui/internal/video/video_test.go b/gui/internal/video/video_test.go
index 99341f0..3c02444 100644
--- a/gui/internal/video/video_test.go
+++ b/gui/internal/video/video_test.go
@@ -4,6 +4,7 @@ import (
 	"bytes"
 	"context"
 	"encoding/json"
+	"math"
 	"net/http"
 	"net/http/httptest"
 	"os"
@@ -474,3 +475,39 @@ func TestHandleWebSocketRejectsBadRequests(t *testing.T) {
 		}
 	}
 }
+
+func TestFrameRateUsesIntervals(t *testing.T) {
+	start := time.Unix(1000, 0)
+	at := func(ms ...int) []time.Time {
+		out := make([]time.Time, len(ms))
+		for i, m := range ms {
+			out[i] = start.Add(time.Duration(m) * time.Millisecond)
+		}
+
+		return out
+	}
+
+	for _, tc := range []struct {
+		name   string
+		frames []time.Time
+		want   float64
+	}{
+		{"none", nil, 0},
+		{"one", at(0), 0},
+		{"30 fps", at(0, 33, 67, 100, 133, 167, 200), 30},
+		{"uneven", at(0, 40, 90, 120), 25},
+	} {
+		if got := frameRate(tc.frames); math.Abs(got-tc.want) > 0.01 {
+			t.Errorf("%s: frameRate = %.3f, want %.3f", tc.name, got, tc.want)
+		}
+	}
+}
+
+func TestTrimFramesKeepsTheWindow(t *testing.T) {
+	now := time.Unix(1000, 0)
+	frames := []time.Time{now.Add(-500 * time.Millisecond), now.Add(-150 * time.Millisecond), now}
+
+	if got := trimFrames(frames, now); len(got) != 2 {
+		t.Fatalf("kept %d frames, want the 2 within %v", len(got), fpsWindow)
+	}
+}

From c1d0934cf36f350e4606a2b8fde9e32e4b6eed78 Mon Sep 17 00:00:00 2001
From: Will Stuckey <guyfleeman@gmail.com>
Date: Tue, 6 Oct 2026 18:55:21 -0400
Subject: [PATCH 23/23] code review of camera assignment, view matrix, and
 advanced settings

---
 gui/CLAUDE.md                                 |   3 +
 gui/Makefile                                  |   2 +-
 gui/cmd/ssl-vision-processor-gui/main.go      |  31 +-
 gui/frontend/README.md                        |   2 +
 gui/frontend/package-lock.json                | 775 +++++++++++++++++-
 gui/frontend/package.json                     |   7 +-
 gui/frontend/scripts/check-text.mjs           |  98 ++-
 gui/frontend/scripts/check-text.test.mjs      |  71 ++
 gui/frontend/src/app.css                      |  15 -
 gui/frontend/src/lib/ConfirmModal.svelte      |  48 ++
 gui/frontend/src/lib/CornerPicker.svelte      |  15 +-
 gui/frontend/src/lib/FieldEditor.svelte       |   4 +-
 gui/frontend/src/lib/StatusAlert.svelte       |  24 +
 gui/frontend/src/lib/advanced.svelte.ts       |  10 +-
 .../src/lib/alerts/AlertsPanel.svelte         |  26 +-
 gui/frontend/src/lib/cameraLayout.test.ts     | 153 ++++
 gui/frontend/src/lib/cameraLayout.ts          |  32 +-
 .../src/lib/config/AdvancedPanel.svelte       |   9 +-
 .../src/lib/config/AssignmentsTable.svelte    | 113 +++
 .../src/lib/config/CalibrationCard.svelte     |  31 +-
 .../src/lib/config/CameraPanel.svelte         |   7 +-
 .../config/ConfigCategoryPlaceholder.svelte   |   7 +-
 .../src/lib/config/HostInterfaces.svelte      |   7 +-
 gui/frontend/src/lib/config/LayoutMap.svelte  |  41 +-
 .../src/lib/config/LayoutPanel.svelte         | 329 +-------
 .../src/lib/config/MoveConfirmModal.svelte    |  84 ++
 .../src/lib/config/NetworkPanel.svelte        |  10 +-
 .../src/lib/config/OverviewPanel.svelte       |   7 +-
 gui/frontend/src/lib/config/RegionCard.svelte | 160 ++++
 .../src/lib/config/WeightTriangle.svelte      |   4 +-
 .../src/lib/config/YuvPositionPane.svelte     |  16 +-
 .../src/lib/layout/ConfigDialogs.svelte       |  45 +-
 gui/frontend/src/lib/layout/Shell.svelte      |  17 +-
 gui/frontend/src/lib/teams.svelte.ts          |  29 +-
 gui/frontend/src/lib/teams.test.ts            | 145 ++++
 gui/frontend/src/lib/text/advanced.ts         |   3 +-
 gui/frontend/src/lib/text/app.ts              |   7 +-
 gui/frontend/src/lib/text/common.ts           |   5 +
 gui/frontend/src/lib/text/geometry.ts         |   2 +
 gui/frontend/src/lib/text/layout.ts           |   4 +-
 gui/frontend/src/lib/text/network.ts          |   3 +-
 gui/frontend/src/lib/text/wizard.ts           |   5 +-
 gui/frontend/src/lib/util.ts                  |   9 +
 .../lib/wizard/steps/WizardDimensions.svelte  |   6 +-
 .../src/lib/wizard/steps/WizardFinish.svelte  |  10 +-
 .../wizard/steps/WizardOptionalLines.svelte   |   6 +-
 .../src/lib/wizard/steps/WizardStart.svelte   |   6 +-
 gui/frontend/src/test-setup.ts                |   9 +
 gui/frontend/vite.config.ts                   |  10 +
 gui/internal/referee/referee.go               |  29 +
 gui/internal/referee/referee_test.go          |  16 +
 51 files changed, 1974 insertions(+), 533 deletions(-)
 create mode 100644 gui/frontend/scripts/check-text.test.mjs
 create mode 100644 gui/frontend/src/lib/ConfirmModal.svelte
 create mode 100644 gui/frontend/src/lib/StatusAlert.svelte
 create mode 100644 gui/frontend/src/lib/cameraLayout.test.ts
 create mode 100644 gui/frontend/src/lib/config/AssignmentsTable.svelte
 create mode 100644 gui/frontend/src/lib/config/MoveConfirmModal.svelte
 create mode 100644 gui/frontend/src/lib/config/RegionCard.svelte
 create mode 100644 gui/frontend/src/lib/teams.test.ts
 create mode 100644 gui/frontend/src/lib/util.ts
 create mode 100644 gui/frontend/src/test-setup.ts

diff --git a/gui/CLAUDE.md b/gui/CLAUDE.md
index 27ba85f..6bc56fe 100644
--- a/gui/CLAUDE.md
+++ b/gui/CLAUDE.md
@@ -91,6 +91,9 @@ buf.gen.yaml   generates both internal/{vision,gamecontroller} and
   `<video>`, and NoteTip's icon trigger. Two Flowbite quirks: an `Input` keeps
   its own `w-full`, so size it with a wrapper div, not a width class; and its
   plugin's form styling needs the semantic color tokens defined in `app.css`.
+  Two local wrappers: `StatusAlert.svelte` instead of `Alert` (readable red and
+  yellow in dark mode, through Alert's own class merging), and
+  `ConfirmModal.svelte` instead of the browser's `confirm()`.
 
 ## Architectural decisions
 
diff --git a/gui/Makefile b/gui/Makefile
index 9ae0dd6..6272aae 100644
--- a/gui/Makefile
+++ b/gui/Makefile
@@ -57,7 +57,7 @@ go-test: frontend
 	go test $(GO_PACKAGES) -race
 
 frontend-test: frontend
-	cd frontend && npm run check && npm run lint && npm run check:text && npm run format:check
+	cd frontend && npm run check && npm run lint && npm run check:text && npm test && npm run format:check
 
 # CI runs go-test and frontend-test as separate parallel jobs (see
 # .github/workflows/ci.yml) -- this is the single "everything before you
diff --git a/gui/cmd/ssl-vision-processor-gui/main.go b/gui/cmd/ssl-vision-processor-gui/main.go
index 9640015..d397c23 100644
--- a/gui/cmd/ssl-vision-processor-gui/main.go
+++ b/gui/cmd/ssl-vision-processor-gui/main.go
@@ -100,14 +100,12 @@ func run() int {
 	_, addrs, auto, ifaces := currentNetwork(store)
 	opts := multicast.Options{Verbose: level == slog.LevelDebug}
 	tracker := detections.NewTracker()
-	teams := &referee.Teams{}
-	trackTeams := func(yellow, blue string) { teams.Record(yellow, blue, time.Now()) }
+	match := &referee.Match{}
+	trackTeams := func(yellow, blue string) { match.Teams.Record(yellow, blue, time.Now()) }
 	track := func(id uint32, from net.IP) { tracker.Record(id, from, time.Now()) }
 	sockets := &networkSockets{
 		vision:     multicast.NewEndpoint("vision", addrs.VisionAddress(), ifaces, withSend(opts), multicast.VisionConsumer(geom.Absorb, track)),
 		detections: tracker,
-		teams:      teams,
-		heights:    &referee.Heights{},
 		gc:         multicast.NewEndpoint("game controller", addrs.GCAddress(), ifaces, opts, multicast.RefereeConsumer(trackTeams)),
 		video:      video.NewManager(level == slog.LevelDebug),
 		auto:       auto,
@@ -120,9 +118,10 @@ func run() int {
 		// A changed address or interface selection takes effect at once: the
 		// endpoints close their sockets and reopen.
 		sockets.apply(store)
+		match.SetHeightsFile(botHeightsFile(store))
 
 		publishConfigState(wsHub, store)
-		publishNetworkState(wsHub, sockets)
+		publishNetworkState(wsHub, sockets, match)
 	})
 
 	var wg sync.WaitGroup
@@ -148,7 +147,8 @@ func run() int {
 			// Re-evaluated every tick so automatic interface selection
 			// follows cables, Wi-Fi, and containers coming and going.
 			sockets.apply(store)
-			publishNetworkState(wsHub, sockets)
+			match.SetHeightsFile(botHeightsFile(store))
+			publishNetworkState(wsHub, sockets, match)
 		})
 	})
 	runBackground(&wg, "config file watcher", func() error { return store.Watch(ctx, configWatchInterval) })
@@ -294,11 +294,6 @@ type networkSockets struct {
 	gc     *multicast.Endpoint
 	// detections is which camera_ids the vision socket hears, from where.
 	detections *detections.Tracker
-	// teams is the current match's teams, from the game controller socket;
-	// heights is the robot height table they're looked up in.
-	teams       *referee.Teams
-	heights     *referee.Heights
-	heightsFile string
 	// video opens each camera's stream only while someone watches it.
 	video *video.Manager
 
@@ -338,7 +333,6 @@ func (s *networkSockets) apply(store *config.Store) {
 	s.mu.Lock()
 	previous := s.used
 	s.auto, s.ifaces, s.used = auto, ifaces, used
-	s.heightsFile = doc.BotHeightsFile()
 	s.mu.Unlock()
 
 	switch {
@@ -391,11 +385,11 @@ func warnLoopbackMulticast() {
 // the host facts the Network page's presets and notes need.
 const networkStateTopic = "network.state"
 
-func publishNetworkState(wsHub *hub.Hub, sockets *networkSockets) {
+func publishNetworkState(wsHub *hub.Hub, sockets *networkSockets, match *referee.Match) {
 	now := time.Now()
 
 	sockets.mu.Lock()
-	auto, ifaces, heightsFile := sockets.auto, sockets.ifaces, sockets.heightsFile
+	auto, ifaces := sockets.auto, sockets.ifaces
 	sockets.mu.Unlock()
 
 	loopback, loopbackMulticast, _ := multicast.LoopbackMulticast()
@@ -415,7 +409,7 @@ func publishNetworkState(wsHub *hub.Hub, sockets *networkSockets) {
 		Vision:                sockets.vision.Status(now),
 		GC:                    sockets.gc.Status(now),
 		Cameras:               sockets.detections.Sources(now),
-		Referee:               referee.Describe(sockets.teams, sockets.heights, heightsFile),
+		Referee:               match.State(),
 		AutoInterfaces:        auto,
 		Interfaces:            ifaces,
 		Loopback:              loopback,
@@ -523,3 +517,10 @@ func outboundIP() (string, error) {
 
 	return addr.IP.String(), nil
 }
+
+// botHeightsFile is the robot height table the cameras read.
+func botHeightsFile(store *config.Store) string {
+	doc, _ := store.Working()
+
+	return doc.BotHeightsFile()
+}
diff --git a/gui/frontend/README.md b/gui/frontend/README.md
index 7598d73..8f25be2 100644
--- a/gui/frontend/README.md
+++ b/gui/frontend/README.md
@@ -100,6 +100,8 @@ npm run build         # production build to dist/
 npm run preview       # serve the production build locally
 npm run check         # svelte-check + tsc (type-check everything)
 npm run lint          # eslint over src/
+npm run check:text    # user-facing text only in src/lib/text/
+npm test              # vitest unit tests (src/**/*.test.ts, scripts/)
 npm run format        # prettier --write .
 npm run format:check  # prettier --check . (CI-style)
 ```
diff --git a/gui/frontend/package-lock.json b/gui/frontend/package-lock.json
index 1f6875a..c6b4cc0 100644
--- a/gui/frontend/package-lock.json
+++ b/gui/frontend/package-lock.json
@@ -23,6 +23,7 @@
         "eslint-config-prettier": "^10.1.8",
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@@ -1348,6 +1572,64 @@
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@@ -1474,6 +1786,20 @@
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+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@exodus/bytes": "^1.16.0",
+        "tr46": "^7.0.0",
+        "webidl-conversions": "^8.0.1"
+      },
+      "engines": {
+        "node": "^22.14.0 || >=24.0.0"
+      }
+    },
     "node_modules/which": {
       "version": "2.0.2",
       "resolved": "https://registry.npmjs.org/which/-/which-2.0.2.tgz",
@@ -3392,6 +4109,19 @@
         "node": ">= 8"
       }
     },
+    "node_modules/why-is-node-running": {
+      "version": "3.2.1",
+      "resolved": "https://registry.npmjs.org/why-is-node-running/-/why-is-node-running-3.2.1.tgz",
+      "integrity": "sha512-Tb2FUhB4vUsGQlfSquQLYkApkuPAFQXGFzxWKHHumVz2dK+X1RUm/HnID4+TfIGYJ1kTcwOaCk/buYCEJr6YjQ==",
+      "dev": true,
+      "license": "MIT",
+      "bin": {
+        "why-is-node-running": "cli.js"
+      },
+      "engines": {
+        "node": ">=20.11"
+      }
+    },
     "node_modules/word-wrap": {
       "version": "1.2.5",
       "resolved": "https://registry.npmjs.org/word-wrap/-/word-wrap-1.2.5.tgz",
@@ -3402,6 +4132,23 @@
         "node": ">=0.10.0"
       }
     },
+    "node_modules/xml-name-validator": {
+      "version": "5.0.0",
+      "resolved": "https://registry.npmjs.org/xml-name-validator/-/xml-name-validator-5.0.0.tgz",
+      "integrity": "sha512-EvGK8EJ3DhaHfbRlETOWAS5pO9MZITeauHKJyb8wyajUfQUenkIg2MvLDTZ4T/TgIcm3HU0TFBgWWboAZ30UHg==",
+      "dev": true,
+      "license": "Apache-2.0",
+      "engines": {
+        "node": ">=18"
+      }
+    },
+    "node_modules/xmlchars": {
+      "version": "2.2.0",
+      "resolved": "https://registry.npmjs.org/xmlchars/-/xmlchars-2.2.0.tgz",
+      "integrity": "sha512-JZnDKK8B0RCDw84FNdDAIpZK+JuJw+s7Lz8nksI7SIuU3UXJJslUthsi+uWBUYOwPFwW7W7PRLRfUKpxjtjFCw==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/yaml": {
       "version": "2.9.0",
       "resolved": "https://registry.npmjs.org/yaml/-/yaml-2.9.0.tgz",
diff --git a/gui/frontend/package.json b/gui/frontend/package.json
index 2b2cc9d..29c0052 100644
--- a/gui/frontend/package.json
+++ b/gui/frontend/package.json
@@ -11,7 +11,8 @@
     "lint": "eslint .",
     "check:text": "node scripts/check-text.mjs",
     "format": "prettier --write .",
-    "format:check": "prettier --check ."
+    "format:check": "prettier --check .",
+    "test": "vitest run"
   },
   "devDependencies": {
     "@bufbuild/protoc-gen-es": "^2.14.1",
@@ -24,6 +25,7 @@
     "eslint-config-prettier": "^10.1.8",
     "eslint-plugin-svelte": "^3.17.1",
     "globals": "^17.6.0",
+    "jsdom": "^30.1.2",
     "prettier": "^3.8.3",
     "prettier-plugin-svelte": "^3.5.2",
     "svelte": "^5.55.5",
@@ -32,7 +34,8 @@
     "tailwindcss": "^4.3.3",
     "typescript": "~6.0.2",
     "typescript-eslint": "^8.59.3",
-    "vite": "^8.0.12"
+    "vite": "^8.0.12",
+    "vitest": "^5.0.3"
   },
   "dependencies": {
     "@bufbuild/protobuf": "^2.14.1",
diff --git a/gui/frontend/scripts/check-text.mjs b/gui/frontend/scripts/check-text.mjs
index 30d2851..9788c98 100644
--- a/gui/frontend/scripts/check-text.mjs
+++ b/gui/frontend/scripts/check-text.mjs
@@ -10,6 +10,7 @@
 // exempts it, for the rare sentence that is code (an internal error, say).
 import { readFileSync, readdirSync } from "node:fs";
 import { join, relative } from "node:path";
+import { fileURLToPath } from "node:url";
 
 const ROOT = new URL("../src/", import.meta.url).pathname;
 const SKIP = ["lib/text/", "proto/"];
@@ -18,7 +19,7 @@ const MIN_CHARS = 40;
 
 // Yields [literal text, line number] for every string literal in source,
 // skipping comments. Template expressions (${...}) become "x".
-function* literals(source) {
+export function* literals(source) {
   let i = 0;
   let line = 1;
 
@@ -82,7 +83,7 @@ function* literals(source) {
 
 // "flex items-center gap-2": all class-shaped tokens, a good share of them
 // hyphenated or variant-prefixed.
-function isClassList(text) {
+export function isClassList(text) {
   const tokens = text.trim().split(/\s+/);
   const shaped = tokens.every((t) => /^[a-z0-9!:[\]/.\-_%#()&>=*]+$/.test(t));
   const marked = tokens.filter((t) => /[-:]/.test(t)).length;
@@ -94,7 +95,7 @@ function isClassList(text) {
 // expressions, and quoted attribute values. Markup text between tags is
 // prose by nature and isn't checked here. Line breaks are kept so line
 // numbers still match.
-function svelteCode(source) {
+export function svelteCode(source) {
   let out = "";
   let i = 0;
 
@@ -141,7 +142,7 @@ function svelteCode(source) {
 
 // Yields [text, line number] for plain text between tags in a .svelte file
 // (outside <script>, <style>, comments, and {...} expressions).
-function* markupText(source) {
+export function* markupText(source) {
   const blank = (m) => m.replace(/[^\n]/g, " ");
   const stripped = source
     .replace(/<script[\s\S]*?<\/script>/g, blank)
@@ -168,11 +169,11 @@ function* markupText(source) {
 }
 
 // Real words only: values in {...} were dropped above.
-function isMarkupProse(text) {
+export function isMarkupProse(text) {
   return (text.match(/[A-Za-z][A-Za-z']+/g) ?? []).length >= MIN_WORDS;
 }
 
-function isProse(text) {
+export function isProse(text) {
   const words = text.trim().split(/\s+/);
 
   return (
@@ -183,45 +184,62 @@ function isProse(text) {
   );
 }
 
-const problems = [];
+// Every problem in src/, as "path:line: text..." lines.
+export function check(root = ROOT) {
+  const problems = [];
+
+  for (const entry of readdirSync(root, { recursive: true })) {
+    const path = String(entry);
+    // Tests name what they check; that's not user-facing text.
+    const isTest = /\.test\.ts$/.test(path) || path === "test-setup.ts";
+
+    if (
+      !/\.(ts|svelte)$/.test(path) ||
+      isTest ||
+      SKIP.some((s) => path.startsWith(s))
+    ) {
+      continue;
+    }
 
-for (const entry of readdirSync(ROOT, { recursive: true })) {
-  const path = String(entry);
-  if (!/\.(ts|svelte)$/.test(path) || SKIP.some((s) => path.startsWith(s))) {
-    continue;
-  }
+    const raw = readFileSync(join(root, path), "utf8");
+    const lines = raw.split("\n");
+    const source = path.endsWith(".svelte") ? svelteCode(raw) : raw;
+
+    const exempt = (line) =>
+      [lines[line - 1], lines[line - 2], lines[line - 3]].some((l) =>
+        l?.includes("text-ok"),
+      );
+    const report = (text, line) => {
+      problems.push(
+        `src/${path}:${String(line)}: ${text.trim().replace(/\s+/g, " ").slice(0, 70)}...`,
+      );
+    };
+
+    for (const [text, line] of literals(source)) {
+      if (isProse(text) && !exempt(line)) report(text, line);
+    }
 
-  const raw = readFileSync(join(ROOT, path), "utf8");
-  const lines = raw.split("\n");
-  const source = path.endsWith(".svelte") ? svelteCode(raw) : raw;
+    if (path.endsWith(".svelte")) {
+      for (const [text, line] of markupText(raw)) {
+        if (isMarkupProse(text) && !exempt(line)) report(text, line);
+      }
+    }
+  }
 
-  const exempt = (line) =>
-    [lines[line - 1], lines[line - 2], lines[line - 3]].some((l) =>
-      l?.includes("text-ok"),
-    );
-  const report = (text, line) => {
-    problems.push(
-      `src/${path}:${String(line)}: ${text.trim().replace(/\s+/g, " ").slice(0, 70)}...`,
-    );
-  };
+  return problems;
+}
 
-  for (const [text, line] of literals(source)) {
-    if (isProse(text) && !exempt(line)) report(text, line);
-  }
+// Run directly (npm run check:text), not when a test imports this file.
+if (process.argv[1] === fileURLToPath(import.meta.url)) {
+  const problems = check();
 
-  if (path.endsWith(".svelte")) {
-    for (const [text, line] of markupText(raw)) {
-      if (isMarkupProse(text) && !exempt(line)) report(text, line);
-    }
+  if (problems.length > 0) {
+    console.error(
+      "User-facing text belongs in src/lib/text/ (see its README.md):\n",
+    );
+    for (const p of problems) console.error(`  ${p}`);
+    process.exit(1);
   }
-}
 
-if (problems.length > 0) {
-  console.error(
-    "User-facing text belongs in src/lib/text/ (see its README.md):\n",
-  );
-  for (const p of problems) console.error(`  ${p}`);
-  process.exit(1);
+  console.log(`check-text: OK (${relative(process.cwd(), ROOT)})`);
 }
-
-console.log(`check-text: OK (${relative(process.cwd(), ROOT)})`);
diff --git a/gui/frontend/scripts/check-text.test.mjs b/gui/frontend/scripts/check-text.test.mjs
new file mode 100644
index 0000000..083f563
--- /dev/null
+++ b/gui/frontend/scripts/check-text.test.mjs
@@ -0,0 +1,71 @@
+import { describe, expect, it } from "vitest";
+import {
+  isClassList,
+  isMarkupProse,
+  isProse,
+  literals,
+  markupText,
+  svelteCode,
+} from "./check-text.mjs";
+
+const all = (gen) => [...gen].map(([text]) => text);
+
+describe("isProse", () => {
+  it("flags a sentence", () => {
+    expect(isProse("The camera reads this value only at startup.")).toBe(true);
+  });
+
+  it("ignores short labels and CSS class lists", () => {
+    expect(isProse("Camera Layout")).toBe(false);
+    expect(
+      isProse(
+        "flex items-center gap-2 text-sm text-gray-600 dark:text-gray-400",
+      ),
+    ).toBe(false);
+    expect(isClassList("mt-1 mb-3 flex rounded border")).toBe(true);
+  });
+
+  it("still flags lowercase prose without hyphens", () => {
+    expect(isClassList("plus the boundary on the outer edges")).toBe(false);
+  });
+});
+
+describe("literals", () => {
+  it("finds strings and skips comments", () => {
+    const src = `// "a commented out sentence that is long enough to flag"
+const a = "one"; /* "also a comment" */ const b = 'two';`;
+
+    expect(all(literals(src))).toEqual(["one", "two"]);
+  });
+
+  it("turns template expressions into a placeholder", () => {
+    expect(all(literals("const t = `cam ${String(id)} of ${n}`;"))).toEqual([
+      "cam x of x",
+    ]);
+  });
+
+  it("reports the line a string starts on", () => {
+    expect([...literals('\n\nconst s = "x";')][0][1]).toBe(3);
+  });
+});
+
+describe("svelte files", () => {
+  it("checks code and attributes, not markup text", () => {
+    const code = svelteCode(
+      `<script>const s = "in script";</script>\n<p title="an attribute">Markup text, isn't code.</p>`,
+    );
+
+    expect(all(literals(code))).toEqual(["in script", "an attribute"]);
+  });
+
+  it("finds markup prose and drops {expressions}", () => {
+    const text = all(
+      markupText(
+        `<p>Every region {count} has exactly one camera assigned to it.</p><b>{label}</b>`,
+      ),
+    );
+
+    expect(text.some(isMarkupProse)).toBe(true);
+    expect(isMarkupProse(" ")).toBe(false);
+  });
+});
diff --git a/gui/frontend/src/app.css b/gui/frontend/src/app.css
index d4dad96..1b170dc 100644
--- a/gui/frontend/src/app.css
+++ b/gui/frontend/src/app.css
@@ -127,18 +127,3 @@ uses primary. The team colors are its .bg-team-* backgrounds.
 }
 
 @source "../node_modules/flowbite-svelte/dist";
-
-/*
-flowbite-svelte's red and yellow Alerts turn bright (bg-*-200) in dark mode,
-unlike Flowbite's own design and its primary Alert. These match the latter:
-a dark panel with colored text.
-*/
-.dark [role="alert"].bg-yellow-100 {
-  background-color: var(--color-gray-800);
-  color: var(--color-yellow-300);
-}
-
-.dark [role="alert"].bg-red-100 {
-  background-color: var(--color-gray-800);
-  color: var(--color-red-400);
-}
diff --git a/gui/frontend/src/lib/ConfirmModal.svelte b/gui/frontend/src/lib/ConfirmModal.svelte
new file mode 100644
index 0000000..c792368
--- /dev/null
+++ b/gui/frontend/src/lib/ConfirmModal.svelte
@@ -0,0 +1,48 @@
+<script lang="ts">
+  import { Button, Modal, P } from "flowbite-svelte";
+
+  // A yes/no question as a Flowbite Modal, in place of the browser's
+  // confirm(): it matches the rest of the GUI (dark mode included) and
+  // doesn't block the page.
+  interface Props {
+    open?: boolean;
+    title: string;
+    message: string;
+    confirmLabel: string;
+    cancelLabel?: string;
+    // A destructive action gets a red button.
+    danger?: boolean;
+    onconfirm: () => void;
+  }
+
+  let {
+    open = $bindable(false),
+    title,
+    message,
+    confirmLabel,
+    cancelLabel = "Cancel",
+    danger = false,
+    onconfirm,
+  }: Props = $props();
+</script>
+
+<Modal bind:open {title} size="sm" class="fixed inset-0 m-auto">
+  <P class="text-sm text-gray-600 dark:text-gray-400">{message}</P>
+  <div
+    class="flex justify-end gap-2 border-t border-gray-200 pt-4 dark:border-gray-700"
+  >
+    <Button
+      color="alternative"
+      onclick={() => {
+        open = false;
+      }}>{cancelLabel}</Button
+    >
+    <Button
+      color={danger ? "red" : "primary"}
+      onclick={() => {
+        open = false;
+        onconfirm();
+      }}>{confirmLabel}</Button
+    >
+  </div>
+</Modal>
diff --git a/gui/frontend/src/lib/CornerPicker.svelte b/gui/frontend/src/lib/CornerPicker.svelte
index 31ff015..be4c994 100644
--- a/gui/frontend/src/lib/CornerPicker.svelte
+++ b/gui/frontend/src/lib/CornerPicker.svelte
@@ -1,8 +1,9 @@
 <script lang="ts">
+  import StatusAlert from "./StatusAlert.svelte";
   import { geometry } from "./text/geometry";
   const text = geometry.cornerPicker;
   import SettingsCard from "./SettingsCard.svelte";
-  import { Button, Alert, P } from "flowbite-svelte";
+  import { Button, P } from "flowbite-svelte";
   import { untrack } from "svelte";
   import { config, cameraDoc } from "./config.svelte";
   import { cameraCount, regionLabel, slotSlice } from "./cameraLayout";
@@ -254,20 +255,20 @@
   {/if}
 
   {#if resolutionStatus === "rescalable" && seed}
-    <Alert color="yellow" class="my-2 text-sm">
+    <StatusAlert color="yellow" class="my-2 text-sm">
       {text.rescalable(pickedSize, imageSize)}
       <Button size="xs" class="ms-2" onclick={rescaleSeed}>
         {text.rescale(imageSize)}
       </Button>
-    </Alert>
+    </StatusAlert>
   {:else if resolutionStatus === "aspect" && seed}
-    <Alert color="yellow" class="my-2 text-sm">
+    <StatusAlert color="yellow" class="my-2 text-sm">
       {text.otherAspect(pickedSize, imageSize)}
-    </Alert>
+    </StatusAlert>
   {:else if resolutionStatus === "unknown"}
-    <Alert color="yellow" class="my-2 text-sm">
+    <StatusAlert color="yellow" class="my-2 text-sm">
       {text.unknownResolution}
-    </Alert>
+    </StatusAlert>
   {/if}
 
   <Button
diff --git a/gui/frontend/src/lib/FieldEditor.svelte b/gui/frontend/src/lib/FieldEditor.svelte
index aa77593..ac5f927 100644
--- a/gui/frontend/src/lib/FieldEditor.svelte
+++ b/gui/frontend/src/lib/FieldEditor.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { plural } from "./text/common";
   import SettingsCard from "./SettingsCard.svelte";
   import FormRow from "./FormRow.svelte";
   import {
@@ -93,7 +94,8 @@
 
           <FormRow label="Cameras" labelWidth={LABEL_WIDTH}>
             <span class="flex flex-wrap items-center gap-2 text-sm">
-              {count} region{count === 1 ? "" : "s"}{instance && count > 1
+              {count}
+              {plural(count, "region")}{instance && count > 1
                 ? `; camera ${String(instance.cameraId)} covers ${regionLabel(doc, instance.cameraId)}`
                 : ""}
               <Button
diff --git a/gui/frontend/src/lib/StatusAlert.svelte b/gui/frontend/src/lib/StatusAlert.svelte
new file mode 100644
index 0000000..ebbef74
--- /dev/null
+++ b/gui/frontend/src/lib/StatusAlert.svelte
@@ -0,0 +1,24 @@
+<script lang="ts">
+  import { Alert, type AlertProps } from "flowbite-svelte";
+
+  // Flowbite's Alert, with readable dark-mode colors for red and yellow.
+  // flowbite-svelte turns those into bright pastel boxes in dark mode
+  // (dark:bg-*-200), unlike its primary Alert and Flowbite's own design. Its
+  // class merging lets these dark classes replace that, so this doesn't
+  // depend on its internal class names. Use it instead of Alert.
+  const DARK: Partial<Record<string, string>> = {
+    yellow: "dark:bg-gray-800 dark:text-yellow-300",
+    red: "dark:bg-gray-800 dark:text-red-400",
+  };
+
+  let {
+    color = "primary",
+    class: className = "",
+    children,
+    ...rest
+  }: AlertProps = $props();
+</script>
+
+<Alert {color} class={[DARK[color], className]} {...rest}
+  >{@render children()}</Alert
+>
diff --git a/gui/frontend/src/lib/advanced.svelte.ts b/gui/frontend/src/lib/advanced.svelte.ts
index b4a0888..5b9c196 100644
--- a/gui/frontend/src/lib/advanced.svelte.ts
+++ b/gui/frontend/src/lib/advanced.svelte.ts
@@ -1,13 +1,18 @@
 // vision_processor's thresholds: and tracking: settings, edited in vision.yml's
 // defaults so every camera shares them. Defaults and restart-only keys are
 // from src/Resources.cpp (applyTunables reloads the rest live).
+import { without } from "./util";
 import { config } from "./config.svelte";
+import type { advanced } from "./text/advanced";
+
+// Every setting has a label and notes in text/advanced.ts.
+export type AdvancedKey = keyof typeof advanced.fields;
 
 export type Block = "thresholds" | "tracking";
 
 export interface AdvancedSetting {
   block: Block;
-  key: string;
+  key: AdvancedKey;
   // vision_processor's fallback when the key is unset.
   fallback: number;
   // The slider's range; the number box takes anything valid.
@@ -143,9 +148,6 @@ export function setAdvanced(
   const doc = config.doc;
   if (!doc) return;
 
-  const without = (o: Record<string, unknown>, key: string) =>
-    Object.fromEntries(Object.entries(o).filter(([k]) => k !== key));
-
   const current = block(s.block) ?? {};
   const next =
     value === undefined
diff --git a/gui/frontend/src/lib/alerts/AlertsPanel.svelte b/gui/frontend/src/lib/alerts/AlertsPanel.svelte
index 934b581..e6b6370 100644
--- a/gui/frontend/src/lib/alerts/AlertsPanel.svelte
+++ b/gui/frontend/src/lib/alerts/AlertsPanel.svelte
@@ -1,5 +1,5 @@
 <script lang="ts">
-  import { Badge, Button, Heading, Modal, P } from "flowbite-svelte";
+  import { Badge, Button, Heading, Li, List, Modal, P } from "flowbite-svelte";
   import SettingsCard from "../SettingsCard.svelte";
   import { alertsOf, SEVERITIES, type Severity } from "./alerts";
   import { RESOLUTION_DOCS, type DocId } from "../text/docs";
@@ -31,9 +31,9 @@
         {#if list.length === 0}
           <P size="sm" class="text-gray-500 dark:text-gray-400">{EMPTY[id]}</P>
         {:else}
-          <ul class="flex flex-col gap-1">
+          <List class="flex list-none flex-col gap-1">
             {#each list as alert (alert.id)}
-              <li
+              <Li
                 class={`flex flex-wrap items-center gap-x-3 gap-y-1 rounded border border-s-4 border-gray-200 dark:border-gray-700 bg-white dark:bg-gray-800 px-3 py-1.5 ${BORDER[id]}`}
               >
                 <div class="min-w-0 flex-1">
@@ -45,9 +45,9 @@
                       >
                     {/if}
                   </div>
-                  <p class="text-xs text-gray-600 dark:text-gray-400">
+                  <P class="text-xs text-gray-600 dark:text-gray-400">
                     {alert.detail}
-                  </p>
+                  </P>
                 </div>
                 {#if alert.actions.length > 0}
                   <div class="flex flex-wrap gap-1.5">
@@ -75,9 +75,9 @@
                     {/each}
                   </div>
                 {/if}
-              </li>
+              </Li>
             {/each}
-          </ul>
+          </List>
         {/if}
       </SettingsCard>
     </div>
@@ -94,21 +94,21 @@
   }}
 >
   {#if doc}
-    <p class="text-sm text-gray-600 dark:text-gray-400">{doc.cause}</p>
-    <ol class="ms-5 list-decimal space-y-1 text-sm">
+    <P class="text-sm text-gray-600 dark:text-gray-400">{doc.cause}</P>
+    <List tag="ol" position="outside" class="ms-5 space-y-1 text-sm">
       {#each doc.steps as step, i (i)}
         {#if step.startsWith("$ ")}
-          <li class="list-none">
+          <Li class="list-none">
             <pre
               class="rounded bg-gray-100 dark:bg-gray-700 px-2 py-1 text-xs">{step.slice(
                 2,
               )}</pre>
-          </li>
+          </Li>
         {:else}
-          <li>{step}</li>
+          <Li>{step}</Li>
         {/if}
       {/each}
-    </ol>
+    </List>
   {/if}
   <div
     class="flex justify-end border-t border-gray-200 dark:border-gray-700 pt-4"
diff --git a/gui/frontend/src/lib/cameraLayout.test.ts b/gui/frontend/src/lib/cameraLayout.test.ts
new file mode 100644
index 0000000..d925ae9
--- /dev/null
+++ b/gui/frontend/src/lib/cameraLayout.test.ts
@@ -0,0 +1,153 @@
+import { beforeEach, describe, expect, it } from "vitest";
+import { config, type CameraDoc, type ConfigDocument } from "./config.svelte";
+import {
+  applyPlan,
+  cameraCount,
+  minCameraCount,
+  planCount,
+  planMove,
+  regionLabel,
+  slots,
+} from "./cameraLayout";
+
+function camera(id: number, extra: Partial<CameraDoc> = {}): CameraDoc {
+  return { cameraId: id, instance: `host-${String(id)}`, ...extra };
+}
+
+function doc(cameras: CameraDoc[], layout?: number): ConfigDocument {
+  return {
+    version: 1,
+    field: { fieldLength: 9000, fieldWidth: 6000 },
+    optionalFieldLines: {
+      goal2Goal: true,
+      halfway: true,
+      centerCircle: true,
+      penalty: true,
+    },
+    cameras,
+    ...(layout ? { layout: { cameraCount: layout } } : {}),
+  };
+}
+
+beforeEach(() => {
+  config.doc = null;
+  config.state = null;
+});
+
+describe("cameraCount", () => {
+  it("rounds the number of cameras up to a power of 2", () => {
+    expect(cameraCount(doc([]))).toBe(1);
+    expect(cameraCount(doc([camera(0)]))).toBe(1);
+    expect(cameraCount(doc([camera(0), camera(1), camera(2)]))).toBe(4);
+  });
+
+  it("prefers layout.cameraCount", () => {
+    expect(cameraCount(doc([camera(0)], 4))).toBe(4);
+  });
+});
+
+describe("regions", () => {
+  it("names quadrants like camera_ids.png: y first, then x", () => {
+    const d = doc([], 4);
+
+    expect([0, 1, 2, 3].map((id) => regionLabel(d, id))).toEqual([
+      "−x −y",
+      "−x +y",
+      "+x −y",
+      "+x +y",
+    ]);
+  });
+
+  it("splits two cameras along the field's length", () => {
+    const d = doc([], 2);
+
+    expect([0, 1].map((id) => regionLabel(d, id))).toEqual(["−x", "+x"]);
+  });
+
+  it("marks empty regions", () => {
+    const s = slots(doc([camera(0), camera(3)], 4));
+
+    expect(s.map((x) => x.severity)).toEqual(["ok", "empty", "empty", "ok"]);
+  });
+});
+
+describe("planMove and applyPlan", () => {
+  it("swaps two cameras, keeping settings and dropping what was region-specific", () => {
+    config.doc = doc(
+      [
+        camera(0, {
+          config: { camera: { path: "/dev/video0" } },
+          seed: {
+            resolution: [1920, 1080],
+            lineCorners: [
+              [1, 1],
+              [2, 2],
+              [3, 3],
+              [4, 4],
+            ],
+          },
+          calibration: { lockedAt: "", fieldHash: "", camera: {} },
+        }),
+        camera(3),
+      ],
+      4,
+    );
+
+    const plan = planMove(config.doc, 0, 3);
+    expect(plan.map((s) => [s.from, s.to])).toEqual([
+      [0, 3],
+      [3, 0],
+    ]);
+    expect(plan[0]).toMatchObject({
+      seedStale: true,
+      calibrationRemoved: true,
+    });
+
+    applyPlan(plan);
+
+    const moved = config.doc.cameras.find((c) => c.instance === "host-0");
+    expect(moved?.cameraId).toBe(3);
+    expect(moved?.config).toEqual({ camera: { path: "/dev/video0" } });
+    expect(moved?.calibration).toBeUndefined();
+    expect(moved?.seed?.slot).toEqual({ cameraId: 0, cameraCount: 4 });
+    expect(config.doc.cameras.map((c) => c.cameraId)).toEqual([0, 3]);
+  });
+
+  it("moves a camera into an empty region without touching others", () => {
+    config.doc = doc([camera(0), camera(1)], 4);
+
+    applyPlan(planMove(config.doc, 1, 2));
+
+    expect(config.doc.cameras.map((c) => [c.instance, c.cameraId])).toEqual([
+      ["host-0", 0],
+      ["host-1", 2],
+    ]);
+  });
+
+  it("doesn't pin the layout when the count is unchanged", () => {
+    config.doc = doc([camera(0), camera(1)]);
+
+    applyPlan(planCount(config.doc, 2), 2);
+
+    expect(config.doc.layout).toBeUndefined();
+  });
+
+  it("sets the layout and re-slots every seed when the count changes", () => {
+    config.doc = doc([
+      camera(0, { seed: { resolution: [0, 0], lineCorners: [] } }),
+    ]);
+
+    applyPlan(planCount(config.doc, 4), 4);
+
+    expect(config.doc.layout).toEqual({ cameraCount: 4 });
+    expect(config.doc.cameras[0]?.seed?.slot).toEqual({
+      cameraId: 0,
+      cameraCount: 1,
+    });
+  });
+
+  it("won't shrink below the highest camera_id", () => {
+    expect(minCameraCount(doc([camera(0), camera(3)]))).toBe(4);
+    expect(minCameraCount(doc([camera(1)]))).toBe(2);
+  });
+});
diff --git a/gui/frontend/src/lib/cameraLayout.ts b/gui/frontend/src/lib/cameraLayout.ts
index 8288294..7ab7172 100644
--- a/gui/frontend/src/lib/cameraLayout.ts
+++ b/gui/frontend/src/lib/cameraLayout.ts
@@ -108,19 +108,23 @@ export function hostName(camera: CameraDoc): string {
 
 // One color per host, so a split like "host-a covers both left regions"
 // reads at a glance.
+// Tailwind classes from the theme (gui/CLAUDE.md: no hex in components);
+// written out whole so Tailwind generates each. The first is the GUI's
+// primary.
 const HOST_COLORS = [
-  "#0794b9",
-  "#e08a00",
-  "#2e9e4f",
-  "#b042c2",
-  "#d6334a",
-  "#4f5bd5",
+  "bg-primary-700",
+  "bg-amber-600",
+  "bg-green-600",
+  "bg-fuchsia-600",
+  "bg-rose-600",
+  "bg-indigo-600",
 ];
 
+// A background class for host's dot.
 export function hostColor(doc: ConfigDocument, host: string): string {
   const hosts = [...new Set(doc.cameras.map((c) => c.instance ?? ""))].sort();
 
-  return HOST_COLORS[hosts.indexOf(host) % HOST_COLORS.length] ?? "#9ca3af";
+  return HOST_COLORS[hosts.indexOf(host) % HOST_COLORS.length] ?? "bg-gray-400";
 }
 
 export type Severity = "ok" | "warning" | "error" | "empty";
@@ -181,6 +185,14 @@ function consequence(camera: CameraDoc, to: number): Consequence {
   };
 }
 
+// A move, swap, or camera count change waiting on confirmation.
+export interface PendingMove {
+  title: string;
+  plan: Consequence[];
+  // Set for a camera count change.
+  count?: number;
+}
+
 // Moving the camera in slot from to slot to, swapping with whatever is there.
 export function planMove(
   doc: ConfigDocument,
@@ -267,7 +279,11 @@ export function applyPlan(plan: Consequence[], count?: number): void {
     camera.cameraId = step.to;
   }
 
-  if (count !== undefined) doc.layout = { ...doc.layout, cameraCount: count };
+  // Only an actual change: setting the count it already has would pin it,
+  // so it no longer follows the number of cameras.
+  if (count !== undefined && count !== oldCount) {
+    doc.layout = { ...doc.layout, cameraCount: count };
+  }
 
   doc.cameras.sort((a, b) => a.cameraId - b.cameraId);
 }
diff --git a/gui/frontend/src/lib/config/AdvancedPanel.svelte b/gui/frontend/src/lib/config/AdvancedPanel.svelte
index a6dc8c7..94ce53b 100644
--- a/gui/frontend/src/lib/config/AdvancedPanel.svelte
+++ b/gui/frontend/src/lib/config/AdvancedPanel.svelte
@@ -1,5 +1,6 @@
 <script lang="ts">
-  import { Alert, Heading, P } from "flowbite-svelte";
+  import StatusAlert from "../StatusAlert.svelte";
+  import { Heading, P } from "flowbite-svelte";
   import SettingsCard from "../SettingsCard.svelte";
   import SliderField from "./SliderField.svelte";
   import RichText from "../RichText.svelte";
@@ -21,7 +22,7 @@
   let overriding = $derived(advancedOverrides());
 
   function fieldText(s: AdvancedSetting): { label: string; notes: string[] } {
-    return text.fields[s.key as keyof typeof text.fields];
+    return text.fields[s.key];
   }
 </script>
 
@@ -32,8 +33,8 @@
   >
 
   {#if overriding.length > 0}
-    <Alert color="yellow" class="mb-3 p-2 text-sm"
-      >{text.overriding(overriding)}</Alert
+    <StatusAlert color="yellow" class="mb-3 p-2 text-sm"
+      >{text.overriding(overriding)}</StatusAlert
     >
   {/if}
 
diff --git a/gui/frontend/src/lib/config/AssignmentsTable.svelte b/gui/frontend/src/lib/config/AssignmentsTable.svelte
new file mode 100644
index 0000000..d8992fa
--- /dev/null
+++ b/gui/frontend/src/lib/config/AssignmentsTable.svelte
@@ -0,0 +1,113 @@
+<script lang="ts">
+  import {
+    Table,
+    TableBody,
+    TableBodyCell,
+    TableBodyRow,
+    TableHead,
+    TableHeadCell,
+  } from "flowbite-svelte";
+  import SettingsCard from "../SettingsCard.svelte";
+  import { cameraStatus, type ConfigDocument } from "../config.svelte";
+  import {
+    cameraDevice,
+    deviceLabel,
+    hostColor,
+    hostName,
+    liveLabel,
+    type SlotInfo,
+  } from "../cameraLayout";
+
+  // Every region in a row, colored by its worst problem. Clicking a row
+  // selects that region.
+  interface Props {
+    doc: ConfigDocument;
+    slots: SlotInfo[];
+    selected: number;
+    onselect: (cameraId: number) => void;
+  }
+
+  let { doc, slots, selected, onselect }: Props = $props();
+</script>
+
+<SettingsCard title="Assignments">
+  <Table hoverable>
+    <TableHead>
+      <TableHeadCell class="px-2 py-1.5">ID</TableHeadCell>
+      <TableHeadCell class="px-2 py-1.5">Region</TableHeadCell>
+      <TableHeadCell class="px-2 py-1.5">Host</TableHeadCell>
+      <TableHeadCell class="px-2 py-1.5">Device</TableHeadCell>
+      <TableHeadCell class="px-2 py-1.5">Live</TableHeadCell>
+      <TableHeadCell class="px-2 py-1.5">Config</TableHeadCell>
+      <TableHeadCell class="px-2 py-1.5">Calibration</TableHeadCell>
+      <TableHeadCell class="px-2 py-1.5">Warnings</TableHeadCell>
+    </TableHead>
+    <TableBody>
+      {#each slots as s (s.cameraId)}
+        {@const camera = s.camera}
+        {@const rowStatus = cameraStatus(s.cameraId)}
+        <TableBodyRow
+          class={`cursor-pointer ${s.severity === "warning" ? "bg-yellow-50 dark:bg-yellow-900/30" : ""} ${s.severity === "error" ? "bg-red-50 dark:bg-red-900/30" : ""} ${s.cameraId === selected ? "font-semibold" : ""}`}
+          onclick={() => {
+            onselect(s.cameraId);
+          }}
+        >
+          <TableBodyCell class="px-2 py-1.5">{s.cameraId}</TableBodyCell>
+          <TableBodyCell class="px-2 py-1.5">{s.region}</TableBodyCell>
+          {#if camera}
+            <TableBodyCell class="px-2 py-1.5">
+              <span class="flex items-center gap-1.5">
+                <span
+                  class={`inline-block h-2 w-2 rounded-full ${hostColor(doc, camera.instance ?? "")}`}
+                ></span>
+                {hostName(camera)}
+              </span>
+            </TableBodyCell>
+            <TableBodyCell
+              class="px-2 py-1.5"
+              title={cameraDevice(doc, camera).path}
+            >
+              {deviceLabel(cameraDevice(doc, camera))}
+            </TableBodyCell>
+            <TableBodyCell
+              class={`px-2 py-1.5 ${s.conflict ? "text-red-700" : ""}`}
+            >
+              {liveLabel(s.sources)}
+            </TableBodyCell>
+            <TableBodyCell class="px-2 py-1.5">
+              {camera.configPath ? "local" : "remote"}
+            </TableBodyCell>
+            <TableBodyCell class="px-2 py-1.5">
+              {rowStatus?.calibration ?? "none"}
+            </TableBodyCell>
+            <TableBodyCell
+              class="px-2 py-1.5"
+              title={(rowStatus?.warnings ?? [])
+                .map((w) => w.message)
+                .join("\n")}
+            >
+              {#if (rowStatus?.warnings.length ?? 0) > 0}
+                <span class="text-yellow-700">
+                  ⚠ {rowStatus?.warnings.map((w) => w.code).join(", ")}
+                </span>
+              {/if}
+            </TableBodyCell>
+          {:else}
+            <TableBodyCell
+              class="px-2 py-1.5 text-gray-500 dark:text-gray-400 italic"
+            >
+              No camera
+            </TableBodyCell>
+            <TableBodyCell></TableBodyCell>
+            <TableBodyCell class="px-2 py-1.5"
+              >{liveLabel(s.sources)}</TableBodyCell
+            >
+            <TableBodyCell class="px-2 py-1.5"></TableBodyCell>
+            <TableBodyCell class="px-2 py-1.5"></TableBodyCell>
+            <TableBodyCell class="px-2 py-1.5"></TableBodyCell>
+          {/if}
+        </TableBodyRow>
+      {/each}
+    </TableBody>
+  </Table>
+</SettingsCard>
diff --git a/gui/frontend/src/lib/config/CalibrationCard.svelte b/gui/frontend/src/lib/config/CalibrationCard.svelte
index 858e28b..53afa64 100644
--- a/gui/frontend/src/lib/config/CalibrationCard.svelte
+++ b/gui/frontend/src/lib/config/CalibrationCard.svelte
@@ -1,7 +1,9 @@
 <script lang="ts">
+  import ConfirmModal from "../ConfirmModal.svelte";
+  import StatusAlert from "../StatusAlert.svelte";
   import { geometry as text } from "../text/geometry";
   import SettingsCard from "../SettingsCard.svelte";
-  import { Button, Spinner, Alert, P } from "flowbite-svelte";
+  import { Button, Spinner, P } from "flowbite-svelte";
   import {
     config,
     cameraDoc,
@@ -35,13 +37,18 @@
       : "unknown size";
   }
 
-  function unlock(): void {
-    if (confirm(text.confirmUnlock(cameraId))) {
-      void unlockCalibration(cameraId);
-    }
-  }
+  let confirmingUnlock = $state(false);
 </script>
 
+<ConfirmModal
+  bind:open={confirmingUnlock}
+  title={text.unlockTitle}
+  message={text.confirmUnlock(cameraId)}
+  confirmLabel={text.unlockConfirm}
+  danger
+  onconfirm={() => void unlockCalibration(cameraId)}
+/>
+
 <SettingsCard title="Calibration" class="my-4">
   {#if !status}
     <P
@@ -68,11 +75,15 @@
     </P>
 
     {#each status.warnings as warning (warning.code)}
-      <Alert color="yellow" class="my-1 p-2 text-sm">{warning.message}</Alert>
+      <StatusAlert color="yellow" class="my-1 p-2 text-sm"
+        >{warning.message}</StatusAlert
+      >
     {/each}
 
     {#if renderError}
-      <Alert color="red" class="my-1 p-2 text-sm">{renderError}</Alert>
+      <StatusAlert color="red" class="my-1 p-2 text-sm"
+        >{renderError}</StatusAlert
+      >
     {/if}
 
     <div class="actions">
@@ -88,7 +99,9 @@
         size="sm"
         color="alternative"
         disabled={status.calibration === "none" || config.busy}
-        onclick={unlock}
+        onclick={() => {
+          confirmingUnlock = true;
+        }}
       >
         {text.calibration.unlock}
       </Button>
diff --git a/gui/frontend/src/lib/config/CameraPanel.svelte b/gui/frontend/src/lib/config/CameraPanel.svelte
index ef82772..1a35654 100644
--- a/gui/frontend/src/lib/config/CameraPanel.svelte
+++ b/gui/frontend/src/lib/config/CameraPanel.svelte
@@ -1,7 +1,8 @@
 <script lang="ts">
+  import StatusAlert from "../StatusAlert.svelte";
   import RichText from "../RichText.svelte";
   import SettingsCard from "../SettingsCard.svelte";
-  import { Input, Select, Alert, Badge, Heading, P } from "flowbite-svelte";
+  import { Input, Select, Badge, Heading, P } from "flowbite-svelte";
   import { cameraCount, regionLabel } from "../cameraLayout";
   import { categoryHref } from "../layout/nav.svelte";
   import { onMount } from "svelte";
@@ -219,12 +220,12 @@
   </div>
 
   {#if instance}
-    <Alert color="primary" class="mb-3 p-2 text-sm">
+    <StatusAlert color="primary" class="mb-3 p-2 text-sm">
       <RichText text={text.restartBanner(instance.cameraId)} />
       <RichText
         text={configPath ? text.writesTo(configPath) : text.noConfigPath}
       />
-    </Alert>
+    </StatusAlert>
 
     <div class="layout">
       <!-- Left: the picture, with the settings that only change what is
diff --git a/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte b/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
index bb79b77..a68755b 100644
--- a/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
+++ b/gui/frontend/src/lib/config/ConfigCategoryPlaceholder.svelte
@@ -1,8 +1,9 @@
 <script lang="ts">
+  import StatusAlert from "../StatusAlert.svelte";
   import RichText from "../RichText.svelte";
   import { SELECT_INSTANCE } from "../text/common";
   import { placeholder } from "../text/placeholder";
-  import { Alert, Heading, P } from "flowbite-svelte";
+  import { Heading, P } from "flowbite-svelte";
   import type { ConfigCategory } from "../layout/configCategories";
   import type { VisionInstance } from "../layout/nav.svelte";
   import ConfigFieldList from "./ConfigFieldList.svelte";
@@ -35,9 +36,9 @@
     >
   {/if}
 
-  <Alert color="gray" class="my-3 p-2 text-sm">
+  <StatusAlert color="gray" class="my-3 p-2 text-sm">
     {placeholder.contributing}
-  </Alert>
+  </StatusAlert>
 
   <ConfigFieldList fields={category.fields} />
 </section>
diff --git a/gui/frontend/src/lib/config/HostInterfaces.svelte b/gui/frontend/src/lib/config/HostInterfaces.svelte
index b20a55d..83168e2 100644
--- a/gui/frontend/src/lib/config/HostInterfaces.svelte
+++ b/gui/frontend/src/lib/config/HostInterfaces.svelte
@@ -1,9 +1,10 @@
 <script lang="ts">
+  import StatusAlert from "../StatusAlert.svelte";
   import RichText from "../RichText.svelte";
   import { network as networkText } from "../text/network";
   const text = networkText.interfaces;
   import SettingsCard from "../SettingsCard.svelte";
-  import { Checkbox, Toggle, Alert, P } from "flowbite-svelte";
+  import { Checkbox, Toggle, P } from "flowbite-svelte";
   import {
     network,
     interfaceSelection,
@@ -136,10 +137,10 @@
   </P>
 
   {#if loopbackOff && network.state}
-    <Alert color="yellow" class="mt-2 p-3 text-sm">
+    <StatusAlert color="yellow" class="mt-2 p-3 text-sm">
       <RichText text={text.loopbackOff(network.state.loopback)} />
       <pre>{text.loopbackFix(network.state.loopback)}</pre>
-    </Alert>
+    </StatusAlert>
   {/if}
 </SettingsCard>
 
diff --git a/gui/frontend/src/lib/config/LayoutMap.svelte b/gui/frontend/src/lib/config/LayoutMap.svelte
index ed6976a..98ae2e0 100644
--- a/gui/frontend/src/lib/config/LayoutMap.svelte
+++ b/gui/frontend/src/lib/config/LayoutMap.svelte
@@ -35,11 +35,39 @@
 
   let flip = $derived(flips());
 
-  // The latest received frame rate per camera, from each tile's video status.
-  let fps = $state<Record<number, number | undefined>>({});
+  // The latest received frame rate per camera, from each tile's video status
+  // (about once a second), with when it arrived.
+  let fps = $state<Record<number, { value: number; at: number } | undefined>>(
+    {},
+  );
+  let now = $state(Date.now());
 
   function onstatus(status: StreamStatus): void {
-    fps[status.camera] = status.receiving ? status.fps : undefined;
+    fps[status.camera] = status.receiving
+      ? { value: status.fps, at: Date.now() }
+      : undefined;
+  }
+
+  // A rate goes stale when its player stops reporting: video turned off, the
+  // camera moved, the stream gone. Shown only while recent.
+  const FPS_FRESH_MS = 2500;
+
+  $effect(() => {
+    const timer = setInterval(() => {
+      now = Date.now();
+    }, 1000);
+
+    return () => {
+      clearInterval(timer);
+    };
+  });
+
+  function freshFps(camera: number): number | undefined {
+    const reading = fps[camera];
+
+    return reading && now - reading.at < FPS_FRESH_MS
+      ? reading.value
+      : undefined;
   }
 
   // Field mm to percent of the sketch: +x right and +y up, unless the view
@@ -159,11 +187,11 @@
               class:bg-gray-400={!slot.sources.some((x) => x.receiving)}
               title={liveLabel(slot.sources)}
             ></span>
-            {#if fps[slot.cameraId] !== undefined}
+            {#if freshFps(slot.cameraId) !== undefined}
               <span
                 class="text-gray-600 tabular-nums dark:text-gray-300"
                 title={videoText.fpsTitle}
-                >{videoText.fps(fps[slot.cameraId] ?? 0)}</span
+                >{videoText.fps(freshFps(slot.cameraId) ?? 0)}</span
               >
             {/if}
           {/if}
@@ -182,8 +210,7 @@
         {:else if camera}
           <span class="flex items-center gap-1 font-medium">
             <span
-              class="inline-block h-2 w-2 rounded-full"
-              style:background={hostColor(doc, camera.instance ?? "")}
+              class={`inline-block h-2 w-2 rounded-full ${hostColor(doc, camera.instance ?? "")}`}
             ></span>
             {hostName(camera)}
           </span>
diff --git a/gui/frontend/src/lib/config/LayoutPanel.svelte b/gui/frontend/src/lib/config/LayoutPanel.svelte
index 93a7381..7da2617 100644
--- a/gui/frontend/src/lib/config/LayoutPanel.svelte
+++ b/gui/frontend/src/lib/config/LayoutPanel.svelte
@@ -1,43 +1,27 @@
 <script lang="ts">
-  import {
-    Alert,
-    Button,
-    ButtonGroup,
-    Heading,
-    Modal,
-    P,
-    Select,
-    Table,
-    TableBody,
-    TableBodyCell,
-    TableBodyRow,
-    TableHead,
-    TableHeadCell,
-  } from "flowbite-svelte";
+  import { plural } from "../text/common";
+  import { Button, ButtonGroup, Heading, P } from "flowbite-svelte";
   import SettingsCard from "../SettingsCard.svelte";
   import FormRow from "../FormRow.svelte";
   import LayoutMap from "./LayoutMap.svelte";
+  import RegionCard from "./RegionCard.svelte";
+  import AssignmentsTable from "./AssignmentsTable.svelte";
+  import MoveConfirmModal from "./MoveConfirmModal.svelte";
   import { layout as text } from "../text/layout";
   import { layoutView, flips, type FeedMode } from "../layoutView.svelte";
   import { config, cameraStatus } from "../config.svelte";
-  import { navHref, selectedInstance } from "../layout/nav.svelte";
+  import { selectedInstance } from "../layout/nav.svelte";
   import {
     CAMERA_COUNTS,
     applyPlan,
     cameraCount,
-    cameraDevice,
-    deviceLabel,
-    hostColor,
-    hostName,
-    liveLabel,
     unplacedSources,
     addHeardCamera,
-    setDisplay,
     minCameraCount,
     planCount,
     planMove,
     slots,
-    type Consequence,
+    type PendingMove,
   } from "../cameraLayout";
 
   let doc = $derived(config.doc);
@@ -58,11 +42,7 @@
   );
 
   // A change waiting on the confirm dialog.
-  let pending = $state<{
-    title: string;
-    plan: Consequence[];
-    count?: number;
-  } | null>(null);
+  let pending = $state<PendingMove | null>(null);
 
   function requestCount(next: number): void {
     if (!doc || next === count) return;
@@ -89,22 +69,14 @@
     };
   }
 
-  function confirm(): void {
-    if (pending) applyPlan(pending.plan, pending.count);
-    pending = null;
-  }
-
-  function cameraName(cameraId: number): string {
-    const camera = doc?.cameras.find((c) => c.cameraId === cameraId);
-    if (!doc || !camera) return "";
-
-    return `${hostName(camera)} · ${deviceLabel(cameraDevice(doc, camera))}`;
-  }
-
   function mm(v: number): string {
     return String(Math.round(v));
   }
 
+  function applyPending(move: PendingMove): void {
+    applyPlan(move.plan, move.count);
+  }
+
   const LABEL_WIDTH = "7rem";
 
   const FEEDS: { mode: FeedMode; label: string }[] = [
@@ -159,8 +131,10 @@
       </FormRow>
       <FormRow label="Hardware" labelWidth={LABEL_WIDTH}>
         <span class="text-sm">
-          {doc.cameras.length} camera{doc.cameras.length === 1 ? "" : "s"} on
-          {hostCount} host{hostCount === 1 ? "" : "s"}
+          {doc.cameras.length}
+          {plural(doc.cameras.length, "camera")} on
+          {hostCount}
+          {plural(hostCount, "host")}
         </span>
       </FormRow>
     </SettingsCard>
@@ -208,217 +182,17 @@
         </P>
       </SettingsCard>
 
-      <SettingsCard title={`Region ${String(selected)} (${slot.region})`}>
-        <FormRow label="Bounds" labelWidth="5rem">
-          <span class="text-sm">
-            x {mm(slot.slice.minX)} … {mm(slot.slice.maxX)}, y {mm(
-              slot.slice.minY,
-            )} … {mm(slot.slice.maxY)} mm
-          </span>
-        </FormRow>
-
-        <FormRow
-          label="Live"
-          labelWidth="5rem"
-          errors={slot.conflict ? [text.conflict] : []}
-        >
-          <span class="text-sm">{liveLabel(slot.sources)}</span>
-        </FormRow>
-
-        <FormRow
-          label="Camera"
-          for="layout-camera"
-          labelWidth="5rem"
-          notes={text.cameraPicker}
-        >
-          <Select
-            id="layout-camera"
-            size="sm"
-            placeholder=""
-            value={slot.camera ? selected : -1}
-            onchange={(e: Event) => {
-              const from = Number((e.currentTarget as HTMLSelectElement).value);
-              requestMove(from, selected);
-              // The select shows the change only once it's confirmed.
-              (e.currentTarget as HTMLSelectElement).value = String(
-                slot.camera ? selected : -1,
-              );
-            }}
-          >
-            {#if !slot.camera}
-              <option value={-1} disabled>No camera</option>
-            {/if}
-            {#each doc.cameras as c (c.cameraId)}
-              <option value={c.cameraId}>
-                {cameraName(c.cameraId)}{c.cameraId === selected
-                  ? ""
-                  : ` (now ${String(c.cameraId)})`}
-              </option>
-            {/each}
-          </Select>
-        </FormRow>
-
-        {#if slot.camera}
-          {@const camera = slot.camera}
-          <FormRow
-            label="Video"
-            labelWidth="5rem"
-            notes={text.videoOrientation}
-          >
-            <span class="flex items-center gap-2">
-              <Button
-                size="xs"
-                color="alternative"
-                onclick={() => {
-                  setDisplay(selected, {
-                    rotate: (camera.display?.rotate ?? 0) + 90,
-                  });
-                }}>↻ Rotate</Button
-              >
-              <Button
-                size="xs"
-                color={camera.display?.mirror ? "primary" : "alternative"}
-                onclick={() => {
-                  setDisplay(selected, { mirror: !camera.display?.mirror });
-                }}>⇋ Mirror</Button
-              >
-              <span class="text-sm text-gray-600 dark:text-gray-400">
-                {camera.display?.rotate ?? 0}°{camera.display?.mirror
-                  ? ", mirrored"
-                  : ""}
-              </span>
-            </span>
-          </FormRow>
-          <FormRow label="Device" labelWidth="5rem">
-            <span class="text-sm break-all">
-              {cameraDevice(doc, camera).path ??
-                deviceLabel(cameraDevice(doc, camera))}
-            </span>
-          </FormRow>
-          <FormRow
-            label="Config"
-            labelWidth="5rem"
-            hints={camera.configPath ? [] : [text.remote]}
-          >
-            <span class="text-sm break-all">
-              {camera.configPath ?? "remote"}
-            </span>
-          </FormRow>
-          <FormRow
-            label="Calibration"
-            labelWidth="5rem"
-            warnings={(status?.warnings ?? []).map((w) => w.message)}
-          >
-            <span class="text-sm">
-              {status?.calibration ?? "none"}{camera.seed?.lineCorners
-                .length === 4
-                ? ", corners picked"
-                : ", no corners"}
-            </span>
-          </FormRow>
-
-          <div class="mt-2 flex flex-wrap gap-2">
-            <Button
-              size="xs"
-              color="alternative"
-              href={navHref(selected, "camera")}
-            >
-              Camera Settings →
-            </Button>
-            <Button
-              size="xs"
-              color="alternative"
-              href={navHref(selected, "geometry")}
-            >
-              Geometry →
-            </Button>
-          </div>
-        {/if}
-      </SettingsCard>
+      <RegionCard {doc} {slot} {status} onmove={requestMove} />
     </div>
 
-    <SettingsCard title="Assignments">
-      <Table hoverable>
-        <TableHead>
-          <TableHeadCell class="px-2 py-1.5">ID</TableHeadCell>
-          <TableHeadCell class="px-2 py-1.5">Region</TableHeadCell>
-          <TableHeadCell class="px-2 py-1.5">Host</TableHeadCell>
-          <TableHeadCell class="px-2 py-1.5">Device</TableHeadCell>
-          <TableHeadCell class="px-2 py-1.5">Live</TableHeadCell>
-          <TableHeadCell class="px-2 py-1.5">Config</TableHeadCell>
-          <TableHeadCell class="px-2 py-1.5">Calibration</TableHeadCell>
-          <TableHeadCell class="px-2 py-1.5">Warnings</TableHeadCell>
-        </TableHead>
-        <TableBody>
-          {#each allSlots as s (s.cameraId)}
-            {@const camera = s.camera}
-            {@const rowStatus = cameraStatus(s.cameraId)}
-            <TableBodyRow
-              class={`cursor-pointer ${s.severity === "warning" ? "bg-yellow-50 dark:bg-yellow-900/30" : ""} ${s.severity === "error" ? "bg-red-50 dark:bg-red-900/30" : ""} ${s.cameraId === selected ? "font-semibold" : ""}`}
-              onclick={() => {
-                picked = s.cameraId;
-              }}
-            >
-              <TableBodyCell class="px-2 py-1.5">{s.cameraId}</TableBodyCell>
-              <TableBodyCell class="px-2 py-1.5">{s.region}</TableBodyCell>
-              {#if camera}
-                <TableBodyCell class="px-2 py-1.5">
-                  <span class="flex items-center gap-1.5">
-                    <span
-                      class="inline-block h-2 w-2 rounded-full"
-                      style:background={hostColor(doc, camera.instance ?? "")}
-                    ></span>
-                    {hostName(camera)}
-                  </span>
-                </TableBodyCell>
-                <TableBodyCell
-                  class="px-2 py-1.5"
-                  title={cameraDevice(doc, camera).path}
-                >
-                  {deviceLabel(cameraDevice(doc, camera))}
-                </TableBodyCell>
-                <TableBodyCell
-                  class={`px-2 py-1.5 ${s.conflict ? "text-red-700" : ""}`}
-                >
-                  {liveLabel(s.sources)}
-                </TableBodyCell>
-                <TableBodyCell class="px-2 py-1.5">
-                  {camera.configPath ? "local" : "remote"}
-                </TableBodyCell>
-                <TableBodyCell class="px-2 py-1.5">
-                  {rowStatus?.calibration ?? "none"}
-                </TableBodyCell>
-                <TableBodyCell
-                  class="px-2 py-1.5"
-                  title={(rowStatus?.warnings ?? [])
-                    .map((w) => w.message)
-                    .join("\n")}
-                >
-                  {#if (rowStatus?.warnings.length ?? 0) > 0}
-                    <span class="text-yellow-700">
-                      ⚠ {rowStatus?.warnings.map((w) => w.code).join(", ")}
-                    </span>
-                  {/if}
-                </TableBodyCell>
-              {:else}
-                <TableBodyCell
-                  class="px-2 py-1.5 text-gray-500 dark:text-gray-400 italic"
-                >
-                  No camera
-                </TableBodyCell>
-                <TableBodyCell></TableBodyCell>
-                <TableBodyCell class="px-2 py-1.5"
-                  >{liveLabel(s.sources)}</TableBodyCell
-                >
-                <TableBodyCell class="px-2 py-1.5"></TableBodyCell>
-                <TableBodyCell class="px-2 py-1.5"></TableBodyCell>
-                <TableBodyCell class="px-2 py-1.5"></TableBodyCell>
-              {/if}
-            </TableBodyRow>
-          {/each}
-        </TableBody>
-      </Table>
-    </SettingsCard>
+    <AssignmentsTable
+      {doc}
+      slots={allSlots}
+      {selected}
+      onselect={(id: number) => {
+        picked = id;
+      }}
+    />
 
     {#if unplaced.length > 0}
       <SettingsCard title={text.unplaced.title}>
@@ -452,56 +226,5 @@
     {/if}
   </div>
 
-  <Modal
-    open={pending !== null}
-    title={pending?.title ?? ""}
-    size="md"
-    class="fixed inset-0 m-auto"
-    onclose={() => {
-      pending = null;
-    }}
-  >
-    {#if pending}
-      <ul class="space-y-2 text-sm">
-        {#each pending.plan as step (step.from)}
-          <li>
-            <span class="font-semibold">
-              {`${hostName(step.camera)} · ${deviceLabel(cameraDevice(doc, step.camera))}:`}
-            </span>
-            {step.from !== step.to
-              ? text.confirm.moved(step.from, step.to)
-              : text.confirm.newRegion(step.from)}
-            <ul class="ms-4 list-disc text-gray-600 dark:text-gray-400">
-              <li>{text.confirm.settingsStay}</li>
-              {#if step.seedStale}
-                <li>{text.confirm.seedStale}</li>
-              {/if}
-              {#if step.calibrationRemoved}
-                <li>{text.confirm.calibrationRemoved}</li>
-              {/if}
-              {#if !step.camera.configPath}
-                <li>{text.confirm.remote}</li>
-              {/if}
-            </ul>
-          </li>
-        {/each}
-      </ul>
-
-      <Alert color="yellow" class="mt-3 p-2 text-sm">
-        {text.confirm.restart}
-      </Alert>
-    {/if}
-
-    <div
-      class="flex justify-end gap-2 border-t border-gray-200 dark:border-gray-700 pt-4"
-    >
-      <Button
-        color="alternative"
-        onclick={() => {
-          pending = null;
-        }}>Cancel</Button
-      >
-      <Button onclick={confirm}>Apply</Button>
-    </div>
-  </Modal>
+  <MoveConfirmModal {doc} bind:pending onapply={applyPending} />
 {/if}
diff --git a/gui/frontend/src/lib/config/MoveConfirmModal.svelte b/gui/frontend/src/lib/config/MoveConfirmModal.svelte
new file mode 100644
index 0000000..fb7f219
--- /dev/null
+++ b/gui/frontend/src/lib/config/MoveConfirmModal.svelte
@@ -0,0 +1,84 @@
+<script lang="ts">
+  import { Button, Li, List, Modal } from "flowbite-svelte";
+  import StatusAlert from "../StatusAlert.svelte";
+  import { layout as text } from "../text/layout";
+  import type { ConfigDocument } from "../config.svelte";
+  import {
+    cameraDevice,
+    deviceLabel,
+    hostName,
+    type PendingMove,
+  } from "../cameraLayout";
+
+  // Confirms a move, swap, or camera count change on the Camera Layout page,
+  // listing what happens to each camera's settings, corners and calibration.
+  interface Props {
+    doc: ConfigDocument;
+    // The change waiting on this dialog; null closes it.
+    pending?: PendingMove | null;
+    onapply: (move: PendingMove) => void;
+  }
+
+  let { doc, pending = $bindable(null), onapply }: Props = $props();
+</script>
+
+<Modal
+  open={pending !== null}
+  title={pending?.title ?? ""}
+  size="md"
+  class="fixed inset-0 m-auto"
+  onclose={() => {
+    pending = null;
+  }}
+>
+  {#if pending}
+    <List class="list-none space-y-2 text-sm">
+      {#each pending.plan as step (step.from)}
+        <Li>
+          <span class="font-semibold">
+            {`${hostName(step.camera)} · ${deviceLabel(cameraDevice(doc, step.camera))}:`}
+          </span>
+          {step.from !== step.to
+            ? text.confirm.moved(step.from, step.to)
+            : text.confirm.newRegion(step.from)}
+          <List
+            position="outside"
+            class="ms-4 text-gray-600 dark:text-gray-400"
+          >
+            <Li>{text.confirm.settingsStay}</Li>
+            {#if step.seedStale}
+              <Li>{text.confirm.seedStale}</Li>
+            {/if}
+            {#if step.calibrationRemoved}
+              <Li>{text.confirm.calibrationRemoved}</Li>
+            {/if}
+            {#if !step.camera.configPath}
+              <Li>{text.confirm.remote}</Li>
+            {/if}
+          </List>
+        </Li>
+      {/each}
+    </List>
+
+    <StatusAlert color="yellow" class="mt-3 p-2 text-sm">
+      {text.confirm.restart}
+    </StatusAlert>
+  {/if}
+
+  <div
+    class="flex justify-end gap-2 border-t border-gray-200 dark:border-gray-700 pt-4"
+  >
+    <Button
+      color="alternative"
+      onclick={() => {
+        pending = null;
+      }}>Cancel</Button
+    >
+    <Button
+      onclick={() => {
+        if (pending) onapply(pending);
+        pending = null;
+      }}>Apply</Button
+    >
+  </div>
+</Modal>
diff --git a/gui/frontend/src/lib/config/NetworkPanel.svelte b/gui/frontend/src/lib/config/NetworkPanel.svelte
index 6fb70db..e786a48 100644
--- a/gui/frontend/src/lib/config/NetworkPanel.svelte
+++ b/gui/frontend/src/lib/config/NetworkPanel.svelte
@@ -1,7 +1,8 @@
 <script lang="ts">
+  import StatusAlert from "../StatusAlert.svelte";
   import RichText from "../RichText.svelte";
   import SettingsCard from "../SettingsCard.svelte";
-  import { Input, Select, Indicator, Alert, Heading, P } from "flowbite-svelte";
+  import { Input, Select, Indicator, Heading, P } from "flowbite-svelte";
   import { untrack } from "svelte";
   import { network as text } from "../text/network";
   import { config } from "../config.svelte";
@@ -154,13 +155,14 @@
   >
 
   {#if overriding.length > 0}
-    <Alert color="yellow" class="mb-3 p-2 text-sm">
+    <StatusAlert color="yellow" class="mb-3 p-2 text-sm">
       {text.status.overriding(overriding)}
-    </Alert>
+    </StatusAlert>
   {/if}
 
   {#if sharedError}
-    <Alert color="red" class="mb-3 p-2 text-sm">{sharedError}</Alert>
+    <StatusAlert color="red" class="mb-3 p-2 text-sm">{sharedError}</StatusAlert
+    >
   {/if}
 
   {#each groups as g (g.id)}
diff --git a/gui/frontend/src/lib/config/OverviewPanel.svelte b/gui/frontend/src/lib/config/OverviewPanel.svelte
index b970910..75fdb2b 100644
--- a/gui/frontend/src/lib/config/OverviewPanel.svelte
+++ b/gui/frontend/src/lib/config/OverviewPanel.svelte
@@ -1,5 +1,6 @@
 <script lang="ts">
-  import { Alert, Input, P, Select, Toggle } from "flowbite-svelte";
+  import StatusAlert from "../StatusAlert.svelte";
+  import { Input, P, Select, Toggle } from "flowbite-svelte";
   import SettingsCard from "../SettingsCard.svelte";
   import FormRow from "../FormRow.svelte";
   import RichText from "../RichText.svelte";
@@ -46,8 +47,8 @@
 
 <div class="max-w-5xl">
   <SettingsCard title={text.teams.title}>
-    <Alert color="primary" class="mb-2 p-2 text-sm"
-      >{text.teams.notApplied}</Alert
+    <StatusAlert color="primary" class="mb-2 p-2 text-sm"
+      >{text.teams.notApplied}</StatusAlert
     >
 
     <div class="sides">
diff --git a/gui/frontend/src/lib/config/RegionCard.svelte b/gui/frontend/src/lib/config/RegionCard.svelte
new file mode 100644
index 0000000..5d82db1
--- /dev/null
+++ b/gui/frontend/src/lib/config/RegionCard.svelte
@@ -0,0 +1,160 @@
+<script lang="ts">
+  import { Button, Select } from "flowbite-svelte";
+  import SettingsCard from "../SettingsCard.svelte";
+  import FormRow from "../FormRow.svelte";
+  import { layout as text } from "../text/layout";
+  import type { CameraStatus, ConfigDocument } from "../config.svelte";
+  import { navHref } from "../layout/nav.svelte";
+  import {
+    cameraDevice,
+    deviceLabel,
+    hostName,
+    liveLabel,
+    setDisplay,
+    type SlotInfo,
+  } from "../cameraLayout";
+
+  // The selected region's details on the Camera Layout page, with the
+  // camera picker that moves or swaps cameras between regions.
+  interface Props {
+    doc: ConfigDocument;
+    slot: SlotInfo;
+    status: CameraStatus | undefined;
+    // Asks to move the camera in region from to this region.
+    onmove: (from: number, to: number) => void;
+  }
+
+  let { doc, slot, status, onmove }: Props = $props();
+
+  let selected = $derived(slot.cameraId);
+
+  function cameraName(cameraId: number): string {
+    const camera = doc.cameras.find((c) => c.cameraId === cameraId);
+    if (!camera) return "";
+
+    return `${hostName(camera)} · ${deviceLabel(cameraDevice(doc, camera))}`;
+  }
+
+  function mm(v: number): string {
+    return String(Math.round(v));
+  }
+</script>
+
+<SettingsCard title={`Region ${String(selected)} (${slot.region})`}>
+  <FormRow label="Bounds" labelWidth="5rem">
+    <span class="text-sm">
+      x {mm(slot.slice.minX)} … {mm(slot.slice.maxX)}, y {mm(slot.slice.minY)} … {mm(
+        slot.slice.maxY,
+      )} mm
+    </span>
+  </FormRow>
+
+  <FormRow
+    label="Live"
+    labelWidth="5rem"
+    errors={slot.conflict ? [text.conflict] : []}
+  >
+    <span class="text-sm">{liveLabel(slot.sources)}</span>
+  </FormRow>
+
+  <FormRow
+    label="Camera"
+    for="layout-camera"
+    labelWidth="5rem"
+    notes={text.cameraPicker}
+  >
+    <Select
+      id="layout-camera"
+      size="sm"
+      placeholder=""
+      value={slot.camera ? selected : -1}
+      onchange={(e: Event) => {
+        const from = Number((e.currentTarget as HTMLSelectElement).value);
+        onmove(from, selected);
+        // The select shows the change only once it's confirmed.
+        (e.currentTarget as HTMLSelectElement).value = String(
+          slot.camera ? selected : -1,
+        );
+      }}
+    >
+      {#if !slot.camera}
+        <option value={-1} disabled>No camera</option>
+      {/if}
+      {#each doc.cameras as c (c.cameraId)}
+        <option value={c.cameraId}>
+          {cameraName(c.cameraId)}{c.cameraId === selected
+            ? ""
+            : ` (now ${String(c.cameraId)})`}
+        </option>
+      {/each}
+    </Select>
+  </FormRow>
+
+  {#if slot.camera}
+    {@const camera = slot.camera}
+    <FormRow label="Video" labelWidth="5rem" notes={text.videoOrientation}>
+      <span class="flex items-center gap-2">
+        <Button
+          size="xs"
+          color="alternative"
+          onclick={() => {
+            setDisplay(selected, {
+              rotate: (camera.display?.rotate ?? 0) + 90,
+            });
+          }}>↻ Rotate</Button
+        >
+        <Button
+          size="xs"
+          color={camera.display?.mirror ? "primary" : "alternative"}
+          onclick={() => {
+            setDisplay(selected, { mirror: !camera.display?.mirror });
+          }}>⇋ Mirror</Button
+        >
+        <span class="text-sm text-gray-600 dark:text-gray-400">
+          {camera.display?.rotate ?? 0}°{camera.display?.mirror
+            ? ", mirrored"
+            : ""}
+        </span>
+      </span>
+    </FormRow>
+    <FormRow label="Device" labelWidth="5rem">
+      <span class="text-sm break-all">
+        {cameraDevice(doc, camera).path ??
+          deviceLabel(cameraDevice(doc, camera))}
+      </span>
+    </FormRow>
+    <FormRow
+      label="Config"
+      labelWidth="5rem"
+      hints={camera.configPath ? [] : [text.remote]}
+    >
+      <span class="text-sm break-all">
+        {camera.configPath ?? "remote"}
+      </span>
+    </FormRow>
+    <FormRow
+      label="Calibration"
+      labelWidth="5rem"
+      warnings={(status?.warnings ?? []).map((w) => w.message)}
+    >
+      <span class="text-sm">
+        {status?.calibration ?? "none"}{camera.seed?.lineCorners.length === 4
+          ? ", corners picked"
+          : ", no corners"}
+      </span>
+    </FormRow>
+
+    <div class="mt-2 flex flex-wrap gap-2">
+      <Button size="xs" color="alternative" href={navHref(selected, "camera")}>
+        Camera Settings →
+      </Button>
+      <Button
+        size="xs"
+        color="alternative"
+        href={navHref(selected, "geometry")}
+      >
+        Geometry →
+      </Button>
+    </div>
+  {/if}
+</SettingsCard>
diff --git a/gui/frontend/src/lib/config/WeightTriangle.svelte b/gui/frontend/src/lib/config/WeightTriangle.svelte
index d202363..e85bfc6 100644
--- a/gui/frontend/src/lib/config/WeightTriangle.svelte
+++ b/gui/frontend/src/lib/config/WeightTriangle.svelte
@@ -18,7 +18,7 @@
 
   import { minReferenceForceUnlock } from "../color.svelte";
   import { preferences } from "../preferences.svelte";
-  import { Button, Modal, Input, Label } from "flowbite-svelte";
+  import { Button, Input, Label, Modal, P } from "flowbite-svelte";
 
   interface Props {
     referenceForce?: number;
@@ -405,7 +405,7 @@
             bind:open={showUnlockConfirm}
             size="xs"
           >
-            <p>{text.unlockBody}</p>
+            <P>{text.unlockBody}</P>
             {#snippet footer()}
               <Button color="alternative" onclick={cancelUnlock}>Cancel</Button>
               <Button color="red" onclick={confirmUnlock}>
diff --git a/gui/frontend/src/lib/config/YuvPositionPane.svelte b/gui/frontend/src/lib/config/YuvPositionPane.svelte
index f09be47..d4362d1 100644
--- a/gui/frontend/src/lib/config/YuvPositionPane.svelte
+++ b/gui/frontend/src/lib/config/YuvPositionPane.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import StatusAlert from "../StatusAlert.svelte";
   import { color as colorText } from "../text/color";
   const text = colorText.picker;
   // Issue 18's proposed YUV pane: "reference color positions (editable),
@@ -30,14 +31,7 @@
     type RGB,
   } from "../color.svelte";
   import { preferences } from "../preferences.svelte";
-  import {
-    Button,
-    ButtonGroup,
-    Modal,
-    Alert,
-    Heading,
-    P,
-  } from "flowbite-svelte";
+  import { Button, ButtonGroup, Modal, Heading, P } from "flowbite-svelte";
 
   interface Props {
     color?: RGB;
@@ -740,7 +734,7 @@
     bind:open={showRestoreAllConfirm}
     size="xs"
   >
-    <p>{text.restoreAllBody}</p>
+    <P>{text.restoreAllBody}</P>
     {#snippet footer()}
       <Button
         color="alternative"
@@ -753,9 +747,9 @@
   </Modal>
 
   {#if preferences.tooltipsEnabled && gamutFraction < 0.3}
-    <Alert color="primary" class="mt-2 p-2 text-sm">
+    <StatusAlert color="primary" class="mt-2 p-2 text-sm">
       {text.smallGamut(Math.round(gamutFraction * 100), sliceY < 128)}
-    </Alert>
+    </StatusAlert>
   {/if}
 
   <P size="sm" class="mb-2 text-gray-600 dark:text-gray-400">
diff --git a/gui/frontend/src/lib/layout/ConfigDialogs.svelte b/gui/frontend/src/lib/layout/ConfigDialogs.svelte
index abb0d11..b7c5a95 100644
--- a/gui/frontend/src/lib/layout/ConfigDialogs.svelte
+++ b/gui/frontend/src/lib/layout/ConfigDialogs.svelte
@@ -1,8 +1,10 @@
 <script lang="ts">
+  import { plural } from "../text/common";
+  import StatusAlert from "../StatusAlert.svelte";
   import RichText from "../RichText.svelte";
   import { app } from "../text/app";
   const text = app.dialogs;
-  import { Modal, Button, Input, Label, Alert, Toast } from "flowbite-svelte";
+  import { Button, Input, Label, Modal, P, Toast } from "flowbite-svelte";
   import {
     config,
     saveConfig,
@@ -99,12 +101,12 @@
   size="lg"
   class={MODAL_CLASS}
 >
-  <p class="text-sm text-gray-600 dark:text-gray-400">
+  <P class="text-sm text-gray-600 dark:text-gray-400">
     <RichText text={text.writesTo(config.state?.path ?? "")} />
-  </p>
+  </P>
 
   {#if changes.length === 0}
-    <p class="text-sm">{text.noChanges}</p>
+    <P class="text-sm">{text.noChanges}</P>
   {:else}
     <ChangeList {changes} />
   {/if}
@@ -122,7 +124,8 @@
       disabled={changes.length === 0 || config.busy}
       onclick={confirmSave}
     >
-      Save {changes.length} change{changes.length === 1 ? "" : "s"}
+      Save {changes.length}
+      {plural(changes.length, "change")}
     </Button>
   </div>
 </Modal>
@@ -143,9 +146,9 @@
       placeholder="vision.yml"
     />
   </div>
-  <p class="text-sm text-gray-600 dark:text-gray-400">
+  <P class="text-sm text-gray-600 dark:text-gray-400">
     {text.saveAsNote}
-  </p>
+  </P>
 
   <div
     class="flex justify-end gap-2 border-t border-gray-200 dark:border-gray-700 pt-4"
@@ -180,13 +183,13 @@
   </div>
 
   {#if changes.length > 0}
-    <Alert color="yellow" class="p-2 text-sm">
+    <StatusAlert color="yellow" class="p-2 text-sm">
       {text.loadDiscards(changes.length)}
-    </Alert>
+    </StatusAlert>
   {:else}
-    <p class="text-sm text-gray-600 dark:text-gray-400">
+    <P class="text-sm text-gray-600 dark:text-gray-400">
       {text.loadApplies}
-    </p>
+    </P>
   {/if}
 
   <div
@@ -211,30 +214,30 @@
   class={MODAL_CLASS}
   dismissable={false}
 >
-  <p class="text-sm">
+  <P class="text-sm">
     <RichText text={text.editedOutside(config.state?.path ?? "")} />
-  </p>
+  </P>
 
   {#if external?.error}
-    <Alert color="red" class="p-2 text-sm">
+    <StatusAlert color="red" class="p-2 text-sm">
       {text.cantLoad}
       <pre class="error-detail">{external.error}</pre>
-    </Alert>
+    </StatusAlert>
   {:else if external && external.changes.length > 0}
-    <p class="text-sm text-gray-600 dark:text-gray-400">
+    <P class="text-sm text-gray-600 dark:text-gray-400">
       {text.wouldChange}
-    </p>
+    </P>
     <ChangeList changes={external.changes} />
   {:else}
-    <p class="text-sm text-gray-600 dark:text-gray-400">
+    <P class="text-sm text-gray-600 dark:text-gray-400">
       {text.formattingOnly}
-    </p>
+    </P>
   {/if}
 
   {#if changes.length > 0}
-    <Alert color="yellow" class="p-2 text-sm">
+    <StatusAlert color="yellow" class="p-2 text-sm">
       {text.unsavedConflict(changes.length)}
-    </Alert>
+    </StatusAlert>
   {/if}
 
   <div
diff --git a/gui/frontend/src/lib/layout/Shell.svelte b/gui/frontend/src/lib/layout/Shell.svelte
index c81858b..8bc8f15 100644
--- a/gui/frontend/src/lib/layout/Shell.svelte
+++ b/gui/frontend/src/lib/layout/Shell.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import ConfirmModal from "../ConfirmModal.svelte";
   import { connectionState } from "../wrapper-bus";
   import { preferences } from "../preferences.svelte";
   import InstanceList from "./InstanceList.svelte";
@@ -86,15 +87,25 @@
     fileDialogs[which] = true;
   }
 
+  let confirmingRevert = $state(false);
+
   function revert(): void {
     settingsOpen = false;
 
-    if (unsaved === 0 || confirm(text.discardAndReload(unsaved))) {
-      void reloadFromDisk();
-    }
+    if (unsaved === 0) void reloadFromDisk();
+    else confirmingRevert = true;
   }
 </script>
 
+<ConfirmModal
+  bind:open={confirmingRevert}
+  title={text.discardTitle}
+  message={text.discardAndReload(unsaved)}
+  confirmLabel={text.discardConfirm}
+  danger
+  onconfirm={() => void reloadFromDisk()}
+/>
+
 <ConfigDialogs />
 
 <div class="shell">
diff --git a/gui/frontend/src/lib/teams.svelte.ts b/gui/frontend/src/lib/teams.svelte.ts
index 76e37a4..4739e53 100644
--- a/gui/frontend/src/lib/teams.svelte.ts
+++ b/gui/frontend/src/lib/teams.svelte.ts
@@ -5,6 +5,7 @@
 // included, when teams switch colors, so a choice keyed by name follows its
 // team. Off one (lab use, often with no game controller) they're kept per
 // color (teams.by_color). GUI only for now; see gui/internal/config's Teams.
+import { without } from "./util";
 import { config, type TeamOverride } from "./config.svelte";
 import { network } from "./network.svelte";
 
@@ -61,10 +62,6 @@ export function choice(slot: Slot | null): TeamOverride | undefined {
     : teams?.byColor?.[slot.color];
 }
 
-function without<T>(o: Record<string, T> | undefined, key: string) {
-  return Object.fromEntries(Object.entries(o ?? {}).filter(([k]) => k !== key));
-}
-
 // Replaces a slot's choice; undefined removes it, and emptied blocks go too,
 // so vision.yml stays minimal.
 function setChoice(slot: Slot, value: TeamOverride | undefined): void {
@@ -141,19 +138,23 @@ export function heightIssue(color: Color): HeightIssue | null {
   return unsaved(slot) ? "unsaved" : null;
 }
 
-// Whether the saved file lacks this slot's choice as it is now: any unsaved
-// change at or above it.
+// Whether the saved file lacks this slot's choice as it is now: an unsaved
+// change to it, its fields, or a block above it. Paths are compared whole,
+// since team names can contain dots ("N.R.G"): a prefix match would tie a
+// team called "N" to N.R.G's changes.
 function unsaved(slot: Slot): boolean {
   const key =
     "team" in slot
       ? `teams.overrides.${slot.team}`
       : `teams.by_color.${slot.color}`;
-  const parents = ["teams", "teams.overrides", "teams.by_color"];
-
-  return (config.state?.changes ?? []).some(
-    (c) =>
-      parents.includes(c.path) ||
-      c.path === key ||
-      c.path.startsWith(`${key}.`),
-  );
+  const paths = new Set([
+    "teams",
+    "teams.overrides",
+    "teams.by_color",
+    key,
+    `${key}.name`,
+    `${key}.height`,
+  ]);
+
+  return (config.state?.changes ?? []).some((c) => paths.has(c.path));
 }
diff --git a/gui/frontend/src/lib/teams.test.ts b/gui/frontend/src/lib/teams.test.ts
new file mode 100644
index 0000000..238f2d4
--- /dev/null
+++ b/gui/frontend/src/lib/teams.test.ts
@@ -0,0 +1,145 @@
+import { beforeEach, describe, expect, it } from "vitest";
+import { config, type ConfigDocument, type Change } from "./config.svelte";
+import { network, type NetworkState } from "./network.svelte";
+import {
+  choice,
+  heightIssue,
+  setCompetitionField,
+  setCustomHeight,
+  setFromTable,
+  setTeam,
+  slotFor,
+} from "./teams.svelte";
+
+function emptyDoc(): ConfigDocument {
+  return {
+    version: 1,
+    field: {},
+    optionalFieldLines: {
+      goal2Goal: true,
+      halfway: true,
+      centerCircle: true,
+      penalty: true,
+    },
+    cameras: [],
+  };
+}
+
+// The game controller naming yellow and blue, or silent when null.
+function hear(teams: { yellow: string; blue: string } | null): void {
+  network.state = {
+    gc: { receiving: teams !== null },
+    referee: {
+      heard: teams ? "2026-01-01T00:00:00Z" : undefined,
+      yellow: { name: teams?.yellow ?? "" },
+      blue: { name: teams?.blue ?? "" },
+      heightsFile: "robot-heights.yml",
+      heights: { "ER-Force": 148, "TIGERs Mannheim": 143 },
+    },
+  } as unknown as NetworkState;
+}
+
+function unsavedChanges(...paths: string[]): void {
+  config.state = {
+    path: "vision.yml",
+    revision: 1,
+    changes: paths.map(
+      (path): Change => ({
+        path,
+        before: null,
+        after: null,
+        section: "overview",
+      }),
+    ),
+    cameras: [],
+  };
+}
+
+beforeEach(() => {
+  config.doc = emptyDoc();
+  unsavedChanges();
+  hear(null);
+});
+
+describe("lab use (no competition field)", () => {
+  it("keeps choices per color, editable without a game controller", () => {
+    const slot = slotFor("yellow");
+    expect(slot).toEqual({ color: "yellow" });
+
+    if (slot) setCustomHeight(slot, 150);
+
+    expect(config.doc?.teams).toEqual({ byColor: { yellow: { height: 150 } } });
+  });
+
+  it("warns that the default height applies with nothing set", () => {
+    expect(heightIssue("yellow")).toBe("noHeight");
+  });
+
+  it("is fine with a saved custom height", () => {
+    const slot = slotFor("blue");
+    if (slot) setCustomHeight(slot, 150);
+
+    expect(heightIssue("blue")).toBeNull();
+  });
+
+  it("flags a custom height not entered yet", () => {
+    const slot = slotFor("blue");
+    if (slot) setFromTable(slot, false);
+
+    expect(choice(slot)).toEqual({});
+    expect(heightIssue("blue")).toBe("customMissing");
+  });
+});
+
+describe("competition field", () => {
+  beforeEach(() => {
+    setCompetitionField(true);
+  });
+
+  it("waits for the game controller to name a team", () => {
+    expect(slotFor("yellow")).toBeNull();
+    expect(heightIssue("yellow")).toBeNull();
+  });
+
+  it("follows a team through a color switch", () => {
+    hear({ yellow: "ER-Force", blue: "Custom FC" });
+    const blue = slotFor("blue");
+    if (blue) setCustomHeight(blue, 160);
+
+    hear({ yellow: "Custom FC", blue: "ER-Force" });
+
+    expect(choice(slotFor("yellow"))).toEqual({ height: 160 });
+    expect(choice(slotFor("blue"))).toBeUndefined();
+  });
+
+  it("flags a team not in the height table", () => {
+    hear({ yellow: "ER-Force", blue: "Custom FC" });
+
+    expect(heightIssue("yellow")).toBeNull();
+    expect(heightIssue("blue")).toBe("notInTable");
+  });
+
+  it("borrows another table entry's height", () => {
+    hear({ yellow: "ER Force", blue: "ER-Force" });
+    const yellow = slotFor("yellow");
+    if (yellow) setTeam(yellow, "ER-Force");
+
+    expect(config.doc?.teams?.overrides).toEqual({
+      "ER Force": { name: "ER-Force" },
+    });
+  });
+
+  it("matches unsaved changes by whole path, not prefix", () => {
+    hear({ yellow: "N", blue: "N.R.G" });
+    for (const color of ["yellow", "blue"] as const) {
+      const slot = slotFor(color);
+      if (slot) setCustomHeight(slot, 140);
+    }
+
+    // Only N.R.G's override is unsaved; "N" mustn't be tied to it.
+    unsavedChanges("teams.overrides.N.R.G.height");
+
+    expect(heightIssue("blue")).toBe("unsaved");
+    expect(heightIssue("yellow")).toBeNull();
+  });
+});
diff --git a/gui/frontend/src/lib/text/advanced.ts b/gui/frontend/src/lib/text/advanced.ts
index 0be6153..2e4c893 100644
--- a/gui/frontend/src/lib/text/advanced.ts
+++ b/gui/frontend/src/lib/text/advanced.ts
@@ -2,12 +2,13 @@
 // thresholds: and tracking: settings, shared by every camera. Notes are
 // from config.yml's comments and src/Resources.cpp. `backticks` show as code.
 
+import { plural } from "./common";
 export const advanced = {
   heading: "Advanced",
   intro:
     "Detection thresholds and tracking limits, shared by every camera (vision.yml's `defaults.thresholds` and `defaults.tracking`). The defaults suit most fields; change these only to fix a specific detection problem. Most apply live; the ones marked restart need a vision_processor restart.",
   overriding: (cameras: number[]): string =>
-    `Camera${cameras.length === 1 ? "" : "s"} ${cameras.join(", ")} override${cameras.length === 1 ? "s" : ""} some of these in their own config, so they don't follow this page for those values.`,
+    `${plural(cameras.length, "Camera")} ${cameras.join(", ")} override${cameras.length === 1 ? "s" : ""} some of these in their own config, so they don't follow this page for those values.`,
   restart: "Applies when vision_processor restarts.",
   defaultIs: (value: string): string => `Default: ${value}.`,
   reset: "Reset to default",
diff --git a/gui/frontend/src/lib/text/app.ts b/gui/frontend/src/lib/text/app.ts
index aa9f32d..205a5b7 100644
--- a/gui/frontend/src/lib/text/app.ts
+++ b/gui/frontend/src/lib/text/app.ts
@@ -1,6 +1,7 @@
 // The page frame (layout/Shell.svelte) and config syncing (config.svelte.ts):
 // header badge tooltips, the settings menu's prompts, and edit conflicts.
 
+import { plural } from "./common";
 export const app = {
   competitionField: {
     label: "Competition Field",
@@ -22,6 +23,8 @@ export const app = {
       `Receiving on ${address}. Click to configure.`,
     silent: "Nothing heard on this address. Click to configure.",
   },
+  discardTitle: "Discard unsaved changes?",
+  discardConfirm: "Discard and reload",
   discardAndReload: (unsaved: number): string =>
     `Discard ${String(unsaved)} unsaved change(s) and reload from disk?`,
   editedElsewhere: "Edited elsewhere at the same time; reloaded the latest.",
@@ -39,7 +42,7 @@ export const app = {
     noChanges: "No unsaved changes.",
     saveAsNote: "The GUI edits and watches the new file from then on.",
     loadDiscards: (changes: number): string =>
-      `Loading discards ${String(changes)} unsaved change${changes === 1 ? "" : "s"}, and applies the loaded file live.`,
+      `Loading discards ${String(changes)} unsaved ${plural(changes, "change")}, and applies the loaded file live.`,
     loadApplies: "The loaded file applies live.",
     editedOutside: (path: string): string =>
       `\`${path}\` was edited outside the GUI.`,
@@ -48,6 +51,6 @@ export const app = {
     formattingOnly:
       "The values match what's running; only formatting or comments differ.",
     unsavedConflict: (changes: number): string =>
-      `You have ${String(changes)} unsaved change${changes === 1 ? "" : "s"}. Loading discards them; overwriting replaces the edited file with them.`,
+      `You have ${String(changes)} unsaved ${plural(changes, "change")}. Loading discards them; overwriting replaces the edited file with them.`,
   },
 };
diff --git a/gui/frontend/src/lib/text/common.ts b/gui/frontend/src/lib/text/common.ts
index 381ab94..5cc9206 100644
--- a/gui/frontend/src/lib/text/common.ts
+++ b/gui/frontend/src/lib/text/common.ts
@@ -7,3 +7,8 @@ export const NO_HOST = "(no host)";
 
 // Shown on a per-camera page when no camera is selected.
 export const SELECT_INSTANCE = "Select a vision processor on the left first.";
+
+// "1 camera", "2 cameras": the word as is for 1, with an s otherwise.
+export function plural(n: number, word: string): string {
+  return n === 1 ? word : `${word}s`;
+}
diff --git a/gui/frontend/src/lib/text/geometry.ts b/gui/frontend/src/lib/text/geometry.ts
index 9cbd749..b5d7b1e 100644
--- a/gui/frontend/src/lib/text/geometry.ts
+++ b/gui/frontend/src/lib/text/geometry.ts
@@ -44,6 +44,8 @@ export const geometry = {
   nothingToLock: "No calibration received from this camera yet",
   relock: "Re-lock latest live calibration",
   lock: "Lock current calibration",
+  unlockTitle: "Unlock calibration?",
+  unlockConfirm: "Unlock",
   confirmUnlock: (camera: number): string =>
     `Unlock camera ${String(camera)}'s calibration? It stops being published now, and the camera recalibrates the next time its vision_processor restarts.`,
 };
diff --git a/gui/frontend/src/lib/text/layout.ts b/gui/frontend/src/lib/text/layout.ts
index ef975d9..6506521 100644
--- a/gui/frontend/src/lib/text/layout.ts
+++ b/gui/frontend/src/lib/text/layout.ts
@@ -1,9 +1,7 @@
 // Camera Layout page (config/LayoutPanel.svelte, config/LayoutMap.svelte).
 // Functions fill in values; edit the words around them freely.
 
-const plural = (n: number, word: string): string =>
-  `${word}${n === 1 ? "" : "s"}`;
-
+import { plural } from "./common";
 export const layout = {
   heading: "Camera Layout",
   intro:
diff --git a/gui/frontend/src/lib/text/network.ts b/gui/frontend/src/lib/text/network.ts
index 7587a49..240c1f8 100644
--- a/gui/frontend/src/lib/text/network.ts
+++ b/gui/frontend/src/lib/text/network.ts
@@ -2,6 +2,7 @@
 // and the address/port advice in network.svelte.ts. Advice warnings always
 // show; notes show with "Show extra tooltips".
 
+import { plural } from "./common";
 export const network = {
   heading: "Network",
   // `backticks` show as code.
@@ -69,7 +70,7 @@ export const network = {
     visionWhat: "detection packets",
     gcWhat: "referee messages",
     overriding: (cameras: number[]): string =>
-      `Camera${cameras.length === 1 ? "" : "s"} ${cameras.join(", ")} override${cameras.length === 1 ? "s" : ""} these in their own config, so their vision_processor uses different groups than the host.`,
+      `${plural(cameras.length, "Camera")} ${cameras.join(", ")} override${cameras.length === 1 ? "s" : ""} these in their own config, so their vision_processor uses different groups than the host.`,
   },
 
   address: {
diff --git a/gui/frontend/src/lib/text/wizard.ts b/gui/frontend/src/lib/text/wizard.ts
index 26acbef..031c257 100644
--- a/gui/frontend/src/lib/text/wizard.ts
+++ b/gui/frontend/src/lib/text/wizard.ts
@@ -1,5 +1,6 @@
 // Setup wizard (wizard/).
 
+import { plural } from "./common";
 export const wizard = {
   start: "Start from a regulation field, or configure a custom one.",
   markings: "Which markings does this field have?",
@@ -8,7 +9,7 @@ export const wizard = {
   applyNote: (path: string): string =>
     `Applying takes effect immediately but doesn't save -- use Save in the settings menu (or Ctrl+S) to write \`${path}\`, then calibrate each camera on its own Geometry tab.`,
   layoutCount: (regions: number, half: boolean): string =>
-    `Sets the layout to ${String(regions)} region${regions === 1 ? "" : "s"}${half ? ", since a half field is half of a full one" : ""}. Assign cameras to regions on the Camera Layout page.`,
+    `Sets the layout to ${String(regions)} ${plural(regions, "region")}${half ? ", since a half field is half of a full one" : ""}. Assign cameras to regions on the Camera Layout page.`,
   finishCameras: (regions: number, changes: boolean): string =>
-    `Cameras: ${String(regions)} region${regions === 1 ? "" : "s"}${changes ? ". This changes every camera's region: their line corners need re-picking and locked calibrations are removed." : ""}`,
+    `Cameras: ${String(regions)} ${plural(regions, "region")}${changes ? ". This changes every camera's region: their line corners need re-picking and locked calibrations are removed." : ""}`,
 };
diff --git a/gui/frontend/src/lib/util.ts b/gui/frontend/src/lib/util.ts
new file mode 100644
index 0000000..8dc7ef5
--- /dev/null
+++ b/gui/frontend/src/lib/util.ts
@@ -0,0 +1,9 @@
+// Small helpers shared by the config modules.
+
+// o without key, as a new object (vision.yml edits replace, never mutate).
+export function without<T>(
+  o: Record<string, T> | undefined,
+  key: string,
+): Record<string, T> {
+  return Object.fromEntries(Object.entries(o ?? {}).filter(([k]) => k !== key));
+}
diff --git a/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte b/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
index 5987e5c..bf5e157 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardDimensions.svelte
@@ -1,5 +1,5 @@
 <script lang="ts">
-  import { Input, Label } from "flowbite-svelte";
+  import { Input, Label, P } from "flowbite-svelte";
   import {
     DIMENSION_FIELDS,
     type FieldConfigField,
@@ -45,9 +45,9 @@
 </script>
 
 <div class="flex flex-col gap-2">
-  <p class="text-sm text-gray-600 dark:text-gray-400">
+  <P class="text-sm text-gray-600 dark:text-gray-400">
     All dimensions are in millimeters.
-  </p>
+  </P>
 
   {#if wizard.fieldLayout === "half"}
     <div class="flex items-center justify-between gap-2">
diff --git a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
index d8a89bd..a569153 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardFinish.svelte
@@ -1,6 +1,6 @@
 <script lang="ts">
   import RichText from "../../RichText.svelte";
-  import { Li, List } from "flowbite-svelte";
+  import { Li, List, P } from "flowbite-svelte";
   import { config } from "../../config.svelte";
   import { wizard, wizardCameraCount } from "../wizard.svelte";
   import { cameraCount } from "../../cameraLayout";
@@ -18,9 +18,9 @@
 </script>
 
 <div class="flex flex-col gap-3">
-  <p class="text-sm text-gray-700 dark:text-gray-300">
+  <P class="text-sm text-gray-700 dark:text-gray-300">
     {text.review}
-  </p>
+  </P>
 
   <List class="flex flex-col gap-1 text-sm text-gray-700 dark:text-gray-300">
     <Li>
@@ -36,7 +36,7 @@
     </Li>
   </List>
 
-  <p class="text-sm text-gray-600 dark:text-gray-400">
+  <P class="text-sm text-gray-600 dark:text-gray-400">
     <RichText text={text.applyNote(config.state?.path ?? "vision.yml")} />
-  </p>
+  </P>
 </div>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte b/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
index 2595dea..ef9da76 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardOptionalLines.svelte
@@ -1,6 +1,6 @@
 <script lang="ts">
   import { wizard as text } from "../../text/wizard";
-  import { Checkbox } from "flowbite-svelte";
+  import { Checkbox, P } from "flowbite-svelte";
   import { wizard } from "../wizard.svelte";
   import { OPTIONAL_LINE_FIELDS } from "../../fieldConfigFields";
   import WizardFieldPreview from "./WizardFieldPreview.svelte";
@@ -8,9 +8,9 @@
 
 <div class="flex flex-col gap-4 sm:flex-row">
   <div class="flex flex-1 flex-col gap-2">
-    <p class="text-sm text-gray-600 dark:text-gray-400">
+    <P class="text-sm text-gray-600 dark:text-gray-400">
       {text.markings}
-    </p>
+    </P>
 
     {#each OPTIONAL_LINE_FIELDS as { key, label } (key)}
       <Checkbox bind:checked={wizard.draft.optionalFieldLines[key]}>
diff --git a/gui/frontend/src/lib/wizard/steps/WizardStart.svelte b/gui/frontend/src/lib/wizard/steps/WizardStart.svelte
index 949f5e0..413c58e 100644
--- a/gui/frontend/src/lib/wizard/steps/WizardStart.svelte
+++ b/gui/frontend/src/lib/wizard/steps/WizardStart.svelte
@@ -1,7 +1,7 @@
 <script lang="ts">
   import { wizard as text } from "../../text/wizard";
   import { onMount } from "svelte";
-  import { Button, Spinner } from "flowbite-svelte";
+  import { Button, P, Spinner } from "flowbite-svelte";
   import { virtualField, loadFieldPresets } from "../../geometry.svelte";
   import { skipToFinish, nextStep, applyPresetToDraft } from "../wizard.svelte";
 
@@ -19,9 +19,9 @@
 </script>
 
 <div class="flex flex-col gap-4">
-  <p class="text-sm text-gray-600 dark:text-gray-400">
+  <P class="text-sm text-gray-600 dark:text-gray-400">
     {text.start}
-  </p>
+  </P>
 
   {#if virtualField.presets.length === 0}
     <div
diff --git a/gui/frontend/src/test-setup.ts b/gui/frontend/src/test-setup.ts
new file mode 100644
index 0000000..1e0fef3
--- /dev/null
+++ b/gui/frontend/src/test-setup.ts
@@ -0,0 +1,9 @@
+// Unit test setup: no host to talk to, so the WebSocket client is replaced
+// by topics that never publish.
+import { readable } from "svelte/store";
+import { vi } from "vitest";
+
+vi.mock("./lib/wrapper-bus", () => ({
+  connectionState: readable("closed"),
+  topic: () => readable(null),
+}));
diff --git a/gui/frontend/vite.config.ts b/gui/frontend/vite.config.ts
index 93ae459..fe698f7 100644
--- a/gui/frontend/vite.config.ts
+++ b/gui/frontend/vite.config.ts
@@ -1,3 +1,4 @@
+/// <reference types="vitest/config" />
 import { defineConfig } from "vite";
 import { svelte } from "@sveltejs/vite-plugin-svelte";
 import tailwindcss from "@tailwindcss/vite";
@@ -7,6 +8,15 @@ export default defineConfig({
   // tailwindcss() must come before svelte() so Tailwind's own PostCSS-less
   // Vite transform sees .svelte files before vite-plugin-svelte compiles them.
   plugins: [tailwindcss(), svelte()],
+  // Unit tests (npm test): the pure logic in src/lib and scripts/. jsdom
+  // stands in for the browser; Svelte's browser build keeps $state and
+  // $effect.root working in modules under test.
+  resolve: process.env["VITEST"] ? { conditions: ["browser"] } : undefined,
+  test: {
+    environment: "jsdom",
+    include: ["src/**/*.test.ts", "scripts/**/*.test.mjs"],
+    setupFiles: ["src/test-setup.ts"],
+  },
   build: {
     // One bundle on purpose: the host serves it over the local network, so
     // splitting saves nothing. The default 500 kB warning only flags that.
diff --git a/gui/internal/referee/referee.go b/gui/internal/referee/referee.go
index e1ac9a0..9bd8b68 100644
--- a/gui/internal/referee/referee.go
+++ b/gui/internal/referee/referee.go
@@ -157,3 +157,32 @@ func Describe(teams *Teams, heights *Heights, heightsFile string) State {
 
 	return state
 }
+
+// Match is the current match as the GUI sees it: the teams the referee
+// names, and the robot height table they're looked up in. Safe for
+// concurrent use.
+type Match struct {
+	Teams   Teams
+	heights Heights
+
+	mu   sync.Mutex
+	file string
+}
+
+// SetHeightsFile chooses the height table, vision_processor's
+// bot_heights_file.
+func (m *Match) SetHeightsFile(path string) {
+	m.mu.Lock()
+	defer m.mu.Unlock()
+
+	m.file = path
+}
+
+// State describes the match now.
+func (m *Match) State() State {
+	m.mu.Lock()
+	file := m.file
+	m.mu.Unlock()
+
+	return Describe(&m.Teams, &m.heights, file)
+}
diff --git a/gui/internal/referee/referee_test.go b/gui/internal/referee/referee_test.go
index e63edec..6cde7f5 100644
--- a/gui/internal/referee/referee_test.go
+++ b/gui/internal/referee/referee_test.go
@@ -67,3 +67,19 @@ func TestHeightsRereadsAChangedFile(t *testing.T) {
 		t.Fatalf("table = %v, want the new values", table)
 	}
 }
+
+func TestMatchUsesTheChosenHeightsFile(t *testing.T) {
+	path := writeTable(t, "ER-Force: 148\n")
+	m := &Match{}
+	m.Teams.Record("ER-Force", "", time.Unix(1000, 0))
+
+	if s := m.State(); s.HeightsError == "" {
+		t.Fatalf("state = %+v, want an error before a heights file is set", s)
+	}
+
+	m.SetHeightsFile(path)
+
+	if s := m.State(); s.HeightsFile != path || s.Yellow.Height == nil || *s.Yellow.Height != 148 {
+		t.Fatalf("state = %+v, want ER-Force at 148 from %s", s, path)
+	}
+}